Motor controller, space vector modulation method thereof and computer storage medium

Abstract

The invention discloses a motor controller and a space vector modulation method thereof, and a computer storage medium, and the method comprises the following steps: obtaining a voltage instruction under a dq coordinate system, and defining the voltage instruction under the dq coordinate system as a first voltage instruction; converting the first voltage instruction into a voltage instruction under an abc coordinate system, and defining the voltage instruction under the abc coordinate system as a second voltage instruction; zero-sequence voltage offset is added to the second voltage instruction, so that the second voltage instruction is translated to a non-negative range to obtain a third voltage instruction; performing normalization processing on the third voltage instruction to obtain a normalized voltage vector; and mapping the normalized voltage vector into a duty cycle of PWM modulation. The calculation efficiency of the control algorithm can be improved, and the method is more suitable for real-time control of the motor.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor controller and a space vector modulation method thereof, and a computer storage medium. Background Art

[0002] SVPWM (Space Vector Pulse Width Modulation) is a technology widely used in motor control, especially in three-phase inverters. This technology modulates the three-phase input voltage to generate the required output voltage vector, thereby controlling the speed and torque of the motor. When performing voltage vector transformation and duty cycle calculation, the existing algorithm performs calculations through sector division, involving a large number of trigonometric function operations, which increases the calculation burden of the system and leads to low system calculation efficiency. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, this application adopts the following technical solutions: In a first aspect, the present application provides a space vector modulation method for a motor controller, the method comprising the following steps: Step S11, obtaining a voltage instruction in a dq coordinate system, and defining the voltage instruction in the dq coordinate system as a first voltage instruction; Step S12, converting the first voltage instruction into a voltage instruction in an abc coordinate system, and defining the voltage instruction in the abc coordinate system as a second voltage instruction; Step S13, adding a zero-sequence voltage offset to the second voltage instruction, so that the second voltage instruction is translated into a non-negative range, so as to obtain a third voltage instruction; Step S14, normalizing the third voltage command to obtain a normalized voltage vector; Step S15, mapping the normalized voltage vector to a duty cycle of PWM modulation.

[0004] In summary, the spatial vector modulation method of a motor controller provided in the present application simplifies the processing method of the voltage vector, transforms the voltage command from the dq coordinate system to the abc coordinate system, optimizes and adjusts the voltage signal in the abc coordinate system, avoids the traditional sector division steps, reduces the calculation of trigonometric functions, improves the computational efficiency of the algorithm, and is more suitable for real-time control of the motor.

[0005] Furthermore, the method further comprises: The minimum value of the normalized voltage vector is calculated, and the normalized voltage vector is non-negatively processed based on the minimum value of the normalized voltage vector, and the normalized voltage vector after the non-negative processing is mapped to a duty cycle of PWM modulation, wherein after the non-negative processing, the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1.

[0006] Furthermore, the normalized voltage vector is subjected to non-negative processing and is expressed by the following formula: ; In the formula, d abc is the normalized voltage vector, d min is the minimum value of the normalized voltage vector, is the normalized voltage vector after non-negative processing.

[0007] Furthermore, a seven-segment space vector modulation method is adopted, and the zero-sequence voltage offset satisfies: the action time of the zero vector V0 is equal to the action time of the zero vector V7.

[0008] Furthermore, the zero-sequence voltage offset value is expressed by the following formula: ; In the formula, U 0 represents the zero-sequence voltage offset value, U abc represents the second voltage instruction.

[0009] Furthermore, the method further comprises: Collecting three-phase currents and converting the three-phase currents into current values ​​in a dq coordinate system; Providing a PI controller, and using the current value in the dq coordinate system as a feedback input of the PI controller; The feedback input is compared with a preset current command value to obtain a control error, and a voltage command in the dq coordinate system is generated based on the control error.

[0010] In a second aspect, the present application provides a motor controller, the motor controller comprising: a voltage instruction acquisition module, which acquires a voltage instruction in a dq coordinate system and defines the voltage instruction in the dq coordinate system as a first voltage instruction; A coordinate conversion module, converting the first voltage instruction into a voltage instruction in an abc coordinate system, and defining the voltage instruction in the abc coordinate system as a second voltage instruction; a voltage shift module, adding a zero-sequence voltage offset to the second voltage instruction, so as to shift the second voltage instruction to a non-negative range, so as to obtain a third voltage instruction; a normalization module, performing normalization processing on the third voltage instruction to obtain a normalized voltage vector; A duty cycle generation module maps the normalized voltage vector to a duty cycle of PWM modulation; A control module controls the motor based on the duty cycle.

