Multi-mode modulation method and device based on motor control, equipment and storage medium

Abstract

The invention discloses a multi-mode modulation method and device based on motor control, equipment and a storage medium. The multi-mode modulation method based on motor control comprises the following steps: performing gain processing on three-phase voltage of a motor to obtain a modulation wave signal with a preset modulation ratio, and injecting a zero-sequence component into the modulation wave signal to form space vector pulse width modulation or discontinuous pulse width modulation, the zero-sequence components comprise a mean zero-sequence component and an alternating zero-sequence component, the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component. According to the multi-mode modulation method based on motor control, the three-phase voltage of the motor is subjected to gain processing, the zero-sequence component is injected into the modulation wave signal, space vector pulse width modulation or discontinuous pulse width modulation is formed, the voltage utilization rate is increased, and the motor efficiency optimization effect is improved.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a multi-modal modulation method, device, equipment and storage medium based on motor control. Background Art

[0002] Motor modulation refers to adjusting the motor's input voltage, current or frequency and other parameters according to the motor's operating status and control objectives to achieve precise control of the motor. The technical solutions for optimizing the motor's operating control effect in related technologies have low voltage utilization and poor motor efficiency optimization effects.

[0003] The above statements are only used to provide background information related to the present application and do not necessarily constitute prior art. Summary of the invention

[0004] The purpose of this application is to provide a multi-modal modulation method, device, equipment and storage medium based on motor control to improve voltage utilization and enhance motor efficiency optimization effect. In order to have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary is not a general review, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a preface to the detailed description that follows.

[0005] According to one aspect of an embodiment of the present application, a multi-mode modulation method based on motor control is provided, comprising:

[0006] Performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio;

[0007] By injecting a zero-sequence component into the modulation wave signal, space vector pulse width modulation or discontinuous pulse width modulation is formed; the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component; the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component.

[0008] The multi-modal modulation method based on motor control provided in the first aspect of the embodiment of the present application improves voltage utilization and enhances motor efficiency optimization effect by performing gain processing on the three-phase voltage of the motor and injecting zero-sequence components into the modulation wave signal to form space vector pulse width modulation or discontinuous pulse width modulation.

[0009] In some embodiments of the present application, the step of performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio includes:

[0010] The amplitude of the three-phase voltage sine wave of the motor is increased to obtain a modulation wave signal with a preset modulation ratio.

[0011] In some embodiments of the present application, the step of increasing the amplitude of the three-phase voltage sine wave of the motor to obtain a modulation wave signal with a preset modulation ratio includes:

[0012] Calculating the amplitude of the three-phase voltage sine wave corresponding to the preset modulation ratio;

[0013] Increasing the amplitude of the three-phase voltage sine wave to an amplitude that matches the preset modulation ratio, thereby obtaining a three-phase voltage sine wave with increased amplitude;

[0014] A three-phase sinusoidal voltage signal with a preset modulation ratio is generated according to the three-phase voltage sinusoidal wave with increased amplitude.

[0015] In some embodiments of the present application, the step of performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio includes:

[0016] The amplitude of the rotating voltage of any two phases or the amplitude of the static voltage of any two phases in the three-phase voltage is increased to obtain a modulation wave signal with a preset modulation ratio.

[0017] In some embodiments of the present application, the step of injecting a zero-sequence component into a modulation wave signal to form space vector pulse width modulation or discontinuous pulse width modulation includes:

[0018] Injecting a zero-sequence component into the modulated wave signal to obtain a modulated wave signal after the zero-sequence component is injected;

[0019] According to the comparison result of the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, space vector pulse width modulation or discontinuous pulse width modulation is formed.

[0020] According to the comparison result of the amplitude of the mean zero-sequence component and the alternating zero-sequence component in the modulation wave signal after the zero-sequence component is injected, space vector pulse width modulation or discontinuous pulse width modulation is formed, which can improve the motor drive control accuracy and dynamic response capability, optimize the running balance of the motor, reduce harmonics and noise, improve motor efficiency, reduce switching losses; enhance motor adaptability, adjust modulation strategy in real time; improve power quality, reduce grid interference; and improve motor reliability and service life. These advantages help to improve the performance, efficiency and stability of the overall motor system, improve voltage utilization, and improve the motor efficiency optimization effect.

