Three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method

Abstract

The invention belongs to the technical field of alternating current motors and driving control, discloses a three-phase series winding motor three-dimensional space vector modulation strategy and an overmodulation processing method, and aims to improve the control performance of a three-phase series winding motor and provide positive zero-sequence current suppression capability. The invention provides a three-phase series winding motor three-dimensional space vector modulation strategy based on a space slicing method and an overmodulation strategy thereof, a series winding motor three-dimensional linear modulation area is effectively expanded, a simple and effective basic voltage vector selection table is provided, and an accurate linear modulation area mathematical model is given. In addition, a corresponding three-dimensional overmodulation method is provided, and the control performance of the series winding motor in a linear modulation area and an overmodulation area is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of AC motors and drive control, and in particular relates to a three-phase series winding motor three-dimensional space vector modulation strategy and an overmodulation processing method. Background Art

[0002] The three-phase series-wound motor is fed by four inverter bridge arms and can generate sixteen voltage vectors. However, in the three-phase series-wound motor, the existence of zero-sequence current causes the sixteen voltage vectors to be irregularly distributed in the three-dimensional space. This irregular three-dimensional space can be ab-c It is displayed in a three-dimensional coordinate system, which makes the space vector modulation strategy very complicated. At the same time, if only the traditional two-dimensional space vector modulation strategy is used to synthesize the reference voltage vector, and the zero-sequence current is not actively controlled, it will cause serious total harmonic distortion of the phase current of the series-wound motor, which will increase the torque pulsation and reduce the control performance. In a series-wound motor, in order to implement the three-dimensional space vector modulation strategy, at least three basic voltage vectors are required to synthesize the three-dimensional reference vector. These basic voltage vectors are the sixteen voltage vectors provided by the four inverter bridge arms. The existing three-dimensional modulation strategies for three-phase series-wound motors are mainly divided into two types. One is a three-dimensional space vector modulation strategy based on the virtual vector method. This method uses three voltage vectors containing zero-sequence voltage components in the three-dimensional space to synthesize c At the same time, three voltage vectors with zero-sequence components can also be used to synthesize c Then, the voltage vectors used to synthesize the three-dimensional reference vector are α β The two basic voltage vectors of the plane and c A virtual voltage vector in the direction of the axis. (As described in A. Li, D. Jiang, W. Kong, and R. Qu, "Four-Leg Converter for Reluctance Machine With DC-Biased Sinusoidal Winding Current," IEEE Trans. Power Electron., vol. 34, no. 5, pp.4569-4580, 2019, doi: 10.1109 / tpel.2018.2864244. (Journal Article)), but this method has limitations. This method uses three basic voltage vectors with zero-sequence components to synthesize cThe virtual vectors in the positive and negative directions of the axis make the three-dimensional linear modulation area conical, which limits the operating domain of the series winding motor. This method also does not provide a three-dimensional overmodulation strategy. The second method realizes three-dimensional space vector modulation by dividing the irregular three-dimensional space body into 24 small tetrahedrons. (For example, Z. Dong and C. Liu, "Three-Dimension Space Vector Modulation forThree-Phase Series-End Winding Voltage-Source Inverters," IEEE Trans. Ind. Electron., vol. 71, no. 1, pp. 82-92, 2024, doi: 10.1109 / tie.2023.3241399. (Journal article), described). In the 24 tetrahedrons, each tetrahedron consists of a zero voltage vector and three basic voltage vectors. By determining which of the 24 tetrahedrons the reference voltage vector is located, the three basic voltage vectors used to synthesize the reference voltage vector are obtained. However, this method does not provide a specific linear modulation area expression because the three-dimensional body is divided into tetrahedrons.

[0003] Technical problems that need to be solved in industrial applications: 1. Accurate expression of linear modulation area: In existing methods, for example, three-dimensional space vector modulation is achieved by dividing a three-dimensional space body into multiple tetrahedrons, but the mathematical expression of the linear modulation area is not clearly given. This makes it impossible to accurately determine whether the reference vector is in the linear modulation area, increasing the difficulty of implementing complex control systems.

[0004] In industrial applications, motor control requires accurate definition of the linear modulation region to optimize the voltage vector synthesis process. If there is a lack of a clear linear modulation region expression, the modulation strategy may be unstable, which in turn affects the control performance of the series winding motor.

[0005] 2. Optimization of overmodulation strategy: Existing methods do not fully solve the overmodulation problem in three-dimensional space vector modulation, especially in high load or high output voltage demand scenarios, the motor may enter the overmodulation area, at which time the synthesis accuracy of the reference voltage vector and the dynamic response performance of the system will be significantly reduced.

[0006] In practical industrial applications, such as industrial servo systems and electric vehicle drive systems, motors need to achieve efficient and smooth operation in the overmodulation region. The lack of overmodulation optimization strategies for three-dimensional space may lead to increased voltage distortion and torque pulsation, thereby reducing the reliability and life of the equipment. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides a three-dimensional space vector modulation strategy and an overmodulation processing method for a three-phase series winding motor.

[0008] The present invention is implemented as follows: a three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method comprises: Step 1: The three-dimensional ab-c In space, αβ The plane divides the three-dimensional space into upper and lower halves; Step 2: Space slices VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize a three-dimensional reference voltage vector; Step 3: The space slicing method divides the three-dimensional space into countless two-dimensional slices. The voltage vector on each slice is two virtual voltage vectors VV αβ and VV γ ; Step 4: Execution of the three-dimensional modulation strategy.

[0009] Furthermore, the three-dimensional ab-c In space, αβ The plane divides the three-dimensional volume into upper and lower halves: αβ There are six basic voltage vectors and two zero voltage vectors in the plane, which form a hexagon; by using any two adjacent basic vectors and zero voltage vectors among these voltage vectors, a hexagon located at αβ Virtual voltage vector of the plane VV αβ ; According to the volt-second balance principle, αβ The maximum linear modulation area that can be synthesized by the six basic voltage vectors and two zero voltage vectors in the plane is a circle with a radius of V dc ,in V dc Represents the DC bus value.

[0010] The main principle of spatial slicing is to use a αβ Plane slices, and along c Axis to cut irregular three-dimensional space; in this case, the space slice will contain a αβThe virtual voltage vector of the plane is given by αβ The voltage vector is the sum of any two adjacent vectors among the six basic voltage vectors on the plane, and also includes the zero vector at the origin.

[0011] 3D reference vector V ref [ a , b , c ]exist αβ The projection amplitude of the plane and its relationship α The angle between the axes can be obtained (1); in, is the three-dimensional reference vector αβ Projection of a plane; i The reference vector is αβ Projection of the plane and α The angle of the axes; a is the three-dimensional reference voltage vector α The projection of the axis, b is the three-dimensional reference voltage vector β The projection of the axis, c is the three-dimensional reference voltage vector c Axis projection.