[0011] Furthermore, the normalization module is configured to: calculate the minimum value of the normalized voltage vector, and perform non-negative processing on the normalized voltage vector based on the minimum value of the normalized voltage vector, and map the normalized voltage vector after the non-negative processing to a duty cycle of PWM modulation, wherein, after the non-negative processing, the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1.

[0012] Furthermore, the motor controller adopts a seven-segment space vector modulation method; The voltage translation module is configured to generate a zero-sequence voltage offset value so that the zero-sequence voltage offset value satisfies: an action time of the zero vector V0 is equal to an action time of the zero vector V7.

[0013] In a third aspect, the present application provides a computer storage medium, which stores the space vector modulation method of the motor controller described in any one of the above items. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A flowchart of the steps of a space vector modulation method for a motor controller provided by an embodiment of the present application; Figure 2 A specific flow chart of step S11 in the space vector modulation method of the motor controller provided by one embodiment of the present application; Figure 3 A schematic diagram of the switching waveforms of each phase in a seven-segment modulation method of a space vector modulation method for a motor controller provided by an embodiment of the present application; Figure 4 A schematic diagram of the original three-phase voltage in the abc coordinate system in a space vector modulation method of a motor controller provided by an embodiment of the present application; Figure 5 A schematic diagram of the modulated three-phase voltage in the abc coordinate system in the space vector modulation method of the motor controller provided by one embodiment of the present application; Figure 6 A schematic diagram of the composition of a motor controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0015] The present application will be described in detail below in conjunction with the specific implementation modes shown in the accompanying drawings, but these implementation modes do not limit the present application. Structural, methodological, or functional changes made by ordinary technicians in the field based on these implementation modes are included in the protection scope of the present application.

[0016] In order to solve the deficiencies of the prior art, in the first aspect, the present application provides a space vector modulation method for a motor controller, such as Figure 1 As shown, the method comprises the following steps: Step S11, obtaining a voltage instruction in a dq coordinate system, and defining the voltage instruction in the dq coordinate system as a first voltage instruction; Step S12, converting the first voltage instruction into a voltage instruction in the abc coordinate system, and defining the voltage instruction in the abc coordinate system as a second voltage instruction; Step S13, adding a zero-sequence voltage offset to the second voltage command to shift the second voltage command to a non-negative range to obtain a third voltage command; Step S14, normalizing the third voltage command to obtain a normalized voltage vector; Step S15, mapping the normalized voltage vector to a duty cycle of PWM modulation.

[0017] According to the above description, the spatial vector modulation method of a motor controller provided in the present application simplifies the processing method of the voltage vector, transforms the voltage command from the dq coordinate system to the abc coordinate system, optimizes and adjusts the voltage signal in the abc coordinate system, avoids the traditional sector division steps, reduces the operation of trigonometric functions, improves the computational efficiency of the algorithm, and is more suitable for real-time control of the motor.

[0018] As a way to achieve this, Figure 2 As shown, step S11 includes: Step S111, collecting three-phase currents and converting the three-phase currents into current values ​​in a dq coordinate system; Step S112, providing a PI controller, and using the current value in the dq coordinate system as a feedback input of the PI controller; Step S113 , comparing the feedback input with a preset current command value to obtain a control error, and generating a voltage command in a dq coordinate system based on the control error.

[0019] Specifically, based on the actual sampling of the three-phase current of the motor, the sampled three-phase current is converted into a current value in the dq coordinate system through coordinate transformation, and the decoupling control of the motor is realized in the dq coordinate system, so that the d-axis current is directly related to the torque, and the q-axis current is related to the magnetic flux. A PI controller is provided. In the dq coordinate system, the PI controller receives the converted current value as a feedback input, and compares the feedback input with the preset current command value (i.e., the desired d-axis and q-axis currents). The PI controller calculates the control error through proportional and integral effects. The PI controller generates a voltage command in the dq coordinate system based on the control error, and defines the voltage command in the dq coordinate system as a first voltage command. The first voltage command can be converted from the dq coordinate system back to the abc three-phase coordinate system through inverse coordinate transformation, and the first voltage command is used to generate a PWM control signal.

