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

Abstract

A zero-phase-shift angle current reconfiguration method for dual three-phase permanent magnet synchronous motors solves the problem that a single current sensor needs to be punched through multiple branches in a current reconfiguration control system for dual three-phase permanent magnet synchronous motors, belonging to the field of motor drives. This invention includes: based on single-channel acquisition of the sum of the currents of the lower bridge arms B, C, Y, and Z... SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the zero-phase-shift dual three-phase motor, carrier phase shifting and AZSPWM are combined to construct the reconstruction region. Six-phase current reconstruction expressions for each reconstruction region are then constructed, and a convenient and fast sector switching reconstruction error suppression method is given. Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE The appropriate six-phase current reconstruction expression is selected to reconstruct the six-phase current; the motor is then controlled based on the reconstructed six-phase current. This invention, while achieving current reconstruction, can eliminate vibration noise generated by the zero-phase-shift angle DTP-PMSM even-order switch and its sideband harmonics.

Description

Technical Field

[0001] This invention relates to a current reconfiguration method for a zero-phase-shift dual three-phase permanent magnet synchronous motor, belonging to the field of motor drive. Background Technology

[0002] For applications such as aerospace and electric vehicles, which are sensitive to power density, operating efficiency, and operating voltage, there is a demand for high power density integration in electric drive systems. In low- and medium-voltage drive systems, dual-three-phase permanent magnet synchronous motors (DTP-PMSMs) are an effective solution for high power integration. Zero-phase-shift DTP-PMSMs, due to their advantages such as low back EMF, low single-phase current, high output power, high operating efficiency, and low manufacturing and design complexity, are currently the main application solution for high power density integration in the electric vehicle field.

[0003] The DTP-PMSM drive topology primarily uses a six-phase, 12-arm design. Each switching cycle of the drive system requires sampling the current in all six phases. Due to star-connection constraints, at least four current sensors are needed to sample the phase current. DTP-PMSMs are mainly used in weight- and size-sensitive applications, and multiple current sensor sampling is detrimental 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 primarily three-phase, and there is room for further optimization in the number of current sensors, sensor sampling locations, and the number of sampling branches.

[0004] With technological advancements, electric drive systems are no longer limited to functional requirements; increasingly stringent requirements exist for motor vibration and noise control. Suppressing noise to ensure low-noise performance across a wide frequency band is a major challenge for electric drive systems. Domestic and international scholars have conducted extensive research on high-frequency PWM harmonic suppression techniques, primarily employing methods such as: voltage regulation of the front-stage DC-DC converter bus, hardware filtering using sinusoidal filters, random frequency pulse width modulation algorithms, and carrier phase-shifting techniques. Traditional DTP-PMSM electromagnetic vibration and noise suppression schemes do not consider current reconstruction, making it difficult to integrate with current reconstruction to form a complete drive system, thus leaving room for further optimization.

[0005] The current flows through different paths under different voltage vectors, and the sampling branch corresponding to the current sensor has different phase current information under different paths. Single-resistor sampling will limit the phase current information. To address this, some researchers have used Active Zero State PWM (AZSPWM) to construct reconfiguration conditions. AZSPWM can lead to large current reconfiguration errors during sector switching. The traditional solution is to use predictive control to estimate the sampled current, but this method is computationally complex and wastes controller resources.

[0006] Deficiencies of existing technology:

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

[0008] To address the issue that a single current sensor needs to be perforated through multiple branches in a DTP-PMSM current reconfiguration control system, this invention provides a zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method.

[0009] The present invention provides a current reconfiguration method for a zero-phase-shift dual three-phase permanent magnet synchronous motor, comprising:

[0010] Based on the sum of the currents of the lower bridge arms B, C, Y, and Z collected by a single channel, I SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the zero-phase-shift angle dual three-phase motor, carrier phase shifting and AZSPWM are combined to construct the reconstruction region, and 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.

[0011] Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current;

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

[0013] Preferred methods for constructing the reconstructed region include:

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

[0015]

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

[0017] S A S B S C S X S Y S Z These are the six-phase bridge arm switching functions for a zero-phase-shift dual three-phase permanent magnet synchronous motor. A value of 0 indicates that the lower bridge arm is on, and a value of 1 indicates that the upper bridge arm is on.

