Current reconstruction method for dual three-phase permanent magnet synchronous motor with 30-degree phase shift angle

Abstract

The invention discloses a current reconstruction method for a dual three-phase permanent magnet synchronous motor with a 30-degree phase shift angle, solves the problem that a DTP-PMSM current reconstruction control system needs a single current sensor to perforate more than three branches, and belongs to the field of motor driving. According to a sampling mode and a modulation mode of a sum ISAMPLE of a current between an A-phase lower bridge arm and a B-phase lower bridge arm of a first set of three-phase windings of a motor and a current between an X-phase upper bridge arm and a Y-phase upper bridge arm of a second set of three-phase windings, and space distribution characteristics of the two sets of windings of the motor, a reconstruction region is constructed; a six-phase current reconstruction expression of the motor in each reconstruction area is constructed; a boundary blind area of a reconstruction area is eliminated in a mode of combining IPWM and variable sampling time; and selecting a corresponding six-phase current reconstruction expression according to the reconstruction region where the reference voltage vector is located and the ISAMPLE acquired in real time, and reconstructing the six-phase current.

Description

Technical Field

[0001] The invention relates to a current reconstruction method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle, and belongs to the field of motor driving. Background Art

[0002] For applications such as aerospace and electric vehicles that are sensitive to torque pulsation, power density, and operating efficiency, there is a demand for low torque pulsation and high power density integration in electric drive systems. Dual-Three Phase Permanent Magnet Synchronous Motor (DTP-PMSM) is an effective solution for high power integration. The DTP-PMSM with a phase shift angle of 30° has unique advantages in application scenarios that are sensitive to torque pulsation due to its unique winding structure.

[0003] The traditional DTP-PMSM speed control system requires six sets of current sensors to collect six-phase currents to complete the control. In high power density integrated applications, six sets of current sensors greatly increase the volume and weight of the system. Due to the influence of circuit device errors and circuit parasitic parameters, there are deviations in the six-phase current sampling circuit. In engineering applications, the sampling results need to be corrected according to the actual current, and the consistency of the calibration magnification and bias of multiple sensors cannot be guaranteed. Therefore, the current reconstruction scheme of reconstructing phase currents through single resistor sampling has become a current research hotspot. The DTP-PMSM drive circuit is generally composed of two sets of three-phase full bridges in parallel, so it can be divided into two sets of independent three-phase full bridges for current reconstruction. At present, the traditional DTP-PMSM current reconstruction scheme is mainly based on three phases, and two sets of sensors are used to reconstruct two sets of three phases respectively. It is impossible to achieve six-phase reconstruction of DTP-PMSM single current sensor sampling.

[0004] The current flows through different paths under different voltage vectors, and the sampling branches corresponding to the current sensors under different paths have different phase current information. In order to increase the phase current information, some scholars have proposed a multi-branch current reconstruction method in which a single current sensor perforates multiple branches, and completes the three-phase current reconstruction by perforating two or even three branches with a single current sensor. If it is extended to the six-phase current reconstruction of DTP-PMSM, a single current sensor needs to perforate four or even six branches at the same information ratio, which brings great difficulties to the system circuit layout and limits the application scenarios. Therefore, there is room for further optimization of the number of perforated branches for the DTP-PMSM drive system to complete phase current reconstruction through a single current sensor.

[0005] For the two-level drive system, the 30° phase shift angle DTP-PMSM has 2 6=64 voltage space vector combinations. Compared with the three-phase drive system, the pulse width modulation freedom of the 30° phase shift angle DTP-PMSM drive system is exponentially higher. At present, the traditional DTP-PMSM reconstruction area planning is still mainly three-phase. The current reconstruction method will bring about a reconstruction blind spot. The traditional reconstruction blind spot elimination methods include: measurement pulse insertion method, state observer method, etc. The measurement pulse insertion method ensures sampling by inserting a measurement pulse in the PWM cycle. This method changes the PWM symmetry, increases the switching frequency of the power module in disguise, increases losses, and reduces system efficiency; the state observer method estimates the complete three-phase current by designing a current observer and using partial current information. On the one hand, this method increases the complexity of the control algorithm, and on the other hand, it is not conducive to the rapidity of the real-time action of the protection system, and reduces the system reliability.

[0006] In order to further suppress system harmonics, some scholars have proposed vector space decomposition (VSD) control based on the characteristics of 30° phase-shift DTP-PMSM. This control can separate the harmonic plane through coordinate transformation and has a suppressive effect on specific subharmonics. At present, the 30° phase-shift DTP-PMSM in actual engineering applications is still mainly based on three-phase independent SVM. The control system current loop obtains the reference voltage vector in the VSD coordinate system, which must first be equivalent to the six-phase coordinate system, and then the two groups are transformed to the corresponding three phases for independent SVM, which requires two steps of operation and there is room for further optimization.

[0007] Defects of the prior art:

[0008] The DTP-PMSM current reconstruction control system requires a single current sensor to penetrate more than three branches;

[0009] The 30° phase-shift angle DTP-PMSM space vector combination has high degrees of freedom, and the reconstruction area planning is difficult. It is difficult to plan the reconstruction area according to the characteristics of the 30° phase-shift angle DTP-PMSM and modify the PWM structure reconstruction conditions;

[0010] The traditional reconstruction blind zone elimination scheme is complex in operation and has a negative impact on the system; the reference voltage vector to two sets of independent SVM modulation in the VSD coordinate system requires two steps of operation. Summary of the invention

[0011] In view of the problem that a DTP-PMSM current reconstruction control system requires a single current sensor to penetrate more than three branches, the present invention provides a current reconstruction method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle.

[0012] A current reconstruction method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle of the present invention comprises:

[0013] According to the use of a single current Hall sensor to collect the current between the lower bridge arms of the A and B phases of the first three-phase winding of the 30° phase shift angle dual three-phase permanent magnet synchronous motor and the current between the upper bridge arms of the X and Y phases of the second three-phase winding, I SAMPLE The sampling mode, modulation mode and spatial distribution characteristics of the two sets of windings of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° are used to construct the reconstruction area, and the six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° is constructed in each reconstruction area;

[0014] 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;

[0015] The dual three-phase permanent magnet synchronous motor with a 30° phase shift angle is controlled according to the reconstructed six-phase current.