[0020] As an implementation manner, in step S12, the first voltage instruction is converted into a voltage instruction in the abc coordinate system, and the voltage instruction in the abc coordinate system is defined as the second voltage instruction.

[0021] Specifically, in this embodiment, the first voltage command is first transformed from the dq coordinate system to the αβ coordinate system, and the formula is expressed as follows: (1); In the formula, Represents the voltage vector in the dq coordinate system, including Ud and Uq; represents the voltage vector in the αβ coordinate system, including Uα and Uβ; Represents the transformation matrix from the dq coordinate system to the αβ coordinate system.

[0022] The first voltage command is then transformed from the αβ coordinate system to the abc coordinate system, thereby obtaining the second voltage command in the abc coordinate system. The formula is as follows: (2); In the formula, represents the voltage vector in the αβ coordinate system, including Uα and Uβ; Represents the voltage vector in the abc coordinate system, including Ua, Ub and Uc; Represents the transformation matrix for inverse transformation from the αβ coordinate system to the abc coordinate system.

[0023] As an implementation method, in step S13, a seven-segment space vector modulation method is adopted, and the zero-sequence voltage offset satisfies: the action time of the zero vector V0 (ie, U0 (000)) is equal to the action time of the zero vector V7 (ie, U7 (111)).

[0024] Specifically, the switching waveforms of each phase of the seven-segment space vector modulation in sector 1 are as follows: Figure 3As shown, the minimum value of the three-phase command voltage determines the action time T0 of the zero vector V0, and the maximum value of the three-phase command voltage determines the action time T7 of the zero vector. In a carrier cycle of the space vector modulation method, the modulation wave remains constant. According to the volt-second balance principle, it can be obtained: (3); Where U A Indicates the A phase voltage in the three-phase voltage, U B Indicates the B phase voltage in the three-phase voltage, U C Indicates the C phase voltage in the three-phase voltage, U dc Indicates the DC bus voltage, T s It represents the carrier cycle, T1 represents the time when a switch of the upper bridge arm is turned on in one PWM cycle, T2 represents the time when a switch of the lower bridge arm is turned on in one PWM cycle, and T7 represents the time when all switches of the upper bridge arm are turned on in one PWM cycle.

[0025] According to the above formula (3), we can get: (4); Where U0 represents the zero-sequence voltage offset value.

[0026] Furthermore, combining the above formulas, it can be obtained that the zero-sequence voltage offset satisfies: the action time of the zero vector V0 is equal to the action time of the zero vector V7, that is, when T0 = T7: (5); According to the above description, the zero-sequence voltage offset value can be expressed by the following formula: (6); Where U0 represents the zero-sequence voltage offset value, U abc Indicates the second voltage command.

[0027] In the abc coordinate system, the original three-phase voltage is as follows Figure 4 As shown, based on the above zero-sequence voltage bias, a zero-sequence voltage offset is added to the second voltage instruction, and the second voltage instruction is translated to a non-negative range, thereby obtaining a third voltage instruction, which can be expressed by the following formula: (7); In the formula, Indicates the third voltage instruction, represents the normalized voltage vector, Indicates the DC bus voltage.

[0028] According to the above description, the voltage offset compensation mechanism in step S13 effectively improves the output stability of the voltage under low voltage conditions and reduces the impact of voltage fluctuations on the system.

[0029] As an implementation, in step S14, the third voltage command is normalized to obtain a normalized voltage vector. In step S15, the minimum value of the normalized voltage vector is calculated, and the normalized voltage vector is non-negatively processed based on the minimum value of the normalized voltage vector, and the normalized voltage vector after the non-negative processing is mapped to the duty cycle of PWM modulation, wherein, after the non-negative processing, the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1.

