Zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method

Abstract

The invention discloses a zero-phase-shift-angle dual three-phase permanent magnet synchronous motor current reconstruction method, solves the problem that a dual three-phase permanent magnet synchronous motor current reconstruction control system needs a single current sensor to perforate a plurality of branches, and belongs to the field of motor driving. The method comprises the steps of combining carrier phase shift with AZSPWM based on a sampling mode of collecting the sum of currents of B, C, Y and Z lower bridge arms in a single path and spatial distribution characteristics of two sets of windings of a zero-phase-shift-angle dual three-phase motor, constructing reconstruction regions, constructing a six-phase current reconstruction expression of each reconstruction region, and giving a convenient and rapid sector switching reconstruction error suppression method; selecting a corresponding six-phase current reconstruction expression according to the reconstruction area where the reference voltage vector is located and the ISAMPLE collected in real time, and reconstructing the six-phase current; and controlling the motor according to the reconstructed six-phase current. According to the invention, current reconstruction is realized, and vibration noise generated by zero-phase-shift-angle DTP-PMSM even switches and sideband harmonic waves thereof can be eliminated at the same time.

Description

Technical Field

[0001] The invention relates to a current reconstruction method for a zero-phase-shift dual-three-phase permanent-magnet synchronous motor, and belongs to the field of motor driving. Background Art

[0002] For applications such as aerospace and electric vehicles that are sensitive to power density, operating efficiency, and operating voltage, there is a demand for high power density integration in electric drive systems. In medium and low voltage drive systems, the dual-three phase permanent magnet synchronous motor (DTP-PMSM) is an effective solution for high power integration. The zero-phase-shift DTP-PMSM is the main application solution for high power density integration in the electric vehicle field because of its advantages such as low back electromotive force, small single-phase current, large output power, high operating efficiency, and low manufacturing design difficulty.

[0003] The DTP-PMSM drive topology is mainly based on six-phase 12-bridge arms. The drive system needs to complete six-phase current sampling for each switching cycle. Due to the existence of star-connected constraints, six-phase current sampling requires at least four current sensors to complete phase current sampling. DTP-PMSM is mainly used in weight and volume sensitive occasions. Multi-current sensor sampling is not conducive to the high power density integration of DTP-PMSM systems. Phase current reconstruction technology is an effective means to reduce the number of sensors and improve system performance. Traditional DTP-PMSM current reconstruction is mainly based on three phases. There is room for further optimization in the number of current sensors, sensor sampling locations, and the number of sampling branches.

[0004] With the advancement of technology, electric drive systems are no longer limited to functional requirements, and the requirements for motor vibration and noise are getting higher and higher. How to suppress noise so that the motor drive system meets the low noise index requirements in a wider frequency band is also the main problem facing the electric drive system. Domestic and foreign scholars have conducted extensive research on high-frequency PWM harmonic suppression technology. The main methods include: pre-stage DC conversion bus voltage regulation, hardware filtering using sinusoidal wave filters, random frequency pulse width modulation algorithms, carrier phase shift technology, etc. The traditional DTP-PMSM electromagnetic vibration noise suppression solution does not take into account current reconstruction, and it is difficult to cooperate with current reconstruction to form a complete drive system. There is room for further optimization.

[0005] The current flows through different paths under different voltage vectors. The sampling branches corresponding to the current sensors under different paths have different phase current information. Single resistor sampling will limit the phase current information. For this reason, some scholars use dynamic zero-state PWM (Active Zero State PWM, AZSPWM) to construct reconstruction conditions. AZSPWM will cause large current reconstruction errors when switching sectors. The traditional solution is to use predictive control to estimate the sampled current. This method is complex to calculate and wastes controller resources.

[0006] Defects of the prior art:

[0007] The DTP-PMSM current reconstruction control system requires a single current sensor to penetrate multiple branches; the zero-phase-shift DTP-PMSM vibration noise suppression strategy is incompatible with current reconstruction; the current reconstruction error of the AZSPWM sector switching process is large and the error suppression algorithm is complex. Summary of the invention

[0008] Aiming at the problem that a DTP-PMSM current reconstruction control system requires a single current sensor to penetrate multiple branches, the present invention provides a current reconstruction method for a dual three-phase permanent magnet synchronous motor with a zero phase shift angle.

[0009] A zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method of the present invention comprises:

[0010] Based on a single channel to collect the sum of the lower arm currents of B, C, Y, and Z I SAMPLE The sampling method and the spatial distribution characteristics of the two sets of windings of the zero phase shift angle dual three-phase motor are combined with the carrier phase shift and AZSPWM to construct the reconstruction area, and the six-phase current reconstruction expression of the zero phase shift angle dual three-phase permanent magnet synchronous motor in each reconstruction area is constructed;

[0011] According to the reconstruction area where the reference voltage vector is located and the real-time acquisition of I SAMPLE , select the corresponding six-phase current reconstruction expression and reconstruct the six-phase current;

[0012] The zero phase-shift dual three-phase permanent magnet synchronous motor is controlled according to the reconstructed six-phase current.

