Control method and device for permanent magnet synchronous motor in vehicle, vehicle and processor

Abstract

The invention discloses a control method and device for a permanent magnet synchronous motor in a vehicle, the vehicle and a processor. The method comprises the steps that bus voltage corresponding to a power supply unit in a vehicle and standard voltage of a permanent magnet synchronous motor in the vehicle are obtained, and the power supply unit is used for supplying power to the permanent magnet synchronous motor; based on the bus voltage and the standard voltage, an initial waveform signal corresponding to an inverter in the vehicle is constructed, and the inverter is used for controlling the input current of the permanent magnet synchronous motor; the initial waveform signal is converted, a target waveform signal is obtained, and the waveform of the target waveform signal is different from that of the initial waveform signal; on the basis of the target waveform signal, the on-off state of a switch in the inverter is adjusted so as to control the common-mode voltage of the permanent magnet synchronous motor, and the common-mode voltage is associated with the input current. The technical problem of low suppression efficiency of the common-mode voltage is solved.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a control method, apparatus, vehicle, and processor for a permanent magnet synchronous motor in a vehicle. Background Technology

[0002] Currently, during the operation of permanent magnet synchronous motors, common-mode voltage (also known as shaft voltage) is generated at the two bearing ends or between the motor shaft and the bearing. When the common-mode voltage reaches a certain level, it will break down the lubricating oil film inside the bearing, generating shaft current. When the shaft current passes through the bearing, it will create electro-corrosion pits on the bearing raceway and rolling element surface, leading to accelerated bearing wear, increased heat generation, and even eventual failure. At the same time, the generation of shaft current will increase the internal temperature of the bearing, accelerate the aging and deterioration of the lubricating grease, reduce the lubrication effect, and further aggravate bearing wear. In addition, the common-mode voltage not only damages the bearing, but may also discharge through the insulation gap between the shaft and the stator winding, causing insulation damage to the stator winding and triggering faults such as short circuits in the motor.

[0003] In related technologies, common-mode voltage suppression methods can include grounding and bypass techniques, insulation isolation techniques, motor structure and material improvement techniques, and control strategy optimization techniques. Among these, grounding and bypass techniques, insulation isolation techniques, and motor structure and material improvement techniques require changes to the electric drive system structure, increasing development costs. Control strategy optimization techniques mainly involve common-mode voltage suppression algorithms, which incorporate common-mode voltage compensation modules into the motor control algorithm to cancel the common-mode voltage components in the stator windings. However, the aforementioned common-mode voltage suppression algorithms are relatively complex and suffer from low common-mode voltage suppression efficiency.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a control method, device, vehicle, and processor for a permanent magnet synchronous motor in a vehicle, to at least solve the technical problem of low common-mode voltage suppression efficiency.

[0006] According to one aspect of the embodiments of this application, a control method for a permanent magnet synchronous motor in a vehicle is provided. The method may include: acquiring a bus voltage corresponding to a power supply unit in the vehicle and a standard voltage of the permanent magnet synchronous motor in the vehicle, wherein the power supply unit is used to supply power to the permanent magnet synchronous motor; constructing an initial waveform signal corresponding to an inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is used to control the input current of the permanent magnet synchronous motor; converting the initial waveform signal to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from the waveform of the initial waveform signal; and adjusting the opening and closing state of a switch in the inverter based on the target waveform signal to control the common-mode voltage of the permanent magnet synchronous motor, wherein the common-mode voltage is associated with the input current.

[0007] Furthermore, based on the bus voltage and the standard voltage, the initial waveform signal corresponding to the inverter in the vehicle is constructed, including: determining the time period corresponding to the initial waveform signal; and determining the initial waveform signal based on the time period, the bus voltage, and the standard voltage.

[0008] Further, determining the time period corresponding to the initial waveform signal includes: determining the target time period that matches the rotational speed of the permanent magnet synchronous motor and the bus voltage; and setting the target time period as the time period corresponding to the initial waveform signal.

[0009] Furthermore, the initial waveform signal includes a first initial waveform signal, a second initial waveform signal, and a third initial waveform signal. The first initial waveform signal is used to control the input current of the first phase in the permanent magnet synchronous motor, the second initial waveform signal is used to control the input current of the second phase in the permanent magnet synchronous motor, and the third initial waveform signal is used to control the input current of the third phase in the permanent magnet synchronous motor. The target waveform signal includes a first target waveform signal, a second target waveform signal, and a third target waveform signal. Converting the initial waveform signal to obtain the target waveform signal includes: determining the first initial waveform signal as the first target waveform signal; converting the second initial waveform signal to obtain the second target waveform signal; and converting the third initial waveform signal to obtain the third target waveform signal.