[0016] As a preference, construct the reconstruction region:

[0017] Combined with the three-phase independent modulation idea, the switching vector with 64 degrees of freedom is simplified into two groups of adjacent six-sector vector combinations:

[0018]

[0019] Where U dc is the bus voltage; S A , S B , S C , S X , S Y , S Z are the six-phase bridge arm switching functions of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30°, 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; U 1k is the space vector formed by the first set of three-phase windings ABC; U 2k The space vector formed by the second three-phase winding XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7;

[0020] When S A =0, S B =0, S C =0 when the corresponding voltage vector U 10 ; When S A =1, S B =0, S C =0 when the corresponding voltage vector U 11 ; When S A =1, S B =1, S C =0 when the corresponding voltage vector U 12 ; When S A =0, S B=1, S C =0 when the corresponding voltage vector U 13 ; When S A =0, S B =1, S C =1 corresponds to the voltage vector U 14 ; When S A =0, S B =0, S C =1 corresponds to the voltage vector U 15 ; When S A =1, S B =0, S C =1 corresponds to the voltage vector U 16 ; When S A =1, S B =1, S C =1 corresponds to the voltage vector U 17 ; When S X =0, S Y =0, S Z =0 when the corresponding voltage vector U 20 ; When S X =1, S Y =0, S Z =0 when the corresponding voltage vector U 21 ; When S X =1, S Y =1, S Z =0 when the corresponding voltage vector U 22 ; When S X =0, S Y =1, S Z =0 when the corresponding voltage vector U 23 ; When S X =0, S Y =1, S Z =1 corresponds to the voltage vector U 24 ; When S X =0, S Y =0, S Z =1 corresponds to the voltage vector U 25 ; When S X =1, S Y =0, S Z =1 corresponds to the voltage vector U 26 ; When S X =1, S Y =1, S Z =1 corresponds to the voltage vector U 27 ;

[0021] The two sets of three-phase winding space vectors are integrated into the same phase space plane, and 12 reconstructed regions in the phase space are obtained after simplification:

[0022] The reconstruction region G1 is composed of the voltage space vector U 11 With voltage vector U 21 Surrounded by

[0023] The reconstruction area G2 is composed of the voltage vector U 21 With voltage vector U 12 Surrounded by

[0024] The reconstruction area G3 is composed of the voltage vector U 12 With voltage vector U 22 Surrounded by

[0025] The reconstruction area G4 is composed of the voltage vector U 22 With voltage vector U 13 Surrounded by

[0026] The reconstruction area G5 is composed of the voltage vector U 13 With voltage vector U 23 Surrounded by

[0027] The reconstruction area G6 is composed of the voltage vector U 23 With voltage vector U 14 Surrounded by

[0028] The reconstruction area G7 is composed of the voltage vector U 14 With voltage vector U 24 Surrounded by

[0029] The reconstruction area G8 is composed of the voltage vector U 24 With voltage vector U 15 Surrounded by

[0030] The reconstruction area G9 is composed of the voltage vector U 15 With voltage vector U 25 Surrounded by

[0031] The reconstruction area G10 is composed of the voltage vector U 25 With voltage vector U 16 Surrounded by

[0032] The reconstruction area G11 is composed of the voltage vector U 16 With voltage vector U 26 Surrounded by

[0033] The reconstruction area G12 is composed of the voltage vector U 26 With voltage vector U 11 Surrounded.

[0034] As a preferred method, the six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° in each reconstruction area is constructed:

[0035]

[0036]

[0037]

[0038]

[0039] Among them, U 1i U 2j Indicates the switch combinations corresponding to two sets of three-phase windings, i = 1, 2, 3, 4, 5, 6, j = 1, 2, 3, 4, 5, 6;

[0040] 0T s , 0.5T s , 0.25T s , 0.75T s Represents a switching cycle T s Four sampling moments within ;

[0041] I1, I2, I3, and I4 represent the currents sampled at the four switch combinations or sampling moments respectively; 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 C represents 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 i of the Y phase in the second three-phase winding XYZ Z Indicates the current of phase Z in the second three-phase winding XYZ;

[0042] The reconstructed regions G1, G2, G6, G7, G8 and G12 all include an upper boundary blind area, a lower boundary blind area and a reconstructed internal area therebetween;

[0043] The upper and lower boundary blind areas are determined by: the area where the time the corresponding space vectors of the two sets of three-phase windings sampled are maintained at the sampling moment in the sector cannot meet the minimum sampling time;

[0044] When the reference voltage vector is located in the lower boundary blind area of ​​the reconstruction area G1, the upper boundary blind area of ​​the reconstruction area G2, and the upper boundary blind area of ​​the reconstruction area G6, the four sampling moments are 0T and 1T, respectively. s +T min , 0.5T s -T min , 0.25T s , 0.75T s ;

[0045] When the reference voltage vector is located in the lower boundary blind area of ​​the reconstruction area G7, the upper boundary blind area of ​​the reconstruction area G8, and the upper boundary blind area of ​​the reconstruction area G12, the four sampling moments are 0T and 1T, respectively. s -T min , 0.5T s +T min , 0.25T s , 0.75T s ;

[0046] When the reference voltage vector is located in the upper boundary blind area of ​​the reconstruction area G1, the lower boundary blind area of ​​the reconstruction area G8, and the lower boundary blind area of ​​the reconstruction area G12, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.5T s -T min , 0.75T s +T min ;

[0047] When the reference voltage vector is located in the lower boundary blind area of ​​the reconstruction area G2, the lower boundary blind area of ​​the reconstruction area G6, and the upper boundary blind area of ​​the reconstruction area G7, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.25T s +T min , 0.75T s -T min ;

[0048] When the reference voltage vector is located in the reconstructed inner area of ​​the reconstructed area G1, G2, G6, G7, G8 or G12, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.25T s , 0.75T s ;

[0049] T min is the minimum sampling time.