[0018] When S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z When = 0, the corresponding voltage vector is U0;

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

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

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

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

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

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

[0025] When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z When = 1, the corresponding voltage vector is U7;

[0026] Divide the voltage vector region in phase space:

[0027] The region enclosed by voltage vectors U1 and U2 in space is sector I;

[0028] The region enclosed in space by voltage vectors U2 and U3 is sector II;

[0029] The region enclosed in space by voltage vectors U3 and U4 is sector III;

[0030] The region enclosed in space by voltage vectors U4 and U5 is sector IV;

[0031] The region enclosed in space by voltage vectors U5 and U6 is sector V;

[0032] The region enclosed in space by voltage vectors U6 and U1 is sector VI;

[0033] For sectors I-VI, take the midpoint line within each sector. The region enclosed by the midpoint line of sector I and the midpoint line of sector VI is the reconstructed region G1.

[0034] The region enclosed by the midpoint of sector II and the midpoint of sector I is the reconstructed region G2;

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

[0036] The region enclosed by the midpoint of sector III and the midpoint of sector IV is the reconstruction region G4;

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

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

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

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

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

[0042]

[0043]

[0044]

[0045] Among them, ABC-U i XYZ-U j This indicates that the voltage vector corresponding to the first three-phase winding ABC within the switching cycle is U. i The voltage vector corresponding to the first set of three-phase windings XYZ during 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 combination of four sampling vectors, respectively.

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

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

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

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

[0051] i Y This represents the current in the Y phase of the second three-phase winding XYZ.

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

[0053] Preferably, the method further includes:

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

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

[0056]

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

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

[0059]

[0060] When the reference voltage vector passes through voltage vector U4, the system switches from reconstruction region G4-Ⅰ to region G4-Ⅱ. In the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows:

[0061]

[0062] When the reference voltage vector crosses the midpoint of sector IV, switching from reconstruction region G4-II to reconstruction region G5, in the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current actual sampled values, and the sampled currents I1 and I3 are updated as follows:

[0063]

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

[0065]

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

[0067]

[0068] When the reference voltage vector passes through voltage vector U1, the system switches from reconstruction region G1-Ⅰ to region G1-Ⅱ. In the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows:

[0069]

[0070] Preferably, when controlling a zero-phase-shift dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current, reconstructed hybrid pulse width modulation (RHPWM) is used for modulation, including:

[0071] Based on the electromagnetic torque law of the carrier waves and their sideband harmonics of the two sets of three-phase windings, the phase of the carrier wave group of the second set of three-phase windings XYZ is delayed by a phase shift angle Δθ. This Δθ causes the electromagnetic torque T of the even-order switching frequency harmonic vibration of the two sets of three-phase windings to be affected. eABC and T eXYZ The sum of is 0;

[0072] The reference voltage vector is modulated using AZSPWM in regions G1-Ⅰ, G1-Ⅱ, G4-Ⅰ, and G4-Ⅱ.

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

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

[0075]

[0076] In the formula, P is the number of pole pairs of the motor; ψ f The rotor flux linkage is ω0, the modulation wave angular frequency is ω c Let θ be the carrier angular frequency, θ0 be the initial phase angle of the modulating wave, and θ c1Let θ be the initial phase angle of the carrier. mn Here, θ is a constant angle, n is the harmonic order of the modulating wave, m is the even-order carrier harmonic order, and t represents time. θ represents the power factor angle. e Indicates the rotor electrical angle, A′ mn Indicates the amplitude of the 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-order 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-order 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-order switching frequency harmonic vibration of the second three-phase winding XYZ is:

[0082]

[0083] As a preferred method, the method for controlling a zero-phase-shift angle dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current includes:

[0084] The difference between the given motor speed and the actual speed is fed into the speed controller ASR-PI to obtain the motor torque current setpoint. The reconstructed six-phase current is then transformed using coordinate transformation to obtain the current feedback values ​​of the two sets of three-phase windings, including the torque current feedback value i. q1 i q2 Magnetic flux current feedback value i d1 i d2 ;

[0085] The difference between the motor torque current setpoint and the current feedback value is sent to the current loop controller ACR-I, thereby obtaining the voltage setpoint values ​​for the two sets of three-phase windings, including the torque voltage setpoint u. q1 u q2 Magnetic flux voltage setpoint u d1 u d2 ;

[0086] Based on the obtained voltage setpoint, the drive signals for two sets of three-phase windings are generated by using reconstructed hybrid pulse width modulation (RHPWM) to complete the drive control.

