SVPWM waveform generation method, storage medium and device based on motor single resistor sampling

Abstract

The present invention discloses a SVPWM waveform generation method, storage medium and device based on motor single resistor sampling, and relates to the field of inverter control technology. The method includes: in the PWM output process of the current control cycle, the three-phase current of the motor is obtained by using a single resistor sampling scheme, and the voltage vectors Vα and Vβ in a two-phase stationary coordinate system are obtained according to the three-phase current; the target sector where the reference synthetic vector obtained by superimposing the three-phase voltage of the motor is located is determined according to Vα and Vβ; two zero vectors and three non-zero vector pairs corresponding to the target sector are used for vector synthesis, and the action time of each vector used for synthesis is determined; SVPWM waveforms are generated according to preset rules and action time for PWM output of the next control cycle. The method can realize the safety verification of the three-phase current based on Kirchhoff's law, and can eliminate the critical area between half of the sectors, which is more convenient for the implementation of the motor control algorithm.

Description

Technical Field

[0001] The present invention relates to the field of inverter control technology, and in particular to a method, storage medium and device for generating SVPWM waveform based on motor single resistor sampling. Background Art

[0002] SVPWM (Space Vector Pulse Width Modulation) has important applications in the field of motor control. In the sensorless FOC (Field-Oriented Control) control of the motor, SVPWM uses different switching modes of the three-phase inverter to make appropriate switching to form an SVPWM waveform to accurately control the size and direction of the magnetic field, so that the motor torque is stable, the noise is low, the efficiency is high, and it has a high-speed dynamic response.

[0003] In the sensorless FOC control of the motor, the phase current needs to be collected. At present, the phase current collection schemes include single resistor, dual resistor and triple resistor schemes. However, in the single resistor scheme, the traditional SVPWM waveform generation technology can only collect two-phase currents, and it is impossible to perform safety verification on the sampled phase currents through Kirchhoff's law. It is necessary to add additional amplifiers and ADCs (Analog-to-Digital Converters) for safety verification; at the same time, it is impossible to eliminate the critical area between sectors. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present invention is to propose a SVPWM waveform generation method, storage medium and device based on motor single resistor sampling, so as to realize the safety verification of three-phase current based on Kirchhoff's current law, reduce the critical area between sectors, and facilitate the implementation of motor control algorithm.

[0005] In order to solve the above technical problems, the first embodiment of the present invention proposes a SVPWM waveform generation method based on motor single resistor sampling, wherein the sampling resistor is connected between one end of the DC side of the motor inverter and its corresponding power supply port, and the method comprises: in the PWM output process of the current control cycle, three current samplings are performed using the sampling resistor to obtain the three-phase current of the motor, and the voltage vectors Vα and Vβ in a two-phase stationary coordinate system are obtained according to the three-phase current; a reference synthetic vector Vα and Vβ obtained by superimposing the three-phase voltage vectors of the motor is determined according to Vα and Vβ. The target sector of the voltage vector space is located; using two zero vectors and three non-zero vectors corresponding to the target sector Perform SVPWM vector synthesis and determine the vectors used for synthesis The target vector sequence is obtained according to the preset rule and the action time, and an SVPWM waveform is generated according to the target vector sequence for PWM output of the next control cycle, wherein the target vector sequence is a five-segment vector sequence, a seven-segment vector sequence or a nine-segment vector sequence.

[0006] In addition, the SVPWM waveform generation method based on motor single resistor sampling according to the embodiment of the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, the method further includes: using Kirchhoff's law to perform safety verification on the three-phase current; if the verification passes, executing the step of obtaining voltage vectors Vα and Vβ in a two-phase stationary coordinate system based on the three-phase current; if the verification fails, stopping the PWM output of the current control cycle and ending the SVPWM waveform generation process.

[0008] According to an embodiment of the present invention, the target sector is the first sector, and the first sector is composed of sectors I and II of the voltage vector space; Perform SVPWM vector synthesis:

[0009] ,

[0010] in, represents the control cycle, represents the action time of the non-zero vector V4, 6 represents the action time of the non-zero vector V6, T2 represents the action time of the non-zero vector V2, T0 represents the action time of the zero vector V0, and T7 represents the action time of the zero vector V7.

[0011] According to one embodiment of the present invention, Tsw is consistent with T2, T4, and T6, and T2, T4, and T6 satisfy the following constraints:

[0012] ,

[0013] ,

[0014] ,

[0015] ,

[0016] Where m represents the SVPWM modulation coefficient, θ represents The angle between V4 and represents the minimum sampling window time; when the target vector sequence does not split the non-zero vector interval, ; When the target vector sequence will split the non-zero vector interval, ; Tasw represents the actual sampling window time.

[0017] According to an embodiment of the present invention, Tsw is inconsistent with T2, T4, and T6, and T2, T4, and T6 satisfy the following constraints:

[0018] ,

[0019] ,

[0020] ,

[0021] ,

[0022] Where m represents the SVPWM modulation coefficient, θ represents The angle between V4 and , Tasw represents the actual sampling window time; , ,or, , .

[0023] According to one embodiment of the present invention, the determination is used to synthesize The action time of each vector includes:

[0024] like In the sector I, it is determined that T2=Tsw, , ;

[0025] like In the sector II, it is determined that T4=Tsw, , ;

[0026] in, ,or, , ,or, , .

[0027] According to an embodiment of the present invention, a switching function Sx is defined, where x=a, b, c, Sx=1, indicating that the upper bridge arm of phase x is turned on, and Sx=0, indicating that the lower bridge arm of phase x is turned on; the preset rules include the following three:

[0028] Rule 1: Zero vector is evenly set at the beginning and end stages.

[0029] Rule 2: Each time the state switches, one phase of the bridge arm switches.

