Space vector pulse width modulation method and device, electronic equipment and medium

Abstract

The invention discloses a space vector pulse width modulation method and device, electronic equipment and a medium, and is applied to the field of field programmable gate arrays. The invention provides a space vector pulse width modulation method. The method comprises the following steps: acquiring a vector angle and a vector length corresponding to a voltage signal; acquiring an electrical angle of a motor rotor corresponding to the voltage signal; determining modulation wave contours corresponding to the vector angle and the electrical angle based on a modulation wave table; and determining a corresponding modulation wave based on the modulation wave contour and the vector length, so that the field programmable gate array outputs a corresponding sine wave according to the modulation wave. Therefore, the corresponding modulation wave contour can be determined according to table look-up only by determining the vector angle and the electrical angle corresponding to the voltage signal, the modulation wave directly modulates and drives the field programmable gate array to output the corresponding sine wave, a large number of calculation processes in traditional vector pulse width modulation calculation are omitted, and the overall efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of field programmable gate arrays, and in particular to a space vector pulse width modulation method, device, electronic equipment and medium. Background Art

[0002] Vector pulse width modulation (SVPWM) is a pulse modulation wave generated by a specific switching mode composed of six power switching elements of a three-phase power inverter, which can make the output current waveform as close to the ideal sine waveform as possible. Its traditional SVPWM algorithm is complex to calculate, and its process is divided into four steps: Step 1, it is necessary to first obtain the voltage in the dq coordinate system corresponding to the current loop in the system, and perform an inverse Park transform on it to obtain the voltage in the α-β coordinate system, and calculate and determine the sector of the voltage vector based on the voltage in the α-β coordinate system; Step 2, determine the action time of each vector based on the period of the carrier, the voltage in the α-β coordinate system, and the sector of the voltage vector; Step 3, determine the switching point of the sector vector based on the action time of each vector; Step 4, determine the corresponding modulation wave based on the switching point of the sector vector, so as to drive the downstream connected electronic devices to output the corresponding sine wave.

[0003] However, the above-mentioned traditional SVPWM algorithm is too complex as a whole, and is not conducive to driving the FPGA to output the corresponding sine wave.

[0004] In view of the above technology, seeking a space vector pulse width modulation method is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present application is to provide a space vector pulse width modulation method, device, electronic device and medium, which can solve the problem that the traditional SVPWM algorithm in the prior art is too complex as a whole and has a large amount of calculation, which is not conducive to use in a field programmable gate array.

[0006] In order to solve the above technical problems, on the one hand, the present application provides a space vector pulse width modulation method, comprising:

[0007] Obtain the vector angle and vector length corresponding to the voltage signal;

[0008] Obtaining the electrical angle of the motor rotor corresponding to the voltage signal;

[0009] Determine the modulation wave profile corresponding to the vector angle and the electrical angle based on the modulation wave table;

[0010] The corresponding modulation wave is determined based on the modulation wave profile and the vector length, so that the field programmable gate array outputs a corresponding sine wave according to the modulation wave.

[0011] Preferably, obtaining the vector angle and vector length corresponding to the voltage signal includes:

[0012] Obtain a dq rectangular coordinate system representing a corresponding voltage signal in the motor;

[0013] Determine the corresponding vector angle according to the d-axis voltage and the q-axis voltage in the dq rectangular coordinate system;

[0014] Convert the dq rectangular coordinate system into a polar coordinate system;

[0015] Determine a voltage vector corresponding to the voltage signal according to a polar coordinate system;

[0016] The vector length is determined based on the voltage vector.

[0017] Preferably, the electrical angle of the motor rotor corresponding to the voltage signal includes:

[0018] Determine the operating state of the corresponding motor rotor according to the voltage signal;

[0019] An observer is used to determine the electrical angle corresponding to the operating state.

[0020] Preferably, determining the modulation wave profile corresponding to the vector angle and the electrical angle based on the modulation wave table includes:

[0021] Determine the corresponding target angle according to the vector angle and the electrical angle; wherein the sum of the vector angle and the electrical angle is taken as the target angle;

[0022] The modulation wave profile corresponding to the target angle is determined based on the modulation wave table.