[0021] In some embodiments of the present application, the step of forming space vector pulse width modulation or discontinuous pulse width modulation according to the result of comparing the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected includes:

[0022] Comparing in real time the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, and determining the zero-sequence component with a larger amplitude;

[0023] The zero-sequence component with a larger amplitude is used to perform pulse width modulation to realize space vector pulse width modulation or discontinuous pulse width modulation.

[0024] By comparing the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in real time, it is possible to accurately determine which zero-sequence component to use for pulse width modulation, so that the modulation strategy can be dynamically adjusted according to the system operation conditions, thereby improving the control accuracy and response speed. Specifically, selecting a zero-sequence component with a larger amplitude can more effectively control the motor current and voltage waveforms and reduce control errors and oscillations.

[0025] In some embodiments of the present application, the zero-sequence component injected into the modulated wave signal is u z1 =-ku max -(1-k)u min +2k+1,

[0026] Where -1-u min ≤u z ≤1-u max ,

[0027]

[0028] The mean zero-sequence component is

[0029]

[0030] The alternating zero-sequence component is

[0031]

[0032] in, are one phase of the three-phase modulation wave, u max is the maximum value in the three-phase modulation wave, u min is the minimum value in the three-phase modulation wave, and k is a proportional coefficient between 0 and 1.

[0033] According to another aspect of an embodiment of the present application, a multi-mode modulation device based on motor control is provided, comprising:

[0034] The gain module is used to perform gain processing on the three-phase voltage of the motor to obtain the corresponding modulation wave signal;

[0035] A modulation module is used to form space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into a modulation wave signal; the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component; the space vector pulse width modulation is formed based on the injected mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the injected alternating zero-sequence component.

[0036] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-modal modulation method based on motor control as described in any embodiment of the present application.

[0037] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the multi-modal modulation method based on motor control described in any embodiment of the present application.

[0038] The technical solution provided by one aspect of the embodiments of the present application may have the following beneficial effects:

[0039] The multi-modal modulation method based on motor control provided in the embodiment of the present application performs gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio, and forms space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into the modulation wave signal, wherein the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component, and the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component. In this way, the voltage utilization rate is improved and the motor efficiency optimization effect is enhanced.

[0040] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A flow chart of a multi-mode modulation method based on motor control according to an embodiment of the present application is shown.

[0043] Figure 2 A flow chart showing the steps of increasing the amplitude of the three-phase voltage sine wave of a motor in one embodiment of the present application is shown.

[0044] Figure 3 A flow chart showing the steps of forming space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into a modulation wave signal in one embodiment of the present application is shown.

[0045] Figure 4 A flowchart of the steps of forming space vector pulse width modulation or discontinuous pulse width modulation according to the result of comparing the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected in one embodiment of the present application is shown.

[0046] Figure 5 A curve diagram showing the relationship between the modulation ratio M and the harmonic HDF in one embodiment of the present application is shown.

[0047] Figure 6 A structural block diagram of a multi-mode modulation device based on motor control according to an embodiment of the present application is shown.

[0048] Figure 7 A structural block diagram of an electronic device according to an embodiment of the present application is shown.

[0049] Figure 8 A schematic diagram of a computer-readable storage medium according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0051] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0052] Terminology explanation:

[0053] SVPWM: Space Vector Pulse Width Modulation, also known as seven-segment continuous modulation. The SVPWM in the embodiment of the present application is implemented based on the mean zero-sequence component injection SPWM.