[0010] Further, the second initial waveform signal is converted to obtain the second target waveform signal, including: dividing the second initial waveform signal to obtain a first sub-initial waveform signal within a first time period and a second sub-initial waveform signal within a second time period, wherein the first time period and the second time period constitute a complete time period corresponding to the initial waveform signal; replacing the first sub-initial waveform signal within the first time period with the second sub-initial waveform signal, and replacing the second sub-initial waveform signal within the second time period with the first sub-initial waveform signal, to obtain the second target waveform signal.

[0011] Further, the third initial waveform signal is converted to obtain the third target waveform signal, including: determining the translation time of the third initial waveform signal; adjusting the third initial waveform signal according to the translation time to obtain the third target waveform signal.

[0012] According to another aspect of the embodiments of this application, a control device for a permanent magnet synchronous motor in a vehicle is also provided. The device may include: an acquisition unit, configured to acquire the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle, wherein the power supply unit is used to supply power to the permanent magnet synchronous motor; a construction unit, configured to construct an initial waveform signal corresponding to the inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is used to control the input current of the permanent magnet synchronous motor; a conversion unit, configured to convert the initial waveform signal to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from the waveform of the initial waveform signal; and an adjustment unit, configured to adjust the opening and closing state of the switch in the inverter based on the target waveform signal to control the common mode voltage of the permanent magnet synchronous motor, wherein the common mode voltage is associated with the input current.

[0013] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, the device where the computer-readable storage medium is located controls the execution of the control method for a permanent magnet synchronous motor in a vehicle according to the embodiments of this application.

[0014] According to another aspect of the embodiments of this application, a processor is also provided for running a program, wherein the program is executed by the processor to perform the control method of the permanent magnet synchronous motor in the vehicle according to the embodiments of this application.

[0015] According to another aspect of the embodiments of this application, a vehicle is also provided, which can be used to execute the control method of the permanent magnet synchronous motor in the vehicle of the embodiments of this application.

[0016] According to another aspect of the embodiments of this application, a computer program product is also provided, which may include computer instructions that, when executed by a processor, implement the control method for a permanent magnet synchronous motor in a vehicle according to the embodiments of this application.

[0017] In this embodiment, the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle are obtained. The power supply unit is used to supply power to the permanent magnet synchronous motor. Based on the bus voltage and the standard voltage, an initial waveform signal corresponding to the inverter in the vehicle is constructed. The inverter is used to control the input current of the permanent magnet synchronous motor. The initial waveform signal is converted to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from that of the initial waveform signal. Based on the target waveform signal, the opening and closing states of the switches in the inverter are adjusted to control the common-mode voltage of the permanent magnet synchronous motor, wherein the common-mode voltage is related to the input current. That is, in this embodiment, the bus voltage of the power supply unit and the standard voltage of the motor are obtained. Based on the bus voltage and the standard voltage, an initial waveform signal is constructed. The initial waveform signal is converted to obtain a target waveform signal. Based on the target waveform signal, the opening and closing states of the switches in the inverter can be controlled to control the common-mode voltage (i.e., shaft voltage) of the motor, thereby solving the technical problem of low common-mode voltage suppression efficiency and achieving the technical effect of improving the common-mode voltage suppression efficiency. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a flowchart of a control method for a permanent magnet synchronous motor in a vehicle according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of a permanent magnet synchronous motor connected to an inverter according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of an initial waveform signal according to an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of a second-phase PWM waveform reconstructed according to an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of a voltage space quality map according to an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of a third-phase PWM phase shift according to an embodiment of this application;

[0025] Figure 7 This is a schematic diagram of a control device for a permanent magnet synchronous motor in a vehicle according to an embodiment of this application;