[0012] Then, the magnitude of the three-dimensional reference vector and its relationship to αβ The angle between the two planes can be obtained (2); in, is the magnitude of the three-dimensional reference voltage vector; d is the reference voltage vector and αβ The angle between the planes.

[0013] But the space slice contains αβ The virtual voltage vector in the plane does not contain a zero-sequence voltage component. In order to synthesize a three-dimensional reference voltage vector, a voltage vector containing a zero-sequence component is also required, that is, a voltage vector containing c The voltage vector of the axis component; through analysis, it is found that in the three-dimensional space vector synthesized by the four inverter bridge arms, αβ There are four voltage vectors in the upper half of the plane that contain zero-sequence components; they can be used to synthesize c The zero-sequence virtual vector of the positive axis; similarly, αβ The four voltage vectors containing zero-sequence components in the lower part of the plane can be used to synthesize c axis negative direction; however, since the voltage vector V 10 ,V 5 creates irregularities in the three-dimensional volume, so they can be abandoned; in this case, αβ In the upper and lower halves of the plane, any two of the six basic voltage vectors with zero-sequence components can be used to synthesize a virtual voltage vector with zero-sequence components VV γ ; These virtual voltage vectors form a cone in three-dimensional space; this cone is αβ The projection on the plane is a radius of 1 / 3 V dc round shape.

[0014] Furthermore, the spatial slice will VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize the three-dimensional reference voltage vector: At the same time, they satisfy the following geometric relationship: (3); in, T γ Represents a virtual voltage vector containing a zero-sequence component VV γ The action time in a control cycle; T αβ yes αβ Virtual voltage vector in the plane VV αβ The action time in a control cycle; T s To control the cycle; VV αβ , VV γ and the three-dimensional reference voltage vector V ref They are (4); According to formula (3), the boundary of the three-dimensional reference voltage vector at the space slice can be obtained as (5); in, k Represents the scale factor.

[0015] Convert to xyz The coordinate system can be obtained (6); It can be seen that the three-dimensional reference voltage vector on the spatial slice is a parametric equation; according to the equation, it can be concluded that the linear modulation area generated by the three-dimensional modulation strategy proposed in the present invention is a double frustum; the frustum is d =45° is divided into two parts, namely the truncated cone area and the conical area.

[0016] Furthermore, the space slicing method divides the three-dimensional space into countless two-dimensional slices, and the voltage vector on each slice is two virtual voltage vectors VV αβ and VV γ : These virtual voltage vectors cannot be directly output by the inverter; therefore, it is necessary to find the basic voltage vectors used to synthesize these two virtual voltage vectors; for this purpose, the present invention provides a basic voltage vector sector table; the angle obtained by formula (1) i And determine the three-dimensional reference voltage vector is located at αβ The four basic voltage vectors can be obtained by focusing on the upper or lower half of the plane; then, these four basic voltage vectors are used to synthesize a three-dimensional reference voltage vector.

[0017] Step 5: Execution of the three-dimensional overmodulation strategy.

[0018] As shown in equation (6), the linear modulation region is d =45° is divided into two parts, so the overmodulation is also performed in these two parts; first, when the three-dimensional reference voltage vector V ref [ a , b , c ] is in the truncated cone area, that is, 0°≤ d ≤45°; According to formula (1), i and k can be obtained; then, according to formula (2), | V ref | can also be obtained. When | V ref |≤ kV dc , the system is considered to be in the linear debugging region; when | V ref |> kV dc , the system is considered to be in the overmodulation region. According to the geometric relationship, the three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the truncated cone A ' can be obtained (7); in, OA ′ is the intersection of the three-dimensional reference voltage vector and the linear modulation area, OA ′= k · V dc , OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= OA ′·cos d .

[0019] Then, A ' is submitted to the control algorithm to perform overmodulation processing; Note d =0, overmodulation occurs αβ In the plane, (7) is still applicable. OB ′= V dc In addition, when calculating the new three-dimensional reference voltage vector, the voltage vector c The positive and negative directions of the axis need to be based on the original three-dimensional reference voltage vector c To judge by the symbol; When the three-dimensional reference voltage vector is in the cone area, 45°< d ≤90°. Similarly, according to (1) and (4), i and k can be obtained respectively; then the magnitude of the three-dimensional reference voltage vector | V ref | can be obtained according to (2). When | V ref |> k· V dc , the system is in the overmodulation region. Three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the cone A ' can be obtained (8); in, OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= V dc / (3tan d ); Then, A ' is submitted to the control algorithm to perform overmodulation processing.

[0020] Another object of the present invention is to provide a three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing system including: Segmentation module for forming three-dimensional ab-c In space, αβ The plane divides the three-dimensional space into upper and lower halves; Synthesis module, used for spatial slicing VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize a three-dimensional reference voltage vector; The partitioning module is used to divide the three-dimensional space into countless two-dimensional slices by the space slicing method. The voltage vector on each slice is two virtual voltage vectors. VV αβ and VV γ ; Modulation module, used for three-dimensional modulation and overmodulation strategies.

[0021] Another object of the present invention is to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method.

[0022] Another object of the present invention is to provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method.

[0023] Another object of the present invention is to provide an information data processing terminal, which is used to implement the three-dimensional space vector modulation strategy and overmodulation processing system of the three-phase series winding motor.

[0024] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows: First, in order to improve the three-dimensional space vector modulation strategy of the series-winding motor, especially the lack of accurate linear modulation zone expression and three-dimensional overmodulation strategy, the present invention provides a three-phase series-winding motor three-dimensional space vector modulation strategy and a three-dimensional overmodulation strategy.

[0025] In a three-phase series winding motor, in order to control the zero-sequence current, the control system needs to synthesize a three-dimensional reference voltage vector. Let the reference voltage vector be V ref [ a , b , c ]. In order to synthesize the three-dimensional reference voltage vector, more than three basic voltage vectors need to be obtained, and these basic voltage vectors need to be distributed in different planes. In order to obtain the basic voltage vector, the present invention proposes a space slicing method to quickly and effectively obtain the basic voltage vector.

[0026] The three-dimensional space vector modulation strategy proposed in the present invention expands the linear modulation area of ​​the series winding motor by 33.33%; the three-dimensional space vector modulation strategy proposed in the present invention gives a precise mathematical expression of the three-dimensional linear modulation area, which can realize precise three-dimensional space vector control and overmodulation processing.