[0050] Preferably, when controlling the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° according to the reconstructed six-phase current, reconstructed hybrid pulse width modulation RHPWM is used for modulation, including:

[0051] CPS-PWM is used in all reconstruction areas, and the carrier phase of the second set of windings is delayed by π / 2;

[0052] When the reference voltage vector is located in the reconstruction regions G1, G2, G6, G7, G8, and G12, AZSPWM is used for modulation;

[0053] The reconstructed regions G3, G4, G5, G9, G10 and G11 all include an upper boundary blind area, a lower boundary blind area and a reconstructed internal area therebetween;

[0054] When the reference voltage vector is located in the reconstructed inner area of ​​the reconstructed areas G3, G4, G5, G9, G10, and G11, SVPWM is used for modulation;

[0055] When the reference voltage vector is located in the upper boundary blind area or the lower boundary blind area of ​​the reconstruction area G3, G4, G5, G9, G10, G11, the first three-phase winding ABC or the second three-phase winding XYZ is modulated by IPWM, and the other one is modulated by SVPWM.

[0056] Preferably, when the upper boundary blind area or the lower boundary blind area of ​​the reconstruction areas G3, G4, G5, G9, G10, and G11 is modulated, the zero vector action time of the lower boundary blind area of ​​the reconstruction area G4, the upper boundary blind area of ​​the reconstruction area G5, and the upper boundary blind area of ​​the reconstruction area G9 is:

[0057]

[0058] Among them, T min is the minimum sampling time, T 10 is the zero vector action time of the first three-phase winding ABC in a switching cycle; T U10 For S A =S B =S C =0 action time; T U17 For S A =S B =S C =1 action time; T 20 is the zero vector action time of the second three-phase winding XYZ in one switching cycle; T U20 For S X =S Y =S Z =0 action time; T U27 For S X =S Y =S Z =1 action time;

[0059] The zero vector action time distribution of the upper boundary blind area of ​​the reconstruction area G3, the lower boundary blind area of ​​the reconstruction area G10, and the upper boundary blind area of ​​the reconstruction area G11 is:

[0060]

[0061] The zero vector action time distribution of the lower boundary blind area of ​​the reconstruction area G5, the lower boundary blind area of ​​the reconstruction area G9, and the upper boundary blind area of ​​the reconstruction area G10 is:

[0062]

[0063] The zero vector action time distribution of the lower boundary blind area of ​​the reconstruction area G3, the upper boundary blind area of ​​the reconstruction area G4, and the lower boundary blind area of ​​the reconstruction area G11 is:

[0064]

[0065] The beneficial effects of the present invention are as follows: the present invention can complete the six-phase current reconstruction by only perforating two branches with a single current Hall sensor; the present invention provides 12 groups of reconstruction areas in combination with the characteristics of the 30° phase angle DTP-PMSM, and modifies the PWM structure of the six-phase current reconstruction conditions; the present invention proposes corresponding elimination schemes according to different reconstruction blind areas, without complex calculations and without changing the symmetry of the PWM; the present invention simplifies the process of outputting the current loop to the pulse width modulation given into a single-step operation through the VSD-2DQ equivalent transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is the current reconstruction topology diagram of DTP-PMSM with a 30° phase shift angle.

[0067] Figure 2 This is a simplified diagram of the space voltage vector of DTP-PMSM with a phase shift angle of 30°.

[0068] Figure 3 This is the simplified and reconstructed sector distribution diagram of the DTP-PMSM with a phase shift angle of 30°.

[0069] Figure 4 The control block diagram of the DTP-PMSM current reconstruction method with a phase shift angle of 30° is shown in Figure 1, where θ is the DTP-PMSM electrical angle, ω is the DTP-PMSM speed, and I SAMPLE is the current Hall sampling value.

[0070] FIG5(a) is a schematic diagram of sampling of the zero vector modification area of ​​the reconstruction area G12.

[0071] FIG5( b ) is a schematic diagram of normal area sampling of the reconstructed area G11 .

[0072] FIG5(c) is a schematic diagram of IPWM modified sampling in the upper boundary blind area of ​​the reconstructed region G9.

[0073] FIG5(d) is a schematic diagram showing the modification of the sampling time of the blind area at the lower boundary of the reconstructed region G1.

[0074] Figure 6(a) is a sampling current waveform of a single current Hall sensor.

[0075] FIG6( b ) is a diagram of a single current Hall sensor sampling four currents per switching cycle.

[0076] Figure 7(a) shows the waveforms of the real phase current and the reconstructed current of ABC.

[0077] Figure 7(b) shows the XYZ real phase current and reconstructed current waveforms.

[0078] Figure 8 is the error between the real current and the reconstructed current of phase A. DETAILED DESCRIPTION

[0079] 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.

[0080] 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.

[0081] 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.

[0082] The current reconstruction method of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° in this embodiment includes:

[0083] Step 1: Use a single current Hall sensor to collect the current between the lower bridge arms of the A and B phases of the first three-phase winding of the 30° phase shift angle dual three-phase permanent magnet synchronous motor and the current between the upper bridge arms of the X and Y phases of the second three-phase winding I SAMPLE The sampling mode, modulation mode and spatial distribution characteristics of the two sets of windings of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° are used to construct the reconstruction area, and the six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° in each reconstruction area is constructed:

[0084] Modify the current sampling topology and use a single current Hall sensor to collect the sum of the current between the lower bridge arms of phases A and B and the current between the upper bridge arms of phases X and Y. The corresponding relationship between the current sensor sampling results and the phase current under different voltage vectors is:

[0085]

[0086] 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 Arepresents 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 C represents 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 sum-ABC The current sensor sampling results of the ABC three-phase under different voltage vectors; I sum-XYZ The current sensor sampling results of the XYZ three-phase under different voltage vectors.

[0087] Two groups of three-phase SVM strategies are used to replan the voltage space. According to the spatial distribution characteristics of the 30° phase-shift DTP-PMSM winding, the switching vector with 64 degrees of freedom is simplified into two groups of adjacent six-sector vector combinations in combination with the three-phase independent modulation idea.