[0026] Figure 8 This is a block diagram of an electronic device for a control method of a permanent magnet synchronous motor in a vehicle according to an embodiment of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] According to an embodiment of this application, an embodiment of a control method for a permanent magnet synchronous motor in a vehicle is provided. The steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] This embodiment proposes a control method for a permanent magnet synchronous motor (PMSM) in a vehicle. The method acquires the bus voltage corresponding to the power supply unit in the vehicle, and the standard voltage of the PMSM in the vehicle, wherein the power supply unit supplies power to the PMSM. Based on the bus voltage and the standard voltage, an initial waveform signal corresponding to the inverter in the vehicle is constructed, wherein the inverter is used to control the input current of the PMSM. The initial waveform signal is converted to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from that of the initial waveform signal. Based on the target waveform signal, the on / off state of the switches in the inverter is adjusted to control the common-mode voltage of the PMSM, wherein the common-mode voltage is related to the input current. That is, in this embodiment, the bus voltage of the power supply unit and the standard voltage of the motor are acquired. Based on the bus voltage and standard voltage, an initial waveform signal is constructed. The initial waveform signal is then converted to obtain the target waveform signal. Based on the target waveform signal, the opening and closing states of the switches in the inverter can be controlled to control the common-mode voltage (i.e., shaft voltage) of the motor. This solves the technical problem of low common-mode voltage suppression efficiency and achieves the technical effect of improving the common-mode voltage suppression efficiency.

[0031] Figure 1 This is a flowchart illustrating a control method for a permanent magnet synchronous motor in a vehicle according to an embodiment of this application. Figure 1 As shown, the method may include the following steps:

[0032] Step S102: Obtain the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle. The power supply unit is used to supply power to the permanent magnet synchronous motor.

[0033] In the technical solution provided in step S102 of this application, the power supply unit can be a power module in a vehicle, or a unit for supplying power to a permanent magnet synchronous motor. The bus voltage can be the voltage measured on the DC circuit bus in the high-voltage power distribution system of an electric vehicle.

[0034] Optionally, in electric vehicles, the battery pack can provide DC power, which can be transmitted to different components, such as the motor controller, air conditioning system, and charging controller, via a high-voltage bus. The voltage level of this bus can affect the operating status of the motor controller and other electrical systems, which can be represented by U. dc The above standard voltage can be represented by U. m It can be a reference voltage vector, or a standard value for the desired voltage output, that is, the voltage value expected when the permanent magnet synchronous motor is running normally.

[0035] Optionally, during vehicle operation, the motor controller (which can be an inverter) can acquire the current bus voltage value in real time or periodically, as well as the standard voltage designed for the motor. Based on the bus voltage and the standard voltage, a control strategy for the inverter can be constructed. The inverter described above can convert the DC bus voltage into an AC standard voltage by controlling the opening and closing states of the switching elements to drive the permanent magnet synchronous motor.

[0036] Optionally, by monitoring the bus voltage and standard voltage in real time, the waveform signal of the inverter can be obtained for adjustment. By adjusting the waveform signal, the output of the inverter can be dynamically adjusted to adapt to various operating conditions during vehicle operation, ensuring that the permanent magnet synchronous motor operates in the best condition, while also protecting the inverter and motor from voltage fluctuations.

[0037] Optionally, before determining the control data of the inverter, the bus voltage corresponding to the vehicle power supply unit and the standard voltage of the permanent magnet synchronous motor in the vehicle can be obtained, which can be a pre-set value.

[0038] Step S104: Based on the bus voltage and standard voltage, an initial waveform signal corresponding to the inverter in the vehicle is constructed, wherein the inverter is used to control the input current of the permanent magnet synchronous motor.

[0039] In the technical solution provided in step S104 of this application, the initial waveform signal can be a pre-constructed waveform signal, a pulse width modulation (PWM) waveform signal, which can be used to control the opening and closing states of the switches in the inverter, and can be used to control the input current corresponding to the windings in different phases of the permanent magnet synchronous motor. The inverter can be used to control the input current in the permanent magnet synchronous motor. The input current can be the current flowing from the inverter to the permanent magnet synchronous motor, or it can be the current corresponding to different windings in the permanent magnet synchronous motor.

[0040] Optionally, based on the bus voltage and standard voltage, an initial waveform signal corresponding to the inverter can be constructed. Based on this initial waveform signal, the opening and closing status of the switches in the inverter can be controlled. By controlling the opening and closing status of the inverter, the input current in the permanent magnet synchronous motor can be controlled. Since there is a correlation between the input current and the shaft voltage of the permanent magnet synchronous motor, the shaft voltage of the permanent magnet synchronous motor can be controlled by controlling the input current.