[0030] Rule 3: The number of segments of the vector sequence is the preset value;

[0031] Wherein, obtaining the target vector sequence according to the preset rule and the action time includes:

[0032] If the preset value is five, the target vector sequence is 000-100-110-010-000, or 000-010-110-100-000, and the duration of each segment is determined according to the corresponding action time, wherein the tertiary current sampling points are located in the non-zero vector interval in the middle of the target vector sequence;

[0033] If the preset value is seven, the target vector sequence is 000-100-110-010-110-100-000, or 000-010-110-100-110-010-000, and the duration of each segment is determined according to the corresponding action time, wherein the tertiary current sampling points are located in the first three non-zero vector intervals of the target vector sequence;

[0034] If the preset value is nine, the target vector sequence is 000-100-110-010-000-010-110-100-000, or 000-010-110-100-000-100 -110-010-000, and the duration of each segment is determined according to the corresponding action time, wherein the three current sampling points are located in the first three non-zero vector intervals of the target vector sequence.

[0035] According to an embodiment of the present invention, the method further includes: when it is determined that the rotor position θ is close to or in a critical region, performing a phase shift or a pit filling operation on the SVPWM waveform to be generated.

[0036] In order to solve the above technical problems, the second embodiment of the present invention proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the SVPWM waveform generation method based on motor single resistor sampling described in the above first embodiment is implemented.

[0037] In order to solve the above technical problems, the third aspect of the present invention proposes an electronic device, including a memory, a processor and a computer program stored in the memory. When the computer program is executed by the processor, the SVPWM waveform generation method based on motor single resistor sampling described in the first aspect of the present invention is implemented.

[0038] The SVPWM waveform generation method, storage medium and device based on motor single resistor sampling of the embodiment of the present invention divides the voltage vector space into three sectors and uses two zero vectors and three non-zero vectors to generate a voltage vector. Perform SVPWM vector synthesis and determine the vectors used for synthesis The action time of each vector is calculated, and then a five-segment, seven-segment or nine-segment target vector sequence is obtained according to the preset rules and the action time, and an SVPWM waveform is generated according to the target vector sequence for the PWM output of the next control cycle. In this way, the three-phase current can be safely checked based on Kirchhoff's current law, and the critical area between sectors can be reduced, which is more convenient for the implementation of the motor control algorithm.

[0039] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] FIG1 (a) is a schematic diagram of a single resistor sampling scheme adopted by the present invention;

[0041] Figure 1(b) is a schematic diagram of the three-resistance sampling scheme;

[0042] Figure 1(c) is a schematic diagram of the dual-resistance sampling method;

[0043] Figure 2 is a flow chart of a method for generating an SVPWM waveform based on motor single resistor sampling according to an embodiment of the present invention;

[0044] Figure 3 is a structural schematic diagram of the sensorless FOC control of an embodiment of the present invention;

[0045] FIG4( a ) is a schematic diagram of a three-phase current vector according to an example of the present invention;

[0046] FIG4( b ) is a schematic diagram of current vectors in a two-phase stationary coordinate system according to an example of the present invention;

[0047] FIG4( c ) is a schematic diagram of a current vector in a two-phase rotating coordinate system according to an example of the present invention;

[0048] Figure 5 is a schematic diagram of an inverter topology structure according to an embodiment of the present invention;

[0049] Figure 6 is a schematic diagram of a three-phase voltage vector according to an example of the present invention;

[0050] FIG. 7 ( a ) is a schematic diagram of a voltage synthesis vector according to an example of the present invention;

[0051] FIG7( b ) is a schematic diagram of a voltage vector space according to an example of the present invention;

[0052] Figure 8 is a schematic diagram of the sector division of the voltage vector space according to an embodiment of the present invention;

[0053] FIG9( a ) is a schematic diagram of a voltage vector synthesis process according to an example of the present invention;

[0054] FIG9( b ) is a schematic diagram of the voltage vector synthesis process based on FIG9( a );

[0055] FIG10( a ) is a schematic diagram of a critical SVM vector region according to an embodiment of the present invention;

[0056] FIG10( b ) is a schematic diagram of the critical SVM vector region corresponding to the conventional SVPWM waveform generation method;

[0057] FIG11( a ) is a schematic diagram of a four-segment vector sequence obtained by a conventional SVPWM waveform generation method;

[0058] FIG11( b ) is a schematic diagram of a five-segment vector sequence obtained by a conventional SVPWM waveform generation method;

[0059] FIG11( c ) is a schematic diagram of a seven-segment vector sequence obtained by a conventional SVPWM waveform generation method;

[0060] FIG. 12 (a) and FIG. 12 (b) are schematic diagrams of a five-segment vector sequence obtained by the method of the present invention;

[0061] FIG. 12 (c) and FIG. 12 (d) are schematic diagrams of seven-segment vector sequences obtained by the method of the present invention;

[0062] FIG. 12 (e) and FIG. 12 (f) are schematic diagrams of the nine-segment vector sequence obtained by the method of the present invention;

[0063] Fig. 13 (a) and Fig. 13 (b) are schematic diagrams of current sampling points corresponding to Fig. 12 (a) and Fig. 12 (b), respectively;

[0064] Fig. 13 (c) and Fig. 13 (d) are schematic diagrams of current sampling points corresponding to Fig. 12 (c) and Fig. 12 (d), respectively;

[0065] Fig. 13 (e) and Fig. 13 (f) are schematic diagrams of current sampling points corresponding to Fig. 12 (e) and Fig. 12 (f), respectively;

[0066] Fig.14 It is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0067] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0068] The following describes the SVPWM waveform generation method, storage medium and device based on motor single resistor sampling according to the embodiments of the present invention with reference to the accompanying drawings.

[0069] In an embodiment of the present invention, the three-phase current of the motor is sampled by a single resistor, as shown in FIG1 (a), and the sampling resistor R0 is connected between one end of the DC side of the motor inverter and its corresponding power supply port. Referring to FIG1 (a), an amplifier AMP0 and an analog-to-digital converter ADC0 (not shown in the figure) are provided corresponding to the sampling resistor R0 to obtain the phase current for sensorless FOC control. Compared with the three-resistance sampling scheme shown in FIG1 (b) and the dual-resistance sampling scheme shown in FIG1 (c), the single-resistance sampling scheme in the present application has lower hardware cost and simpler structure.