[0088]

[0089] Where U dc is the bus voltage; 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; U 1k is the space vector formed by the first set of three-phase windings ABC; U 2k The space vector formed by the second three-phase winding XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7;

[0090] When S A =0, S B =0, S C =0 when the corresponding voltage vector U 10 ; When S A =1, S B =0, S C =0 when the corresponding voltage vector U 11 ; When S A =1, S B =1, S C =0 when the corresponding voltage vector U 12 ; When S A =0, S B =1, S C =0 when the corresponding voltage vector U 13 ; When S A=0, S B =1, S C =1 corresponds to the voltage vector U 14 ; When S A =0, S B =0, S C =1 corresponds to the voltage vector U 15 ; When S A =1, S B =0, S C =1 corresponds to the voltage vector U 16 ; When S A =1, S B =1, S C =1 corresponds to the voltage vector U 17 ; When S X =0, S Y =0, S Z =0 when the corresponding voltage vector U 20 ; When S X =1, S Y =0, S Z =0 when the corresponding voltage vector U 21 ; When S X =1, S Y =1, S Z =0 when the corresponding voltage vector U 22 ; When S X =0, S Y =1, S Z =0 when the corresponding voltage vector U 23 ; When S X =0, S Y =1, S Z =1 corresponds to the voltage vector U 24 ; When S X =0, S Y =0, S Z =1 corresponds to the voltage vector U 25 ; When S X =1, S Y =0, S Z =1 corresponds to the voltage vector U 26 ; When S X =1, S Y =1, S Z =1 corresponds to the voltage vector U 27 .

[0091] According to formula (2), the two sets of three-phase winding space vectors are integrated into the same phase space plane. After simplification, 12 groups of reconstruction regions in the phase space are obtained. Each current reconstruction region is surrounded by two space vectors, and each reconstruction region includes upper and lower blind areas and the reconstruction internal area between the two. The upper and lower boundary blind areas are determined by: the area where the corresponding space vectors of the two sets of three-phase windings sampled at the sampling time in the sector cannot meet the minimum sampling time.

[0092] The reconstructed region G1 is composed of S A =1, S B =0, S C = 0 corresponding to the space vector and S X =1, S Y =0, S Z =0 is surrounded by the space vector corresponding to it;

[0093] The reconstructed region G2 is composed of S A =1, S B =1, S C = 0 corresponding to the space vector and S X =1, S Y =0, S Z =0 is surrounded by the space vector corresponding to it;

[0094] Reconstructed region G3 is composed of S A =1, S B =1, S C = 0 corresponding to the space vector and S X =1, S Y =1, S Z =0 is surrounded by the space vector corresponding to it;

[0095] Reconstructed region G4 is composed of S A =0, S B =1, S C = 0 corresponding to the space vector and S X =1, S Y =1, S Z =0 is surrounded by the space vector corresponding to it;

[0096] Reconstruction area G5 by S A =0, S B =1, S C = 0 corresponding to the space vector and S X =0, S Y =1, S Z =0 corresponding to the space vector surrounded by,

[0097] Reconstructed region G6 is composed of S A =0, S B =1, S C=1 corresponding to the space vector and S X =0, S Y =1, S Z =0 is surrounded by the space vector corresponding to it;

[0098] Reconstruction area G7 by S A =0, S B =1, S C =1 corresponding to the space vector and S X =0, S Y =1, S Z =1 is surrounded by the corresponding space vector;

[0099] Reconstruction area G8 by S A =0, S B =0, S C =1 corresponding to the space vector and S X =0, S Y =1, S Z =1 is surrounded by the corresponding space vector;

[0100] Reconstruction area G9 by S A =0, S B =0, S C =1 corresponding to the space vector and S X =0, S Y =0, S Z =1 is surrounded by the corresponding space vector;

[0101] Reconstructed region G10 is composed of S A =1, S B =0, S C =1 corresponding to the space vector and S X =0, S Y =0, S Z =1 is surrounded by the corresponding space vector;

[0102] Reconstructed region G11 is composed of S A =1, S B =0, S C =1 corresponding to the space vector and S X =1, S Y =0, S Z =1 is surrounded by the corresponding space vector;

[0103] Reconstructed region G12 is composed of S A =1, S B =0, S C = 0 corresponding to the space vector and S X =1, S Y =0, S Z =1 is surrounded by the corresponding space vector.

[0104] A three-phase independent SVM strategy is adopted to reconstruct hybrid pulse width modulation (RHPWM) and flexibly allocate four modulation modes, including CPS-PWM, interleaved pulse width modulation (IPWM), AZSPWM and SVPWM, according to the reconstruction area where the reference voltage is located to build the reconstruction conditions.

[0105] In the reconstruction area G1, AZSPWM is applied to transform the zero vector U 10 , U 17 , U 20 , U 27 Replace the opposite effective vector U 16 , U 13 , U 22 , U 25 .

[0106] In the reconstruction area G2, AZSPWM is applied to transform the zero vector U 10 , U 17 , U 20 , U 27 Replace the opposite effective vector U 16 , U 13 , U 26 , U 23 .

[0107] In the reconstruction area G6, AZSPWM is applied to transform the zero vector U 10 , U 17 , U 20 , U 27 Replace the opposite effective vector U 12 , U 15 , U 22 , U 25 .

[0108] In the reconstruction area G7, AZSPWM is applied to transform the zero vector U 10 , U 17 , U 20 , U 27 Replace the opposite effective vector U 16 , U 13 , U 22 , U 25 .

[0109] In the reconstruction area G8, AZSPWM is applied to transform the zero vector U 10 , U 17 , U 20 , U 27Replace the opposite effective vector U 16 , U 13 , U 26 , U 23 .

[0110] In the reconstruction area G12, AZSPWM is applied to transform the zero vector U 10 , U 17 , U 20 , U 27 Replace the opposite effective vector U 12 , U 15 , U 22 , U 25 .

[0111] The reconstruction areas applying AZSPWM include G1, G2, G6, G7, G8, and G12, which are collectively referred to as zero vector modification areas.