[0013] Preferably, the method for constructing the reconstruction region comprises:

[0014] Two groups of three-phase SVM strategies are used to plan the voltage space. According to the spatial distribution characteristics of the two sets of windings of the zero-phase-shift dual three-phase permanent magnet synchronous motor, the voltage vectors are merged:

[0015]

[0016] Where U dc is the bus voltage; U k,k∈{0,1,2,3,4,5,6,7} is the space vector formed by the three-phase winding;

[0017] S A , S B , S C , S X , S Y , S Z They are the six-phase bridge arm switching functions of the zero phase shift angle dual three-phase permanent magnet synchronous motor, where a value of 0 represents that the lower tube of the bridge arm is turned on, and a value of 1 represents that the upper tube of the bridge arm is turned on;

[0018] When S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z =0 corresponds to voltage vector U0;

[0019] When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z =0 corresponds to voltage vector U1;

[0020] When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to voltage vector U2;

[0021] When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z =0 corresponds to voltage vector U3;

[0022] When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z =1 corresponds to voltage vector U4;

[0023] When S A =0, S B =0, S C =1 or S X =0, S Y=0, S Z =1 corresponds to voltage vector U5;

[0024] When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z =1 corresponds to voltage vector U6;

[0025] When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z =1 corresponds to voltage vector U7;

[0026] Voltage vector region partitioning in phase space:

[0027] The area enclosed by the voltage vector U1 and the voltage vector U2 in space is sector I;

[0028] The area enclosed by the voltage vector U2 and the voltage vector U3 in space is sector II;

[0029] The area enclosed by the voltage vector U3 and the voltage vector U4 in space is sector III;

[0030] The area enclosed by the voltage vector U4 and the voltage vector U5 in space is sector IV;

[0031] The area enclosed by the voltage vector U5 and the voltage vector U6 in space is sector V;

[0032] The area enclosed by the voltage vector U6 and the voltage vector U1 in space is sector VI;

[0033] Take the median lines in sectors I-VI respectively, and the area surrounded by the median line of sector I and the median line of sector VI is the reconstruction area G1;

[0034] The area enclosed by the midline of sector II and the midline of sector I is the reconstruction area G2;

[0035] The area enclosed by the midline of sector II and the midline of sector III is the reconstruction area G3;

[0036] The area surrounded by the midline of sector III and the midline of sector IV is the reconstruction area G4;

[0037] The area enclosed by the midline of sector IV and the midline of sector V is the reconstruction area G5;

[0038] The area enclosed by the midline of sector V and the midline of sector VI is the reconstruction area G6;

[0039] The reconstructed region G1 includes region G1-Ⅰ and region G1-Ⅱ. The midline of sector VI and voltage vector U1 surround region G1-Ⅰ, and the midline of sector Ⅰ and voltage vector U1 surround region G1-Ⅱ.

[0040] The reconstructed region G4 includes region G4-I and region G4-II. Region G4-I is formed by the center line of sector III and the voltage vector U4, and region G4-II is formed by the center line of sector IV and the voltage vector U4.

[0041] As a preference, the six-phase current reconstruction expression of the zero phase shift angle dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed as follows:

[0042]

[0043]

[0044]

[0045] Among them, ABC-U i XYZ-U j Indicates that the voltage vector corresponding to the first three-phase winding ABC in the switching cycle is U i ; The voltage vector corresponding to the first three-phase winding XYZ in the switching cycle is U j , i=0,1,2,3,4,5,6,7, j=0,1,2,3,4,5,6,7;

[0046] I1, I2, I3, and I4 represent the currents sampled by the four sampling vector combinations respectively;

[0047] i A It represents the current of phase A in the first three-phase winding ABC;

[0048] i B It represents the current of phase B in the first three-phase winding ABC;

[0049] i C It represents the current of phase C in the first three-phase winding ABC;

[0050] i X Indicates the current of phase X in the second three-phase winding XYZ;

[0051] i Y Indicates the current of the Y phase in the second three-phase winding XYZ

[0052] i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

[0053] Preferably, the method further comprises:

[0054] The zero vector transition boundary includes the center line of sectors Ⅰ, Ⅲ, Ⅳ, and Ⅴ, the voltage vector U1, and the voltage vector U4;

[0055] When the reference voltage vector crosses the dividing line of sector I and switches from region G1-II to the reconstruction region G2, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0056]

[0057] In the formula, i' A represents the current of phase A in the first set of three-phase winding ABC of the zero phase shift dual three-phase permanent magnet synchronous motor in the last switching cycle, i' B represents the current of phase B in the first set of three-phase winding ABC in the previous switching cycle, i' C represents the current of phase C in the first set of three-phase winding ABC in the previous switching cycle, i' X represents the current of phase X in the second three-phase winding XYZ in the previous switching cycle, i' Y represents the current of phase Y in the second three-phase winding XYZ in the previous switching cycle, i' Z Indicates the current of phase Z in the second three-phase winding XYZ in the previous switching cycle;

[0058] When the reference voltage vector crosses the midline of sector III and switches from the reconstruction area G3 to the area G4-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0059]

[0060] When the reference voltage vector passes through the voltage vector U4 and switches from the reconstruction area G4-I to the area G4-II, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0061]

[0062] When the reference voltage vector crosses the dividing line of sector IV, it switches from the reconstruction area G4-II to the reconstruction area G5. In the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0063]

[0064] When the reference voltage vector crosses the midline of sector III and switches from the reconstruction area G3 to the area G4-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0065]

[0066] When the reference voltage vector crosses the midline of sector VI and switches from the reconstruction area G6 to the area G1-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0067]

[0068] When the reference voltage vector passes through the voltage vector U1 and switches from the reconstruction area G1-I to the area G1-II, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

[0069]

[0070] Preferably, when the zero phase shift angle dual three-phase permanent magnet synchronous motor is controlled according to the reconstructed six-phase current, reconstructed hybrid pulse width modulation RHPWM is used for modulation, including:

[0071] According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the carrier group phase of the second set of three-phase winding XYZ is overall delayed by a phase shift angle Δθ, which makes the electromagnetic torque T of the even switching frequency harmonic vibration of the two sets of three-phase windings eABC and T eXYZ The sum of is 0;

[0072] When the reference voltage vector is in the area G1-Ⅰ, area G1-Ⅱ, area G4-Ⅰ, and area G4-Ⅱ, AZSPWM is used for modulation;

[0073] The reference voltage vector is modulated using SVPWM when in the reconstruction areas G2, G3, G5, and G6.