[0030] Specifically, based on step S14, the minimum value of the normalized voltage vector is calculated, and the normalized zero-sequence voltage offset value is calculated according to the minimum value of the normalized voltage vector, and the normalized voltage vector is non-negatively processed so that all voltage components are translated downward to ensure that all components are positive and the lowest is 0, thereby ensuring that the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1. Further, the non-negative processing of the normalized voltage vector is expressed by the following formula: (8); Where, d abc is the normalized voltage vector, d min is the minimum value of the normalized voltage vector, is the normalized voltage vector after non-negative processing, and d0 represents the normalized zero-sequence voltage offset value.

[0031] According to the above description, Figure 4 After the above mathematical processing of the three-phase voltage, the space vector modulation driving waveform is obtained as follows Figure 5 As shown. The output cycle of the PWM modulation signal is determined by the timer. The counting cycle is set to PWMPRD, that is, the timer counts from 0 to PWMPRD to represent a complete PWM modulation cycle. The duty cycle calculation can be expressed by the following formula: (9); Where PWMPRD represents the calculation period of PWM modulation, and PWMPRD is used to generate PWM comparison value. Indicates the duty cycle.

[0032] According to the above description, the space vector modulation method of a motor controller provided in the present application simplifies the processing method of the voltage vector, transforms the voltage command from the dq coordinate system to the abc coordinate system, optimizes and adjusts the voltage signal in the abc coordinate system, avoids the traditional sector division steps, reduces the calculation of trigonometric functions, improves the computational efficiency of the algorithm, and is more suitable for real-time control of the motor; and, through the voltage offset compensation mechanism, effectively improves the output stability of the voltage under low voltage conditions, and reduces the impact of voltage fluctuations on the system.

[0033] In a second aspect, the present application provides a motor controller, such as Figure 6 As shown, the motor controller includes a voltage command acquisition module, a coordinate conversion module, a voltage translation module, a normalization module, a duty cycle generation module and a control module.

[0034] Specifically, the voltage instruction acquisition module is configured to acquire the voltage instruction in the dq coordinate system, and define the voltage instruction in the dq coordinate system as the first voltage instruction; the coordinate conversion module is configured to convert the first voltage instruction into the voltage instruction in the abc coordinate system, and define the voltage instruction in the abc coordinate system as the second voltage instruction; the voltage translation module is configured to add a zero-sequence voltage offset to the second voltage instruction so that the second voltage instruction is translated to a non-negative range to obtain a third voltage instruction; the normalization module is configured to normalize the third voltage instruction to obtain a normalized voltage vector; the duty cycle generation module is configured to map the normalized voltage vector to a duty cycle of PWM modulation; and the control module is configured to control the motor based on the duty cycle.

[0035] In the coordinate conversion module, the first voltage instruction is converted into a voltage instruction in the abc coordinate system, and the voltage instruction in the abc coordinate system is defined as the second voltage instruction.

[0036] Specifically, in the coordinate conversion module, the first voltage instruction is first transformed from the dq coordinate system to the αβ coordinate system, and the formula is expressed as follows: (10); In the formula, Represents the voltage vector in the dq coordinate system, including Ud and Uq; represents the voltage vector in the αβ coordinate system, including Uα and Uβ; Represents the transformation matrix from the dq coordinate system to the αβ coordinate system.

[0037] The first voltage command is then transformed from the αβ coordinate system to the abc coordinate system, thereby obtaining the second voltage command in the abc coordinate system. The formula is as follows: (11); In the formula, represents the voltage vector in the αβ coordinate system, including Uα and Uβ; Represents the voltage vector in the abc coordinate system, including Ua, Ub and Uc; Represents the transformation matrix for inverse transformation from the αβ coordinate system to the abc coordinate system.

[0038] According to the above description, a motor controller provided by the present application transforms the voltage command from the dq coordinate system to the abc coordinate system, optimizes and adjusts the voltage signal in the abc coordinate system, reduces the operation of trigonometric functions, improves the calculation efficiency of the algorithm, and is more suitable for real-time control of the motor; it also simplifies the processing method of the voltage vector and avoids the traditional sector division steps, thereby further improving the calculation efficiency of the algorithm; and, through the voltage offset compensation mechanism, it effectively improves the output stability of the voltage under low voltage conditions and reduces the impact of voltage fluctuations on the system.

[0039] Furthermore, as an implementation method, the normalization module is also configured to: calculate the minimum value of the normalized voltage vector, and perform non-negative processing on the normalized voltage vector based on the minimum value of the normalized voltage vector, and map the normalized voltage vector after non-negative processing to a duty cycle of PWM modulation, wherein, after non-negative processing, the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1.