[0023] Preferably, after determining the corresponding modulation wave based on the modulation wave profile and the vector length, the method further includes:

[0024] Determine a driving signal according to the modulation wave and the corresponding triangular carrier wave, so that the driving signal drives the field programmable gate array to output a corresponding sine wave according to the driving signal;

[0025] When the modulation wave is larger than the triangular carrier wave, the drive signal represents a positive voltage signal; when the modulation wave is not larger than the triangular carrier wave, the drive signal represents a negative voltage signal.

[0026] Preferably, obtaining a modulation wave table includes:

[0027] Obtain each sector corresponding to each historical voltage vector;

[0028] Determine the action time of each historical vector according to each sector and the corresponding historical voltage vector;

[0029] Determine the switching point of each sector vector based on the action time of each historical vector;

[0030] The modulation wave table is determined according to the switching points of each sector vector.

[0031] Preferably, the expression of the vector angle is:

[0032] ;

[0033] Where θ is the vector angle; Vd 2 is the d-axis voltage corresponding to the voltage vector; Vq 2 is the q-axis voltage corresponding to the voltage vector.

[0034] On the other hand, the present application also provides a space vector pulse width modulation device, comprising:

[0035] A first acquisition module, used to acquire a vector angle and a vector length corresponding to a voltage signal;

[0036] A second acquisition module is used to acquire the electrical angle of the motor rotor corresponding to the voltage signal;

[0037] A first determination module, used to determine the modulation wave profile corresponding to the vector angle and the electrical angle based on the modulation wave table;

[0038] The second determination module is used to determine the corresponding modulation wave based on the modulation wave profile and the vector length, so that the field programmable gate array outputs the corresponding sine wave according to the modulation wave.

[0039] On the other hand, the present application also provides an electronic device, comprising a memory for storing a computer program;

[0040] The processor is used to implement the steps of the above-mentioned space vector pulse width modulation method when executing the computer program.

[0041] On the other hand, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned space vector pulse width modulation method are implemented.

[0042] The present application provides a space vector pulse width modulation method, including: obtaining the vector angle and vector length corresponding to the voltage signal; obtaining the electrical angle of the motor rotor corresponding to the voltage signal; determining the modulation wave profile corresponding to the vector angle and electrical angle based on the modulation wave table; determining the corresponding modulation wave based on the modulation wave profile and vector length, so that the field programmable gate array outputs the corresponding sine wave according to the modulation wave. It can be seen that the present application only needs to determine the vector angle and electrical angle corresponding to the voltage signal to determine the corresponding modulation wave profile according to the table lookup, and the modulation wave directly modulates the field programmable gate array to output the corresponding sine wave, eliminating a large number of calculation processes in the traditional vector pulse width modulation calculation, and improving the overall efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A flow chart of a space vector pulse width modulation method is provided for this application;

[0045] Figure 2 A schematic diagram of the modulation wave provided in the embodiment of the present application;

[0046] Figure 3 A schematic diagram of a space vector pulse width modulation device provided by another embodiment of the present application;

[0047] Figure 4 A structural diagram of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] The core of this application is to provide a space vector pulse width modulation method, device, electronic equipment and medium.

[0050] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] In order to solve the above technical problems, the present application provides a space vector pulse width modulation method, such as Figure 1 As shown, the following steps are included:

[0052] S10: Obtain the vector angle and vector length corresponding to the voltage signal.

[0053] In a specific embodiment, the dq rectangular coordinate system is used to characterize the voltage, but the dq rectangular coordinate system is a rotating rectangular coordinate system, so it cannot intuitively reflect the voltage vector corresponding to the voltage signal. Therefore, as a preferred embodiment, the vector angle is first determined according to the dq rectangular coordinate system, and then converted into a polar coordinate system; the voltage vector corresponding to the voltage signal is determined according to the polar coordinate system, so as to further determine the vector length corresponding to the voltage vector.

[0054] S11: Obtain the electrical angle of the motor rotor corresponding to the voltage signal.