[0054] DPWM: Discontinuous Pulse Width Modulation, also known as five-segment discontinuous modulation. The difference between DPWM and SVPWM is that one phase switch is clamped and does not operate in one switching cycle, and the two zero vectors are selected and distributed in different ways, resulting in one-third of the output phase voltage being in a discontinuous clamping state. Therefore, DPWM can reduce controller switching losses, reduce device heat dissipation pressure, and enhance system reliability. There are six types of two-level DPWM: DPWMMAX, DPWMMIN, DPWM0, DPWM1, DPWM2, and DPWM3. The DPWM in the embodiment of the present application is implemented based on alternating zero-sequence component injection SPWM.

[0055] Modulation ratio: The calculation formula is the ratio of the peak value of the modulation signal to the peak value of the carrier signal. The larger the value, the higher the voltage utilization rate, but too large a value will lead to voltage saturation and signal fluctuation.

[0056] In the related art, since the comprehensive performance index of motor operation includes multiple indicators, that is, multiple weight coefficients, the calculation process is relatively complicated. If the weight coefficient is inaccurate, it will affect the motor operation control effect. In the related art, the weight coefficient is distinguished according to the speed and torque, which mainly depends on the user's subjective determination. It only switches the modulation mode, does not take into account the over-modulation at high speed, has no over-modulation strategy, and the voltage utilization rate is not high. Simply switching the modulation mode cannot optimize too much system efficiency.

[0057] The following describes a multi-modal modulation method, device, equipment and storage medium based on motor control proposed according to an embodiment of the present application in conjunction with the accompanying drawings.

[0058] refer to Figure 1 As shown, an embodiment of the present application provides a multi-mode modulation method based on motor control, which may include steps S10-S20:

[0059] S10, performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio.

[0060] In some embodiments, performing gain processing on the three-phase voltage of the motor to obtain a modulated wave signal with a preset modulation ratio may include: increasing the amplitude of the sinusoidal wave of the three-phase voltage of the motor to obtain a modulated wave signal with a preset modulation ratio.

[0061] For example, reference Figure 2 As shown, increasing the amplitude of the three-phase voltage sine wave of the motor to obtain a modulation wave signal with a preset modulation ratio may include steps S101-S103:

[0062] S101, calculating the amplitude of the three-phase voltage sine wave corresponding to the preset modulation ratio.

[0063] The modulation ratio is the ratio of the three-phase voltage sine wave amplitude to the carrier amplitude. The three-phase voltage sine wave amplitude corresponding to the preset modulation ratio is the product of the preset modulation ratio and the carrier amplitude. The carrier amplitude is the DC voltage amplitude, that is, the input voltage amplitude of the inverter.

[0064] S102, increasing the amplitude of the three-phase voltage sine wave to an amplitude that matches the preset modulation ratio, to obtain a three-phase voltage sine wave with increased amplitude.

[0065] The three-phase voltage of the motor is generated based on a sine waveform, so the amplitude of the three-phase voltage sine wave can be increased by controlling the output voltage of the inverter or adjusting the modulation signal. For example, the comparison relationship between the carrier and the modulation wave is adjusted to control the output voltage amplitude. Increasing the duty cycle of the PWM signal gradually increases the amplitude of the output voltage until it reaches an amplitude that matches the preset modulation ratio, thereby obtaining a three-phase voltage sine wave with an increased amplitude.

[0066] S103 . Generate a three-phase sinusoidal modulation wave signal with a preset modulation ratio according to the three-phase voltage sinusoidal wave with increased amplitude.

[0067] Exemplarily, assuming that the target amplitude (the target amplitude is an amplitude matching the preset modulation ratio) is V_m, the expressions of the three-phase voltages are respectively:

[0068] V_a(t)=V_m*sin(ωt), V_b(t)=V_m*sin(ωt-120°), V_c(t)=V_m*sin(ωt+120°), where ω is the angular frequency of the motor.

[0069] The three-phase sinusoidal wave signal is used as a modulation wave and input into the PWM controller. The PWM controller generates a corresponding PWM signal based on the amplitude of the three-phase sine wave and the carrier signal (such as a triangle wave or a square wave). The preset modulation ratio control adjusts the duty cycle of the PWM signal by comparing the sinusoidal modulation wave with the carrier signal. The preset modulation ratio determines the duty cycle of the PWM signal. By adjusting the PWM duty cycle, the voltage received by the motor matches the target amplitude V_m. For each phase, a corresponding PWM waveform is generated. Assuming that triangular carrier modulation is used, the amplitude of each modulation wave will match the preset modulation ratio. The PWM signal of each phase is input into the control end of the inverter. The inverter adjusts the current according to these PWM signals and drives the motor by controlling the frequency and amplitude of the output voltage.