[0074] Preferably, when the vibration direction is the same as the torque direction, the electromagnetic torque of the even switching frequency harmonic vibration of the first set of three-phase windings ABC is:

[0075]

[0076] Where, P is the number of motor pole pairs; ψ f is the rotor flux, ω0 is the modulation wave angular frequency, ω c is the carrier angular frequency, θ0 is the initial phase angle of the modulation wave, θ c1is the initial phase angle of the carrier, θ mn is the constant angle, n is the harmonic number of the modulation wave, m is the harmonic number of the even carrier wave, t represents the time, Represents the power factor angle, θ e Indicates the rotor electrical angle, A′ mn Indicates the amplitude of even-order carrier harmonic current;

[0077] After the carrier phase of the second three-phase winding XYZ lags behind the phase shift angle Δθ, the electromagnetic torque of the even switching frequency harmonic vibration of the second three-phase winding XYZ is:

[0078]

[0079] When the vibration direction is opposite to the torque direction, the electromagnetic torque of the even switching frequency harmonic vibration of the first three-phase winding ABC is:

[0080]

[0081] After the carrier phase of the second three-phase winding XYZ lags behind the phase shift angle Δθ, the electromagnetic torque of the even switching frequency harmonic vibration of the second three-phase winding XYZ is:

[0082]

[0083] Preferably, the method for controlling the zero phase shift angle dual three-phase permanent magnet synchronous motor according to the reconstructed six-phase current includes:

[0084] The difference between the motor set speed and the actual speed is sent to the speed controller ASR-PI to obtain the motor torque current set value; the reconstructed six-phase current is transformed into the current feedback value of the two sets of three-phase windings, including the torque current feedback value i q1 、i q2 , flux current feedback value i d1 、i d2 ;

[0085] The motor torque current set value and current feedback value are sent to the current loop controller ACR-I as a difference, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q1 、u q2 , flux voltage given value u d1 、u d2 ;

[0086] According to the obtained voltage given value, the reconstructed hybrid pulse width modulation RHPWM is used to generate the driving signals of two sets of three-phase windings to complete the drive control.

[0087] The beneficial effects of the present invention are as follows: the present invention can complete six-phase current reconstruction with only a single sampling resistor / sensor sampling independent branch; the present invention can eliminate the vibration noise generated by the even switches and sideband harmonics of the zero-phase-shift dual three-phase permanent magnet synchronous motor while realizing current reconstruction; the present invention provides a convenient and fast sector switching reconstruction error suppression method. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 This is the current reconstruction topology diagram of the zero phase shift angle DTP-PMSM.

[0089] Figure 2 This is a simplified diagram of the space voltage vector of the zero phase shift angle DTP-PMSM.

[0090] Figure 3 The control block diagram of the zero phase shift angle DTP-PMSM current reconstruction method is shown in Figure 2, where θ is the DTP-PMSM electrical angle, ω is the DTP-PMSM speed, and I SAMPLE is the current Hall sampling value.

[0091] FIG4( a ) shows the six-phase current waveform, electromagnetic torque waveform and electromagnetic torque Fourier decomposition when the phase-shift controller is not used.

[0092] Figure 4(b) shows the six-phase current waveform, electromagnetic torque waveform and electromagnetic torque Fourier decomposition after using the phase-shift controller.

[0093] Figure 5 To simplify and reconstruct the regional distribution map.

[0094] Figure 6(a) is a schematic diagram of G3 normal area sampling.

[0095] Figure 6(b) is a schematic diagram of normal area sampling of G1-Ⅱ.

[0096] Figure 6(c) is a schematic diagram of the sampling of the zero vector transition boundary from G1-Ⅱ to G2.

[0097] Figure 6(d) is a schematic diagram of the sampling of the zero vector transition boundary from G6 to G1-Ⅰ.

[0098] Figure 7(a) is a current waveform diagram of a single current sensor sampling current.

[0099] Figure 7(b) shows the current diagram when a single current sensor samples four times per switching cycle.

[0100] Figure 8(a) shows the waveforms of the real phase current and the reconstructed current of ABC.

[0101] Figure 8(b) shows the XYZ real phase current and reconstructed current waveforms.

[0102] Fig. 9 is the error between the real current and the reconstructed current of phase A. DETAILED DESCRIPTION

[0103] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0104] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0105] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0106] The current reconstruction method of the zero phase shift angle dual three-phase permanent magnet synchronous motor of this embodiment includes:

[0107] Step 1: Collect the sum of the lower arm currents of B, C, Y, and Z based on a single channel. SAMPLE The sampling method and the spatial distribution characteristics of the two sets of windings of the zero phase shift angle dual three-phase motor are used to combine the carrier phase shift with AZSPWM to construct the reconstruction area, and the six-phase current reconstruction expression of the zero phase shift angle DTP-PMSM in each reconstruction area is constructed;

[0108] Modify the current sampling topology and use a single current Hall sensor or a single resistor to collect the sum of the lower arm currents of B, C, Y, and Z. The corresponding relationship between the current sensor sampling results and the phase current under different voltage vectors is:

[0109] I SAMPLE =(1-S B )i B +(1-S C )i C +(1-S Y )i Y +(1-S Z )i Z (1)

[0110] In the formula, S A , S B , S C , S X , S Y , S Z are the switching functions of the six-phase bridge arms, respectively. A value of 0 represents that the lower tube of the bridge arm is turned on, and a value of 1 represents that the upper tube of the bridge arm is turned on; i A represents the current of phase A in the first three-phase winding ABC; i B represents the current of phase B in the first three-phase winding ABC; i Crepresents the current of phase C in the first three-phase winding ABC; i X represents the current of phase X in the second three-phase winding XYZ; i Y represents the current of phase Y in the second three-phase winding XYZ; i Z Indicates the current of phase Z in the second three-phase winding XYZ; I SAMPLE is the current sensor sampling value.

[0111] Two groups of three-phase SVM strategies are used to replan the voltage space. According to the spatial distribution characteristics of the zero-phase-shift DTP-PMSM winding, the voltage vectors are merged.