[0041] Optionally, the inverter described above can be used to convert the DC voltage of the power supply unit into a three-phase AC voltage suitable for the operation of the permanent magnet synchronous motor. The real-time battery voltage can be measured using the vehicle's battery management system to obtain the bus voltage. By determining the model, load, and desired operating state of the permanent magnet synchronous motor, a standard voltage corresponding to the motor can be determined. This standard voltage can serve as a reference voltage vector, characterizing the ideal voltage state of the permanent magnet synchronous motor in space. After obtaining the bus voltage and the standard voltage, the inverter's control algorithm can construct an initial PWM waveform signal.

[0042] For example, assuming we are constructing the initial waveform for an SVPWM, we can first decompose the standard voltage waveform into a combination of several basic voltage vectors. These basic vectors typically refer to unit vectors in the permanent magnet synchronous motor (PMSM) coordinate system. For instance, for a three-phase PMSM, there are six basic voltage vectors (U1-U6) and two zero vectors (U0 and U7). Then, based on the position and magnitude of the standard voltage vectors, the application time and sequence of each basic voltage vector can be calculated. For example, if the standard voltage vectors are located in the region between U1 and U2, it might be necessary to apply U1 for a period of time, then U2 for a period of time, followed by the zero vector U0 or U7, to achieve a smooth transition from one vector to another. Finally, based on the calculated vector application times and sequence, a PWM signal can be generated. This PWM signal can be used to control the switching on and off of power devices (i.e., switches) in the inverter to produce the desired voltage waveform. The PWM signal can include alternating high and low level pulses, with a high level indicating that the power device should be turned on and a low level indicating that it should be turned off.

[0043] Optionally, the core of step S104 above is to use an inverter to convert the DC bus voltage into an AC waveform close to the standard voltage. This is achieved by constructing and adjusting the PWM waveform signal. During this process, the inverter can precisely control the switching state of the Insulated Gate Bipolar Transistor (IGBT) based on the calculated voltage vector duration to generate the voltage waveform required by the permanent magnet synchronous motor. This initial waveform forms the basis for subsequent optimization and adjustment to control the common-mode voltage and improve the performance of the permanent magnet synchronous motor.

[0044] Step S106: Convert the initial waveform signal to obtain the target waveform signal, wherein the waveform of the target waveform signal is different from the waveform of the initial waveform signal.

[0045] In the technical solution provided by step S106 of this application, in order to avoid the existence of shaft voltage, the initial waveform signal can be converted to obtain a target waveform signal, the waveform of which is different from the waveform of the initial waveform signal.

[0046] Step S108: Based on the target waveform signal, adjust the opening and closing state of the switches in the inverter to control the common-mode voltage of the permanent magnet synchronous motor, wherein the common-mode voltage is related to the input current.

[0047] In the technical solution provided by step S108 of this application, based on the target waveform signal, the opening and closing states of the switches in the inverter can be controlled as quickly as possible to control the common-mode voltage of the permanent magnet synchronous motor. This common-mode voltage can be the shaft voltage. The aforementioned switches can be transistors on the inverter bridge arm.

[0048] In this embodiment, the common-mode voltage of the permanent magnet synchronous motor is suppressed by adjusting the waveform.

[0049] Optionally, during the operation of a permanent magnet synchronous motor, shaft voltage will be generated at the two bearing ends or between the motor shaft and the bearing. When the shaft voltage reaches a certain level, it will break down the lubricating oil film inside the bearing, generating shaft current. When the shaft current passes through the bearing, it will create electro-corrosion pits on the bearing raceway and rolling element surface, leading to accelerated bearing wear, increased heat generation, and even eventual failure. At the same time, the generation of shaft current will increase the internal temperature of the bearing, accelerate the aging and deterioration of the lubricating grease, reduce the lubrication effect, and further aggravate bearing wear. In addition, the shaft voltage not only damages the bearing, but may also discharge through the insulation gap between the shaft and the stator winding, causing insulation damage to the stator winding and triggering faults such as short circuits in the motor.

[0050] In related technologies, shaft voltage suppression methods can include grounding and bypass techniques, insulation isolation techniques, motor structure and material improvement techniques, and control strategy optimization techniques. Among these, grounding and bypass techniques, insulation isolation techniques, and motor structure and material improvement techniques require changes to the electric drive system structure, increasing development costs. Control strategy optimization techniques mainly involve common-mode voltage suppression algorithms, which add a common-mode voltage compensation module to the motor control algorithm to cancel the common-mode voltage component in the stator winding. However, the aforementioned common-mode voltage suppression algorithms, including three-vector synthesized PWM techniques and four-vector synthesized PWM techniques, are relatively complex and suffer from low common-mode voltage suppression efficiency.