[0070] In some embodiments, gain processing is performed on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio, which can include: increasing the rotating voltage amplitude of any two phases or the static voltage amplitude of any two phases in the three-phase voltage to obtain a modulation wave signal with a preset modulation ratio.

[0071] S20. Form space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into the modulation wave signal.

[0072] The zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component; the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component.

[0073] The three-phase voltage of the motor is processed by gain, and SVPWM and DPWM modulation are formed by zero-sequence component injection. Therefore, different zero-sequence components injected will form different modulation strategies. The switching between SVPWM and DPWM depends on the type of zero-sequence component injection.

[0074] In some embodiments, reference Figure 3 As shown, by injecting a zero-sequence component into a modulation wave signal, space vector pulse width modulation or discontinuous pulse width modulation is formed, which may include steps S201-S202:

[0075] S201, injecting a zero-sequence component into the modulated wave signal to obtain a modulated wave signal after the zero-sequence component is injected;

[0076] S202, forming space vector pulse width modulation or discontinuous pulse width modulation according to a comparison result of the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected.

[0077] According to the comparison result of the amplitude of the mean zero-sequence component and the alternating zero-sequence component in the modulation wave signal after the zero-sequence component is injected, space vector pulse width modulation or discontinuous pulse width modulation is formed, which can improve the motor drive control accuracy and dynamic response capability, optimize the running balance of the motor, reduce harmonics and noise, improve motor efficiency, reduce switching losses; enhance motor adaptability, adjust modulation strategy in real time; improve power quality, reduce grid interference; and improve motor reliability and service life. These advantages help to improve the performance, efficiency and stability of the overall motor system, improve voltage utilization, and improve the motor efficiency optimization effect.

[0078] For example, reference Figure 4 As shown, according to the comparison result of the amplitude of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, forming space vector pulse width modulation or discontinuous pulse width modulation may include S2021-S2022:

[0079] S2021, comparing in real time the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, and determining the zero-sequence component with a larger amplitude;

[0080] S2022. Perform pulse width modulation using the zero-sequence component with a larger amplitude to achieve space vector pulse width modulation or discontinuous pulse width modulation.

[0081] By comparing the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in real time, it is possible to accurately determine which zero-sequence component to use for pulse width modulation, so that the modulation strategy can be dynamically adjusted according to the system operation conditions, thereby improving the control accuracy and response speed. Specifically, selecting a zero-sequence component with a larger amplitude can more effectively control the motor current and voltage waveforms and reduce control errors and oscillations.

[0082] By timely injecting zero-sequence components and selecting zero-sequence components with larger amplitudes for modulation, the system current can be made more balanced, especially when the motor load is asymmetric or the external disturbance is large. The three-phase current imbalance can be better avoided, thereby reducing the vibration and noise of the motor, optimizing the pulse width modulation waveform, reducing the waveform distortion, improving the motor voltage waveform quality, and improving the stability and efficiency of the motor operation.

[0083] Modulating according to the amplitude of the zero-sequence component can effectively reduce the high-order harmonic components in the output voltage or current and optimize the spectrum distribution. This helps to reduce harmonic pollution in the motor drive system, thereby improving the power quality of the system and reducing interference with the power grid and other sensitive equipment. By adjusting the modulation strategy, especially when selecting a zero-sequence component with a large amplitude, the electromagnetic noise and acoustic vibration noise of the system can be reduced.