[0112]

[0113] Where U dc is the bus voltage; U k , k∈{0,1,2,3,4,5,6,7} is the space vector formed by the three-phase winding; when S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z = 0 corresponds to voltage vector U0; when S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z = 0 corresponds to voltage vector U1; when S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z = 0 corresponds to voltage vector U2; when S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z = 0 corresponds to voltage vector U3; when S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z =1 corresponds to voltage vector U4; when S A =0, S B =0, S C =1 or S X =0, S Y=0, S Z =1 corresponds to voltage vector U5; when S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z =1 corresponds to voltage vector U6; when S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z When =1, it corresponds to voltage vector U7.

[0114] After simplification, the voltage vector area of ​​the zero-phase-shift DTP-PMSM in the phase space is divided as follows: the area enclosed by U1 and U2 in space is sector I; the area enclosed by U2 and U3 in space is sector II; the area enclosed by U3 and U4 in space is sector III; the area enclosed by U4 and U5 in space is sector IV; the area enclosed by U5 and U6 in space is sector V; the area enclosed by U6 and U1 in space is sector VI.

[0115] The carrier phase shift is combined with AZSPWM to construct the reconstruction conditions and replan the reconstruction area.

[0116] According to the simplified sectors, the reconstruction area is planned. The median lines in sectors I-VI are taken respectively, and the area surrounded by the median lines of sector I and sector VI is recorded as the reconstruction area G1; the area surrounded by the median lines of sector II and sector I is recorded as the reconstruction area G2; the area surrounded by the median lines of sector II and sector III is recorded as the reconstruction area G3; the area surrounded by the median lines of sector III and sector IV is recorded as the reconstruction area G4; the area surrounded by the median lines of sector IV and sector V is recorded as the reconstruction area G5; the area surrounded by the median lines of sector V and sector VI is recorded as the reconstruction area G6.

[0117] G1 and G4 are zero vector modification areas, and G1 and G4 are further divided according to different effective vectors modified by the zero vector.

[0118] The reconstructed region G1 includes region G1-Ⅰ and region G1-Ⅱ. The midline of sector VI and voltage vector U1 surround region G1-Ⅰ, and the midline of sector Ⅰ and voltage vector U1 surround region G1-Ⅱ.

[0119] The reconstructed region G4 includes region G4-I and region G4-II. Region G4-I is formed by the center line of sector III and the voltage vector U4, and region G4-II is formed by the center line of sector IV and the voltage vector U4.

[0120] In the reconstruction areas G1-Ⅰ and G4-Ⅰ, AZSPWM is applied to replace the zero vectors U0 and U7 with the opposite effective vectors U2 and U5 respectively; in the reconstruction areas G1-Ⅱ and G4-Ⅱ, AZSPWM is applied to replace the zero vectors U0 and U7 with the opposite effective vectors U6 and U3 respectively, completing the determination of the sampling vector combination.

[0121] According to the reconstruction area where the reference voltage is located, sampling is performed at the corresponding switch vector combination of the two sets of three-phase windings in combination with Table 1 to obtain the sampled current. The sampled current is substituted into the current reconstruction expression to complete the six-phase current reconstruction.

[0122] Table 1 Correspondence between current sensor sampling results and phase current under different voltage vectors

[0123]

[0124]

[0125]

[0126] When switching sectors at the zero vector transition boundary, the calculation method of the sampling currents I1 and I3 is changed, and the reconstructed current of the previous switching cycle is used to represent the sampling currents I1 and I3, thereby suppressing the reconstruction error of AZSPWM sector switching.

[0127] The zero vector transition boundary includes the dividing line in sectors Ⅰ, Ⅲ, Ⅳ, and Ⅴ and the voltage vectors U1 and U4.

[0128] When the reference voltage vector passes through the dividing line in sector I and switches from region G1-II to the reconstructed region G2, the current in the first switching cycle after the switch is reconstructed, and the sampled currents I1 and I3 are modified to the results calculated by equation (3), and I2 and I4 use the current real sampled values.

[0129]

[0130] Where i' A represents the current of phase A in the first set of three-phase windings ABC in the last switching cycle of the zero phase shift angle DTP-PMSM; where i' B represents the current of phase B in the first set of three-phase winding ABC in the previous switching cycle; where i' C Indicates the current of phase C in the first set of three-phase winding ABC in the previous switching cycle; i' X Indicates the current of phase X in the second three-phase winding XYZ in the previous switching cycle; i' YIndicates the current of phase Y in the second three-phase winding XYZ in the previous switching cycle; i' Z Represents the current of phase Z in the second three-phase winding XYZ in the previous switching cycle.

[0131] When the reference voltage vector passes through the dividing line in sector III, it switches from the reconstructed area G3 to the area G4-I. The current of the first switching cycle after the switch is reconstructed, and the sampled currents I1 and I3 are modified to the results calculated by formula (4), and I2 and I4 use the current real sampled values.

[0132]

[0133] When the reference voltage vector passes through the voltage vector U4 and switches from region G4-I to region G4-II, the current of the first switching cycle after the switch is reconstructed, and the sampling currents I1 and I3 are modified to the calculation results of formula (5), and I2 and I4 use the current real sampling values.

[0134]

[0135] When the reference voltage vector crosses the dividing line in sector IV and switches from region G4-II to the reconstruction region G5, the current in the first switching cycle after the switch is reconstructed, and the sampling currents I1 and I3 are modified to the calculation results of formula (6), and I2 and I4 use the current real sampling values.

[0136]

[0137] When the reference voltage vector passes through the dividing line in sector III, it switches from the reconstructed area G3 to the area G4-I. The current of the first switching cycle after the switch is reconstructed, and the sampled currents I1 and I3 are modified to the results calculated by formula (7), and I2 and I4 use the current real sampled values.