[0070] Figure 2 It is a flow chart of a method for generating SVPWM waveform based on motor single resistor sampling according to an embodiment of the present invention.

[0071] like Figure 2 As shown, the SVPWM waveform generation method based on motor single resistor sampling includes:

[0072] S21, in the PWM output process of the current control cycle, three current samplings are performed using a sampling resistor to obtain the three-phase current of the motor, and voltage vectors Vα and Vβ in a two-phase stationary coordinate system are obtained according to the three-phase current.

[0073] Specifically, the method of the present invention is used for the SVPWM waveform generation process in the sensorless FOC control of a three-phase motor, such as Figure 3 As shown, the sensorless FOC control process includes:

[0074] 1) Obtain the three-phase currents Ia, Ib, and Ic of the motor. For a PMSM (Permanent-magnet Synchronous Motor), the currents Ia, Ib, and Ic are sinusoidal waves with a phase difference of 120 degrees (as shown in Figure 4 (a)).

[0075] 2) The current (Ia, Ib, Ic) in the three-phase stationary coordinate system is converted into Iα and Iβ in the two-phase stationary coordinate system (αβ coordinate system) through Clark transformation (Iα and Iβ are sinusoidal waves with a phase difference of 90 degrees, as shown in Figure 4 (b)). Iα and Iβ are used as inputs of the current observer (such as the sliding film observer, the Romberg observer) to estimate the rotor position θ and the rotor speed ω. The rotor position θ is used as the input of the inverse Park transformation, and the rotor speed ω is used as the input of the PI control system. Among them, the rotor position θ can be calculated by the back electromotive force estimated by the observer using CORDIC (Coordinate Rotation Digital Computer, coordinate rotation digital calculation method); the rotor speed ω can be further calculated by the difference between two θ.

[0076] 3) Through Park transformation, Iα and Iβ are converted into approximate constants Id and Iq in the two-phase rotating coordinate system (dq coordinate system) (Id and Iq are perpendicular to each other and rotate with the rotor flux, as shown in Figure 4 (c)). Id and Iq are used as inputs of the proportional integral PI control loop (compared with the changing sine wave, constants are more convenient for PI control system to track and control).

[0077] 4) The PI control system performs error comparison and control based on Id, Iq and the reference values ​​IDREF and IQREF of Id and Iq. The output Vd and Vq are converted into Vα and Vβ in the two-phase stationary coordinate system (αβ coordinate system) through inverse Park transformation. Vα and Vβ are used as inputs of the current observer (such as the sliding film observer and the Romberg observer) for the next control loop to estimate the rotor position θ and rotor speed ω.

[0078] 5) Convert Vα and Vβ into three-phase voltage values ​​Va, Vb, and Vc in a three-phase stationary coordinate system through inverse Clark transformation, and use them to calculate the duty cycle of the PWM waveform to generate a three-phase corresponding PWM switching waveform. In practical applications, using SVPWM ( Figure 3 The SVM in the algorithm is used to simultaneously realize the inverse Clark transform, the calculation of PWM duty cycle and the generation of SVPWM waveform.

[0079] 6) The three-phase SVPWM waveform (six PWM signals, each phase controls the upper tube and the lower tube respectively) generated by SVM is output to the three-phase motor drive bridge (3-Phase Bridge), and the drive circuit outputs to the three phase input lines of the motor.

[0080] It should be noted that for high-speed motors, when the speed is too high, the back electromotive force is too high, and weak magnetic control is required. Figure 3As shown in the figure, the field weakening control outputs IDREF according to the rotor speed reference value ωREF (for PMSM field weakening control, IDREF is negative). Since the motor starts at a slow speed and the back electromotive force is small, it is difficult to estimate the rotor position θ at this time, so an additional starting algorithm is required (such as using a preset θ and acceleration to start the motor to a certain speed).

[0081] The SVPWM waveform obtained in the previous control cycle is used for PWM output in the current control cycle. During the PWM output process of the current control cycle, three current samplings (i.e. single resistor sampling) are performed using sampling resistors to obtain the three-phase currents Ia, Ib, and Ic of the motor. Combined with the process of sensorless FOC control, the voltage vectors Vα and Vβ in the two-phase stationary coordinate system can be obtained according to the three-phase currents Ia, Ib, and Ic.

[0082] In some embodiments of the present invention, after the three-phase currents Ia, Ib, and Ic are collected, Kirchhoff's law can be used to perform safety verification on the three-phase currents Ia, Ib, and Ic; if the verification passes, the step of obtaining the voltage vectors Vα and Vβ in the two-phase stationary coordinate system based on the three-phase currents is executed; if the verification fails, the PWM output of the current control cycle is stopped, and the SVPWM waveform generation process is ended.

[0083] Specifically, according to Kirchhoff's law, the currents Ia, Ib, and Ic sampled at the same time satisfy the condition that the sum is equal to 0, that is, In fact, due to differences in sampling points, sampling errors, noise interference and other factors, the maximum allowable current error value can be set based on Kirchhoff's law. When the three-phase current Ia, Ib, and Ic are safety verified, the verifiable formula is Is it satisfied? If not, , it is considered that there is a sampling value error, and further safety measures are taken, such as stopping the PWM wave output and stopping the motor to protect the system; if it is satisfied, the subsequent SVPWM waveform generation process continues.

[0084] S22, determining the target sector of the voltage vector space where the reference synthetic vector Vδ obtained by superimposing the three-phase voltage vectors of the motor is located according to Vα and Vβ.