[0084] Based on the amplitude comparison result of the zero-sequence component, the SVPWM or DCPWM modulation mode is selected to provide a better modulation effect under different working conditions. By real-time monitoring and comparing the amplitude of the zero-sequence component, the modulation strategy can be dynamically selected according to the change of load and the actual operating state of the motor. This adaptive adjustment capability enables the system to maintain good performance under different working conditions, especially when the load fluctuates frequently, the modulation mode can be adjusted in time to ensure the smooth operation of the system. When the motor system is started, stopped or the load changes sharply, the dynamic response performance of the motor can be improved by dynamically adjusting the modulation strategy (selecting the most appropriate zero-sequence component for modulation) to avoid excessive oscillation or overshoot in the motor system. Optimizing the injection and modulation mode of the zero-sequence component can better balance the current and voltage, reduce the consumption of reactive power, thereby improving the power factor of the system and improving the power quality; reduce the harmonic pollution of the power grid, improve the power factor of the system, make the motor drive system have less impact on the power grid, and help improve the overall stability of the power system.

[0085] By selecting the appropriate modulation mode (SVPWM or DCPWM) based on the amplitude comparison results, the load on the inverter switching device can be reduced and its service life can be extended. By intelligently adjusting the injection of the zero-sequence component, overload or abnormal waveforms caused by unbalanced or improper modulation methods can be effectively avoided, thereby improving the reliability and stability of the entire drive system, increasing voltage utilization, and improving the motor efficiency optimization effect.

[0086] For example, the zero-sequence component injected into the modulated wave signal is u z1 =-ku max -(1-k)u min +2k+1,

[0087] Where -1-u min ≤u z ≤1-u max ,

[0088]

[0089] The mean zero-sequence component is

[0090]

[0091] The alternating zero-sequence component is

[0092]

[0093] in, They are one phase of the three-phase modulation wave, u max is the maximum value in the three-phase modulation wave, u minis the minimum value in the three-phase modulation wave, and k is a proportional coefficient between 0 and 1.

[0094] SVPWM and DPWM are equivalently formed based on zero-sequence component injection. Injecting different zero-sequence components will form different modulation strategies. Injecting the mean zero-sequence component will form SVPWM, and injecting the above-mentioned alternating zero-sequence component will form DPWM3. Therefore, the effect of switching between SVPWM and DPWM can be achieved by simply switching the injected zero-sequence component.

[0095] In this embodiment, according to the characteristics of discontinuous modulation, one phase switch will be clamped in one switching cycle, so about one third of the switching loss can be saved.

[0096] For a unity power factor load, the switching loss of a phase bridge arm during continuous switching over half a fundamental cycle is:

[0097]

[0098]

[0099] V e is the voltage across the IGBT, I m is the current passing through the IGBT, θ is the angle, P SVPWM is the switching loss of PWM modulation, P DPWM3 is the switching loss of DPWM3 modulation.

[0100] Through theoretical calculation of harmonics, it can be determined that the harmonic content caused by DPWM3 is the smallest among the DPWM types. By calculating the analytical formula of the harmonic currents generated by various modulation strategies and drawing their functional relationship curves:

[0101] PWM:

[0102]

[0103] SVPWM:

[0104]

[0105] DPWMMIN, DPWMMAX, DPWM0 and DPWM2:

[0106]

[0107] DPWM1:

[0108]

[0109] DPWM3:

[0110]

[0111] Where V dc is the DC bus voltage, L is the inductance, ΔT is the carrier period, M is the modulation ratio, I * They are harmonic currents with different modulations respectively.

[0112] refer to Figure 5 As shown, Figure 5 The relationship curve between the modulation ratio M and the harmonic HDF corresponding to SPWM, SVPWM, DPWM0, DPWM1, DPWM2, DPWM3, DPWMMAX, and DPWMMIN is shown. Using SVPWM and DPWM3 switching modulation can reduce the harmonic content to the minimum while improving the system efficiency.

[0113] By increasing the amplitude of the three-phase voltage sine wave, the modulation wave amplitude of SVPWM and DPWM is also increased accordingly. When the modulation wave is compared with the triangular carrier, a larger duty cycle will be produced, thereby increasing the line voltage and improving the voltage utilization rate.