[0055] In a specific embodiment, the electrical angle is the angle on the circumference corresponding to the magnetic field distribution, that is, the angle that the electrons rotate around the same point, which can be used to characterize the changes in the quantity, voltage and current. Among them, the changes in quantity, voltage and current are all achieved through the motor, and the specific steps of obtaining the electrical angle of the motor rotor corresponding to the voltage signal can be: determining the operating state of the corresponding motor rotor according to the voltage vector; using an observer or encoder to determine the electrical angle corresponding to the operating state.

[0056] S12: Determine the modulation wave profile corresponding to the vector angle and the electrical angle based on the modulation wave table.

[0057] In a specific embodiment, the SVPWM algorithm in the prior art is used to determine the modulation wave table, wherein the modulation wave table is specifically a quarter saddle wave. The present application can determine the current corresponding modulation wave profile by querying the modulation wave according to the vector angle and the electrical angle. Among them, the modulation wave table is as follows Figure 2 shown.

[0058] Among them, as a preferred embodiment, the target angles of the vector angle and the electrical angle can be determined, and finally the modulation wave profile corresponding to the target angle is adopted.

[0059] S13: Determine a corresponding modulation wave based on the modulation wave profile and the vector length, so that the field programmable gate array outputs a corresponding sine wave according to the modulation wave.

[0060] In a specific embodiment, the corresponding modulation wave can be determined by multiplying the modulation wave profile and the corresponding vector length, and then the modulation wave is used to drive the field programmable gate array so that the field programmable gate array outputs the corresponding sine wave.

[0061] The present application provides a space vector pulse width modulation method, including: obtaining the vector angle and vector length corresponding to the voltage signal; obtaining the electrical angle of the motor rotor corresponding to the voltage signal; determining the modulation wave profile corresponding to the vector angle and electrical angle based on the modulation wave table; determining the corresponding modulation wave based on the modulation wave profile and vector length, so that the field programmable gate array outputs the corresponding sine wave according to the modulation wave. It can be seen that the present application only needs to determine the vector angle and electrical angle corresponding to the voltage signal to determine the corresponding modulation wave profile according to the table lookup, and the modulation wave directly modulates the field programmable gate array to output the corresponding sine wave, eliminating a large number of calculation processes in the traditional vector pulse width modulation calculation, and improving the overall efficiency.

[0062] Based on the above embodiment, as a preferred embodiment, the above step S10: the specific steps of obtaining the vector angle and vector length corresponding to the voltage signal include:

[0063] Obtain a dq rectangular coordinate system representing a corresponding voltage signal in the motor;

[0064] Determine the corresponding vector angle according to the d-axis voltage and the q-axis voltage in the dq rectangular coordinate system;

[0065] Convert the dq rectangular coordinate system into a polar coordinate system;

[0066] Determine a voltage vector corresponding to the voltage signal according to a polar coordinate system;

[0067] The vector length is determined based on the voltage vector.

[0068] The expression of the vector angle is:

[0069] ;

[0070] Where θ is the vector angle; Vd 2 is the d-axis voltage corresponding to the voltage vector; Vq 2 is the q-axis voltage corresponding to the voltage vector.

[0071] In a specific embodiment, a dq rectangular coordinate system is usually used to characterize the voltage signal in the motor, but the dq rectangular coordinate system is a rotating rectangular coordinate system, so it is impossible to intuitively reflect the voltage vector corresponding to the voltage signal. Therefore, as a preferred embodiment, the d-axis voltage and q-axis voltage in the dq rectangular coordinate system are first obtained, and then the vector angle corresponding to the voltage signal is determined according to the expression of the vector angle. However, polar coordinates can intuitively determine the angle and vector corresponding to the voltage signal, so the dq rectangular coordinate system can be converted into the corresponding polar coordinate system, and the voltage vector corresponding to the voltage can be determined according to the polar coordinate system, thereby further determining the vector length corresponding to the voltage vector.

[0072] It should be noted that the vector angle obtained at this time is the angle with the d-axis in the dq rectangular coordinate system.

[0073] It should also be noted that the embodiments and formulas of the present application are only one possible implementation method, but are not limited to only this implementation method and can be set according to the needs of the user.