[0138]

[0139] When the reference voltage vector passes through the dividing line in sector VI, it switches from the reconstructed area G6 to the area G1-I. The current of the first switching cycle after the switch is reconstructed, and the sampled currents I1 and I3 are modified to the results calculated by formula (8), and I2 and I4 use the current real sampled values.

[0140]

[0141] When the reference voltage vector passes through the voltage vector U1 and switches from region G1-I to region G1-II, the current of the first switching cycle after the switch is reconstructed, and the sampling currents I1 and I3 are modified to the calculation results of formula (9), and I2 and I4 use the current real sampling values.

[0142]

[0143] The speed and position angle of the motor are sampled.

[0144] Step 2: Based on the reconstruction area where the reference voltage vector is located and the real-time collected I SAMPLE , select the corresponding six-phase current reconstruction expression and reconstruct the six-phase current;

[0145] Step 3: Control the zero phase shift angle DTP-PMSM according to the reconstructed six-phase current:

[0146] The difference between the motor set speed and the actual speed is sent to the speed controller ASR-PI to obtain the motor torque current set value; the reconstructed six-phase current is transformed into the current feedback value of the two sets of three-phase windings, including the torque current feedback value i q1 、i q2 , flux current feedback value i d1 、i d2 ;

[0147] The motor torque current set value and current feedback value are sent to the current loop controller ACR-I as a difference, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q1 、u q2 , flux voltage given value u d1 、u d2 ;

[0148] According to the obtained voltage given value, the reconstructed hybrid pulse width modulation RHPWM is used to generate the driving signals of two sets of three-phase windings to complete the drive control.

[0149] Reconstructed hybrid pulse width modulation RHPWM, including:

[0150] According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the carrier group phase of the second set of three-phase winding XYZ is overall delayed by a phase shift angle Δθ, which makes the electromagnetic torque T of the even switching frequency harmonic vibration of the two sets of three-phase windings eABC and T eXYZ The sum of is 0;

[0151] When the reference voltage vector is in the area G1-Ⅰ, area G1-Ⅱ, area G4-Ⅰ, and area G4-Ⅱ, AZSPWM is used for modulation;

[0152] The reference voltage vector is modulated using SVPWM when in the reconstruction areas G2, G3, G5, and G6.

[0153] According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the carrier group phase of the second set of three-phase winding XYZ is overall delayed by a phase shift angle Δθ, which makes the electromagnetic torque T of the even switching frequency harmonic vibration of the two sets of three-phase windings eABC and TeXYZ The sum of is 0, and thus the zero-phase-shift dual three-phase permanent magnet synchronous motor suppresses harmonic vibration; specifically, the two sets of three-phase output phase voltage carriers and their sideband harmonics are:

[0154]

[0155] Where A mn is the harmonic amplitude, ω0 is the modulation wave angular frequency, ω c is the carrier angular frequency, θ0 is the initial phase angle of the modulation wave; θ c1 is the initial phase angle of the carrier, θ mn is a constant angle, n is the harmonic order of the modulation wave, and m is the harmonic order of the carrier wave.

[0156] When the vibration direction is the same as the torque direction, the electromagnetic torque of the even switching frequency harmonic vibration of the first three-phase winding ABC is:

[0157]

[0158] Where P is the number of motor pole pairs, ψ f is the rotor flux, ω0 is the modulation wave angular frequency, ω c is the carrier angular frequency, θ0 is the initial phase angle of the modulation wave, θ c1 is the initial phase angle of the carrier, θ mn is the constant angle, n is the harmonic number of the modulation wave, m is the harmonic number of the even carrier wave, t represents the time, Represents the power factor angle, θ e Indicates the rotor electrical angle, A′ mn Indicates the amplitude of even-order carrier harmonic current.

[0159] After the carrier phase of the second three-phase winding XYZ lags behind the phase shift angle Δθ, the electromagnetic torque of the even switching frequency harmonic vibration of the second three-phase winding XYZ is:

[0160]

[0161] When the vibration direction is opposite to the torque direction, the electromagnetic torque of the even switching frequency harmonic vibration of the first three-phase winding ABC is:

[0162]

[0163] After the carrier phase of the second three-phase winding XYZ lags behind the phase shift angle Δθ, the electromagnetic torque of the even switching frequency harmonic vibration of the second three-phase winding XYZ is:

[0164]

[0165] The embodiment uses a 30-pole, 125rpm, 0° phase shift angle dual three-phase permanent magnet synchronous motor for simulation experiments, the switching frequency is 25kHz, and two sets of three-phase windings are independently star-connected. Figure 3 As shown, the main control loop adopts vector dual dq closed-loop control.

[0166] Modify the current sampling topology.

[0167] The corresponding relationship between the switching function and the current sensor sampling current. When the switching vector U6 of the first set of windings ABC is combined with the switching vector U0 of the second set of windings XYZ, the voltage vector U6 of the first set of windings ABC corresponds to the switching function S A =1S B =0S C =1, the second set of winding XYZ voltage vector U0 corresponds to the switching function S X =0S Y =0S Z =0 Substituting it into formula (1), we can get I SAMPLE =i B -i X . At the same time, the motor's rotation angle and speed are sampled.

[0168] Two groups of three-phase SVM strategies are used to replan the voltage space. Figure 2 As shown, according to the spatial distribution characteristics of the DTP-PMSM winding with a phase shift angle of 0°, combined with formula (2), the second set of three-phase winding switch vectors are combined with the first set of three-phase winding switch vectors in the phase space to form a space vector planning.

[0169] The reconstruction conditions are constructed by combining carrier phase shift with AZSPWM, and the reconstruction area is replanned. The replanned sectors are as follows: Figure 5 As shown, Figure 5 It includes normal areas G2, G3, G5, G6 and zero vector modification areas G1, G4. The zero vector modification area modifies the zero vector into an effective vector with the opposite effect. According to the different modified zero vectors, G1 and G4 are further divided into G1-Ⅰ, G1-Ⅱ and G4-Ⅰ, G4-Ⅱ.

