Current Reconfiguration Method for 30° Phase-Shifted Dual Three-Phase Permanent Magnet Synchronous Motors

Abstract

This invention relates to a current reconfiguration method for a 30° phase-shift angle dual three-phase permanent magnet synchronous motor, solving the problem that a DTP-PMSM current reconfiguration control system requires a single current sensor to be inserted through three or more branches. It falls within the field of motor drives. The invention utilizes a single current Hall sensor to collect the sum of the current between the lower bridge arms of phases A and B of the first three-phase winding and the current between the upper bridge arms of phases X and Y of the second three-phase winding. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two sets of motor windings, a reconstructed region is constructed, and a six-phase current reconstructed expression for the motor in each reconstructed region is generated. A combination of IPWM and variable sampling timing is used to eliminate the blind zone at the boundary of the reconstructed region. Based on the reconstructed region where the reference voltage vector is located and the real-time acquired IPWM signal... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current.

Description

Technical Field

[0001] This invention relates to a current reconfiguration method for a 30° phase-shifting angle 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 that are sensitive to torque ripple, power density, and operating efficiency, electric drive systems require integration with low torque ripple and high power density. Dual-Three Phase Permanent Magnet Synchronous Motors (DTP-PMSMs) are an effective solution for high-power integration. The 30° phase-shifted DTP-PMSM, due to its unique winding structure, possesses unique advantages in torque-ripple-sensitive applications.

[0003] Traditional DTP-PMSM speed control systems require six sets of current sensors to collect six-phase current for control. In high-power-density integrated applications, these six current sensors significantly increase the system's size and weight. Due to errors in circuit components and the influence of parasitic parameters, the six-phase current sampling circuit exhibits deviations. In engineering applications, the sampling results need to be corrected based on the actual current, making it impossible to guarantee the consistency of multi-sensor calibration magnification and bias. Therefore, current reconstruction schemes that reconstruct phase currents through single-resistor sampling have become a current research hotspot. DTP-PMSM drive circuits generally consist of two sets of three-phase full-bridge circuits in parallel. Therefore, they can be split into two independent three-phase full-bridge circuits for separate current reconstruction. Currently, traditional DTP-PMSM current reconstruction schemes are primarily three-phase, using two sets of sensors to reconstruct two separate sets of three-phase circuits, which cannot achieve six-phase reconstruction using a single current sensor in DTP-PMSM.

[0004] Under different voltage vectors, the current flows through different paths, and the sampling branches corresponding to the current sensor have different phase current information under different paths. To increase phase current information, some scholars have proposed a multi-branch current reconstruction method using a single current sensor with multiple branches perforated, achieving three-phase current reconstruction by perforating two or even three branches with a single current sensor. If this is extended to six-phase current reconstruction in DTP-PMSM, a single current sensor needs to perforate four or even six branches to achieve the same information ratio. This 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 used by a single current sensor to complete phase current reconstruction in DTP-PMSM drive systems.

[0005] For two-level drive systems, the 30° phase-shift angle DTP-PMSM, due to its special spatial winding structure, has 2 6=64 voltage space vector combinations. Compared with a three-phase drive system, the pulse width modulation degree of freedom of a 30° phase-shift angle DTP-PMSM drive system is exponentially higher. Currently, traditional DTP-PMSM reconfiguration region planning is still mainly based on three phases. Current reconfiguration methods can introduce reconfiguration blind zones. Traditional methods for eliminating reconfiguration blind zones include: measurement pulse insertion method and state observer method. The measurement pulse insertion method ensures sampling by inserting measurement pulses within the PWM cycle. This method changes the PWM symmetry, indirectly increasing the switching frequency of the power module, increasing losses, and reducing system efficiency. The state observer method estimates the complete three-phase current using partial current information by designing a current observer. This method increases the complexity of the control algorithm and is not conducive to the rapid real-time action of the protection system, thus reducing system reliability.

[0006] To further suppress system harmonics, some scholars have proposed Vector Space Decomposition (VSD) control based on the characteristics of 30° phase-shifted DTP-PMSM. This control can separate the harmonic plane through coordinate transformation, thus suppressing specific harmonics. Currently, in practical engineering applications, 30° phase-shifted DTP-PMSM still mainly uses three-phase independent SVM. The control system current loop obtains the reference voltage vector in the VSD coordinate system, which needs to be equivalently transformed to the six-phase coordinate system first. Then, two sets are transformed to the corresponding three-phase coordinates and performed independent SVM, requiring two steps of calculation, leaving room for further optimization.