[0085] Specifically, the inverter topology targeted by the present invention is as follows: Figure 5 See Figure 5 , the DC side voltage of the inverter is Vdc. For the three-phase bridge arms a, b, and c, each phase bridge arm has two upper and lower switches (such as IGBT tubes), and the two switches cannot be turned on at the same time. For the convenience of expression, a switching function Sx (x=a, b, c) is defined as follows:

[0086] Sx=1, indicating that the upper bridge arm of phase x is turned on (i.e. the high-end driver of phase x is turned on);

[0087] Sx=0 means that the lower bridge arm of phase x is turned on (i.e. the low-end driver tube of phase x is turned on).

[0088] Since each phase bridge arm has two states, 0 and 1, there are a total of If (SaSbSc) is used to represent the switching state of the three-phase bridge arm of the inverter, the switch tubes VT1, VT6, and VT2 are turned on, and VT4, VT3, and VT5 are turned off, which can be expressed as (100).

[0089] Under the (100) combination, the voltage relationship is as follows (N represents the neutral point of the motor):

[0090] , , ,

[0091] Solving for this yields:

[0092]

[0093] The same method is used to calculate the corresponding VaN, VbN, and VcN for the other 7 combinations: (001), (010), (011), (101), (110), (000), and (111), and the corresponding relationships are shown in Table 1 below:

[0094] Table 1

[0095]

[0096] For PMSM motors, such as Figure 6 As shown, three-phase symmetrical voltages Va, Vb, and Vc are applied to the stator ABC windings, thereby generating a counterclockwise rotating magnetic field in the air gap. The rotating magnetic field drags the rotor poles, and after overcoming the static friction, the rotor will begin to rotate. According to the spatial position of the ABC windings, the ABC coordinate system is drawn in the plane, and the spatial angle between the ABC axes is 120°. On the ABC axes, the voltage amplitude changes periodically: , , , where Vm is the phase voltage peak value. According to the linear superposition principle of vectors, the reference synthetic vector synthesized by the ABC axis vectors can be calculated The expression is as follows:

[0097]

[0098] in, It represents the spatial electrical angle of 120° between the A and B axes.

[0099] It can be seen that the reference synthetic vector The amplitude is the original amplitude times, and rotates counterclockwise at an angular velocity ω. Since the amplitude remains unchanged, The paths that the vertices travel together form a circle. According to the linear relationship between electromotive force and magnetic field, it can be seen that the magnetic field also rotates counterclockwise at an angular velocity ω. For electric motors, the key is how to control the three-phase electromotive force of the stator so that it can generate a standard circular magnetic field. The more circular the magnetic field is, the higher the motor control accuracy is. For generators, the key is how to control the angular velocity of the rotor to be constant, form a standard circular magnetic field, and thus induce a three-phase symmetrical electromotive force on the stator.

[0100] For the phase voltages on the three phases abc (VaN, VbN, VcN correspond to Va, Vb, Vc in the above example respectively), the voltage synthesis vector can be obtained. Under the 8 (SaSbSc) combination states shown in Table 1 above, the synthesis vector of each state can be calculated based on equal amplitude transformation as follows:

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108] It should be noted that the equal amplitude transformation is to make the calculated synthetic vector amplitude equal to the phase voltage amplitude, so it is multiplied by Of course, voltage vector synthesis can also be performed based on equal power transformation, equal effective value transformation, etc. Equal power transformation is to multiply the direct transformation matrix by a coefficient so that the amplitude product of the synthesized voltage vector and the current vector is directly equal to the total power of the three phases. Equal amplitude transformation, equal power transformation and equal effective value transformation are just multiplications of certain coefficients on the basis of the direct transformation matrix for different purposes. As long as the coordinate transformation type is selected, there will be no problems when using the correct coefficients when calculating the relevant physical quantities during the control process, and they have no effect on the stability of the control system itself.

[0109] As shown in Figure 7 (a), the above synthetic vectors V0~V7 are plotted in the αβ coordinate system, and the α axis is aligned with the x axis in the abc coordinate system. These eight vectors can be divided into two groups: zero vectors V0 and V7 are grouped together, and non-zero vectors V4, V6, V2, V3, V1, and V5 are grouped together. The amplitudes of the non-zero vectors are equal, and are all , the angles differ by 60°. Connecting the vertices of the six non-zero vectors forms a regular hexagon, as shown in Figure 7 (b). Two adjacent resultant vectors and the sides of the hexagon form an equilateral triangle. There are a total of six equilateral triangles, which can be called sectors I, II, III, IV, V, and VI respectively.

[0110] The present invention re-divides the six sectors of the SVPWM voltage vector space into three sectors, such as Figure 8 As shown, the three sectors are: the first sector (including sectors Ⅰ and Ⅱ), the second sector (including sectors Ⅲ and Ⅳ), and the third sector (including sectors Ⅴ and Ⅵ). The new sector division has the following characteristics:

[0111] 1) The three vectors contained in the new sector, that is, the single resistor scheme sampling current includes the three-phase currents Ia, Ib, and Ic. This feature is helpful for the subsequent SVPWM vector synthesis.

[0112] 2) The two vectors on the edge of the new sector are only one phase different from the zero vector V0(000). For example, V2 (010), V4 (100), and V1 (001) are only one phase different from the zero vector V0(000). This feature helps in the subsequent construction of the SVPWM vector sequence.

[0113] After obtaining Vα and Vβ, the reference synthesis vector can be determined according to Table 2 below: Target sector (can be one of the first sector, second sector, and third sector):

[0114] Table 2

[0115]

[0116] If it falls on sector I or sector II, the target sector is determined to be the first sector; if it falls on sector III or sector IV, the target sector is determined to be the second sector; if it falls on sector V or sector VI, the target sector is determined to be the third sector.

[0117] S23, performing SVPWM vector synthesis on Vδ using two zero vectors and three non-zero vectors corresponding to the target sector, and determining the action time of each vector used for synthesizing Vδ.