[0087] The beneficial effects of this invention are that it only requires a single sampling resistor / sensor to sample an independent branch to complete the six-phase current reconstruction; while realizing the current reconstruction, this invention can eliminate the vibration noise generated by the even-order switching and sideband harmonics of the zero-phase-shift dual three-phase permanent magnet synchronous motor; and this invention provides a convenient and quick method for suppressing sector switching reconstruction errors. Attached Figure Description

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

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

[0090] Figure 3 This is the control block diagram for the zero-phase-shift DTP-PMSM current reconfiguration method, where θ is the electrical angle of the DTP-PMSM, ω is the rotational speed of the DTP-PMSM, and I... SAMPLE This is the current Hall sampling value.

[0091] Figure 4(a) shows the six-phase current waveform, electromagnetic torque waveform, and Fourier decomposition of electromagnetic torque when no phase-shifting controller is used.

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

[0093] Figure 5 The regional distribution map was reconstructed after simplification.

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

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

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

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

[0098] Figure 7(a) shows the current waveform sampled by a single current sensor.

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

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

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

[0102] Figure 9 The error between the actual current and the reconstructed current of phase A. Detailed Implementation

[0103] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0104] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0105] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

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

[0107] Step 1: Based on the sum of the currents of the lower bridge arms B, C, Y, and Z, I is collected from a single channel. SAMPLE Based on the sampling method and the spatial distribution characteristics of the two sets of windings of the zero-phase-shift angle dual three-phase motor, carrier phase shifting and AZSPWM are combined to construct the reconstruction region, and the six-phase current reconstruction expression of the zero-phase-shift angle DTP-PMSM for each reconstruction region is constructed.

[0108] Modify the current sampling topology to collect the sum of the currents in the bridge arms B, C, Y, and Z using a single current Hall sensor or a single resistor. The correspondence between the current sensor sampling results and the phase currents under different voltage vectors is as follows:

[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 These are the switching functions for the six-phase bridge arms, with a value of 0 representing the lower bridge arm being on and a value of 1 representing the upper bridge arm being on; i A This represents the current in phase A of the first three-phase winding ABC; i B This represents the current in phase B of the first three-phase winding ABC; i CThis represents the current in phase C of the first three-phase winding ABC; i X This represents the current in phase X of the second three-phase winding XYZ; i Y This represents the current in the Y phase of the second three-phase winding XYZ; i Z This represents the current in phase Z of the second three-phase winding XYZ; I SAMPLE This is the sampled value from the current sensor.

[0111] A two-set three-phase SVM strategy is adopted to re-plan the voltage space. Based on the spatial distribution characteristics of the zero-phase-shift DTP-PMSM winding, the voltage vectors are merged.

[0112]

[0113] In the formula, U dc U is the bus voltage; k ,k∈{0,1,2,3,4,5,6,7} is the space vector formed by the three-phase windings; 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 When S = 1, the corresponding voltage vector is U4; when S A =0, S B =0, S C =1 or S X =0, S Y=0, S Z When S = 1, the corresponding voltage vector is U5; when S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z When S = 1, the corresponding voltage vector is U6; when S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z When = 1, the corresponding voltage vector is U7.

[0114] The simplified zero-shift phase angle DTP-PMSM divides the voltage vector region in phase space as follows: the region enclosed by U1 and U2 is sector I; the region enclosed by U2 and U3 is sector II; the region enclosed by U3 and U4 is sector III; the region enclosed by U4 and U5 is sector IV; the region enclosed by U5 and U6 is sector V; and the region enclosed by U6 and U1 is sector VI.

[0115] By combining carrier phase shifting with AZSPWM, reconstruction conditions are constructed, and the reconstruction region is replanned.

[0116] Based on the simplified sectors, the reconstruction regions are planned. For sectors I-VI, the midpoint lines are taken respectively. The region enclosed by the midpoint lines of sector I and sector VI is denoted as reconstruction region G1; the region enclosed by the midpoint lines of sector II and I is denoted as reconstruction region G2; the region enclosed by the midpoint lines of sector II and III is denoted as reconstruction region G3; the region enclosed by the midpoint lines of sector III and IV is denoted as reconstruction region G4; the region enclosed by the midpoint lines of sector IV and V is denoted as reconstruction region G5; and the region enclosed by the midpoint lines of sector V and VI is denoted as reconstruction region G6.