[0007] Deficiencies of existing technology:

[0008] The DTP-PMSM current reconfiguration control system requires a single current sensor to be perforated through three or more branches;

[0009] The 30° phase-shift angle DTP-PMSM has a high degree of freedom in spatial vector combination, making it difficult to plan the reconfiguration region. It is also difficult to plan the reconfiguration region based on the characteristics of the 30° phase-shift angle DTP-PMSM and modify the PWM construction reconfiguration conditions.

[0010] Traditional reconfiguration blind zone elimination schemes are computationally complex and have a negative impact on the system; the reference voltage vector in the VSD coordinate system to two sets of independent SVM modulations requires two steps of calculation. Summary of the Invention

[0011] To address the issue that a single current sensor requires more than three branches in a DTP-PMSM current reconfiguration control system, this invention provides a current reconfiguration method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle.

[0012] The present invention provides a current reconfiguration method for a 30° phase-shift angle dual three-phase permanent magnet synchronous motor, comprising:

[0013] The sum of the currents between the lower arms of phases A and B of the first three-phase winding of a 30° phase-shifted dual three-phase permanent magnet synchronous motor and the currents between the upper arms of phases X and Y of the second three-phase winding is collected using a single-current Hall sensor. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two windings of the 30° phase-shifting double three-phase permanent magnet synchronous motor, a reconstruction region is constructed, and the six-phase current reconstruction expression of the 30° phase-shifting double three-phase permanent magnet synchronous motor in each reconstruction region is constructed.

[0014] 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;

[0015] The reconstructed six-phase current is used to control a 30° phase-shifted dual three-phase permanent magnet synchronous motor.

[0016] As a preferred option, construct the reconstructed region:

[0017] Combining the concept of three-phase independent modulation, the 64-degree-of-freedom switching vector is simplified into two sets of adjacent six-sector vector combinations:

[0018]

[0019] In the formula, U dc Bus voltage; S A S B S C S X S Y S Z These are the six-phase bridge arm switching functions for a 30° phase-shifted dual three-phase permanent magnet synchronous motor. A value of 0 represents the lower bridge arm being on, and a value of 1 represents the upper bridge arm being on. 1k U is the space vector formed by the first set of three-phase windings ABC; 2k The space vector formed by the second set of three-phase windings XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7;

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

[0021] By integrating the space vectors of the two three-phase windings into the same phase space plane, 12 reconfiguration regions in the phase space are obtained after simplification:

[0022] The reconstructed region G1 is composed of the voltage space vector U 11 With voltage vector U 21 Enclosed;

[0023] The reconstructed region G2 consists of the voltage vector U 21 With voltage vector U 12 Enclosed;

[0024] The reconstructed region G3 is composed of the voltage vector U 12 With voltage vector U 22 Enclosed;

[0025] Reconstruction region G4 is composed of voltage vector U 22 With voltage vector U 13 Enclosed;

[0026] The reconstructed region G5 consists of the voltage vector U 13 With voltage vector U 23 Surrounded by,

[0027] The reconstructed region G6 is composed of the voltage vector U 23 With voltage vector U 14 Enclosed;

[0028] The reconstructed region G7 is composed of voltage vector U 14 With voltage vector U 24 Enclosed;

[0029] The reconstructed region G8 is composed of the voltage vector U 24 With voltage vector U 15 Enclosed;

[0030] Reconstruction region G9 is composed of voltage vector U 15 With voltage vector U 25 Enclosed;

[0031] The reconstructed region G10 is composed of the voltage vector U 25 With voltage vector U 16 Enclosed;

[0032] The reconstructed region G11 is composed of the voltage vector U 16 With voltage vector U 26 Enclosed;

[0033] The reconstructed region G12 consists of the voltage vector U 26 With voltage vector U 11 It is surrounded by.

[0034] As a preferred embodiment, the six-phase current reconstruction expression for the 30° phase-shift angle dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed as follows:

[0035]

[0036]

[0037]

[0038]

[0039] Among them, U 1i U 2j This represents the switch combination corresponding to the 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 T represents one switching cycle. s The four sampling times within;

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

[0042] The reconstructed regions G1, G2, G6, G7, G8, and G12 all include the upper boundary blind zone, the lower boundary blind zone, and the reconstructed internal region between the two.

[0043] The method for determining the upper and lower boundary blind zones is as follows: the area where the corresponding space vectors of the two sets of three-phase windings being sampled cannot maintain the minimum sampling time within the sector.