[0027] Second, as auxiliary evidence of the inventiveness of the present invention, it is also reflected in the following important aspects: (1) Compared with the existing star-connected winding motor, the series-wound motor has the advantages of high DC bus voltage utilization (the series-wound motor can achieve 100% DC bus voltage utilization; while the star-wound motor is only 57.7%), strong fault tolerance (the three-phase series-wound motor has three current degrees of freedom and can achieve fault-tolerant operation under a single-phase winding open circuit fault; while the star-wound motor has only two current degrees of freedom and cannot operate under a single-phase winding open circuit fault). This is very suitable for electric vehicles, ships and other occasions where the DC bus voltage is restricted. In these applications, considering the cost, volume and vehicle safety factors of the system, the amplitude of the DC bus voltage is usually not too high, which limits the speed operating range of the motor. By adopting a series-wound motor, the speed operating range of the motor can be effectively expanded.

[0028] The present invention discloses a three-dimensional linear modulation zone expression for a three-phase series-wound motor. This method accurately depicts the linear modulation zone of the series-wound motor, which cannot be obtained in existing methods. In addition, in order to reduce the computational burden of three-dimensional space vector modulation, a three-dimensional voltage vector lookup table is also proposed to quickly select four active voltage vectors, thereby realizing three-dimensional space vector modulation. For the overmodulation zone, the present invention discloses a three-dimensional overmodulation method based on a geometric model, which improves the control performance of the overmodulation zone of the series-wound motor. The technical solution of the present invention can provide a feasible solution for realizing the commercial application of series-wound motors.

[0029] (2) In the existing three-phase series winding motor three-dimensional space vector modulation strategy, three voltage vectors containing zero-sequence components are usually used to synthesize cAxis component, under this modulation strategy, the linear modulation area of ​​the series winding motor is two cones, and this method cannot give an expression for the linear modulation area. In addition, in the existing modulation strategy, the duty cycle calculation for different sectors requires the use of a large number of trigonometric functions, resulting in a heavy computational burden on the system.

[0030] The technology of the present invention obtains an accurate expression of the linear modulation area through the space slicing method, and expands the linear modulation area from two cones to two frustums, and the linear modulation area is expanded by 33.33%, effectively expanding the speed operation domain. At the same time, the calculation of the duty cycle does not involve complex trigonometric function calculations, and a specific sector voltage vector lookup table is given, which effectively reduces the calculation burden of the system.

[0031] Third, the technical problems of the prior art solved by the technical solution of the present invention in industrial applications and the significant technical progress achieved 1. Analysis of existing technical problems: Limitations of complex motor control: Most current three-phase motor modulation technologies are limited to vector modulation strategies within a two-dimensional plane. It is difficult to provide sufficient voltage modulation capabilities and dynamic response performance for motors operating under high performance requirements (such as high speed and wide speed regulation range).

[0032] Insufficient overmodulation processing: After entering the overmodulation region, existing series-winding motor overmodulation strategies generally lack flexible adjustment methods, resulting in output voltage distortion and affecting the smooth operation of the motor.

[0033] Lack of multi-dimensional space processing: Traditional modulation methods have difficulty in dealing with vector distribution problems in three-dimensional space, especially in three-phase series winding motors. c The voltage control of the axis components is complex and lacks effective solutions, resulting in reduced system efficiency and accuracy.

[0034] 2. Technical innovation and improvement of the present invention: Three-dimensional space vector modulation: This invention proposes a vector modulation method based on three-dimensional space. αβ Plane and c The axes are combined in a unified three-dimensional framework to achieve more accurate voltage vector control. Through the geometric slicing method, complex three-dimensional problems can be simplified into controllable two-dimensional problems, improving computational efficiency.

[0035] Partitioning of overmodulation areas: The linear modulation area and overmodulation area are innovatively divided into a frustum area and a cone area, and targeted modulation strategies are designed for different areas to ensure stable voltage control and output in the overmodulation area.

[0036] Adaptive vector adjustment: In the overmodulation process, the present invention accurately calculates the intersection of the overmodulation vector by geometric methods, and based on c The direction of the shaft is dynamically adjusted, which significantly reduces voltage distortion and achieves efficient motor control.

[0037] 3. Significant technological progress: Expanding the motor speed regulation range: The three-dimensional space voltage vector modulation method of the present invention effectively expands the linear speed regulation range of the motor and improves the system's adaptability in high voltage demand scenarios.

[0038] Improve modulation accuracy: through accurate three-dimensional reference voltage vector decomposition and c Axis direction control greatly improves the distribution accuracy and dynamic response speed of the voltage vector.

[0039] Enhanced system robustness: The flexibility of overmodulation handling significantly reduces the risk of voltage distortion and system instability under high load and fast dynamic change conditions.

[0040] 4. Advantages in industrial applications: High-performance motor control: The present invention is particularly suitable for motor control scenarios with high speed and high precision requirements, such as drive motors for electric vehicles and industrial-grade servo systems.

[0041] Energy efficiency optimization: Through more precise voltage control, the energy efficiency of the motor is significantly improved to meet green energy needs.

[0042] Applicability to multiple scenarios: The modulation strategy of the present invention can be applied to motors of different topologies and their controller designs, and has broad market potential.

[0043] 5. Significant advantages compared to existing technologies: Simplification and optimization of complex three-dimensional problems: The present invention uses a geometric slicing method to efficiently map three-dimensional voltage vector problems into two-dimensional calculations, solving problems that are difficult to handle with existing technologies.

[0044] Precise control of overmodulation area: A refined voltage vector control strategy is designed for different overmodulation areas, overcoming the distortion problem of existing technologies in the overmodulation state.

[0045] Broad industrial adaptability: Compared with existing methods, the present invention significantly reduces system complexity, is easy to integrate into existing motor controllers, and greatly improves the reliability of the control system.

[0046] 6. The significance of technology promotion: The invention not only solves the technical bottleneck of complex modulation problems in three-phase series winding motors, but also provides new ideas for the application and design of high-performance motors. By improving control efficiency, expanding the speed regulation range and enhancing system robustness, it provides strong technical support for intelligent manufacturing and green energy industries.

[0047] Fourth, the technical problems and significant progress of the present invention:

[0048] Technical issues: 1) Complexity issues of three-dimensional voltage vector modulation: In a three-phase series-wound motor, the voltage vector is distributed in an irregular three-dimensional space due to the existence of zero-sequence current. Existing methods lack an effective strategy for three-dimensional space vector modulation, making it difficult to accurately generate a reference voltage vector and maintain high-performance operation of the motor.

[0049] 2) It is difficult to divide the linear modulation area and the overmodulation area: The existing technology fails to clearly express the specific geometric range of the three-dimensional linear modulation area and lacks an adaptable over-modulation strategy. In particular, in the scenario of high output voltage demand, it is unable to effectively handle the over-modulation state, resulting in a decrease in system performance.