[0114] By injecting zero-sequence component amplitude comparison. The zero-sequence components required for SVPWM and DPWM3 must be different. By comparing the amplitude, a zero-sequence component with a larger amplitude is injected. In addition, the modulation wave amplitude is also increased to a certain extent. When the modulation wave is compared with the triangular carrier, a larger duty cycle will be generated, thereby increasing the line voltage and improving the voltage utilization rate.

[0115] In addition to increasing the three-phase voltage sine wave amplitude to improve voltage utilization, increasing the two-phase rotating or two-phase static voltage amplitude can also improve the modulation ratio. The specific method can be selected according to the actual application. Switching can also be achieved by judging the amplitude of the zero-sequence component by judging the amplitude of the modulation wave.

[0116] For the switching of modulation strategies, the embodiment of the present application uses a new switching method to compare and judge the zero-sequence components to select the switching conditions for realizing SVPWM and DPWM. SVPWM is formed based on the mean zero-sequence component, and the embodiment of the present application uses DPWM based on the injection of alternating zero-sequence components. The amplitudes of the mean zero-sequence component and the alternating zero-sequence component are compared in real time, and the zero-sequence component with a larger amplitude is used, thereby realizing the switching modulation between SVPWM and DPWM. There are two main uses for selecting the amplitude of the zero-sequence component for judgment: First, by judging, selecting the zero-sequence component with a larger amplitude for injection can increase the amplitude of the modulation wave, and can improve the voltage utilization rate within a small range and improve the modulation ratio. The second is to output different modulation modes in real time through amplitude judgment to realize the switching between SVPWM and DPWM.

[0117] The embodiments of the present application can improve the modulation wave by increasing the three-phase voltage gain, thereby improving the voltage utilization rate. The three-phase sinusoidal voltage waveform is subjected to gain processing. The gain size is different under different working conditions according to the strategy. The voltage utilization rate is taken as the goal, and the gain coefficient is calibrated to put the motor in the best overall operating state. Finally, the three-phase voltage gain is formed into a system CUR, in which the gain value must be greater than or equal to 1, so that the ratio of the amplitude of the sinusoidal modulation signal to the triangular carrier signal is increased, that is, the modulation depth is increased. The fundamental amplitude of the inverter output voltage changes linearly with the modulation depth, thereby improving the voltage utilization rate.

[0118] The multi-modal modulation method based on motor control in the embodiment of the present application can improve the modulation ratio by increasing the amplitude of the three-phase voltage sinusoidal waveform, and improve the modulation ratio by judging the amplitude of the zero-sequence component injection, and realize the SVPWM and DPWM3 multi-modal modulation strategies at the same time, thereby realizing the alternating modulation of SVPWM and DPWM, and determining the switching conditions of SVPWM and DPWM according to the bench test DPWM performance by comparing and judging the zero-sequence components of the two modulations, thereby improving the efficiency of the motor operation system. In addition, a new over-modulation strategy is added to the modulation strategy, and over-modulation is added to perform a joint modulation strategy while switching the modulation strategy, which reduces the number of controller switches while ensuring the stable operation of the motor, thereby effectively improving the controller efficiency and system efficiency.

[0119] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0120] refer to Figure 6 As shown, another embodiment of the present application provides a multi-mode modulation device based on motor control, comprising:

[0121] The gain module is used to perform gain processing on the three-phase voltage of the motor to obtain the corresponding modulation wave signal;

[0122] A modulation module is used to form space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into a modulation wave signal; the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component; the space vector pulse width modulation is formed based on the injected mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the injected alternating zero-sequence component.

[0123] Exemplarily, the gain module is further specifically used to increase the amplitude of the three-phase voltage sine wave of the motor to obtain a modulated wave signal with a preset modulation ratio.

[0124] Exemplarily, the gain module may include:

[0125] A three-phase voltage sine wave amplitude calculation unit, used to calculate the three-phase voltage sine wave amplitude corresponding to the preset modulation ratio;

[0126] An amplitude increasing unit, used for increasing the amplitude of the three-phase voltage sine wave to reach an amplitude matching the preset modulation ratio, so as to obtain the three-phase voltage sine wave with increased amplitude;

[0127] The three-phase sinusoidal wave modulation wave signal generating unit is used to generate the three-phase sinusoidal wave modulation wave signal with the preset modulation ratio according to the three-phase voltage sinusoidal wave with increased amplitude.