[0118] Specifically, for SVPWM vector synthesis, the principles are: 1) the number of vectors should be as small as possible to reduce the loss of switching; 2) the switching between vectors requires as few driver tubes as possible. To this end, the present invention uses the zero vector and the three adjacent non-zero vectors corresponding to the new sector for synthesis, that is, in the first sector, the non-zero vectors V4, V6, V2 and the zero vectors V0 and V7 are used to synthesize the reference synthesis vector In the second sector, non-zero vectors V2, V3, V1 and zero vectors V0, V7 are used to synthesize the reference synthetic vector In the third sector, non-zero vectors V1, V5, V4 and zero vectors V0, V7 are used to synthesize the reference synthetic vector It should be noted that the reference synthesis vector synthesized by this synthesis method is The boundary remains the hexagonal boundary without re-sectorization, for the following reasons:

[0119] Reference synthetic vector Taking the first sector (the same applies to other sectors) as an example, let Ts = T4 + T6 + T2 = 1, that is, do not include the zero vector for synthesis to explore the largest vector boundary. Among them, Ts is the control period, T4, T6, and T2 are the action time of V4, V6, and V2 respectively. Let On the vertex line between V4 and V6 (similarly on the vertex line between V2 and V6), T4∈[0,1] and is a fixed value. First consider If only V4 and V6 are used for synthesis, the value of T4 will be fixed, as shown in Figure 9 (a). Next, consider reducing T4 to T4', increasing T2, and observing whether the new synthetic vector will be larger than the hexagon boundary. From the vector synthesis and equilateral triangle properties shown in Figure 9 (b), it can be seen that the new synthetic The vertex is located on the line connecting the vertices of V2 and V6 only when T4=0, and is inside the hexagon in all other cases. Then let T4 change on [0,1] and repeat the above process. It can be seen that when the three vectors in the first sector are synthesized arbitrarily, the vertex of the synthesized vector will not exceed the boundary of the hexagon.

[0120] In some embodiments of the present invention, the target sector is the first sector, and the following formula is used to calculate Perform SVPWM vector synthesis:

[0121] ,

[0122] in, represents the control cycle, represents the action time of the non-zero vector V4, 6 represents the action time of the non-zero vector V6, T2 represents the action time of the non-zero vector V2, T0 represents the action time of the zero vector V0, and T7 represents the action time of the zero vector V7.

[0123] Next, determine the duration of each vector action.

[0124] In some embodiments of the present invention, Tsw is consistent with V4, V6, and V2, and T2, T4, and T6 satisfy the following constraints:

[0125] ,

[0126] ,

[0127] ,

[0128] ,

[0129] Where m represents the SVPWM modulation coefficient, θ represents The angle between V4 and represents the minimum sampling window time. Assuming that the newly constructed vector sequence (i.e., the target vector sequence) does not split the non-zero vector interval, then , Tasw represents the actual sampling window time.

[0130] Specifically, in the two-phase stationary reference coordinate system (α, β), let The angle between V4 and V4 is θ, and the sine theorem gives:

[0131] (1)

[0132] (2)

[0133] Because under equal amplitude transformation, , substituting it into formula (1) and formula (2), we can get formula (3) and formula (4):

[0134] (3)

[0135] (4)

[0136] make , is the SVPWM modulation coefficient, substituting it into formula (4), we can get formula (5):

[0137] (5)

[0138] Substituting m and formula (5) into formula (3), we can obtain:

[0139]

[0140] according to , , , the above formula can be transformed into formula (6):

[0141] (6)

[0142] Let the minimum sampling window time be Tsw (assuming that Tsw is the same for V4, V6, and V2). According to the restriction that T4, T6, and T2 should all be greater than or equal to Tsw, we can obtain formulas (7), (8), and (9):

[0143] (7)

[0144] (8)

[0145] (9)

[0146] According to the restriction that the sum of T4, T6, and T2 should be less than or equal to Ts, the following formula (10) can be obtained:

[0147]

[0148] because , we can get the three-vector synthesis case, if T2 is not 0, then we need to adjust m, that is, The value of is restricted to ensure that in the case of the latest three-vector synthesis, the time of T4+T6+T2 must be less than or equal to Ts.

[0149] When formulas (7)-(10) (i.e. the above constraints) are satisfied and Tsw, Ts, and Vdc can be determined according to the motor application scenario, then , T4, T6, and T2 values.

[0150] In some examples, determining the The action time of each vector includes: In sector I, determine T2=Tsw, , ;like In sector II, determine T4=Tsw, , ;in, ,or, , ,or, , .

[0151] Specifically, a determination , T4, T6, T2 values ​​are as follows:

[0152] Step 1: Determine the values ​​of Tsw, Ts, and Vdc according to the motor application scenario;

[0153] Step 2: Divide the new first sector into the original first sector and second sector for construction;

[0154] In practical applications, it is necessary to determine The sector in which it is located (i.e. Ⅰ, Ⅱ, Ⅲ, Ⅳ, Ⅴ, Ⅵ).

[0155] Step 3: When When in sector I, let T2 = Tsw; When in sector II, let T4 = Tsw;

[0156] Similarly, when Vδ is in sector III, let T1=Tsw; when Vδ is in sector IV, let T2=Tsw; when Vδ is in sector V, let T4=Tsw; when Vδ is in sector VI, let T1=Tsw.

[0157] Step 4: Determine the range of m and θ, and determine the value of m according to the motor application ( Can also be determined):

[0158] when In sector I, θ∈(0, ), formulas (7)-(10) become:

[0159] , Heng is established; ; , Heng is established; .

[0160] when In sector II, θ∈( , ), formulas (7)-(10) become:

[0161] , Heng is established; ; , Heng is established; .