[0112] When the reference voltage vector is located in the reconstruction region G1, the sampling switch combinations corresponding to the two sets of three-phase windings include U 16 U 21 , U 13 U 21 , U 11 U 22 , U 11 U 25 Four combinations;

[0113] When the reference voltage vector is located in the reconstruction region G2, the sampling switch combinations corresponding to the two sets of three-phase windings include U 16 U 21 , U 13 U 21 , U 12 U 26 , U 12 U 23 Four combinations;

[0114] When the reference voltage vector is located in the reconstruction region G6, the sampling switch combinations corresponding to the two sets of three-phase windings include U 12 U 23 , U 15 U 23 , U 14 U 22 , U 14 U 25 Four combinations;

[0115] When the reference voltage vector is located in the reconstruction region G7, the sampling switch combinations corresponding to the two sets of three-phase windings include U 16 U 24 , U 13 U 24 , U 14 U22 , U 14 U 25 Four combinations;

[0116] When the reference voltage vector is located in the reconstruction region G8, the sampling switch combinations corresponding to the two sets of three-phase windings include U 16 U 24 , U 13 U 24 , U 15 U 26 , U 15 U 23 Four combinations;

[0117] When the reference voltage vector is located in the reconstruction region G12, the sampling switch combinations corresponding to the two sets of three-phase windings include U 12 U 26 , U 15 U 26 , U 11 U 22 , U 11 U 25 Four combinations;

[0118] Except for the zero vector modification area, other areas G3, G4, G5, G9, G10, and G11 are modulated using traditional SVPWM, and these areas are collectively referred to as normal areas.

[0119] According to Table 1, the six-phase currents of DTP-PMSM are calculated using the four sampled currents.

[0120] Table 1 Correspondence between current sensor sampling results and phase current under different voltage vectors

[0121]

[0122]

[0123]

[0124]

[0125] Among them, U 1i U 2j Indicates the switch combinations corresponding to two sets of three-phase windings, i = 1, 2, 3, 4, 5, 6, j = 1, 2, 3, 4, 5, 6;

[0126] 0T s , 0.5T s , 0.25T s , 0.75T s Represents a switching cycle T s Four sampling moments within ;

[0127] I1, I2, I3, and I4 represent the currents sampled at the four switch combinations or sampling moments respectively; 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 C represents 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 i of the Y phase in the second three-phase winding XYZ Z Indicates the current of phase Z in the second three-phase winding XYZ;

[0128] In one switching cycle T s When the reference voltage vector is in the normal region, the four sampling moments are 0T s , 0.5T s , 0.25T s , 0.75T s .

[0129] When the reference voltage vector is located in the reconstructed inner region of the zero vector modification region, the four sampling moments are 0T s , 0.5T s , 0.25T s , 0.75T s ;

[0130] When the reference voltage vector is located in the lower boundary blind area of ​​group G1, the upper boundary blind area of ​​group G2, and the upper boundary blind area of ​​group G6, the four sampling moments are 0T and 1T, respectively. s +T min , 0.5T s -T min , 0.25T s , 0.75T s ;

[0131] When the reference voltage vector is located in the lower boundary blind area of ​​group G7, the upper boundary blind area of ​​group G8, and the upper boundary blind area of ​​group G12, the four sampling moments are 0T and 1T, respectively. s -T min , 0.5T s +T min , 0.25T s , 0.75T s ;

[0132] When the reference voltage vector is located in the upper boundary blind area of ​​group G1, the lower boundary blind area of ​​group G8, and the lower boundary blind area of ​​group G12, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.25T s -Tmin , 0.75T s +T min ;

[0133] When the reference voltage vector is located in the lower boundary blind area of ​​group G2, the lower boundary blind area of ​​group G6, and the upper boundary blind area of ​​group G7, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.25T s +T min , 0.75T s -T min ;

[0134] Although the zero vector modification region flexibly allocates sampling moments as the reference voltage changes, the sampled currents all correspond to specific switch combinations.

[0135] The sampling method of the upper and lower boundary blind areas of the normal area is the same as that of the reconstructed internal area, and both use fixed sampling times for sampling.

[0136] 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;

[0137] like Figure 4 As shown, step 3 controls the 30° phase-shifted dual three-phase permanent magnet synchronous motor according to the reconstructed six-phase current:

[0138] 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 by VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i q , flux current feedback value i d , mutually orthogonal harmonic current feedback values ​​i Z1 、i Z2 ;

[0139] The difference between the motor torque current set value and the motor current feedback value is sent to the current loop controller ACR-PI, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q , flux voltage given value u d , mutually orthogonal harmonic voltage given value u z1 、u z2 ;

[0140] The obtained voltage given value is converted into two sets of three-phase SVM given values, and then reconstructed hybrid pulse width modulation RHPWM is performed to generate driving signals for two sets of three-phase windings to complete the drive control.

[0141] The voltage reference given value in the VSD coordinate system output by the current loop controller is transformed into two sets of three-phase SVM given values ​​using the VSD-2DQ equivalent transformation formula (7). Finally, the six-phase bridge arm drive signal is generated through two sets of three-phase SVM strategies.

[0142]

[0143] The reconstructed hybrid pulse width modulation RHPWM of this embodiment includes:

[0144] CPS-PWM is used in all reconstruction areas, and the carrier phase of the second set of windings is delayed by π / 2;

[0145] When the reference voltage vector is located in the reconstruction regions G1, G2, G6, G7, G8, and G12, AZSPWM is used for modulation;

[0146] The reconstructed regions G3, G4, G5, G9, G10 and G11 all include an upper boundary blind area, a lower boundary blind area and a reconstructed internal area therebetween;

[0147] When the reference voltage vector is located in the reconstructed inner area of ​​the reconstructed areas G3, G4, G5, G9, G10, and G11, SVPWM is used for modulation;

[0148] When the reference voltage vector is located in the upper boundary blind area or the lower boundary blind area of ​​the reconstruction area G3, G4, G5, G9, G10, G11, the first three-phase winding ABC or the second three-phase winding XYZ is modulated by IPWM, and the other one is modulated by SVPWM.