[0128] Exemplarily, the gain module can be further specifically used to increase the amplitude of the rotating voltage of any two phases or the amplitude of the static voltage of any two phases in the three-phase voltage to obtain a modulated wave signal with a preset modulation ratio.

[0129] Exemplarily, the modulation module may include:

[0130] A zero-sequence component injection unit, used for injecting a zero-sequence component into the modulated wave signal to obtain a modulated wave signal after the zero-sequence component is injected;

[0131] The modulation unit is used to form space vector pulse width modulation or discontinuous pulse width modulation according to the comparison result of the amplitude of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected.

[0132] Exemplarily, the modulation unit may include:

[0133] A comparison subunit, used for comparing in real time the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, and determining the zero-sequence component with a larger amplitude;

[0134] The pulse width modulation subunit is used to perform pulse width modulation using the zero-sequence component with a larger amplitude to achieve space vector pulse width modulation or discontinuous pulse width modulation.

[0135] For example, the zero-sequence component injected into the modulated wave signal is u z1 =-ku max -(1-k)u min +2k+1,

[0136] Where -1-u min ≤u z ≤1-u max ,

[0137]

[0138] The mean zero-sequence component is

[0139]

[0140] The alternating zero-sequence component is

[0141]

[0142] in, They are one phase of the three-phase modulation wave, u max is the maximum value in the three-phase modulation wave, u min is the minimum value in the three-phase modulation wave, and k is a proportional coefficient between 0 and 1.

[0143] The multi-modal modulation device based on motor control provided in the embodiment of the present application performs gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio, and forms space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into the modulation wave signal, wherein the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component, and the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component. In this way, the voltage utilization rate is improved and the motor efficiency optimization effect is enhanced.

[0144] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0145] Another embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement a multi-modal modulation method based on motor control of any of the above-mentioned embodiments, the multi-modal modulation method based on motor control performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio, and injecting a zero-sequence component into the modulation wave signal to form space vector pulse width modulation or discontinuous pulse width modulation, wherein the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component, the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component, thereby improving the voltage utilization rate and the motor efficiency optimization effect.

[0146] refer to Figure 4 As shown, the electronic device 10 may include: a processor 100, a memory 101, a bus 102 and a communication interface 103, and the processor 100, the communication interface 103 and the memory 101 are connected via the bus 102; the memory 101 stores a computer program that can be run on the processor 100, and when the processor 100 runs the computer program, it executes the method provided in any of the aforementioned embodiments of the present application.

[0147] The memory 101 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 103 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0148] The bus 102 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 101 is used to store a program, and the processor 100 executes the program after receiving an execution instruction. The method disclosed in any implementation of the aforementioned embodiment of the present application may be applied to the processor 100, or implemented by the processor 100.

[0149] The processor 100 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 100 or an instruction in the form of software. The above processor 100 may be a general-purpose processor, which may include a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 101, and the processor 100 reads the information in the memory 101 and completes the steps of the above method in combination with its hardware.

[0150] The electronic device provided in the embodiment of the present application and the method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, operated or implemented by them.

[0151] Another embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a multi-modal modulation method based on motor control of any of the above-mentioned embodiments, the multi-modal modulation method based on motor control performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio, and injecting a zero-sequence component into the modulation wave signal to form a space vector pulse width modulation or a discontinuous pulse width modulation, wherein the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component, the space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component, thereby improving the voltage utilization rate and the motor efficiency optimization effect.

[0152] refer to Figure 5 As shown, the computer-readable storage medium shown is a CD 20 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the method provided by any of the aforementioned embodiments will be executed.