[0074] Based on the above embodiment, as a preferred embodiment, the specific steps of the above step S11: obtaining the electrical angle of the electronic rotor corresponding to the voltage signal include:

[0075] Determine the operating state of the corresponding motor rotor according to the voltage vector;

[0076] An observer is used to determine the electrical angle corresponding to the operating state.

[0077] In a specific embodiment, the electrical angle is the angle on the circumference corresponding to the magnetic field distribution, that is, the angle that the electrons rotate around the same point, which can be used to characterize the changes in the quantity, voltage and current. The changes in quantity, voltage and current are all achieved by the motor, so the operating state of the corresponding motor rotor can be determined based on the voltage vector; an observer or encoder is used to determine the electrical angle corresponding to the operating state.

[0078] The electrical angle represents the angle between the dq rectangular coordinate system (rotating coordinate system) and the stationary coordinate system.

[0079] Among them, since the vector angle is the angle with the d-axis in the dq rectangular coordinate system, and the electrical angle represents the angle between the dq rectangular coordinate system (rotating coordinate system) and the stationary coordinate system, it is necessary to take the sum of the vector angle and the electrical angle as the target angle, and query the modulation wave table according to the target angle to determine the corresponding modulation wave profile.

[0080] The production of the modulation wave table includes: obtaining the sectors corresponding to the historical voltage vectors; determining the action time of each historical vector according to each sector and the corresponding historical voltage vector; determining the switching point of each sector vector based on the action time of each historical vector; and determining the modulation wave table according to the switching point of each sector vector.

[0081] It should be noted that, since the preparation of the modulation wave table is determined by the existing SVPWM algorithm, the specific step flow is not limited in this application.

[0082] In addition, SPWM modulation is a commonly used modulation technology, which usually controls the frequency, amplitude and phase of the output signal by adjusting the phase difference and amplitude of the modulation wave and the triangular carrier. In SPWM modulation, the modulation wave is a low-frequency sine wave signal, and the triangular carrier is a high-frequency triangular wave signal. By adjusting the phase difference and amplitude between the two signals, we can achieve precise control of the output signal waveform. When the modulation wave is greater than the triangular carrier, the drive signal (output signal) represents a positive voltage signal; when the modulation wave is not greater than the triangular carrier, the drive signal (output signal) represents a negative voltage signal.

[0083] It should be noted that the embodiment of the present application is only one possible implementation method, but is not limited to only this implementation method and can be set according to the needs of the user.

[0084] In summary, the space vector pulse width modulation method provided by the present application includes: obtaining the vector angle and vector length corresponding to the voltage signal; obtaining the electrical angle of the motor rotor corresponding to the voltage signal; determining the modulation wave profile corresponding to the vector angle and electrical angle based on the modulation wave table; determining the corresponding modulation wave based on the modulation wave profile and vector length, so that the field programmable gate array outputs the corresponding sine wave according to the modulation wave. It can be seen that the present application only needs to determine the vector angle and electrical angle corresponding to the voltage signal to determine the corresponding modulation wave profile according to the table lookup, and the modulation wave directly modulates the field programmable gate array to output the corresponding sine wave, eliminating a large number of calculation processes in the traditional vector pulse width modulation calculation, and improving the overall efficiency.

[0085] In the above embodiments, the space vector pulse width modulation method is described in detail, and the present application also provides a corresponding embodiment of the space vector pulse width modulation device. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware.

[0086] Figure 3 A schematic diagram of a space vector pulse width modulation device provided in another embodiment of the present application is shown in FIG. Figure 3 As shown, including:

[0087] A first acquisition module 11 is used to acquire a vector angle and a vector length corresponding to a voltage signal;

[0088] A second acquisition module 12 is used to acquire the electrical angle of the motor rotor corresponding to the voltage signal;

[0089] A first determination module 13, used to determine the modulation wave profile corresponding to the vector angle and the electrical angle based on the modulation wave table;

[0090] The second determination module 14 is used to determine the corresponding modulation wave based on the modulation wave profile and the vector length, so that the field programmable gate array outputs the corresponding sine wave according to the modulation wave.

[0091] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0092] Figure 4 A structural diagram of an electronic device provided in another embodiment of the present application, such as Figure 4 As shown, the electronic device includes: a memory 20 for storing a computer program;

[0093] The processor 21 is used to implement the steps of the space vector pulse width modulation method mentioned in the above embodiment when executing the computer program.