[0044] When the reference voltage vector is located in the lower boundary blind zone of reconstructed region G1, the upper boundary blind zone of reconstructed region G2, and the upper boundary blind zone of reconstructed region G6, the four sampling times are 0T. 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 zone of reconstructed region G7, the upper boundary blind zone of reconstructed region G8, and the upper boundary blind zone of reconstructed region G12, the four sampling times are 0T. 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 zone of reconstructed region G1, the lower boundary blind zone of reconstructed region G8, and the lower boundary blind zone of reconstructed region G12, the four sampling times are 0T. 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 zone of reconstructed region G2, the lower boundary blind zone of reconstructed region G6, and the upper boundary blind zone of reconstructed region G7, the four sampling times are 0T. s 0.5T s 0.25T s +T min 0.75T s -T min ;

[0048] When the reference voltage vector is located within the reconstruction region of G1, G2, G6, G7, G8, or G12, the four sampling times are 0T. s 0.5T s 0.25T s 0.75T s ;

[0049] T min This is the minimum sampling time.

[0050] Preferably, when controlling a 30° phase-shifted 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:

[0051] CPS-PWM is used in all reconfiguration regions to lag the second set of winding carrier phase by π / 2;

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

[0053] The reconstructed regions G3, G4, G5, G9, G10, and G11 all include the upper boundary blind zone, the lower boundary blind zone, and the reconstructed internal region between the two.

[0054] When the reference voltage vector is located in the internal reconstruction region of reconstruction regions G3, G4, G5, G9, G10, and G11, SVPWM is used for modulation.

[0055] When the reference voltage vector is located in the upper or lower boundary blind zone of the reconstructed regions G3, G4, G5, G9, G10, G11, IPWM modulation is used for the first set of three-phase windings ABC or the second set of three-phase windings XYZ, and SVPWM modulation is used for the other one.

[0056] Preferably, during modulation, the zero-vector action time of the upper or lower boundary blind zone of the reconstruction regions G3, G4, G5, G9, G10, and G11 is as follows:

[0057]

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

[0059] The zero-vector action time allocation for the upper boundary blind zone of reconstructed region G3, the lower boundary blind zone of reconstructed region G10, and the upper boundary blind zone of reconstructed region G11 is as follows:

[0060]

[0061] The zero-vector action time allocation for the lower boundary blind zone of reconstructed region G5, the lower boundary blind zone of reconstructed region G9, and the upper boundary blind zone of reconstructed region G10 is as follows:

[0062]

[0063] The zero-vector action time allocation for the lower boundary blind zone of reconstructed region G3, the upper boundary blind zone of reconstructed region G4, and the lower boundary blind zone of reconstructed region G11 is as follows:

[0064]

[0065] The beneficial effects of this invention are as follows: This invention only requires two branches of a single current Hall sensor to complete six-phase current reconstruction; This invention combines the characteristics of 30° phase band angle DTP-PMSM to provide 12 sets of reconstruction regions and modify the PWM to construct six-phase current reconstruction conditions; This invention proposes corresponding elimination schemes for different reconstruction blind zones, without complex calculations and without changing the symmetry of PWM; This invention simplifies the process of current loop output to pulse width modulation setting to a single-step operation through VSD-2DQ equivalent transformation. Attached Figure Description

[0066] Figure 1 The topology diagram for current reconfiguration of a 30° phase-shifted DTP-PMSM is shown.

[0067] Figure 2 A simplified diagram of the space voltage vector for a 30° phase-shifted DTP-PMSM.

[0068] Figure 3 The reconstructed sector distribution diagram is a simplified version of the 30° phase-shifting DTP-PMSM.

[0069] Figure 4 This is the control block diagram for the 30° phase-shifted DTP-PMSM current reconstruction 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.

[0070] Figure 5(a) is a schematic diagram of the sampling of the G12 zero vector modification region in the reconstruction region.

[0071] Figure 5(b) is a schematic diagram of the normal region sampling in the reconstructed region G11.

[0072] Figure 5(c) is a schematic diagram of the IPWM modification sampling in the upper boundary blind zone of the reconstructed region G9.

[0073] Figure 5(d) is a schematic diagram showing the modification of the sampling time in the lower boundary blind zone of the reconstructed region G1.

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

[0075] Figure 6(b) shows the current sampling diagram of a single current Hall sensor four times per switching cycle.

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

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

[0078] Figure 8 The error between the actual current and the reconstructed current of phase A. Detailed Implementation

[0079] 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.

[0080] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0081] 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.