[0162] Eliminating the constant formula, we can get:

[0163] when In sector I, θ∈(0, ), must meet the following requirements:

[0164] (11)

[0165] (12)

[0166] when In sector II, θ∈( , ), must meet the following requirements:

[0167] (13)

[0168] (14)

[0169] In sector I The maximum value is 1, in sector II The maximum value is 1, so from formula (12) and formula (14), the maximum value range of m is:

[0170] (15)

[0171] Determine m according to the motor application scenario. Since Vdc has been determined, It can also be determined.

[0172] It should be noted that in each control cycle Ts, the controller executes the algorithm once and updates the PWM signal once. Factors affecting Ts are: 1) Application requirements: The control cycle directly affects the response speed and control accuracy of the motor. The shorter the control cycle, the higher the response speed and control accuracy; so for applications with precise position control, such as balancing cars, the motor control cycle Ts is shorter. 2) Controller performance: The reduction of the control cycle Ts is limited by the ADC sampling + MCU processing speed. It is necessary to ensure that the ADC sampling + FOC algorithm operation is completed within one Ts. Therefore, high-speed ADC and high-performance MCU can allow shorter Ts under the same conditions; but if one MCU controls multiple motors, the minimum Ts allowed for each motor will become longer because the overall workload of the MCU has increased. 3) Motor parameters: The inertia, load and other parameters of the motor will also affect the design of the control cycle, and it is necessary to select according to the specific motor parameters. 4) System stability: Too long or too short control cycles will affect the stability of the system, and a balance needs to be struck between system stability and control accuracy. The minimum window time that needs to be maintained for stable sampling is related to the signal stabilization time and the ADC sampling speed. Generally speaking, ADC sampling needs to be performed after the signal is stable, so the minimum sampling window time Tsw can be understood as the signal stabilization time + ADC sampling time + additional time margin. After Ts and Tsw are determined, m can be determined.

[0173] Next, the value range of θ can be obtained from formula (11) and formula (13):

[0174] when In sector I:

[0175] (16)

[0176] when In sector II:

[0177]

[0178] Available

[0179] (17)

[0180] In formula (16), due to Greater than 0, we get ; In formula (17), due to Greater than 0, we get Therefore, for the newly divided first sector, compared with the traditional SVPWM synthesis method, although there is also a critical SVM vector area for reconstructing the three-phase current using a single resistor (as shown in the shaded area in Figure 10 (a)), the area There is no critical region nearby, which is an improvement compared with the conventional SVPWM synthesis method (the corresponding critical region is the shaded area in Fig. 10(b)).

[0181] Step 5: Determine the values ​​of T4, T6, and T2;

[0182] When Tsw, Ts, Vdc, Parameters required for motor control, as well as non-critical areas After the value range is taken, the motor starts and the FOC algorithm runs. Each control cycle needs to estimate First, determine the value of Whether formula (16) and formula (17) are satisfied. If not, it is close to or in the critical area, then the following algorithm cannot be used, and the subsequent control cycle PWM waveform needs to be phase shifted or pit-filled. If it is satisfied, that is, it is not in the critical area, then it can be based on Determine the sector and determine the values ​​of T4, T6, and T2.

[0183] when When in sector I, T2=Tsw, , ;when In sector II, T4=Tsw, , .

[0184] The time allocated for the zero vector is: ,or, , ,or, , .

[0185] S24, obtaining a target vector sequence according to a preset rule and action time, and generating an SVPWM waveform according to the target vector sequence for PWM output of the next control cycle, wherein the target vector sequence is a five-segment vector sequence, a seven-segment vector sequence or a nine-segment vector sequence.

[0186] In some embodiments of the present invention, a switching function Sx is defined, where x=a, b, c, Sx=1, indicating that the upper bridge arm of phase x is turned on, and Sx=0, indicating that the lower bridge arm of phase x is turned on; the preset rules include the following three:

[0187] Rule 1: Zero vector is evenly set at the beginning and end stages.

[0188] Rule 2: Each time the state switches, one phase of the bridge arm switches.

[0189] Rule 3: The number of segments of the vector sequence is the preset value.

[0190] Wherein, the target vector sequence is obtained according to the preset rules and the action time, including: if the preset value is five, the target vector sequence is 000-100-110-010-000, or, 000-010-110-100-000, and the duration of each segment is determined according to the corresponding action time, wherein the tertiary current sampling points are located in the non-zero vector interval in the middle of the target vector sequence; if the preset value is seven, the target vector sequence is 000-100-110-010-11 0-100-000, or 000-010-110-100-110-010-000, and the duration of each segment is determined according to the corresponding action time, wherein the three current sampling points are located in the first three non-zero vector intervals of the target vector sequence; if the preset value is nine, the target vector sequence is 000-100-110-010-000-010-110-100-000, or 000-010-110-100-000-100 -110-010-000, and the duration of each segment is determined according to the corresponding action time, wherein the three current sampling points are located in the first three non-zero vector intervals of the target vector sequence.

[0191] Specifically, in the traditional SVPWM waveform generation method, zero vector and two adjacent non-zero vectors are used to synthesize Vδ, and a four-segment vector sequence, a five-segment vector sequence or a seven-segment vector sequence is used to generate the vector sequence. Taking Vδ falling in sector I as an example, the obtained four-segment vector sequence is 000-100-110-000, as shown in Figure 11 (a); the obtained five-segment vector sequence is 000-100-110-100-000, as shown in Figure 11 (b), and the obtained seven-segment vector sequence is 000-100-110-111-110-100-000, as shown in Figure 11 (c).

[0192] The disadvantage of the above four-segment vector sequence is that the switches of two bridge arms need to be activated when the state is switched, and the waveform is asymmetric. By adopting the method of the present invention, the four-segment vector sequence obtained by the above traditional method can be converted into a five-segment vector sequence: 000-100-110-010-000 (Figure 12 (a)) or 000-010-110-100-000 (Figure 12 (b)). By adopting the method of the present invention, the five-segment vector sequence obtained by the above-mentioned traditional method can be changed into a seven-segment vector sequence: 000-100-110-010-110-100-000 (Figure 12 (c)), or, 000-010-110-100-110-010-000 (Figure 12 (d)), and the seven-segment vector sequence obtained by the above-mentioned traditional method can be changed into a nine-segment vector sequence: 000-100-110-010-000-010-110-100-000 (Figure 12 (e)), or, 000-010-110-100-000-100-110-010-000 (Figure 12 (f)). In addition, in the nine-segment vector sequence of the present invention, 000 is inserted in the middle instead of 111, which can reduce switching.