[0170] Taking G1-Ⅰ as an example, its zero vectors U0 and U7 are replaced by opposite effective vectors U2 and U5 respectively.

[0171] The boundaries adjacent to G1-Ⅰ, G1-Ⅱ, G4-Ⅰ, and G4-Ⅱ are called zero vector transition boundaries. As shown in Figure 6(c), there will be zero vector jumps at the transition boundaries.

[0172] According to the reconstruction area where the reference voltage is located, the sampling current is obtained by sampling at the corresponding switch vector combination of the two sets of three-phase windings in combination with Table 1. The sampling current is substituted into the current reconstruction expression to complete the six-phase current reconstruction. The current reconstruction and sampling process is explained below using the G3 normal area as an example:

[0173] As shown in Figure 6(a), it can be seen from the sampling vector combination query table 1 that sampling should be performed at the following voltage vector combinations: the vector combination composed of the ABC three-phase winding U0 and the XYZ three-phase winding U3 is sampled to obtain the sampling current I1; the vector combination composed of the ABC three-phase winding U7 and the XYZ three-phase winding U3 is sampled to obtain the sampling current I2; the vector combination composed of the ABC three-phase winding U3 and the XYZ three-phase winding U0 is sampled to obtain the sampling current I3; the vector combination composed of the ABC three-phase winding U3 and the XYZ three-phase winding U7 is sampled to obtain the sampling current I4.

[0174] According to Table 1, the relationship between the sampling current and the phase current is:

[0175]

[0176] According to Table 1, the phase current reconstruction equation is:

[0177]

[0178] By bringing the sampled current into the reconstruction equation, the six-phase currents can be calculated based on the sampled current.

[0179] The following takes the G1-Ⅱ zero vector modification area as an example to explain the current reconstruction and sampling process:

[0180] As shown in Figure 6(b), from the sampling vector combination query table 1, it can be seen that sampling should be performed at the following voltage vector combinations: the vector combination composed of the ABC three-phase winding U6 and the XYZ three-phase winding U1 is sampled to obtain the sampling current I1; the vector combination composed of the ABC three-phase winding U3 and the XYZ three-phase winding U1 is sampled to obtain the sampling current I2; the vector combination composed of the ABC three-phase winding U1 and the XYZ three-phase winding U6 is sampled to obtain the sampling current I3; the vector combination composed of the ABC three-phase winding U1 and the XYZ three-phase winding U3 is sampled to obtain the sampling current I4.

[0181] According to Table 1, the relationship between the sampling current and the phase current is:

[0182]

[0183] According to Table 1, the phase current reconstruction equation is:

[0184]

[0185] By bringing the sampled current into the reconstruction equation, the six-phase currents can be calculated based on the sampled current.

[0186] When switching sectors at the zero vector transition boundary, the calculation method of the sampling currents I1 and I3 is changed, and the reconstructed current of the previous switching cycle is used to represent the sampling currents I1 and I3, thereby suppressing the reconstruction error of AZSPWM sector switching.

[0187] The following takes the zero vector transition boundary from G6 to G1-Ⅰ as an example to explain the reconstruction error suppression method when switching sectors at the zero vector transition boundary:

[0188] As shown in Figure 6(d), when the reference voltage vector switches from G6 to G1-I, in the first switching cycle of G1-I, its I1 sampling vector combination becomes ABC three-phase winding U0 and XYZ three-phase winding U1, which is inconsistent with the vector combination of ABC three-phase winding U2 and XYZ three-phase winding U1 corresponding to the G1-I sampling current I1 shown in Table 1; at the same time, the I3 sampling vector combination becomes ABC three-phase winding U1 and XYZ three-phase winding U0, which is inconsistent with the vector combination of ABC three-phase winding U1 and XYZ three-phase winding U2 corresponding to the G1-I sampling current I1 shown in Table 1. If the sampling currents I1 and I3 are continued to be used to complete the current reconstruction at this time, it will bring great reconstruction errors. Therefore, after correcting I1 and I3 according to formula (8), combining them with the real sampled I2 and I4 and bringing them into the reconstruction expression shown in Table 1 can reduce the reconstruction error while saving a lot of prediction operations.

[0189] The final sampled current is shown in FIG. 7( a ) and FIG. 7( b ). The phase B current and the sampled current I1 overlap in a single reconstruction region, which is consistent with Table 1 .

[0190] The current reconstruction and actual current are shown in Figure 8(a) and Figure 8(b). The actual current and the reconstructed current have the same phase and amplitude. Fig. 9 The reconstruction error is controlled within the allowable range and meets the reconstruction requirements.

[0191] The difference between the motor's given speed and actual speed is sent to the speed controller to obtain the motor's torque current setting.

[0192] The reconstructed six-phase current is input into equation (19) to perform two sets of Clark-Park transformations to obtain the torque current feedback value and flux current feedback value in the dual dq coordinate system.

[0193]

[0194] The difference between the feedback current and the given current is sent to the current loop controller to obtain the torque reference voltage and flux reference voltage in the dual dq coordinate system. The reference voltage is sent to the RHPWM to generate a six-phase bridge arm drive signal to complete the DTP-PMSM motor drive.

[0195] Both sets of windings use a two-level voltage source inverter to drive the zero-phase-shift DTP-PMSM. The double Fourier decomposition expression of the output voltage is shown in equation (10). The output voltage forms a current with this characteristic in the corresponding DTP-PMSM winding, thereby generating corresponding torque vibration.

[0196] The DTP-PMSM torque synthesis law is:

[0197] T e =T eABC +T eXYZ (20)

[0198] Where, T e is the total electromagnetic torque of DTP-PMSM. From formula (20), it can be seen that the electromagnetic torque of DTP-PMSM is the sum of the electromagnetic torques generated by the two sets of three-phase windings.