[0117] G1 and G4 are the zero-vector modification regions. G1 and G4 are further divided according to the different effective vectors of the zero-vector modification.

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

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

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

[0121] Based on the reconstruction region where the reference voltage is located, and referring to Table 1, sampling currents are obtained at the corresponding switch vector combinations of the two sets of three-phase windings. The sampled currents are then 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 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 AZSPWM sector switching reconstructed error.

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

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

[0129]

[0130] In the formula i' A This represents the current in phase A of the first three-phase winding ABC in the previous switching cycle of the zero-phase-shift DTP-PMSM; where i' B This represents the current in phase B of the first three-phase winding ABC in the previous switching cycle; where i' C This represents the current in phase C of the first three-phase winding ABC in the previous switching cycle; i' X This represents the current in phase X of the second three-phase winding XYZ in the previous switching cycle; i' YThis represents the Y-phase current in the second three-phase winding XYZ of the previous switching cycle; i' Z This indicates the current in phase Z of the second three-phase winding XYZ in the previous switching cycle.

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

[0132]

[0133] When the reference voltage vector passes through the voltage vector U4, the region G4-Ⅰ is switched to the region G4-Ⅱ. The current is reconstructed in the first switching cycle after the switch. The sampled currents I1 and I3 are modified to the calculation results of Equation (5), and I2 and I4 adopt the current real sampled values.

[0134]

[0135] When the reference voltage vector passes through the middle branch line of sector IV, it switches from region G4-II to reconstructed region G5. The current is reconstructed in the first switching cycle after the switch. The sampled currents I1 and I3 are modified to the calculation results of equation (6), and I2 and I4 adopt the current real sampled values.

[0136]

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

[0138]

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

[0140]

[0141] When the reference voltage vector passes through the voltage vector U1, the region G1-Ⅰ is switched to the region G1-Ⅱ. The current is reconstructed in the first switching cycle after the switch. The sampled currents I1 and I3 are modified to the calculation results of Equation (9), and I2 and I4 adopt the current real sampled values.

[0142]

[0143] The motor's operating speed and position angle are sampled.

[0144] Step 2: Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current;

[0145] Step 3: Control the zero-phase-shift DTP-PMSM based on the reconstructed six-phase current:

[0146] The difference between the given motor speed and the actual speed is fed into the speed controller ASR-PI to obtain the motor torque current setpoint. The reconstructed six-phase current is then transformed using coordinate transformation to obtain the current feedback values ​​of the two sets of three-phase windings, including the torque current feedback value i. q1 i q2 Magnetic flux current feedback value i d1 i d2 ;

[0147] The difference between the motor torque current setpoint and the current feedback value is sent to the current loop controller ACR-I, thereby obtaining the voltage setpoint values ​​for the two sets of three-phase windings, including the torque voltage setpoint u. q1 u q2 Magnetic flux voltage setpoint u d1 u d2 ;

[0148] Based on the obtained voltage setpoint, the drive signals for two sets of three-phase windings are generated by using reconstructed hybrid pulse width modulation (RHPWM) to complete the drive control.

[0149] Reconstructing Hybrid Pulse Width Modulation (RHPWM) includes:

[0150] Based on the electromagnetic torque law of the carrier waves and their sideband harmonics of the two sets of three-phase windings, the phase of the carrier wave group of the second set of three-phase windings XYZ is delayed by a phase shift angle Δθ. This Δθ causes the electromagnetic torque T of the even-order switching frequency harmonic vibration of the two sets of three-phase windings to be affected. eABC and T eXYZ The sum of is 0;

[0151] The reference voltage vector is modulated using AZSPWM in regions G1-Ⅰ, G1-Ⅱ, G4-Ⅰ, and G4-Ⅱ.