[0149] The zero vector action time distribution of the blind area of ​​the lower boundary of group G4, the upper boundary of group G5, and the upper boundary of group G9 is as follows:

[0150]

[0151] Among them, T min is the minimum sampling time, T 10 is the zero vector action time of the first three-phase winding ABC in a switching cycle; T U10 For S A =S B =S C =0 action time; T U17 For S A =S B =S C =1 action time; T 20 is the zero vector action time of the second three-phase winding XYZ in one switching cycle; T U20 For S X =S Y =S Z=0 action time; T U27 For S X =S Y =S Z =1 action time;

[0152] The zero vector action time distribution of the upper boundary of group G3, the lower boundary of group G10, and the upper boundary of group G11 is as follows:

[0153]

[0154] The zero vector action time distribution of the blind area of ​​the lower boundary of group G5, group G9 and group G10 is as follows:

[0155]

[0156] The zero vector action time distribution of the lower boundary of group G3, the upper boundary of group G4, and the lower boundary of group G11 is as follows:

[0157]

[0158] This embodiment uses a 30-pole, 125rpm, 30° 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 connected in star shape. Figure 4 As shown, the main control loop adopts vector space decomposition (VSD) closed-loop control.

[0159] Modify the current sampling topology. For example, the corresponding relationship between the switching function and the current sensor sampling current, when the first set of windings ABC acts as the switching vector U 16 When Figure 2 Know U 16 Corresponding switching function S A =1S B =0S C =1 Substituting it into formula (1), we can get I sum-UVW =-i B ; If at this time the second set of three-phase winding XYZ action switching vector U 24 With the first set of three-phase winding switching vector U 16 Combined with each other, Figure 2 Know U 24 Corresponding switching function S X =1S Y =0S Z =1 Substituting it into formula (1), we can get I sum-XYZ =-i X , the two can be superimposed to obtain the current sensor sampling result is I SAMPLE =-i B -i XIn this way, the DTP-PMSM voltage vector is split into two groups of three-phase SVM voltage vectors, and the voltage vectors of the two groups of three-phase SVMs each form a corresponding current in the three-phase winding, and the current sensor sampling current is generated after superposition. At the same time, the motor's rotation angle and speed are sampled.

[0160] Two groups of three-phase SVM strategies are used to replan the voltage space. Figure 2 As shown in Figure 1, according to the spatial distribution characteristics of the 30° phase shift angle DTP-PMSM winding, combined with formula (2), the second set of three-phase winding switch vectors are rotated 30° counterclockwise in the phase space relative to the first set of three-phase windings, and then the two are combined to form a new space vector planning. Each modulation sector is surrounded by two space vectors, and sectors I-XII correspond to the reconstruction areas G1-G12 respectively. Finally, 12 groups of reconstruction areas in the phase space are simplified, as shown in Figure 11. Figure 3 Each current reconstruction area is surrounded by two space vectors, and each reconstruction area includes upper and lower blind areas and the reconstruction internal area between the two. The upper and lower boundary blind areas are determined by: the corresponding space vectors of the two sets of three-phase windings sampled at the sampling time in the sector cannot meet the minimum sampling time area; finally, Figure 3 Simplified reconstructed sector distribution diagram of 30° phase shift angle DTP-PMSM. To construct the current reconstruction conditions, a three-phase independent modulation strategy is adopted, and RHPWM is used to flexibly allocate four modulation modes, CPS-PWM, IPWM, AZSPWM, and SVPWM, according to the reconstruction area where the reference voltage is located. CPS-PWM is used in all reconstruction areas, and the phase of the second winding carrier is delayed by π / 2. AZSPWM is applied in the zero vector modification area. SVPWM is applied in the normal area.

[0161] When the reference voltage vector is in the normal region, at the four sampling moments 0T s , 0.5T s , 0.25T s , 0.75T s Sampling is performed to obtain a sampling current.

[0162] When the reference voltage vector is located in the zero vector modification region, sampling is performed at the four vector combinations to obtain the sampled current.

[0163] The six-phase currents of DTP-PMSM are calculated using four sampling currents according to Table 1. Taking the normal area, normal boundary blind area, zero vector modification area, and zero vector boundary area as examples, the process of reconstructing the six-phase currents using sampling currents is explained.

[0164] When the reference voltage is in the normal region G11 reconstruction group, the PWM output is shown in Figure 5(b). At this time, at the fixed sampling point 0T s , 0.5Ts , 0.25T s , 0.75T s Sampling is performed to obtain sampling currents I1, I2, I3, and I4.

[0165] From Table 1, we can see that the relationship between the sampling current and the phase current is:

[0166]

[0167] According to the reconstruction equation provided in Table 1:

[0168]

[0169] By inputting the sampled current, the six-phase current can be calculated based on the sampled current.

[0170] When the reference voltage is located in the zero vector modification region G12 reconstruction group, the PWM output is shown in Figure 5(a). At this time, at the fixed sampling point 0T s , 0.5T s , 0.25T s , 0.75T s Sampling is performed to obtain sampling currents I1, I2, I3, and I4.

[0171] From Table 1, we can see that the relationship between the sampling current and the phase current is:

[0172]

[0173] According to the reconstruction equation provided in Table 1:

[0174]

[0175] By inputting the sampled current, the six-phase current can be calculated based on the sampled current.

[0176] When the reference voltage is located in the upper boundary blind area of ​​G9 in the normal boundary blind area, the PWM output is shown in Figure 5(c). At this time, PWM uses IPWM to distribute the zero vector time according to formula (3). s , 0.5T s , 0.25T s , 0.75T s Sampling is performed to obtain sampling currents I1, I2, I3, and I4.

[0177] From Table 1, it can be seen that the relationship between the sampling current and the phase current is equation (9); according to the reconstructed equation (10) provided in Table 1, the sampling current is substituted into the reconstructed equation (10) to calculate the six-phase currents based on the sampling current.

[0178] When the reference voltage is located in the G1 lower boundary blind area in the zero vector boundary blind area, the PWM output is shown in Figure 5(d), and the four sampling times are modified to 0T s +T min , 0.5T s -T min , 0.25T s , 0.75T s Sampling is performed to obtain sampling currents I1, I2, I3, and I4.

[0179] From Table 1, we can see that the relationship between the sampling current and the phase current is:

[0180]

[0181] According to the reconstruction equation provided in Table 1:

[0182]

[0183] By inputting the sampled current, the six-phase current can be calculated based on the sampled current.

[0184] The final sampling current is shown in FIG6 . The B-phase current and the sampling current I1 overlap with each other in a single reconstruction area, which is consistent with Table 1 .