[0199] The phase shift controller generates the second winding phase shift angle Δθ=π / 2 according to the torque synthesis law of formula (20) combined with the high-frequency switch and its sideband harmonic vibration torque generation law, with the elimination of even-order switch and its sideband harmonic vibration as the control target.

[0200] The effect of the phase shift controller is shown in Figure 4(a) and Figure 4(b). When the vibration is not suppressed, the Fourier decomposition of the electromagnetic torque in Figure 4(a) contains harmonic vibrations of odd switching frequencies (25k, 75k...) and even switching frequencies (50k...). As shown in Figure 4(b), when the phase shift controller generates a phase shift angle to act on the Reconstruction Hybrid Pulse Width Modulation (RHPWM) module, the harmonic vibration of the even switching frequency (50k...) is eliminated.

[0201] This implementation method modifies the sampling topology, adopts a single current Hall sensor or a single resistor perforated independent branch, obtains the phase current correspondence, and samples the rotation angle and speed of the motor at the same time; adopts a three-phase independent SVM strategy, and replans the phase space according to the zero phase angle DTP-PMSM space vector characteristics; combines carrier phase shifting with AZSPWM to construct reconstruction conditions and replan the reconstruction area; samples are taken at the switch vector combination of two sets of three-phase windings to obtain the sampled current; reconstructs the six-phase current based on the current reconstruction expression under different reconstruction areas; when switching sectors at the zero vector transition boundary, changes the calculation method of the sampled currents I1 and I3 to suppress the reconstruction error during sector switching and complete the six-phase current reconstruction; sends the reconstructed current to the dual dq control loop to generate a given reference voltage output, generates a six-phase bridge arm drive signal, and then constitutes a zero phase angle DTP-PMSM drive control system; suppresses the harmonic vibration of the zero phase angle dual three-phase permanent magnet synchronous motor through carrier phase shifting.

[0202] Since the reconstruction method of the present invention only involves reconstruction topology, modulation mode and reconstruction method, this embodiment has no constraints on the controller. This embodiment is also applicable to applications where the speed loop controller adopts an auto-disturbance rejection controller and the current loop controller adopts a proportional resonant controller.

[0203] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A current reconstruction method for a zero phase shift dual three-phase permanent magnet synchronous motor, characterized in that: The method comprises: Based on a single channel to collect the sum of the lower arm currents of B, C, Y, and Z I SAMPLE The sampling method and the spatial distribution characteristics of the two sets of windings of the zero phase shift angle dual three-phase motor are combined with the carrier phase shift and AZSPWM to construct the reconstruction area, and the six-phase current reconstruction expression of the zero phase shift angle dual three-phase permanent magnet synchronous motor in each reconstruction area is constructed; According to the reconstruction area where the reference voltage vector is located and the real-time acquisition of I SAMPLE , select the corresponding six-phase current reconstruction expression and reconstruct the six-phase current; The zero phase-shift dual three-phase permanent magnet synchronous motor is controlled according to the reconstructed six-phase current.

2. The current reconstruction method of a zero phase shift angle dual three-phase permanent magnet synchronous motor based on single resistor sampling according to claim 1 is characterized in that: Methods for constructing reconstruction regions include: Two groups of three-phase SVM strategies are used to plan the voltage space. According to the spatial distribution characteristics of the two sets of windings of the zero-phase-shift dual three-phase permanent magnet synchronous motor, the voltage vectors are merged: Where U dc is the bus voltage; U k ,k∈{0,1,2,3,4,5,6,7} is the space vector formed by the three-phase winding; S A , S B , S C , S X , S Y , S Z They are the six-phase bridge arm switching functions of the zero phase shift angle dual three-phase permanent magnet synchronous motor, where a value of 0 represents that the lower tube of the bridge arm is turned on, and a value of 1 represents that the upper tube of the bridge arm is turned on; When S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z =0 corresponds to voltage vector U0; When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z =0 corresponds to voltage vector U1; When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to voltage vector U2; When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z =0 corresponds to voltage vector U3; When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z =1 corresponds to voltage vector U4; When S A =0, S B =0, S C =1 or S X =0, S Y =0, S Z =1 corresponds to voltage vector U5; When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z =1 corresponds to voltage vector U6; When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z =1 corresponds to voltage vector U7; Voltage vector region partitioning in phase space: The area enclosed by the voltage vector U1 and the voltage vector U2 in space is sector I; The area enclosed by the voltage vector U2 and the voltage vector U3 in space is sector II; The area enclosed by the voltage vector U3 and the voltage vector U4 in space is sector III; The area enclosed by the voltage vector U4 and the voltage vector U5 in space is sector IV; The area enclosed by the voltage vector U5 and the voltage vector U6 in space is sector V; The area enclosed by the voltage vector U6 and the voltage vector U1 in space is sector VI; Take the median lines in sectors I-VI respectively, and the area surrounded by the median line of sector I and the median line of sector VI is the reconstruction area G1; The area enclosed by the midline of sector II and the midline of sector I is the reconstruction area G2; The area enclosed by the midline of sector II and the midline of sector III is the reconstruction area G3; The area surrounded by the midline of sector III and the midline of sector IV is the reconstruction area G4; The area enclosed by the midline of sector IV and the midline of sector V is the reconstruction area G5; The area enclosed by the midline of sector V and the midline of sector VI is the reconstruction area G6; The reconstructed region G1 includes region G1-Ⅰ and region G1-Ⅱ. The midline of sector VI and voltage vector U1 surround region G1-Ⅰ, and the midline of sector Ⅰ and voltage vector U1 surround region G1-Ⅱ. The reconstructed region G4 includes region G4-I and region G4-II. Region G4-I is formed by the center line of sector III and the voltage vector U4, and region G4-II is formed by the center line of sector IV and the voltage vector U4.