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

[0153] Based on the electromagnetic torque law of the carrier waves and their sideband harmonics of the two sets of three-phase windings, the phase of the carrier wave group of the second set of three-phase windings XYZ is delayed by a phase shift angle Δθ. This Δθ causes the electromagnetic torque T of the even-order switching frequency harmonic vibration of the two sets of three-phase windings to be affected. eABC and TeXYZ The sum of these values ​​is 0, thus the zero-phase-shift dual three-phase permanent magnet synchronous motor suppresses harmonic vibrations; specifically, the two sets of three-phase output phase voltage carriers and their sideband harmonics are:

[0154]

[0155] In the formula A mn ω is the harmonic amplitude, ω0 is the modulation wave angular frequency, ω c θ is the carrier angular frequency, and θ0 is the initial phase angle of the modulating wave; θ c1 Let θ be the initial phase angle of the carrier. mn is a constant angle, n is the harmonic order of the modulating 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-order switching frequency harmonic vibration of the first three-phase winding ABC is:

[0157]

[0158] In the formula, P is the number of pole pairs of the motor, and ψ f The rotor flux linkage is ω0, the modulation wave angular frequency is ω c Let θ be the carrier angular frequency, θ0 be the initial phase angle of the modulating wave, and θ c1 Let θ be the initial phase angle of the carrier. mn Here, θ is a constant angle, n is the harmonic order of the modulating wave, m is the even-order carrier harmonic order, and t represents time. θ represents the power factor angle. e Indicates the rotor electrical angle, A′ mn This represents the amplitude of the 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-order 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-order 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-order switching frequency harmonic vibration of the second three-phase winding XYZ is:

[0164]

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

[0166] Modify the current sampling topology.

[0167] The relationship between the switching function and the current sampled by the current sensor is as follows: When the switching vector U6 of the first winding ABC is combined with the switching vector U0 of the second winding XYZ, the switching function S corresponding to the voltage vector U6 of the first winding ABC is... A =1S B =0S C =1, the switching function S corresponding to the XYZ voltage vector U0 of the second winding. X =0S Y =0S Z Substituting =0 into equation (1) yields I SAMPLE =i B -i X Simultaneously, the motor's rotation angle and speed are sampled.

[0168] Two sets of three-phase SVM strategies are used to re-plan the voltage space. For example... Figure 2 As shown, based on the spatial distribution characteristics of the 0° phase-shifting angle DTP-PMSM winding, and combined with equation (2), the second set of three-phase winding switching vectors and the first set of three-phase winding switching vectors are combined in the phase space to form a spatial vector planning.

[0169] By combining carrier phase shifting with AZSPWM, reconstruction conditions are constructed, and the reconstruction region is replanned. The replanned sector is as follows: Figure 5 As shown, Figure 5 It includes normal regions G2, G3, G5, G6 and zero vector modification regions G1 and G4. The zero vector modification regions modify the zero vector into an effective vector with the opposite effect. Based on the different zero vectors modified, 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 their 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 a zero-vector jump at the transition boundary.

[0172] Based on the reconstruction region where the reference voltage is located, and referring to Table 1, sampling currents are obtained by sampling at the corresponding switch vector combinations of the two sets of three-phase windings. The sampled currents are then substituted into the current reconstruction expression to complete the six-phase current reconstruction. The following explanation uses the G3 normal region as an example to illustrate the current reconstruction and sampling process:

[0173] As shown in Figure 6(a), according to Table 1, sampling should be performed at the following voltage vector combinations: sampling current I1 is obtained by sampling the vector combination composed of ABC three-phase winding U0 and XYZ three-phase winding U3; sampling current I2 is obtained by sampling the vector combination composed of ABC three-phase winding U7 and XYZ three-phase winding U3; sampling current I3 is obtained by sampling the vector combination composed of ABC three-phase winding U3 and XYZ three-phase winding U0; and sampling current I4 is obtained by sampling the vector combination composed of ABC three-phase winding U3 and XYZ three-phase winding U7.

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

[0175]

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

[0177]

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

[0179] The following explanation uses the G1-Ⅱ zero vector modification region as an example to illustrate the current reconstruction and sampling process:

[0180] As shown in Figure 6(b), according to Table 1, sampling should be performed at the following voltage vector combinations: sampling current I1 is obtained by sampling the vector combination composed of ABC three-phase winding U6 and XYZ three-phase winding U1; sampling current I2 is obtained by sampling the vector combination composed of ABC three-phase winding U3 and XYZ three-phase winding U1; sampling current I3 is obtained by sampling the vector combination composed of ABC three-phase winding U1 and XYZ three-phase winding U6; and sampling current I4 is obtained by sampling the vector combination composed of ABC three-phase winding U1 and XYZ three-phase winding U3.