[0040] Specifically, the minimum value of the normalized voltage vector is calculated, and the normalized zero-sequence voltage offset value is calculated based on the minimum value of the normalized voltage vector. The normalized voltage vector is non-negatively processed so that all voltage components are translated downward to ensure that all components are positive and the lowest is 0, thereby ensuring that the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1. Furthermore, the non-negative processing of the normalized voltage vector is expressed by the following formula: (12); Where, d abc is the normalized voltage vector, d min is the minimum value of the normalized voltage vector, is the normalized voltage vector after non-negative processing.

[0041] The output cycle of the PWM modulation signal is determined by the timer. The count cycle is set to PWMPRD, that is, the timer counts from 0 to PWMPRD to represent a complete PWM modulation cycle. The duty cycle calculation can be expressed by the following formula: (13); Where PWMPRD represents the calculation period of PWM modulation, and PWMPRD is used to generate PWM comparison value. Indicates the duty cycle.

[0042] As an implementation method, the motor controller provided in the present application adopts a seven-segment space vector modulation method; the voltage translation module is configured to: generate a zero-sequence voltage offset value so that the zero-sequence voltage offset value satisfies: the action time of the zero vector V0 is equal to the action time of the zero vector V7.

[0043] Specifically, the minimum value of the three-phase command voltage determines the action time T0 of the zero vector V0, and the maximum value of the three-phase command voltage determines the action time T7 of the zero vector. In a carrier cycle of the space vector modulation method, the modulation wave remains constant, and according to the volt-second balance principle, it can be obtained: (14); Where U A Indicates the A phase voltage in the three-phase voltage, U B Indicates the B phase voltage in the three-phase voltage, U C Indicates the C phase voltage in the three-phase voltage, U dc Indicates the DC bus voltage, T s It represents the carrier cycle, T1 represents the time when a switch of the upper bridge arm is turned on in one PWM cycle, T2 represents the time when a switch of the lower bridge arm is turned on in one PWM cycle, and T7 represents the time when all switches of the upper bridge arm are turned on in one PWM cycle.

[0044] According to the above formula (14), we can get: (15); Where U0 represents the zero-sequence voltage offset value.

[0045] Furthermore, combining the above formulas, it can be obtained that the zero-sequence voltage offset satisfies: the action time of the zero vector V0 is equal to the action time of the zero vector V7, that is, when T0 = T7: (16); According to the above description, the zero-sequence voltage offset value can be expressed by the following formula: (17); Where U0 represents the zero-sequence voltage offset value, U abc Indicates the second voltage command.

[0046] In the abc coordinate system, the original three-phase voltage is as follows Figure 4 As shown, based on the above zero-sequence voltage bias, a zero-sequence voltage offset is added to the second voltage instruction, and the second voltage instruction is translated to a non-negative range, thereby obtaining a third voltage instruction, which can be expressed by the following formula: (18); In the formula, Indicates the third voltage instruction, represents the normalized voltage vector, Indicates the bus DC voltage.

[0047] According to the above description, a motor controller provided by the present application simplifies the processing method of the voltage vector, transforms the voltage command from the dq coordinate system to the abc coordinate system, optimizes and adjusts the voltage signal in the abc coordinate system, avoids the traditional sector division steps, reduces the calculation of trigonometric functions, improves the computational efficiency of the algorithm, and is more suitable for real-time control of the motor; and, through the voltage offset compensation mechanism, effectively improves the output stability of the voltage under low voltage conditions, and reduces the impact of voltage fluctuations on the system.

[0048] In a third aspect, the present application also provides a computer storage medium, which stores the space vector modulation method of the motor controller described above, which is used to improve the computational efficiency of the motor controller and improve the output stability of the motor system under low voltage.

[0049] It will be appreciated that the word "exemplary" as used herein means "serving as an example, instance, or illustration". Any embodiment described as "exemplary" is not necessarily preferred or superior to other embodiments and / or does not exclude the combination of features of other embodiments. It will be appreciated that certain features of the present application described in the context of separate embodiments for the sake of clarity may also be provided in a single embodiment by combination. Conversely, various features of the present application described in the context of a single embodiment for the sake of clarity may also be provided individually or in any suitable combination or as any other described embodiment of the present application.