[0185] The reconstructed current and the actual current are shown in Figure 7. The actual current and the reconstructed current have the same phase and basically the same amplitude. Figure 8 The reconstruction error is controlled within the allowable range and meets the reconstruction requirements.

[0186] 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.

[0187] The six-phase current is input into formula (14) for VSD transformation to obtain the torque current feedback value, flux current feedback value, and harmonic current feedback value in the VSD coordinate system.

[0188]

[0189] The difference between the feedback current and the given current is sent to the current loop controller to obtain the torque reference voltage, flux reference voltage and harmonic reference voltage in the VSD coordinate system.

[0190] The VSD-2DQ equivalent transformation of formula (3) is adopted to transform the reference voltage in the VSD coordinate system into two sets of three-phase reference voltages, which are sent to the three-phase SVM. Finally, the six-phase bridge arm drive signal is generated through two sets of three-phase SVM strategies to complete the DTP-PMSM motor drive.

[0191] The 30° phase-shifted dual three-phase permanent magnet synchronous motor current reconstruction scheme and control system based on reconstructed hybrid pulse width modulation in this embodiment modifies the sampling topology, adopts a single current sensor to perforate two branches, obtains the corresponding relationship between the sensor phase current, 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 30° phase-shifted DTP-PMSM space vector characteristics to obtain the reconstruction area; adopts carrier phase-shifted PWM (Carrier Phase-Shifted PWM, CPS-PWM) to lag the second three-phase winding XYZ carrier phase by π / 2, and adopts dynamic zero state PWM (Active Zero State The reconstruction conditions are constructed by using PWM,AZSPWM); the PWM scheme is flexibly configured according to the position of the reference voltage to eliminate the reconstruction blind area, and four samplings are performed in one switching cycle to obtain four groups of sampling currents with six-phase current information; the six-phase current reconstruction is completed based on the current reconstruction expressions under different reconstruction areas; the reconstructed current is sent to the VSD control loop to generate a given reference voltage output in the VSD coordinate system; through the VSD-2DQ equivalent transformation, two groups of three-phase SVM given values ​​are obtained through single-step calculation, and finally a 30° phase shift angle DTP-PMSM drive control system is constructed.

[0192] 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. 30° phase shift angle dual three-phase permanent magnet synchronous motor current reconstruction method, characterized in that: The method comprises: According to the use of a single current Hall sensor to collect the current between the lower bridge arms of the A and B phases of the first three-phase winding of the 30° phase shift angle dual three-phase permanent magnet synchronous motor and the current between the upper bridge arms of the X and Y phases of the second three-phase winding, I SAMPLE The sampling mode, modulation mode and spatial distribution characteristics of the two sets of windings of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° are used to construct the reconstruction area, and the six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° is constructed in each reconstruction area; 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 dual three-phase permanent magnet synchronous motor with a 30° phase shift angle is controlled according to the reconstructed six-phase current.

2. The current reconstruction method of a dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° according to claim 1 is characterized in that: Build the refactoring area: Combined with the three-phase independent modulation idea, the switching vector with 64 degrees of freedom is simplified into two groups of adjacent six-sector vector combinations: Where U dc is the bus voltage; S A , S B , S C , S X , S Y , S Z are the six-phase bridge arm switching functions of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30°, 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; U 1k is the space vector formed by the first set of three-phase windings ABC; U 2k The space vector formed by the second three-phase winding XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7; When S A =0, S B =0, S C =0 when the corresponding voltage vector U 10 ; When S A =1, S B =0, S C =0 when the corresponding voltage vector U 11 ; When S A =1, S B =1, S C =0 when the corresponding voltage vector U 12 ; When S A =0, S B =1, S C =0 when the corresponding voltage vector U 13 ; When S A =0, S B =1, S C =1 corresponds to the voltage vector U 14 ; When S A =0, S B =0, S C =1 corresponds to the voltage vector U 15 ; When S A =1, S B =0, S C =1 corresponds to the voltage vector U 16 ; When S A =1, S B =1, S C =1 corresponds to the voltage vector U 17 ; When S X =0, S Y =0, S Z =0 when the corresponding voltage vector U 20 ; When S X =1, S Y =0, S Z =0 when the corresponding voltage vector U 21 ; When S X =1, S Y =1, S Z =0 when the corresponding voltage vector U 22 ; When S X =0, S Y =1, S Z =0 when the corresponding voltage vector U 23 ; When S X =0, S Y =1, S Z =1 corresponds to the voltage vector U 24 ; When S X =0, S Y =0, S Z =1 corresponds to the voltage vector U 25 ; When S X =1, S Y =0, S Z =1 corresponds to the voltage vector U 26 ; When S X =1, S Y =1, S Z =1 corresponds to the voltage vector U 27 ; The two sets of three-phase winding space vectors are integrated into the same phase space plane, and 12 reconstructed regions in the phase space are obtained after simplification: The reconstruction region G1 is composed of the voltage space vector U 11 With voltage vector U 21 Surrounded by The reconstruction area G2 is composed of the voltage vector U 21 With voltage vector U 12 Surrounded by The reconstruction area G3 is composed of the voltage vector U 12 With voltage vector U 22 Surrounded by The reconstruction area G4 is composed of the voltage vector U 22 With voltage vector U 13 Surrounded by The reconstruction area G5 is composed of the voltage vector U 13 With voltage vector U 23 Surrounded by The reconstruction area G6 is composed of the voltage vector U 23 With voltage vector U 14 Surrounded by The reconstruction area G7 is composed of the voltage vector U 14 With voltage vector U 24 Surrounded by The reconstruction area G8 is composed of the voltage vector U 24 With voltage vector U 15 Surrounded by The reconstruction area G9 is composed of the voltage vector U 15 With voltage vector U 25 Surrounded by The reconstruction area G10 is composed of the voltage vector U 25 With voltage vector U 16 Surrounded by The reconstruction area G11 is composed of the voltage vector U 16 With voltage vector U 26 Surrounded by The reconstruction area G12 is composed of the voltage vector U 26 With voltage vector U 11 Surrounded.