[0050] 3) Current harmonic distortion and torque ripple problems: Traditional modulation strategies that do not actively control the zero-sequence current can easily lead to severe total harmonic distortion of the motor phase current, increased torque pulsation, and reduced motor efficiency and stability.

[0051] Significant technological advancements: 1) Efficient three-dimensional space voltage vector modulation strategy: Based on three-dimensional ab-c The spatial slicing method of the coordinate system divides the irregular three-dimensional space into two-dimensional slices. VV αβ and VV γ The synthesized three-dimensional reference voltage vector accurately covers the modulation space and improves the modulation accuracy and efficiency.

[0052] 2) Clear linear modulation region expression: Through geometric analysis, a clear division method of linear modulation area and overmodulation area is proposed. The geometric relationship of reference voltage vector is described by using frustum and cone area models, which provides a clear mathematical basis for overmodulation processing.

[0053] 3) Comprehensive optimization of overmodulation strategy: The present invention adopts different algorithms in different modulation areas (such as the frustum area and the cone area) to dynamically adjust the reference voltage vector to adapt to the overmodulation state, which significantly reduces the voltage distortion and improves the stability and efficiency of the motor control.

[0054] 4) Reduce harmonic distortion and torque ripple: By actively controlling the zero-sequence current and adopting an optimized virtual voltage vector synthesis strategy, the total harmonic distortion of the motor phase current is greatly reduced, the torque ripple is reduced, and the stability of the motor operation is improved.

[0055] 5) Universality and robustness: The present invention is suitable for complex operating scenarios of various series-wound motors, especially exhibiting excellent robustness and modulation capabilities in high power demand and asymmetric load environments, providing high-performance solutions for industrial servos, electric vehicle drives and other fields.

[0056] 6) Advanced mathematical model: The proposed voltage vector relationship (such as formulas (1) to (8)) and geometric mapping model provide theoretical support for the implementation of the motor control algorithm, simplify the complexity of the algorithm design, and improve the real-time operation efficiency.

[0057] Through the above technical scheme, the present invention effectively solves the problems of high control complexity, difficult overmodulation processing and insufficient modulation performance of three-phase series winding motors in the prior art, and achieves significant technical progress and industrial value. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a flow chart of a three-dimensional space voltage vector modulation strategy and overmodulation processing method for a three-phase series winding motor provided by an embodiment of the present invention.

[0059] Figure 2 It is a structural block diagram of a three-dimensional space voltage vector modulation strategy and overmodulation processing system for a three-phase series winding motor provided by an embodiment of the present invention.

[0060] Figure 3 It is a topological structure diagram of a three-phase series winding motor drive provided by an embodiment of the present invention.

[0061] Figure 4 It is a three-dimensional voltage vector distribution diagram of a three-phase series winding motor provided by an embodiment of the present invention.

[0062] Figure 5 It is a spatial slice diagram provided by an embodiment of the present invention.

[0063] Figure 6 It is a linear modulation area diagram of a virtual voltage vector synthesized from three basic voltage vectors containing zero-sequence components provided by an embodiment of the present invention.

[0064] Figure 7 It is a spatial slice cross-sectional view provided by an embodiment of the present invention.

[0065] Figure 8 This is a sector division diagram provided by an embodiment of the present invention.

[0066] Figure 9 It is a schematic diagram of overmodulation provided by an embodiment of the present invention.

[0067] Figure 10It is a comparison diagram of the three-dimensional linear modulation area effect of the three-phase series winding motor provided by an embodiment of the present invention.

[0068] Figure 11 It is a block diagram of three-dimensional space voltage vector modulation of a three-phase series winding motor provided by an embodiment of the present invention.

[0069] Figure 12 This is a steady-state experimental waveform diagram of the three-phase series winding motor three-dimensional space voltage vector modulation provided by an embodiment of the present invention based on a speed of 500r / min and a load of 1.5N·m.

[0070] Figure 13 It is a dynamic experimental waveform diagram of the three-dimensional space voltage vector modulation of the three-phase series winding motor provided by the embodiment of the present invention based on the speed changing from 600r / min to -600r / min and the load being 1N·m. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0072] Industrial Application Example 1: Efficient Control of Electric Vehicle Drive Motor The drive motor of electric vehicles needs to provide high efficiency and precise power output under high speed and heavy load conditions. However, the traditional two-dimensional space voltage vector modulation method has problems such as limited speed regulation range, voltage distortion and unstable control under high speed conditions.

[0073] Objective achievement: The three-dimensional space voltage vector modulation strategy of the present invention is adopted to realize efficient control of the drive motor in the high-speed area.

[0074] Technical implementation: In the motor αβ Plane and c The reference voltage vector is constructed in the three-dimensional space of the axis, and the virtual voltage vector is dynamically adjusted using the geometric slicing method. VV αβ and VV γ , to meet the voltage requirements at different speeds.

[0075] Dynamic voltage vector correction is introduced in the overmodulation area, and the overmodulation voltage vector is optimized for the frustum area and the cone area respectively to ensure the stability and efficiency of the motor when running at high speed.

[0076] Effect: The speed regulation range and control accuracy of the drive motor are improved, and the voltage distortion is significantly reduced.

[0077] The energy efficiency of the motor is improved and the endurance performance of the electric vehicle is optimized.

[0078] Industrial application example 2: Industrial-grade high-performance servo system Servo motors in industrial automation production lines need to operate under high dynamic performance and precise positioning conditions, especially in complex load switching and fast response scenarios, which place high demands on the accuracy and dynamic adaptability of the modulation strategy.

[0079] Application Implementation: Objective Achievement: The three-dimensional space vector modulation strategy of the present invention is used to optimize the control performance of the servo motor.

[0080] Technical implementation: A three-dimensional vector modulation method is applied in a three-phase series winding servo motor. The direction and amplitude of the three-dimensional reference voltage vector are dynamically adjusted by real-time monitoring of load changes.

[0081] In the overmodulation state, the partition optimization strategy of the overmodulation area is used to ensure the response speed and positioning accuracy of the motor during high load switching.

[0082] Effect: The dynamic performance and positioning accuracy of the servo motor have been improved, increasing the operating efficiency of the production line by approximately 15%.

[0083] It significantly reduces the energy consumption of motor control systems and provides high-performance power control solutions for intelligent manufacturing.

[0084] It can be seen from these two embodiments that the three-dimensional space vector modulation strategy and overmodulation processing method of the present invention have wide adaptability in high-performance motor control, especially in scenarios requiring precise dynamic response and high energy efficiency, and can significantly optimize system performance and promote technological progress in related industries.