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

[0182]

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

[0184]

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

[0186] When switching sectors at the zero-vector transition boundary, the calculation method of 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 AZSPWM sector switching reconstructed error.

[0187] The following example, using the zero-vector transition boundary from G6 to G1-Ⅰ, illustrates the method for suppressing reconstruction errors 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, the I1 sampling vector combination becomes the ABC three-phase winding U0 and the XYZ three-phase winding U1, which does not match the vector combination of the G1-Ⅰ sampling current I1 corresponding to the ABC three-phase winding U2 and the XYZ three-phase winding U1 shown in Table 1; at the same time, the I3 sampling vector combination becomes the ABC three-phase winding U1 and the XYZ three-phase winding U0, which does not match the vector combination of the G1-Ⅰ sampling current I1 corresponding to the ABC three-phase winding U1 and the XYZ three-phase winding U2 shown in Table 1. If the sampling currents I1 and I3 are used to complete the current reconstruction at this time, it will bring a large reconstruction error. Therefore, after correcting I1 and I3 according to Equation (8), and combining them with the actual sampled I2 and I4, and substituting them into the reconstruction expression shown in Table 1, the reconstruction error can be reduced while saving a lot of prediction calculations.

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

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

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

[0192] The reconstructed six-phase current is fed 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 fed into the current loop controller to obtain the torque reference voltage and flux reference voltage in the dual dq coordinate system. The reference voltage is then fed into the RHPWM to generate the six-phase bridge arm drive signal to complete the DTP-PMSM motor drive.

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

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

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

[0198] In the formula, T e The total electromagnetic torque of the DTP-PMSM is given by equation (20). It can be seen from equation (20) that the electromagnetic torque of the DTP-PMSM is the sum of the electromagnetic torques generated by the two sets of three-phase windings.

[0199] The phase-shifting controller, based on the torque synthesis law of equation (20) and the torque generation law of high-frequency switches and their sideband harmonic vibrations, takes the elimination of even-order switches and their sideband harmonic vibrations as the control objective and generates the second set of winding phase shift angle Δθ=π / 2.

[0200] The effects of the phase-shift controller are shown in Figures 4(a) and 4(b). Without vibration suppression, the Fourier decomposition of the electromagnetic torque in Figure 4(a) exhibits harmonic vibrations at odd switching frequencies (25kHz, 75kHz…) and even switching frequencies (50kHz…). As shown in Figure 4(b), after the phase-shift controller generates a phase shift angle to act on the Reconstruction Hybrid Pulse Width Modulation (RHPWM) module, the harmonic vibrations at even switching frequencies (50kHz…) are eliminated.

[0201] This implementation modifies the sampling topology, employing a single-current Hall sensor or a single-resistor through-hole independent branch to obtain the phase current correspondence, while simultaneously sampling the motor's rotation angle and speed. A three-phase independent SVM strategy is adopted, and the phase space is replanned based on the characteristics of the zero-phase-shift angle DTP-PMSM space vector. Carrier phase shifting is combined with AZSPWM to construct reconstruction conditions and replan the reconstruction region. Sampling is performed at the switching vector combination points of the two sets of three-phase windings to obtain the sampling current. Six-phase current reconstruction is performed based on the current reconstruction expressions under different reconstruction regions. When switching sectors at the zero-vector transition boundary, the calculation methods for sampling currents I1 and I3 are changed to suppress reconstruction errors during sector switching, completing the six-phase current reconstruction. The reconstructed current is fed into the dual dq control loop to generate a given reference voltage output, generating six-phase bridge arm drive signals, thus forming a zero-phase-shift angle DTP-PMSM drive control system. Harmonic vibrations of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor are suppressed through carrier phase shifting.

[0202] Since the reconstruction method of this invention only involves the reconstruction topology, modulation scheme, and reconstruction method, this embodiment does not impose constraints on the controller. This embodiment is also applicable to applications where the speed loop controller uses an active disturbance rejection controller and the current loop controller uses a proportional resonant controller.