[0153] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0154] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0155] It should be noted that:

[0156] The term "module" is not intended to be limited to a specific physical form. Depending on the specific application, a module can be implemented as hardware, firmware, software, and / or a combination thereof. In addition, different modules can share common components or even be implemented by the same components. There may or may not be clear boundaries between different modules.

[0157] The algorithm and display provided herein are not inherently related to any specific computer, virtual device or other equipment. Various general devices can also be used together with examples based on this. According to the above description, it is obvious to construct the structure required for this type of device. In addition, the application is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the application described herein, and the description made to specific languages ​​above is for the purpose of disclosing the best mode of implementation of the application.

[0158] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0159] The above embodiments only express the implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A multi-mode modulation method based on motor control, characterized in that: include: Performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio; By injecting a zero-sequence component into the modulation wave signal, space vector pulse width modulation or discontinuous pulse width modulation is formed; the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component; The space vector pulse width modulation is formed based on the mean zero-sequence component, and the discontinuous pulse width modulation is formed based on the alternating zero-sequence component.

2. The method according to claim 1, characterized in that The step of performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio includes: The amplitude of the three-phase voltage sine wave of the motor is increased to obtain a modulation wave signal with a preset modulation ratio.

3. The method according to claim 2, characterized in that The method of increasing the amplitude of the three-phase voltage sine wave of the motor to obtain a modulation wave signal with a preset modulation ratio includes: Calculating the amplitude of the three-phase voltage sine wave corresponding to the preset modulation ratio; Increasing the amplitude of the three-phase voltage sine wave to an amplitude that matches the preset modulation ratio, thereby obtaining a three-phase voltage sine wave with increased amplitude; A three-phase sinusoidal voltage signal with a preset modulation ratio is generated according to the three-phase voltage sinusoidal wave with increased amplitude.

4. The method according to claim 1, characterized in that: The step of performing gain processing on the three-phase voltage of the motor to obtain a modulation wave signal with a preset modulation ratio includes: The amplitude of the rotating voltage of any two phases or the amplitude of the static voltage of any two phases in the three-phase voltage is increased to obtain a modulation wave signal with a preset modulation ratio.

5. The method according to claim 1, characterized in that The method of injecting a zero-sequence component into a modulation wave signal to form a space vector pulse width modulation or a discontinuous pulse width modulation comprises: Injecting a zero-sequence component into the modulated wave signal to obtain a modulated wave signal after the zero-sequence component is injected; According to the comparison result of the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, space vector pulse width modulation or discontinuous pulse width modulation is formed.

6. The method according to claim 5, characterized in that The method of forming space vector pulse width modulation or discontinuous pulse width modulation according to the result of comparing the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected comprises: Comparing in real time the amplitudes of the mean zero-sequence component and the alternating zero-sequence component in the modulated wave signal after the zero-sequence component is injected, and determining the zero-sequence component with a larger amplitude; The zero-sequence component with a larger amplitude is used to perform pulse width modulation to realize space vector pulse width modulation or discontinuous pulse width modulation.

7. The method according to claim 1, characterized in that The zero-sequence component injected into the modulated wave signal is u z1 =-ku max -(1-k)u min +2k+1, Part-1-u min ≤u z ≤1-u max , The mean zero-sequence component is The alternating zero-sequence component is in, are one phase of the three-phase modulation wave, u max is the maximum value in the three-phase modulation wave, u min is the minimum value in the three-phase modulation wave, and k is a proportional coefficient between 0 and 1.

8. A multi-mode modulation device based on motor control, characterized in that: include: The gain module is used to perform gain processing on the three-phase voltage of the motor to obtain the corresponding modulation wave signal; A modulation module, used for forming space vector pulse width modulation or discontinuous pulse width modulation by injecting a zero-sequence component into a modulation wave signal; the zero-sequence component includes a mean zero-sequence component and an alternating zero-sequence component; The space vector pulse width modulation is formed based on an injected mean value zero sequence component, and the discontinuous pulse width modulation is formed based on an injected alternating zero sequence component.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-modal modulation method based on motor control as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the multi-mode modulation method based on motor control as claimed in any one of claims 1 to 7.

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