3. The current reconstruction method of a dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° according to claim 2 is characterized in that: Construct the six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with a 30° phase shift angle in each reconstruction area: Among them, U 1i U 2j Indicates the switch combinations corresponding to two sets of three-phase windings, i = 1, 2, 3, 4, 5, 6, j = 1, 2, 3, 4, 5, 6; 0T s , 0.5T s , 0.25T s , 0.75T s Represents a switching cycle T s Four sampling moments within ; I1, I2, I3, and I4 represent the currents sampled at the four switch combinations or sampling moments respectively; 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 C represents 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 i of the Y phase in the second three-phase winding XYZ Z Indicates the current of phase Z in the second three-phase winding XYZ; The reconstructed regions G1, G2, G6, G7, G8 and G12 all include an upper boundary blind area, a lower boundary blind area and a reconstructed internal area therebetween; The upper and lower boundary blind areas are determined by: the area where the time the corresponding space vectors of the two sets of three-phase windings sampled are maintained at the sampling moment in the sector cannot meet the minimum sampling time; When the reference voltage vector is located in the lower boundary blind area of ​​the reconstruction area G1, the upper boundary blind area of ​​the reconstruction area G2, and the upper boundary blind area of ​​the reconstruction area G6, the four sampling moments are 0T and 1T, respectively. s +T min , 0.5T s -T min , 0.25T s , 0.75T s ; When the reference voltage vector is located in the lower boundary blind area of ​​the reconstruction area G7, the upper boundary blind area of ​​the reconstruction area G8, and the upper boundary blind area of ​​the reconstruction area G12, the four sampling moments are 0T and 1T, respectively. s -T min , 0.5T s +T min , 0.25T s , 0.75T s ; When the reference voltage vector is located in the upper boundary blind area of ​​the reconstruction area G1, the lower boundary blind area of ​​the reconstruction area G8, and the lower boundary blind area of ​​the reconstruction area G12, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.5T s -T min , 0.75T s +T min ; When the reference voltage vector is located in the lower boundary blind area of ​​the reconstruction area G2, the lower boundary blind area of ​​the reconstruction area G6, and the upper boundary blind area of ​​the reconstruction area G7, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.25T s +T min , 0.75T s -T min ; When the reference voltage vector is located in the reconstructed inner area of ​​the reconstructed area G1, G2, G6, G7, G8 or G12, the four sampling moments are 0T and 1T, respectively. s , 0.5T s , 0.25T s , 0.75T s ; T min is the minimum sampling time.

4. The current reconstruction method of a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle according to claim 3 is characterized in that: When controlling the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30° according to the reconstructed six-phase current, the reconstructed hybrid pulse width modulation RHPWM is used for modulation, including: CPS-PWM is used in all reconstruction areas, and the carrier phase of the second set of windings is delayed by π / 2; When the reference voltage vector is located in the reconstruction regions G1, G2, G6, G7, G8, and G12, AZSPWM is used for modulation; The reconstructed regions G3, G4, G5, G9, G10 and G11 all include an upper boundary blind area, a lower boundary blind area and a reconstructed internal area therebetween; When the reference voltage vector is located in the reconstructed inner area of ​​the reconstructed areas G3, G4, G5, G9, G10, and G11, SVPWM is used for modulation; When the reference voltage vector is located in the upper boundary blind area or the lower boundary blind area of ​​the reconstruction area G3, G4, G5, G9, G10, G11, the first three-phase winding ABC or the second three-phase winding XYZ is modulated by IPWM, and the other one is modulated by SVPWM.

5. The current reconstruction method of a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle according to claim 4 is characterized in that: When the upper boundary blind area or the lower boundary blind area of ​​the reconstruction areas G3, G4, G5, G9, G10, and G11 is modulated, the zero vector action time of the lower boundary blind area of ​​the reconstruction area G4, the upper boundary blind area of ​​the reconstruction area G5, and the upper boundary blind area of ​​the reconstruction area G9 is: Among them, T min is the minimum sampling time, T 10 is the zero vector action time of the first three-phase winding ABC in a switching cycle; T U10 For S A =S B =S C =0 action time; T U17 For S A =S B =S C =1 action time; T 20 is the zero vector action time of the second three-phase winding XYZ in one switching cycle; T U20 For S X =S Y =S Z =0 action time; T U27 For S X =S Y =S Z =1 action time; The zero vector action time distribution of the upper boundary blind area of ​​the reconstruction area G3, the lower boundary blind area of ​​the reconstruction area G10, and the upper boundary blind area of ​​the reconstruction area G11 is: The zero vector action time distribution of the lower boundary blind area of ​​the reconstruction area G5, the lower boundary blind area of ​​the reconstruction area G9, and the upper boundary blind area of ​​the reconstruction area G10 is: The zero vector action time distribution of the lower boundary blind area of ​​the reconstruction area G3, the upper boundary blind area of ​​the reconstruction area G4, and the lower boundary blind area of ​​the reconstruction area G11 is:

6. The current reconstruction method of a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle according to claim 1 is characterized in that: The method for controlling a 30° phase-shifted dual three-phase permanent magnet synchronous motor according to the 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 by VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i q , flux current feedback value i d , mutually orthogonal harmonic current feedback values ​​i Z1 、i Z2 ; The difference between the motor torque current set value and the motor current feedback value is sent to the current loop controller ACR-PI, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q , flux voltage given value u d , mutually orthogonal harmonic voltage given values ​​u z1 、u z2 ; The obtained voltage given value is converted into two sets of three-phase SVM given values, and then reconstructed hybrid pulse width modulation RHPWM is performed to generate driving signals for two sets of three-phase windings to complete the drive control.

7. The current reconstruction method of a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle according to claim 6 is characterized in that: Perform VSD-2DQ equivalent transformation on the voltage given value to obtain two sets of three-phase SVM given values ​​u d1 、u q1 、u d2 、u q2 : Wherein, θ represents the electrical angle of the dual three-phase permanent magnet synchronous motor with a phase shift angle of 30°.

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 a 30° phase shift angle as claimed in any one of claims 1 to 7 are implemented.

9. A current reconstruction device for a dual three-phase permanent magnet synchronous motor with a phase shift angle of 30°, 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 current reconstruction method of a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle 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 a 30° phase shift angle as claimed in any one of claims 1 to 7 are implemented.

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