[0085] like Figure 1 As shown, a three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method provided by an embodiment of the present invention includes the following steps: S101, three-dimensional winding motor formed in series ab-c In space, αβ The plane divides the three-dimensional space into upper and lower halves; αβ The voltage vector in the plane does not contain the zero-sequence voltage component, that is, it does not contain c Quantity; S102, spatial slice will VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VVαβ , VV γ and the zero voltage vector are used to synthesize a three-dimensional reference voltage vector; S103, the space slicing method divides the three-dimensional space into countless two-dimensional slices, and the voltage vector on each slice is two virtual voltage vectors VV αβ and VV γ ; S104, three-dimensional overmodulation strategy.

[0086] The embodiment of the present invention provides a three-dimensional ab-c In space, αβ The plane divides the three-dimensional volume into upper and lower halves: αβ There are six basic voltage vectors and two zero voltage vectors in the plane, which form a hexagon; by using any two adjacent basic voltage vectors and zero voltage vectors among these voltage vectors, a hexagon located at αβ Virtual voltage vector of the plane VV αβ ; According to the volt-second balance principle, αβ The maximum linear modulation area that can be synthesized by the six basic voltage vectors and two zero voltage vectors in the plane is a circle with a radius of V dc ,in V dc is the DC bus voltage amplitude.

[0087] The main principle of spatial slicing is to use a αβ Plane slices, and along c Axis to cut irregular three-dimensional space; in this case, the space slice will contain a αβ The virtual voltage vector of the plane is given by αβ The voltage vector is obtained by synthesizing any two adjacent voltage vectors among the six basic voltage vectors on the plane. In addition, it also includes the zero voltage vector at the origin. 3D reference voltage vector V ref [ a, b, c ]exist αβ The projection amplitude of the plane and its relationship α The angle between the axes can be obtained (1); in, is the three-dimensional reference voltage vector αβ Projection of a plane; i The reference voltage vector αβProjection of the plane and α The angle of the axes; a is the three-dimensional reference voltage vector α Axis projection; b is the three-dimensional reference voltage vector β Axis projection; c is the three-dimensional reference voltage vector c Axis projection.

[0088] Then, the magnitude of the three-dimensional reference voltage vector and its relationship with αβ The angle between the two planes can be obtained (2); in, is the magnitude of the three-dimensional reference voltage vector; d is the reference voltage vector and αβ The angle between the planes.

[0089] But the space slice contains αβ The virtual voltage vector in the plane does not contain a zero-sequence voltage component. In order to synthesize a three-dimensional reference voltage vector, a voltage vector containing a zero-sequence component is also required, that is, a voltage vector containing c The voltage vector of the axis component; through analysis, it is found that in the three-dimensional space voltage vector synthesized by the four inverter bridge arms, αβ There are four voltage vectors in the upper part of the plane that contain zero-sequence components; they can be used to synthesize c The zero-sequence virtual voltage vector of the positive axis; similarly, αβ The four voltage vectors containing zero-sequence components in the lower part of the plane can be used to synthesize c axis negative direction; however, since the voltage vector V 10 , V 5 creates irregularities in the three-dimensional volume, so they can be abandoned; in this case, αβ In the upper and lower parts of the plane, any two of the six basic voltage vectors containing zero-sequence components can be used to synthesize a virtual voltage vector containing zero-sequence components VV γ ; These virtual vectors form a cone in three-dimensional space; this cone is αβ The projection on the plane is a radius of 1 / 3 V dc round shape.

[0090] The spatial slice provided by the embodiment of the present invention will VV αβ , VV γand zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize the three-dimensional reference voltage vector: At the same time, they satisfy the following geometric relationship: (3); in, T γ Represents a virtual voltage vector containing a zero-sequence component VV γ The action time in a control cycle; T αβ yes αβ Virtual voltage vector in VV αβ The action time in a control cycle; T s To control the cycle; VV αβ , VV γ and the three-dimensional reference voltage vector V ref They are (4); in, k Represents the scale factor.

[0091] According to formula (3), the boundary of the three-dimensional reference voltage vector at the space slice can be obtained as (5); Convert to xyz The coordinate system can be obtained (6); It can be seen that the three-dimensional reference voltage vector on the spatial slice is a parametric equation; according to the equation, it can be concluded that the linear modulation area generated by the three-dimensional modulation strategy proposed in the present invention is a double frustum; the frustum is d =45° is divided into two parts, namely the truncated cone area and the conical area.

[0092] The space slicing method provided in the embodiment of the present invention divides the three-dimensional space into countless two-dimensional slices, and the voltage vector on each slice is two virtual voltage vectors VV αβ and VV γ .

[0093] These virtual voltage vectors cannot be directly output by the inverter; therefore, it is necessary to find the basic voltage vectors used to synthesize these two virtual voltage vectors; for this purpose, the present invention provides a basic voltage vector sector table; the angle obtained by formula (1) i And determine the three-dimensional reference voltage vector is located at αβ The upper or lower part of the plane can be used to obtain four basic voltage vectors; then, these four basic voltage vectors are used to synthesize a three-dimensional reference voltage vector.

[0094] The three-dimensional overmodulation strategy provided by the embodiment of the present invention: As shown in equation (6), the linear modulation region is d =45° is divided into two parts, so the overmodulation is also performed in these two parts; first, when the three-dimensional reference voltage vector V ref [ a , b , c ] is in the truncated cone area, that is, 0°≤ d ≤45°; According to formula (1), i and k can be obtained; then, according to formula (2), | V ref | can also be obtained. When | V ref |≤ kV dc , the system is considered to be in the linear debugging region; when | V ref |> kV dc , the system is considered to be in the overmodulation region. According to the geometric relationship, the three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the truncated cone A ' can be obtained (7); in, OA ′ is the intersection of the three-dimensional reference voltage vector and the linear modulation area, OA ′= k · V dc ; OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= OA ′·cos d .

[0095] Then, A' is submitted to the control algorithm to perform overmodulation processing; Note d =0, overmodulation occurs αβ In the plane, equation (7) is still applicable. OB ′= V dc In addition, when calculating the new three-dimensional reference voltage vector, the voltage vector c The positive and negative directions of the axis need to be based on the original three-dimensional reference voltage vector c To judge by the symbol; When the three-dimensional reference voltage vector is in the cone area, 45°< d ≤90°. Similarly, according to equations (1) and (4), i and k can be obtained respectively; then the magnitude of the three-dimensional reference voltage vector | V ref | can be obtained according to formula (2). When | V ref |> kV dc , the system is in the overmodulation region. Three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the cone A ' can be obtained (8); in, OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= V dc / (3tan d ); Then, A ' is submitted to the control algorithm to perform overmodulation processing.