[0193] According to the obtained target vector sequence, an SVPWM waveform can be generated, and the generated SVPWM waveform can be used for the PWM output of the next control cycle. In the PWM output process of the next control cycle, a single resistor sampling scheme can be used to sample the three-phase current, and the current sampling point of the sampling resistor can be set as follows:

[0194] For a five-segment target vector sequence, the tertiary current sampling points can be located in the middle non-zero vector interval, as shown in Figures 13 (a) and 13 (b); for a seven-segment target vector sequence, the tertiary current sampling points can be located in the first three non-zero vector intervals, as shown in Figures 13 (c) and 13 (d); for a nine-segment target vector sequence, the tertiary current sampling points can be located in the first three non-zero vector intervals, as shown in Figures 13 (e) and 13 (f).

[0195] In some embodiments of the present invention, Tsw is inconsistent with T2, T4, and T6, and T2, T4, and T6 satisfy the following constraints:

[0196] ,

[0197] ,

[0198] ,

[0199] ,

[0200] Where m represents the SVPWM modulation coefficient, θ represents The angle between V4 and , Tasw represents the actual sampling window time; , ,or, , .

[0201] Specifically, since the five-segment vector sequence obtained by the present invention, Tsw does not divide the non-zero vector interval, Tsw=Tasw; while the seven-segment vector sequence and the nine-segment vector sequence may divide the non-zero vector interval, Tsw needs to be converted to Tasw (Time of Actual Sampling Window, actual sampling window time).

[0202] Considering that the V2 vector is not segmented in time, for the seven-segment vector sequence shown in Figure 12(c), we have ; Considering that the V4 vector is not segmented in time, for the seven-segment vector sequence shown in Figure 12 (d), we have ; For the nine-segment vector sequence, there is .

[0203] For the above situation where Tsw(V4), Tsw(V6), and Tsw(V2) are not equal, it is necessary to modify formula (7), formula (8), and formula (9) accordingly as follows:

[0204] Formula (7) becomes ;

[0205] Formula (8) becomes ;

[0206] Formula (9) becomes .

[0207] In addition, the value range of m and θ is recalculated and determined, and the values ​​of T4, T6, and T2 are determined. The demonstration process is similar to the above and will not be repeated here.

[0208] As described above, the application process of the SVPWM waveform generation method based on motor single resistor sampling according to the embodiment of the present invention can be as follows:

[0209] 1) Determine the values ​​of Tasw, Ts, and Vdc according to the motor application scenario;

[0210] 2) Determine the range of m and θ from the fourth step above, and determine the value of m based on the motor application (|Vδ| can also be determined);

[0211] 3) Select a vector sequence (five-segment, seven-segment, nine-segment) to generate the SVPWM waveform, and determine the value of Tsw based on the selected vector sequence;

[0212] 4) After the motor is started, in each control cycle of the motor control algorithm (sensorless FOC control algorithm), a single resistor sampling scheme is used to sample and obtain the three-phase currents Ia, Ib, and Ic, and functional safety verification is performed based on Kirchhoff's law. If the verification passes, continue with the following process, otherwise take safety measures, such as stopping PWM output, stopping the motor, etc.;

[0213] 5) Perform Clark-Park transformation according to the three-phase current, calculate the values ​​of θ and ω, determine the sector (Ⅰ, Ⅱ, Ⅲ, Ⅳ, Ⅴ, Ⅵ) where Vδ is located, perform PI control, and perform reverse Clark-Park transformation;

[0214] 6) If θ is close to or in the critical region, the subsequent control cycle PWM waveform needs to be phase shifted or pit-filled;

[0215] 7) When Vδ is in the first sector, let T2 = Tsw; when Vδ is in the second sector, let T4 = Tsw; when Vδ is in the third sector, let T1 = Tsw; when Vδ is in the fourth sector, let T2 = Tsw; when Vδ is in the fifth sector, let T4 = Tsw; when Vδ is in the sixth sector, let T1 = Tsw;

[0216] 8) If Tsw is the same for the three-phase non-zero vector, the action time of the three-phase non-zero vector and the zero vector is determined according to the formula in the fifth step above; if Tsw is different for the three-phase non-zero vector, the action time of the three-phase non-zero vector and the zero vector is estimated according to the modified version of formula (7), the modified version of formula (8), and the modified version of formula (9) combined with the above argumentation process.

[0217] 9) Generate an SVPWM waveform according to the obtained action time and the selected vector sequence, and update the SVPWM waveform to the comparison register of the PWM generation counter (timer) for PWM output in the next control cycle.

[0218] Based on the SVPWM waveform generation method based on motor single resistor sampling in the above embodiment, the present invention proposes a computer-readable storage medium.

[0219] In this embodiment, a computer program is stored on a computer-readable storage medium. When the computer program is executed by a processor, the SVPWM waveform generation method based on motor single resistor sampling of the above embodiment is implemented.

[0220] Based on the SVPWM waveform generation method based on motor single resistor sampling in the above embodiment, the present invention proposes an electronic device.

[0221] Fig.14 It is a structural block diagram of an electronic device according to an embodiment of the present invention.

[0222] like Fig.14 As shown, the electronic device 500 includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the electronic device 500 may also include a transceiver 504. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of the present invention.

[0223] The processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. The processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0224] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.14Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0225] The memory 503 is used to store a computer program corresponding to the SVPWM waveform generation method based on motor single resistor sampling of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the content shown in the above method embodiment.