3. The zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method according to claim 2 is characterized in that: The six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with zero phase shift angle in each reconstruction area is constructed as follows: Among them, ABC-U i XYZ-U j Indicates that the voltage vector corresponding to the first three-phase winding ABC in the switching cycle is U i ; The voltage vector corresponding to the first three-phase winding XYZ in the switching cycle is U j , i=0,1,2,3,4,5,6,7, j=0,1,2,3,4,5,6,7; I1, I2, I3, and I4 represent the currents sampled by the four sampling vector combinations respectively; i A It represents the current of phase A in the first three-phase winding ABC; i B It represents the current of phase B in the first three-phase winding ABC; i C It represents the current of phase C in the first three-phase winding ABC; i X It represents the current of phase X in the second three-phase winding XYZ; i Y Indicates the current of the Y phase in the second three-phase winding XYZ i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

4. The zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method according to claim 3 is characterized in that: The method further comprises: The zero vector transition boundary includes the center line of sectors Ⅰ, Ⅲ, Ⅳ, and Ⅴ, the voltage vector U1, and the voltage vector U4; When the reference voltage vector crosses the dividing line of sector I and switches from region G1-II to the reconstruction region G2, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows: In the formula, i' A represents the current of phase A in the first set of three-phase winding ABC of the zero phase shift dual three-phase permanent magnet synchronous motor in the last switching cycle, i' B represents the current of phase B in the first set of three-phase winding ABC in the previous switching cycle, i' C represents the current of phase C in the first set of three-phase winding ABC in the previous switching cycle, i' X represents the current of phase X in the second three-phase winding XYZ in the previous switching cycle, i' Y represents the current of phase Y in the second three-phase winding XYZ in the previous switching cycle, i' Z Indicates the current of phase Z in the second three-phase winding XYZ in the previous switching cycle; When the reference voltage vector crosses the midline of sector III and switches from the reconstruction area G3 to the area G4-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows: When the reference voltage vector passes through the voltage vector U4 and switches from the reconstruction area G4-I to the area G4-II, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows: When the reference voltage vector crosses the dividing line of sector IV, it switches from the reconstruction area G4-II to the reconstruction area G5. In the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows: When the reference voltage vector crosses the midline of sector III and switches from the reconstruction area G3 to the area G4-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows: When the reference voltage vector crosses the midline of sector VI and switches from the reconstruction area G6 to the area G1-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows: When the reference voltage vector passes through the voltage vector U1 and switches from the reconstruction area G1-I to the area G1-II, in the current reconstruction of the first switching cycle after the switch, I2 and I4 use the current real sampling values, and the sampling currents I1 and I3 are updated as follows:

5. The zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method according to claim 4 is characterized in that: When the zero phase-shift angle dual three-phase permanent magnet synchronous motor is controlled according to the reconstructed six-phase current, the reconstructed hybrid pulse width modulation RHPWM is used for modulation, including: According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the carrier group phase of the second set of three-phase winding XYZ is overall delayed by a phase shift angle Δθ, which makes the electromagnetic torque T of the even switching frequency harmonic vibration of the two sets of three-phase windings eABC and T eXYZ The sum of is 0; When the reference voltage vector is in the area G1-Ⅰ, area G1-Ⅱ, area G4-Ⅰ, and area G4-Ⅱ, AZSPWM is used for modulation; The reference voltage vector is modulated using SVPWM when reconstructing regions G2, G3, G5, and G6.

6. The zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method according to claim 1 is characterized in that: When the vibration direction is the same as the torque direction, the electromagnetic torque of the even switching frequency harmonic vibration of the first three-phase winding ABC is: Where, P is the number of motor pole pairs; ψ f is the rotor flux, ω0 is the modulation wave angular frequency, ω c is the carrier angular frequency, θ0 is the initial phase angle of the modulation wave, θ c1 is the initial phase angle of the carrier, θ mn is the constant angle, n is the harmonic number of the modulation wave, m is the harmonic number of the even carrier wave, t represents the time, Represents the power factor angle, θ e Indicates the rotor electrical angle, A′ mn Indicates the amplitude of even-order carrier harmonic current; After the carrier phase of the second three-phase winding XYZ lags behind the phase shift angle Δθ, the electromagnetic torque of the even switching frequency harmonic vibration of the second three-phase winding XYZ is: When the vibration direction is opposite to the torque direction, the electromagnetic torque of the even switching frequency harmonic vibration of the first three-phase winding ABC is: After the carrier phase of the second three-phase winding XYZ lags behind the phase shift angle Δθ, the electromagnetic torque of the even switching frequency harmonic vibration of the second three-phase winding XYZ is:

7. The zero phase angle dual three-phase permanent magnet synchronous motor current reconstruction method according to claim 1 is characterized in that: The method for controlling a zero-phase-shift dual three-phase permanent magnet synchronous motor according to a reconstructed six-phase current includes: The difference between the motor set speed and the actual speed is sent to the speed controller ASR-PI to obtain the motor torque current set value; the reconstructed six-phase current is transformed into the current feedback value of the two sets of three-phase windings, including the torque current feedback value i q1 、i q2 , flux current feedback value i d1 、i d2 ; The motor torque current set value and current feedback value are sent to the current loop controller ACR-I as a difference, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q1 、u q2 , flux voltage given value u d1 、u d2 ; According to the obtained voltage given value, the reconstructed hybrid pulse width modulation RHPWM is used to generate the driving signals of two sets of three-phase windings to complete the drive control.

8. A computer-readable storage device storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the current reconstruction method of a dual three-phase permanent magnet synchronous motor with zero phase shift angle as claimed in any one of claims 1 to 7 are implemented.

9. A zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction device, comprising a storage device, a processor, and a computer program stored in the storage device and executable on the processor, characterized in that: The processor executes the computer program to implement the steps of the zero phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the current reconstruction method of a dual three-phase permanent magnet synchronous motor with zero phase shift angle as claimed in any one of claims 1 to 7 are implemented.

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