[0082] The current reconfiguration method for a 30° phase-shifting angle dual three-phase permanent magnet synchronous motor in this embodiment includes:

[0083] Step 1: Based on the sum of the currents between the lower arms of phases A and B of the first three-phase winding of the 30° phase-shifted dual three-phase permanent magnet synchronous motor and the currents between the upper arms of phases X and Y of the second three-phase winding, collected using a single current Hall sensor... SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two windings of the 30° phase-shifted dual three-phase permanent magnet synchronous motor, a reconstruction region is constructed, and the six-phase current reconstruction expression of the 30° phase-shifted dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed:

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

[0085]

[0086] 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 AThis 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; I sum-ABC The current sensor sampling results for the three phases A, B, and C under different voltage vectors; I sum-XYZ The current sensor sampling results for the XYZ three phases under different voltage vectors are shown.

[0087] The voltage space is replanned using two sets of three-phase SVM strategies. Based on the spatial distribution characteristics of the 30° phase-shifting DTP-PMSM winding, and combined with the concept of three-phase independent modulation, the 64-degree-of-freedom switching vector is simplified into two sets of adjacent six-sector vector combinations.

[0088]

[0089] In the formula, U dc Bus voltage; 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 indicating that the lower bridge arm is conducting and a value of 1 indicating that the upper bridge arm is conducting; U 1k U is the space vector formed by the first set of three-phase windings ABC; 2k The space vector formed by the second set of three-phase windings XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7;

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

[0091] According to equation (2), the space vectors of the two sets of three-phase windings are integrated into the same phase space plane. After simplification, 12 sets of reconstructed regions are obtained in the phase space. Each current reconstructed region is surrounded by two space vectors, and each reconstructed region includes upper and lower blind zones and the internal reconstructed region between them; the upper and lower boundary blind zones are determined as follows: the region where the sampling time of the corresponding space vectors of the two sets of three-phase windings in the sector cannot meet the minimum sampling time.

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

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

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

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

[0096] Reconstruction region G5 is by S A =0, S B =1, S C =0 corresponds to the space vector and S X =0, S Y =1, S Z The space vector corresponding to 0 is enclosed.

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

[0098] Reconstructed region G7 is composed of S A =0, S B =1, S C =1 corresponds to the spatial vector and S X =0, S Y =1, S Z It is enclosed by the spatial vector corresponding to =1;

[0099] Reconstruction region G8 is composed of S A =0, S B =0, S C =1 corresponds to the spatial vector and S X =0, S Y =1, S Z It is enclosed by the spatial vector corresponding to =1;

[0100] Reconstructed region G9 is composed of S A =0, S B =0, S C =1 corresponds to the spatial vector and S X =0, S Y =0, S Z It is enclosed by the spatial vector corresponding to =1;

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

[0102] Reconstruction region G11 is composed of S A =1, S B =0, S C =1 corresponds to the spatial vector and S X =1, S Y =0, S Z It is enclosed by the spatial vector corresponding to =1;

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

[0104] A three-phase independent SVM strategy is adopted to construct reconstruction conditions by flexibly allocating four modulation methods—CPS-PWM, Interleaved Pulse Width Modulation (IPWM), AZSPWM, and SVPWM—based on the reconstruction region of the reference voltage.

[0105] Applying AZSPWM to the reconstructed region G1 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 22 U 25 .

[0106] Applying AZSPWM to the reconstructed region G2 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 26 U 23 .

[0107] AZSPWM is applied to the reconstructed region G6 to reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 12 U 15 U 22 U 25 .

[0108] Applying AZSPWM to the reconstructed region G7 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 22 U 25 .

[0109] AZSPWM is applied to the reconstructed region G8 to reduce the zero vector U. 10 U 17 U 20 U 27Replace the opposite effective vector U respectively 16 U 13 U 26 U 23 .

[0110] Applying AZSPWM to the reconstructed region G12 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 12 U 15 U 22 U 25 .

[0111] The reconstructed regions using AZSPWM include G1, G2, G6, G7, G8, and G12, collectively referred to as the zero-vector modification regions.

[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 region, the other regions G3, G4, G5, G9, G10, and G11 are modulated using traditional SVPWM. These regions are collectively referred to as the normal region.

[0119] The six-phase currents of the DTP-PMSM are calculated using four sampling currents based on Table 1.

[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 This represents the switch combination corresponding to the 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 T represents one switching cycle. s The four sampling times within;

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

[0128] In one switching cycle T s Within this range, when the reference voltage vector is in the normal region, the four sampling times are 0T and 0T respectively. 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 times 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 zone of group G1, the upper boundary blind zone of group G2, and the upper boundary blind zone of group G6, the four sampling times are 0T. 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 zone of group G7, the upper boundary blind zone of group G8, and the upper boundary blind zone of group G12, the four sampling times are 0T. 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 zone of group G1, the lower boundary blind zone of group G8, and the lower boundary blind zone of group G12, the four sampling times are 0T. 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 zone of group G2, the lower boundary blind zone of group G6, and the upper boundary blind zone of group G7, the four sampling times are 0T. s 0.5T s 0.25T s +T min 0.75T s -T min ;

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

[0135] The sampling method for the upper and lower boundary blind zones of the normal region is the same as that for the reconstructed internal region, both using a fixed sampling time.