[0096] like Figure 2 As shown, a three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing system provided by an embodiment of the present invention includes: Segmentation module for forming three-dimensional ab-c In space, αβ The plane divides the three-dimensional space into upper and lower halves; Synthesis module, used for spatial slicing VV αβ , VV γand zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize a three-dimensional reference voltage vector; The partitioning module is used to divide the three-dimensional space into countless two-dimensional slices by the space slicing method. The voltage vector on each slice is two virtual voltage vectors. VV αβ and VV γ ; Modulation module, used for three-dimensional modulation and overmodulation strategies.

[0097] Another object of the present invention is to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method.

[0098] Another object of the present invention is to provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method.

[0099] Another object of the present invention is to provide an information data processing terminal, which is used to implement the three-dimensional space vector modulation strategy and overmodulation processing system of the three-phase series winding motor.

[0100] The present invention is specifically implemented: like Figure 3 The three-phase series winding motor drive topology is shown in Figure 1. A , B , C The inverter has four bridge arms, namely L 1. L 2 、L 3 、L 4, the DC bus voltage is V dc In order to control the zero-sequence current, the control system needs to synthesize a three-dimensional reference voltage vector, which is V ref [ a , b , c ]. In order to synthesize the three-dimensional reference voltage vector, more than three basic voltage vectors need to be obtained, and these basic voltage vectors need to be distributed in different planes.

[0101] The sixteen basic voltage vectors generated by the three-phase series-wound motor are distributed as follows: Figure 4 In the irregular three-dimensional body shown in αβ Planar projections can also be obtained. ab-c In space, αβ The plane divides the three-dimensional space into upper and lower halves. αβ There are six basic voltage vectors and two zero voltage vectors in the plane, which form a hexagon. By using any two adjacent basic voltage vectors and zero voltage vectors among these voltage vectors, a hexagon located at αβ Virtual voltage vector of the plane VV αβ According to the volt-second balance principle, αβ The maximum linear modulation area that can be synthesized by the six basic voltage vectors and two zero voltage vectors in the plane is a circle with a radius of V dc .

[0102] The main principle of spatial slicing is to use a αβ Plane slices, and along c The spatial slice will contain a αβ The virtual voltage vector of the plane is given by αβ The sum of any two adjacent voltage vectors among the six basic voltage vectors on the plane. In addition, it also includes the zero voltage vector at the origin. The space slice is as follows Figure 5 shown.

[0103] based on Figure 5 The three-dimensional reference voltage vector αβ The projection amplitude of the plane and its relationship α The angle between the axes can be obtained (1); Among them, | V ref | is the magnitude of the three-dimensional reference voltage vector; d is the reference voltage vector and αβ Angle between planes; a is the three-dimensional reference voltage vector α Axis projection; b is the three-dimensional reference voltage vector β Axis projection; c is the three-dimensional reference voltage vector c Axis projection.

[0104] Then, the magnitude of the three-dimensional reference voltage vector and its relationship withαβ The angle between the two planes can be obtained (2); Among them, | V αβ | is the three-dimensional reference voltage vector αβ Projection of a plane; i The reference voltage vector αβ Projection of the plane and α The angle of the axes; c is the three-dimensional reference voltage vector c Axis projection.

[0105] But the space slice contains αβ The virtual voltage vector in the plane does not contain a zero-sequence voltage component. In order to synthesize a three-dimensional reference voltage vector, a voltage vector containing a zero-sequence component is also required, that is, a voltage vector containing c The voltage vector of the axis component. Through analysis, it is found that in the three-dimensional space vector synthesized by the four inverter bridge arms, αβ There are four voltage vectors in the upper part of the plane that contain zero-sequence components. They can be used to synthesize c The zero-sequence virtual voltage vector of the positive axis. αβ The four voltage vectors containing zero-sequence components in the lower part of the plane can be used to synthesize c However, due to the virtual voltage vector V 10 , V 5 creates irregularities in the three-dimensional volume, so they can be discarded. In this case, αβ In the upper and lower halves of the plane, any two of the six basic voltage vectors with zero-sequence components can be used to synthesize a virtual voltage vector with zero-sequence components VV γ These virtual voltage vectors form a cone in three-dimensional space. This cone is αβ The projection on the plane is a radius of 1 / 3 V dc The resulting cone is Figure 6 shown.

[0106] Then, the spatial slice proposed by the present invention will VV αβ , VV γ According to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γand the zero voltage vector can be used to synthesize a three-dimensional reference voltage vector. At the same time, they satisfy the following geometric relationship: (3); in, T γ Virtual voltage vector with zero-sequence component VV γ The action time in a control cycle; T αβ yes αβ Virtual voltage vector in VV αβ The action time in a control cycle; T s is the control cycle; VV αβ , VV γ and V ref They are (4); in, k Represents the scale factor.

[0107] According to formula (3), the boundary of the three-dimensional reference voltage vector at the space slice can be obtained as (5); Convert to xyz The coordinate system can be obtained (6); It can be seen that the three-dimensional reference voltage vector on the space slice is a parametric equation. The cross-sectional view of the space slice can be shown in xyz In the coordinate system, Figure 7 As shown. According to the equation, it can be concluded that the linear modulation area generated by the three-dimensional modulation strategy proposed in the present invention is a double frustum. The frustum is d =45° is divided into two parts, namely the truncated cone area and the conical area.

[0108] The space slicing method divides the three-dimensional space into countless two-dimensional slices. However, the voltage vector on each slice is two virtual voltage vectors. VV αβ and VV γ , these virtual voltage vectors cannot be directly output by the inverter. Therefore, it is necessary to find the basic voltage vector used to synthesize these two virtual voltage vectors. The angle obtained by formula (1) i And determine the three-dimensional reference voltage vector is located at αβ The upper or lower half of the plane can obtain four basic voltage vectors, and the sector division is as follows: Figure 8As shown. S 1. S 2. S 3. S 4. S 5. S 6. Respectively represent αβ The plane is divided into 6 sectors, each sector is 60 degrees. N 1. N 2. N 3. N 4. N 5. N 6 represents six sectors containing zero-sequence components, each sector is 120 degrees. Then, these four basic voltage vectors are used to synthesize a three-dimensional reference voltage vector. For this purpose, the present invention provides a basic voltage vector sector table as shown in Table 1.