[0094] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0095] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0096] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein the computer program can implement the relevant steps of the space vector pulse width modulation disclosed in any of the aforementioned embodiments after being loaded and executed by the processor 21. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc.

[0097] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power source 25 , and a communication bus 26 .

[0098] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0099] The electronic device provided in the embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the above-mentioned space vector pulse width modulation method and has the same beneficial effects.

[0100] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0101] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0102] The above is a detailed introduction to a space vector pulse width modulation method, device, electronic device and medium provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0103] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A space vector pulse width modulation method, characterized in that: include: Obtain the vector angle and vector length corresponding to the voltage signal; Obtaining the electrical angle of the motor rotor corresponding to the voltage signal; Determine the modulation wave profile corresponding to the vector angle and the electrical angle based on the modulation wave table; A corresponding modulation wave is determined based on the modulation wave profile and the vector length, so that a field programmable gate array outputs a corresponding sine wave according to the modulation wave.

2. The space vector pulse width modulation method according to claim 1, characterized in that: The obtaining of the vector angle and vector length corresponding to the voltage signal includes: Obtain a dq rectangular coordinate system representing a corresponding voltage signal in the motor; Determine the corresponding vector angle according to the d-axis voltage and the q-axis voltage in the dq rectangular coordinate system; Converting the dq rectangular coordinate system into a polar coordinate system; Determine a voltage vector corresponding to the voltage signal according to the polar coordinate system; The vector length is determined based on the voltage vector.

3. The space vector pulse width modulation method according to claim 1, characterized in that: Obtaining the electrical angle of the motor rotor corresponding to the voltage signal includes: Determining the operating state of the corresponding motor rotor according to the voltage signal; An observer is used to determine the electrical angle corresponding to the operating state.

4. The space vector pulse width modulation method according to claim 1, characterized in that: The determining, based on the modulation wave table, the modulation wave profile corresponding to the vector angle and the electrical angle comprises: Determine a corresponding target angle according to the vector angle and the electrical angle; wherein the sum of the vector angle and the electrical angle is used as the target angle; A modulation wave profile corresponding to the target angle is determined based on the modulation wave table.

5. The space vector pulse width modulation method according to claim 1, characterized in that: After determining the corresponding modulation wave based on the modulation wave profile and the vector length, the method further includes: Determine a driving signal according to the modulation wave and the corresponding triangular carrier wave, so that the driving signal drives the field programmable gate array to output a corresponding sine wave according to the driving signal; When the modulation wave is greater than the triangular carrier wave, the drive signal represents a positive voltage signal; when the modulation wave is not greater than the triangular carrier wave, the drive signal represents a negative voltage signal.

6. The space vector pulse width modulation method according to any one of claims 1 to 5, characterized in that: Obtaining the modulation wave table includes: Obtain each sector corresponding to each historical voltage vector; Determining the action time of each historical vector according to each sector and the corresponding historical voltage vector; Determining a switching point of each sector vector based on the action time of each historical vector; The modulation wave table is determined according to the switching point of each sector vector.

7. The space vector pulse width modulation method according to claim 2, characterized in that: The expression of the vector angle is: ； Wherein, θ is the vector angle; Vd 2 Vq is the d-axis voltage corresponding to the voltage vector; 2 is the q-axis voltage corresponding to the voltage vector.

8. A space vector pulse width modulation device, characterized in that: include: A first acquisition module, used to acquire a vector angle and a vector length corresponding to a voltage signal; A second acquisition module, used to acquire the electrical angle of the motor rotor corresponding to the voltage signal; A first determination module, configured to determine a modulation wave profile corresponding to the vector angle and the electrical angle based on a modulation wave table; The second determination module is used to determine the corresponding modulation wave based on the modulation wave profile and the vector length, so that the field programmable gate array outputs the corresponding sine wave according to the modulation wave.

9. An electronic device, characterized in that: comprising a memory for storing a computer program; A processor, configured to implement the steps of the space vector pulse width modulation method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the space vector pulse width modulation method according to any one of claims 1 to 7 are implemented.

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