[0136] 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;

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

[0138] 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 transformed using VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i. q Magnetic flux current feedback value i d The feedback values ​​of mutually orthogonal harmonic currents i Z1 i Z2 ;

[0139] The difference between the motor torque current setpoint and the motor current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoints for the two sets of three-phase windings, including the torque voltage setpoint u. q Magnetic flux voltage setpoint u d Orthogonal harmonic voltage setpoint u z1 u z2 ;

[0140] The obtained voltage setpoint is converted into two sets of three-phase SVM setpoints, and then reconstructed into hybrid pulse width modulation (RHPWM) to generate two sets of drive signals for the three-phase windings, thus completing the drive control.

[0141] The voltage reference setpoint in the VSD coordinate system output by the current loop controller is transformed by Equation (7) VSD-2DQ to obtain two sets of three-phase SVM setpoints. Finally, the six-phase bridge arm drive signal is generated through the 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 reconfiguration regions to lag the second set of winding carrier phase by π / 2;

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

[0146] The reconstructed regions G3, G4, G5, G9, G10, and G11 all include the upper boundary blind zone, the lower boundary blind zone, and the reconstructed internal region between the two.

[0147] When the reference voltage vector is located in the internal reconstruction region of reconstruction regions G3, G4, G5, G9, G10, and G11, SVPWM is used for modulation.

[0148] When the reference voltage vector is located in the upper or lower boundary blind zone of the reconstructed regions G3, G4, G5, G9, G10, G11, IPWM modulation is used for the first set of three-phase windings ABC or the second set of three-phase windings XYZ, and SVPWM modulation is used for the other one.

[0149] The time allocation for the zero vector action zone 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 For the minimum sampling time, T 10 T is the zero-vector action time of the first three-phase winding ABC within one switching cycle; U10 For S A =S B =S C =0 duration; T U17 For S A =S B =S C =1 duration of action; T 20 T is the zero-vector action time of the second three-phase winding XYZ within one switching cycle; U20 For S X =S Y =S Z=0 duration; T U27 For S X =S Y =S Z =1 duration of action;

[0152] The time allocation for the zero vector action zone 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 time allocation for the zero vector action zone of the lower boundary of group G5, the lower boundary of group G9, and the upper boundary of group G10 is as follows:

[0155]

[0156] The time allocation for the zero vector action zone 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, 125 rpm, 30° 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 4 As shown, the main control loop adopts vector space decomposition (VSD) closed-loop control.

[0159] Modify the current sampling topology. For example, illustrate the correspondence between the switching function and the current sampled by the current sensor. When the first set of windings ABC acts, the switching vector U... 16 At that time, by Figure 2 It can be known that U 16 Corresponding switching function S A =1S B =0S C Substituting 1 into equation (1) yields I. sum-UVW =-i B If at this time the second set of three-phase windings XYZ acts as the switching vector U 24 With the first set of three-phase winding switch vector U 16 Combining with each other, by Figure 2 It can be known that U 24 Corresponding switching function S X =1S Y =0S Z Substituting 1 into equation (1) yields I. sum-XYZ =-i X The sum of the two results gives the current sensor sampling result as I. SAMPLE =-i B -i XIn this way, the DTP-PMSM voltage vector is decomposed into the superposition of two sets of three-phase SVM voltage vectors. The voltage vectors acting on each of the two sets of three-phase SVMs generate corresponding currents in the three-phase windings. The superposition of these vectors produces the sampling current for the current sensor. Simultaneously, the motor's rotation angle and speed are sampled.

[0160] 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 30° phase-shifting DTP-PMSM winding, and combined with equation (2), the switching vector of the second set of three-phase windings is rotated counterclockwise by 30° relative to the first set of three-phase windings in the phase space, and then the two are combined to form a new spatial vector plan. Each modulation sector is surrounded by two spatial vectors, and sectors I-XII correspond to the reconstruction regions G1-G12 respectively. Finally, 12 sets of reconstruction regions in the phase space are simplified, as shown in the figure. Figure 3 As shown. Each current reconstruction region is surrounded by two space vectors, and each reconstruction region includes upper and lower blind zones and the reconstruction interior region between them; the upper and lower boundary blind zones are determined by defining the regions where the sampling time of the corresponding space vectors of the two sets of three-phase windings in the sector cannot meet the minimum sampling time; ultimately forming Figure 3 The simplified reconfiguration sector distribution diagram of the 30° phase-shifted DTP-PMSM is shown. To construct the current reconfiguration conditions, a three-phase independent modulation strategy is adopted, using RHPWM to flexibly allocate four modulation modes—CPS-PWM, IPWM, AZSPWM, and SVPWM—based on the reconfiguration region of the reference voltage. CPS-PWM is used in all reconfiguration regions, with the second winding carrier phase lagging by π / 2. AZSPWM is applied in the zero-vector modification region. SVPWM is applied in the normal region.