[0109] Table 1 Basic voltage vector sector table <![CDATA[ V αβ ]]> <![CDATA[ V γ ]]> 1 <![CDATA[ V 11 V 9]]> 3 <![CDATA[ V 14 V 8]]> 1 <![CDATA[ V 11 V 9]]> 1 <![CDATA[ V 8 V 12 ]]> 1 <![CDATA[ V 11 V 9]]> 4 <![CDATA[ V 3 V 1]]> 2 <![CDATA[ V 9 V 13 ]]> 1 <![CDATA[ V 8 V 12 ]]> 2 <![CDATA[ V 9 V 13 ]]> 4 <![CDATA[ V 3 V 1 ]]> 2 <![CDATA[ V 9 V 13 ]]> 5 <![CDATA[ V 1 V 7 ]]> 3 <![CDATA[ V 13 V 4]]> 1 <![CDATA[ V 8 V 12 ]]> 3 <![CDATA[ V 13 V 4]]> 2 <![CDATA[ V 12 V 14 ]]> 3 <![CDATA[ V 13 V 4]]> 5 <![CDATA[ V 1 V 7]]> 4 <![CDATA[ V 4 V 6]]> 2 <![CDATA[ V 12 V 14 ]]> 4 <![CDATA[ V 4 V 6]]> 5 <![CDATA[ V 1 V 7]]> 4 <![CDATA[ V 4 V 6]]> 6 <![CDATA[ V 7 V 3]]> 5 <![CDATA[ V 6 V 2]]> 2 <![CDATA[ V 12 V 14 ]]> 5 <![CDATA[ V 6 V 2]]> 3 <![CDATA[ V 14 V 8]]> 5 <![CDATA[ V 6 V 2]]> 6 <![CDATA[ V 7 V 3]]> 6 <![CDATA[ V 2 V 11 ]]> 3 <![CDATA[ V 14 V 8]]> 6 <![CDATA[ V 2 V 11 ]]> 6 <![CDATA[ V 7 V 3]]> 6 <![CDATA[ V 2 V 11 ]]> 4 <![CDATA[ V 3 V 1]]> In order to control the series winding motor well when it enters overmodulation, the present invention also provides a three-dimensional overmodulation strategy. As shown in formula (6), the linear modulation area is d =45° is divided into two parts, so the overmodulation is also performed in these two parts. First, when the three-dimensional reference voltage vector V ref [ a , b , c ] is in the truncated cone area, that is, 0°≤ d ≤45°. According to formula (1), i and k can Then, according to formula (2), | V ref | can also be obtained. When | V ref |≤ kV dc ,The system is considered to be in the linear debugging region. When | V ref |> kV dc , the system is considered to be in the overmodulation region. Figure 9 The geometric relationship between the three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the truncated cone A ' can be obtained (7); in, OA ′ is the intersection of the three-dimensional reference voltage vector and the linear modulation area; OA ′= k · V dc ; OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= OA ′·cos d .

[0110] Then, A ' is submitted to the control algorithm to perform overmodulation processing.

[0111] Note d =0, overmodulation occurs αβ In the plane, equation (7) is still applicable. OB ′= V dc In addition, when calculating the new three-dimensional reference voltage vector, the voltage vector c The positive and negative directions of the axis need to be based on the original three-dimensional reference voltage vector c The positive or negative sign of .

[0112] When the three-dimensional reference voltage vector is in the cone area, 45°< d ≤90°. Similarly, according to equations (1) and (4), i and k can be obtained respectively; then the magnitude of the three-dimensional reference voltage vector | V ref | can be obtained according to formula (2). When | V ref |> kV dc , the system is in the overmodulation region. Figure 9 The geometric relationship shown in the figure is the three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the frustum A ' can be obtained (8); in, OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane; OB ′= V dc / (3tan d ); Then, A ' is submitted to the control algorithm to perform overmodulation processing.

[0113] The three-dimensional linear modulation area generated by the three-dimensional space voltage vector modulation algorithm proposed in the present invention is compared with the linear modulation area generated by the existing method. Figure 10 As shown, it can be seen that the linear modulation area generated by the algorithm proposed in the present invention is a double frustum, while the existing method is a double cone, and the linear modulation area is expanded by 33.33%.

[0114] The execution process of the entire control algorithm is as follows: Figure 11 As shown. First, collect the current motor speed n , and set the reference motor speed n ref ; The speed loop PI controller is used to calculate the speed deviation control and project the result to dq plane, get the reference current i q ref ; Setting the reference current i d ref 、i 0 ref is zero; Collect the current of each phase i A , i B , i C , after Clark transformation, the result is projected to α-β-0 Plane, get i α , i β and i 0 ; Will i α , i β After Park transformation, the result is projected to dq-0 plane, get the current dq Plane current i d , i q and i 0 ; Through the reference current i q ref , i d ref and i 0 ref and current dq-0Flat i d , i q 、i 0， Get the reference voltage through the PI controller u q ref , u d ref 、u 0 ref ; Will u q ref , u d ref 、u 0 ref Obtained by Anti-Park transformation u α ref , u β ref 、u 0 ref ; Will u α ref , u β ref 、u 0 ref The input is input into the three-dimensional modulation module to generate the PWM waveform of the bridge arm to drive the three-phase series winding motor to run, and finally verified on the experimental platform. The steady-state performance of the proposed algorithm is verified under a speed of 500r / min and a load of 1.5N·m, and the speed, torque, and phase current are obtained. ab-c The experimental waveforms of shaft current and bridge arm current are as follows: Figure 12 Then, in order to verify the dynamic performance, the dynamic performance of the proposed algorithm was verified when the speed changed from 600r / min to -600r / min and the load was 1N·m, and the speed, torque, phase current and phase current amplification experimental waveforms were obtained as shown in Figure 13 shown.

[0115] In order to verify the technical solution of the present invention, the solution was verified in detail in the laboratory. A set of 1kW three-phase series winding motor traction test bench was built in the laboratory. The effectiveness of the modulation algorithm proposed in the present invention was verified through the three-phase series winding motor traction test platform. The relevant experimental results are also reflected in the technical solution of the present invention.

[0116] The three-dimensional space vector modulation strategy and overmodulation processing method of the series winding motor proposed in this invention can be verified and tested on a three-phase series winding motor dragging experimental platform. The experimental hardware platform consists of a three-phase series winding motor, dSPACE 1202, a host computer, a programmable power supply and a magnetic powder brake. The parameters of the series winding motor are: the number of pole pairs is 4; the resistance is 1.52Ω; d The shaft inductance is 3.77mH; q The shaft inductance is 3.77mH; the zero-sequence inductance is 1.55mH; the rotor flux is 0.129Wb; the third rotor flux harmonic is 0.0059Wb; the rated speed is 2500rpm; the rated torque is 4N·m; and the sampling frequency is 10kHz.