[0203] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A method for current reconfiguration of a zero-phase-shift dual three-phase permanent magnet synchronous motor, characterized in that, The method includes: Based on single-channel acquisition of the sum of the bridge arm currents I of phases B, C, Y, and Z SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the zero-phase-shift angle dual three-phase motor, carrier phase shifting and AZSPWM are combined to construct the reconstruction region, and 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. Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current; The zero-phase-shift angle dual three-phase permanent magnet synchronous motor is controlled based on the reconstructed six-phase current. Methods for constructing reconstructed regions include: Two sets of three-phase SVM strategies are used to plan the voltage space. Based on the spatial distribution characteristics of the two windings of the zero-phase-shift dual three-phase permanent magnet synchronous motor, the voltage vectors are merged. In the formula, U dc U is the bus voltage; k ,k∈{0,1,2,3,4,5,6,7} is the space vector formed by the three-phase windings; S A S B S C S X S Y S Z These are the six-phase bridge arm switching functions for a zero-phase-shift dual three-phase permanent magnet synchronous motor. A value of 0 indicates that the lower bridge arm is on, and a value of 1 indicates that the upper bridge arm is on. When S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z When = 0, the corresponding voltage vector is U0; When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z When = 0, the corresponding voltage vector is U1; When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to the voltage vector U2; When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z When = 0, the corresponding voltage vector is U3; When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z When = 1, the corresponding voltage vector is U4; When S A =0, S B =0, S C =1 or S X =0, S Y =0, S Z When = 1, the corresponding voltage vector is U5; When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z When = 1, the corresponding voltage vector is U6; When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z When = 1, the corresponding voltage vector is U7; Divide the voltage vector region in phase space: The region enclosed by voltage vectors U1 and U2 in space is sector I; The region enclosed in space by voltage vectors U2 and U3 is sector II; The region enclosed in space by voltage vectors U3 and U4 is sector III; The region enclosed in space by voltage vectors U4 and U5 is sector IV; The region enclosed in space by voltage vectors U5 and U6 is sector V; The region enclosed in space by voltage vectors U6 and U1 is sector VI; For sectors I-VI, take the midpoint line within each sector. The region enclosed by the midpoint line of sector I and the midpoint line of sector VI is the reconstructed region G1. The region enclosed by the midpoint of sector II and the midpoint of sector I is the reconstructed region G2; The region enclosed by the midpoint of sector II and the midpoint of sector III is the reconstruction region G3; The region enclosed by the midpoint of sector III and the midpoint of sector IV is the reconstruction region G4; The region enclosed by the midpoint of sector IV and the midpoint of sector V is the reconstruction region G5; The area enclosed by the midpoint of sector V and the midpoint of sector VI is the reconstruction region G6; The reconstructed region G1 includes region G1-Ⅰ and region G1-Ⅱ. The midpoint of sector VI and the voltage vector U1 enclose region G1-Ⅰ, and the midpoint of sector Ⅰ and the voltage vector U1 enclose region G1-Ⅱ. The reconstructed region G4 includes region G4-Ⅰ and region G4-Ⅱ. Region G4-Ⅰ is formed by the midpoint of sector Ⅲ and voltage vector U4, and region G4-Ⅱ is formed by the midpoint of sector Ⅳ and voltage vector U4. The six-phase current reconstruction expression for the zero-phase-shift angle dual three-phase permanent magnet synchronous motor in each reconstruction region is as follows: Among them, ABC-U i XYZ-U j This indicates that the voltage vector corresponding to the first three-phase winding ABC within the switching cycle is U. i The voltage vector corresponding to the first set of three-phase windings XYZ during 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 combination of four sampling vectors, respectively. i A This represents the current in phase A of the first three-phase winding ABC; i B This represents the current in phase B of the first three-phase winding ABC; i C This represents the current in phase C of the first three-phase winding ABC; i X This represents the current in phase X of the second three-phase winding XYZ; i Y This represents the current in the Y phase of the second three-phase winding XYZ. i Z This represents the current in phase Z of the second three-phase winding XYZ.

2. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method according to claim 1, characterized in that, The method further includes: The zero-vector transition boundary includes the midline of sectors I, III, IV, and VI, voltage vector U1, and voltage vector U4; When the reference voltage vector crosses the midpoint of sector I and switches from region G1-II to reconstructed region G2, in the first switching cycle current reconstruction after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows: In the formula, i' A i' represents the current in phase A of the first three-phase winding ABC in the previous switching cycle of a zero-phase-shift dual three-phase permanent magnet synchronous motor. B i' represents the current in phase B of the first three-phase winding ABC in the previous switching cycle. C i' represents the current in phase C of the first three-phase winding ABC in the previous switching cycle. X i' represents the current in phase X of the second three-phase winding XYZ in the previous switching cycle. Y i' represents the Y-phase current in the second three-phase winding XYZ of the previous switching cycle. Z This indicates the current in phase Z of the second three-phase winding XYZ in the previous switching cycle; When the reference voltage vector crosses the midpoint of sector III and switches from reconstruction region G3 to region G4-I, in the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows: When the reference voltage vector passes through voltage vector U4, the system switches from reconstruction region G4-Ⅰ to region G4-Ⅱ. In the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows: When the reference voltage vector crosses the midpoint of sector IV, switching from reconstruction region G4-II to reconstruction region G5, in the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current actual sampled values, and the sampled currents I1 and I3 are updated as follows: When the reference voltage vector crosses the midpoint of sector VI and switches from reconstruction region G6 to region G1-Ⅰ, in the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows: When the reference voltage vector passes through voltage vector U1, the system switches from reconstruction region G1-Ⅰ to region G1-Ⅱ. In the current reconstruction of the first switching cycle after the switch, I2 and I4 adopt the current true sampled values, and the sampled currents I1 and I3 are updated as follows:

3. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method according to claim 2, characterized in that, When controlling a zero-phase-shift dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current, reconstructed hybrid pulse width modulation (RHPWM) is used for modulation, including: Based on the electromagnetic torque law of the carrier waves and their sideband harmonics of the two sets of three-phase windings, the phase of the carrier wave group of the second set of three-phase windings XYZ is delayed by a phase shift angle Δθ. This Δθ causes the electromagnetic torque T of the even-order switching frequency harmonic vibration of the two sets of three-phase windings to be affected. eABC and T eXYZ The sum of is 0; The reference voltage vector is modulated using AZSPWM in regions G1-Ⅰ, G1-Ⅱ, G4-Ⅰ, and G4-Ⅱ. The reference voltage vector is modulated using SVPWM in the reconstruction regions G2, G3, G5, and G6.

4. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method according to claim 3, characterized in that, When the vibration direction is the same as the torque direction, the electromagnetic torque of the even-order switching frequency harmonic vibration of the first three-phase winding ABC is: In the formula, P is the number of pole pairs of the motor; ψ f ω is the rotor flux linkage, ω0 is the modulation wave angular frequency, ω c Let θ be the carrier angular frequency, θ0 be the initial phase angle of the modulating wave, and θ c1 Let θ be the initial phase angle of the carrier. mn Here, θ is a constant angle, n is the harmonic order of the modulating wave, m is the even-order carrier harmonic order, and t represents time. θ represents the power factor angle. e Indicates the rotor electrical angle, A′ mn Indicates the amplitude of the 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-order 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-order 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-order switching frequency harmonic vibration of the second three-phase winding XYZ is:

5. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method according to claim 1, characterized in that, Methods for controlling a zero-phase-shift angle dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current include: The difference between the given motor speed and the actual speed is fed into the speed controller ASR-PI to obtain the motor torque current setpoint. The reconstructed six-phase current is then transformed using coordinate transformation to obtain the current feedback values ​​of the two sets of three-phase windings, including the torque current feedback value i. q1 i q2 Magnetic flux current feedback value i d1 i d2 ; The difference between the motor current setpoint and the current feedback value is sent to the current loop controller ACR-I to obtain the voltage setpoints for the two sets of three-phase windings, including the torque voltage setpoint u. q1 u q2 Magnetic flux voltage setpoint u d1 u d2 ; Based on the obtained voltage setpoint, the drive signals for two sets of three-phase windings are generated by using reconstructed hybrid pulse width modulation (RHPWM) to complete the drive control.

6. A computer-readable storage device storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method as described in any one of claims 1 to 5.

7. A zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration 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 reconfiguration method as described in any one of claims 1 to 5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor current reconfiguration method as described in any one of claims 1 to 5.

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