[0161] When the reference voltage vector is in the normal region, at the four sampling times 0T s 0.5T s 0.25T s 0.75T s The sampling current is obtained by sampling.

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

[0163] The six-phase currents of the DTP-PMSM are calculated using four sampling currents based on Table 1. Taking the normal region, normal boundary blind region, zero vector modification region, and zero vector boundary region 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 as shown in Figure 5(b). At this time, at the fixed sampling point 0T s 0.5Ts 0.25T s 0.75T s Samples are taken to obtain the sampled currents I1, I2, I3, and I4.

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

[0166]

[0167] Based on the reconstruction equations provided in Table 1:

[0168]

[0169] By substituting the sampled current, the six-phase current can be calculated.

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

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

[0172]

[0173] Based on the reconstruction equations provided in Table 1:

[0174]

[0175] By substituting the sampled current, the six-phase current can be calculated.

[0176] When the reference voltage is located in the upper boundary blind zone of G9 within the normal boundary blind zone, the PWM output is as shown in Figure 5(c). At this time, the PWM uses IPWM to allocate the zero vector time according to equation (3). At a fixed sampling point 0T... s 0.5T s 0.25T s 0.75T s Samples are taken to obtain the sampled currents I1, I2, I3, and I4.

[0177] From Table 1, we can see that the relationship between the sampling current and the phase current is given by equation (9). Substituting the sampling current into the reconstruction equation (10) provided in Table 1, we can calculate the six-phase phase current based on the sampling current.

[0178] When the reference voltage is located in the lower boundary blind zone of G1 within the zero vector boundary blind zone, the PWM output is as 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 Samples are taken to obtain the sampled currents I1, I2, I3, and I4.

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

[0180]

[0181] Based on the reconstruction equations provided in Table 1:

[0182]

[0183] By substituting the sampled current, the six-phase current can be calculated.

[0184] The final sampled current is shown in Figure 6. The phase B current and the sampled current I1 coincide in a single reconstruction region, 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 are in phase and have basically the same amplitude. Figure 8 The reconstruction error shown is controlled within the allowable range, meeting the reconstruction requirements.

[0186] The difference between the given motor speed and the actual speed is sent to the speed controller to obtain the motor torque current command.

[0187] The six-phase current is fed into equation (14) and VSD transformation is performed 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 fed into the current loop controller to obtain the torque reference voltage, flux reference voltage, and harmonic reference voltage in the VSD coordinate system.

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

[0191] This embodiment presents a current reconstruction scheme and control system for a 30° phase-shifting dual three-phase permanent magnet synchronous motor based on reconstructed hybrid pulse width modulation. The sampling topology is modified by using a single current sensor with two branches through a perforated path to obtain the sensor phase current correspondence, while simultaneously sampling the motor's rotation angle and speed. A three-phase independent SVM strategy is employed, and the phase space is replanned based on the spatial vector characteristics of the 30° phase-shifting DTP-PMSM to obtain the reconstruction region. Carrier phase-shifted PWM (CPS-PWM) is used to lag the XYZ carrier phase of the second set of three-phase windings by π / 2, while dynamic zero-state PWM (Active Zero State) is used in specific reconstruction regions. The PWM (AZSPWM) scheme is used to construct reconfiguration conditions. The PWM scheme is flexibly configured according to the position of the reference voltage to eliminate the reconfiguration blind zone. Four samples are taken in one switching cycle to obtain four sets of sampled currents with six-phase current information. The six-phase current reconfiguration is completed based on the current reconfiguration expression under different reconfiguration regions. The reconfigured current is sent to the VSD control loop to generate the given reference voltage output in the VSD coordinate system. Through the VSD-2DQ equivalent transformation, two sets of three-phase SVM given values ​​are obtained by single-step calculation, and finally a 30° phase shift angle DTP-PMSM drive control system is formed.