[0226] The electronic device 500 includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and vehicle-mounted terminals, as well as fixed terminals such as digital TVs and desktop computers. Fig.14 The electronic device 500 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0227] In summary, the SVPWM waveform generation method, storage medium and device based on motor single resistor sampling of the embodiment of the present invention, in the PWM output process of the current control cycle, uses a single resistor sampling scheme to obtain the three-phase current of the motor, and can perform safety verification of the three-phase current based on Kirchhoff's law. The verification process does not require additional amplifiers and ADCs, and the cost is low. After the verification is passed, the voltage vectors Vα and Vβ in the two-phase stationary coordinate system are obtained according to the three-phase current, and then the reference synthetic vector obtained by superimposing the three-phase voltage of the motor is determined according to Vα and Vβ. The target sector where the target sector is located; using two zero vectors and three non-zero vectors corresponding to the target sector Perform vector synthesis and determine the vectors used for synthesis The action time of each vector is calculated, and then the SVPWM waveform is generated according to the preset rules and action time for the PWM output of the next control cycle. In this process, the critical area between half of the sectors can be eliminated through the division of three sectors and vector synthesis, which is more convenient for the implementation of the motor control algorithm.

[0228] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0229] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0230] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0231] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0232] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0233] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0234] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0235] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for generating SVPWM waveform based on motor single resistor sampling, characterized in that: The sampling resistor is connected between one end of the DC side of the motor inverter and its corresponding power supply port. The method includes: In the PWM output process of the current control cycle, the sampling resistor is used to perform three current sampling to obtain the three-phase current of the motor, and the voltage vectors Vα and Vβ in the two-phase stationary coordinate system are obtained according to the three-phase current; Determine the reference synthetic vector obtained by superimposing the three-phase voltage vectors of the motor according to Vα and Vβ The target sector of the voltage vector space; Using two zero vectors and three non-zero vectors corresponding to the target sector Perform SVPWM vector synthesis and determine the vectors used for synthesis The action time of each vector; Obtaining a target vector sequence according to a preset rule and the action time, and generating an SVPWM waveform according to the target vector sequence for PWM output of the next control cycle, wherein the target vector sequence is a five-segment vector sequence, a seven-segment vector sequence or a nine-segment vector sequence; The target sector is the first sector, which is composed of sectors I and II of the voltage vector space; Perform SVPWM vector synthesis: ， in, represents the control cycle, represents the action time of the non-zero vector V4, 6 represents the action time of non-zero vector V6, T2 represents the action time of non-zero vector V2, T0 represents the action time of zero vector V0, and T7 represents the action time of zero vector V7; Define a switch function Sx, where x=a, b, c, Sx=1, indicating that the upper bridge arm of phase x is turned on, and Sx=0, indicating that the lower bridge arm of phase x is turned on; the preset rules include the following three: Rule 1: Zero vector is evenly set at the beginning and end stages. Rule 2: Each time the state switches, one phase of the bridge arm switches. Rule 3: The number of segments of the vector sequence is the preset value; Wherein, obtaining the target vector sequence according to the preset rule and the action time includes: If the preset value is five, the target vector sequence is 000-100-110-010-000, or 000-010-110-100-000, and the duration of each segment is determined according to the corresponding action time, wherein the tertiary current sampling points are located in the non-zero vector interval in the middle of the target vector sequence; If the preset value is seven, the target vector sequence is 000-100-110-010-110-100-000, or 000-010-110-100-110-010-000, and the duration of each segment is determined according to the corresponding action time, wherein the tertiary current sampling points are located in the first three non-zero vector intervals of the target vector sequence; If the preset value is nine, the target vector sequence is 000-100-110-010-000-010-110-100-000, or 000-010-110-100-000-100 -110-010-000, and the duration of each segment is determined according to the corresponding action time, wherein the three current sampling points are located in the first three non-zero vector intervals of the target vector sequence.

2. The SVPWM waveform generation method based on motor single resistor sampling according to claim 1 is characterized in that: The method further comprises: Using Kirchhoff's law to verify the safety of the three-phase current; If the verification is passed, the step of obtaining the voltage vectors Vα and Vβ in the two-phase stationary coordinate system according to the three-phase current is performed; If the verification fails, the PWM output of the current control cycle is stopped and the SVPWM waveform generation process ends.

3. The SVPWM waveform generation method based on motor single resistor sampling according to claim 1 is characterized in that: Tsw is consistent with T2, T4, and T6, and T2, T4, and T6 satisfy the following constraints: ， ， ， ， Where m represents the SVPWM modulation coefficient, θ represents The angle between V4 and represents the minimum sampling window time; when the target vector sequence does not split the non-zero vector interval, ; When the target vector sequence will split the non-zero vector interval, ; Tasw represents the actual sampling window time.

4. The SVPWM waveform generation method based on motor single resistor sampling according to claim 1 is characterized in that: Tsw is inconsistent with T2, T4, and T6. T2, T4, and T6 satisfy the following constraints: ， ， ， ， Where m represents the SVPWM modulation coefficient, θ represents The angle between V4 and , Tasw represents the actual sampling window time; , ,or, , .

5. The SVPWM waveform generation method based on motor single resistor sampling according to claim 3 is characterized in that: The determination is used for synthesis The action time of each vector includes: like In the sector I, it is determined that T2=Tsw, , ; like In the sector II, it is determined that T4=Tsw, , ; in, ,or, , ,or, , .

6. The SVPWM waveform generation method based on motor single resistor sampling according to claim 1 is characterized in that: The method further comprises: When it is determined that the rotor position θ is close to or in the critical region, a phase shift or pit filling operation is performed on the SVPWM waveform to be generated.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the SVPWM waveform generation method based on motor single resistor sampling according to any one of claims 1 to 6 is implemented.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: When the computer program is executed by the processor, the SVPWM waveform generation method based on motor single resistor sampling according to any one of claims 1 to 6 is implemented.

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