[0117] The three-phase series winding motor driving experimental platform tested the operating performance of the present invention in steady state and dynamic state. The speed was set to 500r / min and the load was 1.5N·m in steady state. The speed, torque, phase current, ab-c The experimental waveforms of shaft current and bridge arm current are as follows: Figure 12 In the dynamic case, the speed of the series winding motor changes from 600r / min to -600r / min, while the load 1N·m remains unchanged. The motor speed, torque, phase current and phase current amplification experimental waveforms are shown in the figure below. Figure 13 As shown, div represents each grid, such as 50ms / div means that the time width of each grid in the figure is 50ms. It can be seen from the figure that the modulation strategy proposed by the present invention can effectively suppress the zero-sequence current in steady state, so that the three-phase current of the motor has good sinusoidal property. It has fast response speed in dynamic state and can quickly follow the given speed value.

[0118] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. A person of ordinary skill in the art will appreciate that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0119] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method, characterized in that: The following steps are involved: Step 1: The three-dimensional αβ-γ In space, αβ The plane divides the three-dimensional space into upper and lower halves; Step 2: Space slices VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and zero voltage vector to synthesize the three-dimensional reference voltage vector V ref [ a , b , c ]; Step 3: The space slicing method divides the three-dimensional space into countless two-dimensional slices. The voltage vector on each slice is two virtual voltage vectors VV αβ and VV γ ; Step 4: 3D modulation execution and overmodulation strategy processing.

2. The three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method as claimed in claim 1, characterized in that: The three-dimensional αβ-γ In space, αβ The plane divides the three-dimensional space into upper and lower halves: αβ There are six basic voltage vectors and two zero voltage vectors in the plane, which form a hexagon; by using any two adjacent basic voltage vectors and zero voltage vectors among these voltage vectors, a hexagon located at αβ Virtual voltage vector of the plane VV αβ ; According to the volt-second balance principle, αβ The maximum linear modulation area that can be synthesized by the six basic voltage vectors and two zero voltage vectors in the plane is a circle with a radius of V dc ; 3D reference voltage vector V ref [ a , b , c ]exist αβ The projection amplitude of the plane and its relationship α The angle between the axes can be obtained: （1）； in, is the three-dimensional reference vector αβ Projection of a plane; θ The reference vector is αβ Projection of the plane and α The angle of the axes; a is the three-dimensional reference voltage vector α The projection of the axis, b is the three-dimensional reference voltage vector β The projection of the axis, c is the three-dimensional reference voltage vector γ Projection of axes; Then, the three-dimensional reference voltage vector V ref [ a , b , c The amplitude of ] and its angle with the αβ plane can be obtained: （2）； in, is the magnitude of the three-dimensional reference voltage vector; δ is the reference voltage vector and αβ The angle between the planes.

3. The three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method as claimed in claim 1, characterized in that: The space slice transforms two virtual voltage vectors VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize the three-dimensional reference voltage vector: At the same time, they satisfy the following geometric relationship: （3）； in, T γ Virtual voltage vector with zero-sequence component VV γ The action time in a control cycle; T αβ yes αβ Virtual voltage vector in VV αβ The action time in a control cycle; T s is the control cycle; VV αβ , VV γ and the three-dimensional reference voltage vector V ref They are (4); According to formula (3), the three-dimensional reference voltage vector can be obtained V ref [ a , b , c ]The boundary of the space slice is （5）； in, k represents the scale factor; Convert to xy The coordinate system can be obtained （6）。 4. The three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method as claimed in claim 1, characterized in that: The space slicing method divides the three-dimensional space into countless two-dimensional slices, and the voltage vector on each slice is two virtual voltage vectors. VV αβ and VV γ : The angle obtained by formula (1) θ, And determine the three-dimensional reference voltage vector is located at αβ The upper or lower half of the plane, four basic voltage vectors can be obtained; These four basic voltage vectors are then used to synthesize a three-dimensional reference voltage vector.

5. The three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method as claimed in claim 1, characterized in that: The three-dimensional modulation execution and over-modulation strategy processing: As shown in equation (6), the linear modulation region is δ =45° is divided into two parts, so the overmodulation is also performed in these two parts; first, when the three-dimensional reference voltage vector V ref [ a , b , c ] is in the truncated cone area, that is, 0°≤ δ ≤45°; According to formula (1), θ and k can be obtained; then, according to formula (2), | V ref | can also be obtained; when | V ref |≤ k·V dc , the system is considered to be in the linear debugging region; when | V ref |> k·V dc , the system is considered to be in the overmodulation region. According to the geometric relationship, the three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the truncated cone A ' can be obtained: (7)； in, OA ′ is the intersection of the three-dimensional reference voltage vector and the linear modulation area, OA ′= k · V dc ; OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= OA ′·cos δ ; Then, A ' is submitted to the control algorithm to perform overmodulation processing; when δ =0, overmodulation occurs αβ In the plane, equation (7) is still applicable. OB ′= V dc ; In addition, when calculating the new three-dimensional reference voltage vector, the voltage vector γ The positive and negative directions of the axis need to be based on the original three-dimensional reference voltage vector c To judge by the symbol; When the three-dimensional reference voltage vector is in the cone area, 45°< δ ≤90°; similarly, according to equations (1) and (4), θ and k can be obtained respectively; then the magnitude of the three-dimensional reference voltage vector | V ref | can be obtained according to formula (2); when | V ref |> k·V dc , the system is in the overmodulation region; the three-dimensional reference voltage vector V ref [ a , b , c ]Intersection point with the cone A ' can be obtained: (8)； in, OB ′ is the new three-dimensional reference voltage vector αβ Projection on a plane, OB ′= V dc / (3tan δ ); Then, A ' is submitted to the control algorithm to perform overmodulation processing.

6. A three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing system implementing the three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing method as claimed in any one of claims 1 to 5, characterized in that: The three-phase series winding motor three-dimensional space vector modulation strategy and overmodulation processing system include: Segmentation module for forming three-dimensional αβ-γ In space, αβ The plane divides the three-dimensional space into upper and lower halves; Synthesis module, used for spatial slicing VV αβ , VV γ and zero voltage vector are included; according to the geometric principle, in the space slice, the two virtual voltage vectors VV αβ , VV γ and the zero voltage vector are used to synthesize a three-dimensional reference voltage vector; The partitioning module is used to divide the three-dimensional space into countless two-dimensional slices by the space slicing method. The voltage vector on each slice is two virtual voltage vectors. VV αβ and VV γ ; Modulation module for three-dimensional overmodulation strategies.

7. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the three-dimensional space vector modulation strategy and overmodulation processing method of the three-phase series winding motor as described in any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of the three-dimensional space vector modulation strategy and overmodulation processing method of the three-phase series winding motor as described in any one of claims 1-5.

9. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the three-dimensional space vector modulation strategy and overmodulation processing system of the three-phase series winding motor as described in claim 6.

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