[0192] 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

A current reconfiguration method for a 1.30° phase-shifted dual three-phase permanent magnet synchronous motor, characterized in that: The method includes: The sum of the currents between the lower arms of phases A and B of the first three-phase winding of a 30° phase-shifted dual three-phase permanent magnet synchronous motor and the currents between the upper arms of phases X and Y of the second three-phase winding is collected using a single-current Hall sensor. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two windings of the 30° phase-shifting double three-phase permanent magnet synchronous motor, a reconstruction region is constructed, and the six-phase current reconstruction expression of the 30° phase-shifting double 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 reconstructed six-phase current is used to control a 30° phase-shifted dual three-phase permanent magnet synchronous motor. Construct the reconstructed region: Combining the concept of three-phase independent modulation, the 64-degree-of-freedom switching vector is simplified into two sets of adjacent six-sector vector combinations: In the formula, U dc Bus voltage; S A S B S C S X S Y S Z These are the six-phase bridge arm switching functions for a 30° phase-shifted dual three-phase permanent magnet synchronous motor. A value of 0 represents the lower bridge arm being on, and a value of 1 represents the upper bridge arm being on. 1k U is the space vector formed by the first set of three-phase windings ABC; 2k The space vector formed by the second set of three-phase windings XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7; When S A =0, S B =0, S C When = 0, the corresponding voltage vector U 10 When S A =1, S B =0, S C When = 0, the corresponding voltage vector U 11 When S A =1, S B =1, S C When = 0, the corresponding voltage vector U 12 When S A =0, S B =1, S C When = 0, the corresponding voltage vector U 13 When S A =0, S B =1, S C When = 1, the corresponding voltage vector U 14 When S A =0, S B =0, S C When = 1, the corresponding voltage vector U 15 When S A =1, S B =0, S C When = 1, the corresponding voltage vector U 16 When S A =1, S B =1, S C When = 1, the corresponding voltage vector U 17 When S X =0, S Y =0, S Z When = 0, the corresponding voltage vector U 20 When S X =1, S Y =0, S Z When = 0, the corresponding voltage vector U 21 When S X =1, S Y =1, S Z When = 0, the corresponding voltage vector U 22 When S X =0, S Y =1, S Z When = 0, the corresponding voltage vector U 23 When S X =0, S Y =1, S Z When = 1, the corresponding voltage vector U 24 When S X =0, S Y =0, S Z When = 1, the corresponding voltage vector U 25 When S X =1, S Y =0, S Z When = 1, the corresponding voltage vector U 26 When S X =1, S Y =1, S Z When = 1, the corresponding voltage vector U 27 ; By integrating the space vectors of the two three-phase windings into the same phase space plane, 12 reconfiguration regions in the phase space are obtained after simplification: The reconstructed region G1 is composed of the voltage space vector U 11 With voltage vector U 21 Enclosed; The reconstructed region G2 consists of the voltage vector U 21 With voltage vector U 12 Enclosed; The reconstructed region G3 is composed of the voltage vector U 12 With voltage vector U 22 Enclosed; Reconstruction region G4 is composed of voltage vector U 22 With voltage vector U 13 Enclosed; The reconstructed region G5 consists of the voltage vector U 13 With voltage vector U 23 Surrounded by, The reconstructed region G6 is composed of the voltage vector U 23 With voltage vector U 14 Enclosed; The reconstructed region G7 is composed of voltage vector U 14 With voltage vector U 24 Enclosed; The reconstructed region G8 is composed of the voltage vector U 24 With voltage vector U 15 Enclosed; Reconstruction region G9 is composed of voltage vector U 15 With voltage vector U 25 Enclosed; The reconstructed region G10 is composed of the voltage vector U 25 With voltage vector U 16 Enclosed; The reconstructed region G11 is composed of the voltage vector U 16 With voltage vector U 26 Enclosed; The reconstructed region G12 consists of the voltage vector U 26 With voltage vector U 11 Enclosed; Construct the six-phase current reconstruction expressions for the dual three-phase permanent magnet synchronous motor with a 30° phase shift angle in each reconstruction region: Among them, U 1i U 2j This represents the switch combination corresponding to the 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 T represents one switching cycle. s The four sampling times within; I1, I2, I3, and I4 represent the four switch combinations or the current sampled at the sampling time, 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; The reconstructed regions G1, G2, G6, G7, G8, and G12 all include the upper boundary blind zone, the lower boundary blind zone, and the reconstructed internal region between the two. The method for determining the upper and lower boundary blind zones is as follows: the area where the corresponding space vectors of the two sets of three-phase windings being sampled cannot maintain the minimum sampling time within the sector. When the reference voltage vector is located in the lower boundary blind zone of reconstructed region G1, the upper boundary blind zone of reconstructed region G2, and the upper boundary blind zone of reconstructed region G6, the four sampling times are 0T. 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 zone of reconstructed region G7, the upper boundary blind zone of reconstructed region G8, and the upper boundary blind zone of reconstructed region G12, the four sampling times are 0T. 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 zone of reconstructed region G1, the lower boundary blind zone of reconstructed region G8, and the lower boundary blind zone of reconstructed region G12, the four sampling times are 0T. 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 zone of reconstructed region G2, the lower boundary blind zone of reconstructed region G6, and the upper boundary blind zone of reconstructed region G7, the four sampling times are 0T. s 0.5T s 0.25T s +T min 0.75T s -T min ; When the reference voltage vector is located within the reconstruction region of G1, G2, G6, G7, G8, or G12, the four sampling times are 0T. s 0.5T s 0.25T s 0.75T s ; T min This is the minimum sampling time.