[0050] The above disclosure is only the preferred embodiment of the present application, but it is not intended to limit the scope of rights of the present application. A person of ordinary skill in the art can understand that without departing from the spirit and scope of the present application and the appended claims, changes, modifications, substitutions, combinations, and simplifications should all be equivalent replacement methods and still fall within the scope of the invention.

Claims

1. A space vector modulation method for a motor controller, characterized in that: The method comprises the following steps: Acquire a voltage command in a dq coordinate system, and define the voltage command in the dq coordinate system as a first voltage command; Convert the first voltage instruction into a voltage instruction in an abc coordinate system, and define the voltage instruction in the abc coordinate system as a second voltage instruction; adding a zero-sequence voltage offset to the second voltage command so as to shift the second voltage command to a non-negative range to obtain a third voltage command; Normalizing the third voltage command to obtain a normalized voltage vector; The normalized voltage vector is mapped to a duty cycle of PWM modulation.

2. The space vector modulation method of the motor controller according to claim 1, characterized in that: The method further comprises: The minimum value of the normalized voltage vector is calculated, and the normalized voltage vector is non-negatively processed based on the minimum value of the normalized voltage vector, and the normalized voltage vector after the non-negative processing is mapped to a duty cycle of PWM modulation, wherein after the non-negative processing, the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1.

3. The space vector modulation method of the motor controller according to claim 2, characterized in that: The non-negative processing of the normalized voltage vector is expressed by the following formula: ； In the formula, d abc is the normalized voltage vector, d min is the minimum value of the normalized voltage vector, is the normalized voltage vector after non-negative processing.

4. The space vector modulation method of the motor controller according to claim 1, characterized in that: The method further comprises: A seven-segment space vector modulation method is adopted, and the zero-sequence voltage offset satisfies: the action time of the zero vector V0 is equal to the action time of the zero vector V7.

5. The space vector modulation method of the motor controller according to claim 4, characterized in that: The zero-sequence voltage offset value is expressed by the following formula: ； In the formula, U 0 represents the zero-sequence voltage offset value, U abc represents the second voltage instruction.

6. The space vector modulation method of the motor controller according to claim 1, characterized in that: The method further comprises: Collecting three-phase currents and converting the three-phase currents into current values ​​in a dq coordinate system; Providing a PI controller, and using the current value in the dq coordinate system as a feedback input of the PI controller; The feedback input is compared with a preset current command value to obtain a control error, and a voltage command in the dq coordinate system is generated based on the control error.

7. A motor controller, characterized in that: The motor controller comprises: a voltage instruction acquisition module, which acquires a voltage instruction in a dq coordinate system and defines the voltage instruction in the dq coordinate system as a first voltage instruction; A coordinate conversion module, converting the first voltage instruction into a voltage instruction in an abc coordinate system, and defining the voltage instruction in the abc coordinate system as a second voltage instruction; a voltage shift module, adding a zero-sequence voltage offset to the second voltage instruction, so as to shift the second voltage instruction to a non-negative range, so as to obtain a third voltage instruction; a normalization module, performing normalization processing on the third voltage instruction to obtain a normalized voltage vector; A duty cycle generation module maps the normalized voltage vector to a duty cycle of PWM modulation; A control module controls the motor based on the duty cycle.

8. The motor controller according to claim 7, characterized in that: The normalization module is configured to: calculate the minimum value of the normalized voltage vector, and perform non-negative processing on the normalized voltage vector based on the minimum value of the normalized voltage vector, and map the normalized voltage vector after the non-negative processing to the duty cycle of PWM modulation, wherein, after the non-negative processing, the normalized voltage vector satisfies: greater than or equal to 0, and less than or equal to 1.

9. The motor controller according to claim 7, characterized in that: The motor controller adopts a seven-segment space vector modulation method; The voltage translation module is configured to generate a zero-sequence voltage offset value so that the zero-sequence voltage offset value satisfies: an action time of the zero vector V0 is equal to an action time of the zero vector V7.

10. A computer storage medium, characterized in that: The medium stores the space vector modulation method of the motor controller as described in any one of claims 1 to 6.

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