2. The current reconfiguration method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that, When controlling a 30° phase-shifted 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: CPS-PWM is used in all reconfiguration regions to lag the second set of winding carrier phase by π / 2; When the reference voltage vector is located in the reconstruction regions G1, G2, G6, G7, G8, G12, AZSPWM is used for modulation. The reconstructed regions G3, G4, G5, G9, G10, and G11 all include the upper boundary blind zone, the lower boundary blind zone, and the reconstructed internal region between the two. When the reference voltage vector is located in the internal reconstruction region of reconstruction regions G3, G4, G5, G9, G10, and G11, SVPWM is used for modulation. When the reference voltage vector is located in the upper or lower boundary blind zone of the reconstructed regions G3, G4, G5, G9, G10, G11, IPWM modulation is used for the first set of three-phase windings ABC or the second set of three-phase windings XYZ, and SVPWM modulation is used for the other one.

3. The current reconfiguration method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor according to claim 2, characterized in that, When modulating the upper or lower boundary blind zones of reconstructed regions G3, G4, G5, G9, G10, and G11, the zero-vector action time of the lower boundary blind zone of reconstructed region G4, the upper boundary blind zone of reconstructed region G5, and the upper boundary blind zone of reconstructed region G9 is: Among them, T min For the minimum sampling time, T 10 The zero vector action time of the first three-phase winding ABC within one switching cycle; For S A =S B =S C =0 duration of action; For S A =S B =S C =1 duration of action; T 20 The zero-vector action time of the second set of three-phase windings XYZ within one switching cycle; For S X =S Y =S Z =0 duration of action; For S X =S Y =S Z =1 duration of action; The zero-vector action time allocation for the upper boundary blind zone of reconstructed region G3, the lower boundary blind zone of reconstructed region G10, and the upper boundary blind zone of reconstructed region G11 is as follows: The zero-vector action time allocation for the lower boundary blind zone of reconstructed region G5, the lower boundary blind zone of reconstructed region G9, and the upper boundary blind zone of reconstructed region G10 is as follows: The zero-vector action time allocation for the lower boundary blind zone of reconstructed region G3, the upper boundary blind zone of reconstructed region G4, and the lower boundary blind zone of reconstructed region G11 is as follows:

4. The current reconfiguration method for a 30° phase-shifted dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that, The methods for controlling a 30° phase-shifted 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 VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i. q Magnetic flux current feedback value i d The feedback values ​​of mutually orthogonal harmonic currents i Z1 i Z2 ; The difference between the motor current setpoint and the motor current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoints for the two sets of three-phase windings, including the torque voltage setpoint u. q Magnetic flux voltage setpoint u d Orthogonal harmonic voltage setpoint u z1 u z2 ; The obtained voltage setpoint is converted into two sets of three-phase SVM setpoints, and then reconstructed into hybrid pulse width modulation (RHPWM) to generate two sets of drive signals for the three-phase windings, thus completing the drive control.

5. The current reconfiguration method for a 30° phase-shifted dual three-phase permanent magnet synchronous motor according to claim 4, characterized in that, Performing a VSD-2DQ equivalent transformation on the voltage setpoint yields two sets of three-phase SVM setpoints u. d1 u q1 u d2 u q2 : Where θ represents the electrical angle of a 30° phase-shifting dual three-phase permanent magnet synchronous motor.

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 current reconfiguration method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle as described in any one of claims 1 to 5.

7. A current reconfiguration device for a 30° phase-shifted dual three-phase permanent magnet synchronous motor, 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 reconfiguration method for a 30° phase-shift angle dual three-phase permanent magnet synchronous motor 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 current reconfiguration method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle as described in any one of claims 1 to 5.

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