[0051] To address the aforementioned issues, this application proposes a control strategy with significant shaft voltage suppression effect to reduce the shaft voltage of a permanent magnet synchronous motor. This method reconstructs the PWM wave of the second phase and adjusts the phase of the PWM wave of the third phase, optimizing the PWM wave through software to reduce the shaft voltage. This achieves the technical effect of improving common-mode voltage suppression efficiency and solves the technical problem of low common-mode voltage suppression efficiency.

[0052] Optionally, the initial waveform signal and the target waveform signal mentioned above may include waveform signals corresponding to multiple switches in the inverter.

[0053] Figure 2 This is a schematic diagram of a permanent magnet synchronous motor connected to an inverter according to an embodiment of this application, as shown below. Figure 2 As shown, the inverter 201 may include switches 203 and 204 in the first bridge arm, switches 205 and 206 in the second bridge arm, and switches 208 and 209 in the third bridge arm. The target waveform signal corresponding to switch 203 is the opposite of the target waveform signal corresponding to switch 204; the target waveform signal corresponding to switch 205 is the opposite of the target waveform signal corresponding to switch 206; and the target waveform signal corresponding to switch 208 is the opposite of the target waveform signal corresponding to switch 209.

[0054] Optionally, an initial waveform signal corresponding to each switch is acquired, and the opening and closing state of the switch is controlled using the initial waveform signal. By controlling the opening and closing state of the switches, the input current flowing into the windings of the permanent magnet synchronous motor 202 is controlled, thereby achieving the purpose of controlling the common-mode voltage of the permanent magnet synchronous motor.

[0055] Through steps S102 and S108 of this application, the bus voltage of the power supply unit and the standard voltage of the motor are obtained. Based on the bus voltage and the standard voltage, an initial waveform signal is constructed. The initial waveform signal is then converted to obtain a target waveform signal. Based on the target waveform signal, the opening and closing states of the switches in the inverter can be controlled to control the common-mode voltage (i.e., shaft voltage) of the motor. This solves the technical problem of low common-mode voltage suppression efficiency and achieves the technical effect of improving the common-mode voltage suppression efficiency.

[0056] The method described in this embodiment will be further described below.

[0057] As an optional implementation, step S104, based on the bus voltage and the standard voltage, constructs the initial waveform signal corresponding to the inverter in the vehicle, including: determining the time period corresponding to the initial waveform signal; and determining the initial waveform signal based on the time period, the bus voltage, and the standard voltage.

[0058] In this embodiment, the time period corresponding to the initial waveform signal can be determined through calculation. This time period can be a complete cycle for controlling the opening and closing state of the switch, and can be represented by T. S The time period can be pre-calculated based on Space Vector Pulse Width Modulation (SVPWM), or it can be related to parameters such as vehicle speed and bus voltage. It should be noted that there are no specific restrictions on how the time period is determined here. Furthermore, after obtaining the time period, the initial waveform signal can be determined based on the time period, bus voltage, and standard voltage.

[0059] Optionally, after determining the bus voltage corresponding to the power supply and the standard voltage of the permanent magnet synchronous motor, the quotient between the standard voltage and the bus voltage can be obtained; the time period corresponding to the initial waveform signal can be obtained, and the product between the time period and the quotient can be determined; based on the product, the initial waveform signal can be determined.

[0060] Optionally, Figure 3 This is a schematic diagram of an initial waveform signal according to an embodiment of this application, such as... Figure 3 As shown, an initial waveform signal can be pre-synthesized based on two vectors. Figure 3 The three waveform signals can be the first initial waveform signal, the second initial waveform signal, and the third initial waveform signal, respectively. That is, these three waveform signals can be the PWM waveforms of the U, V, and W phases of the permanent magnet synchronous motor's upper bridge. The voltage space vector timing sequence corresponding to these initial waveform signals is: U0, U1, U2, U7, U7, U2, U1, U0. The durations of the base vectors U1 and U2, and the zero-sequence vectors U0 and U7, can be calculated using the following formulas:

[0061]

[0062] Among them, the above-mentioned U m This can be a reference voltage vector, that is, the standard voltage that the permanent magnet synchronous motor wants to output, which can be the voltage vector synthesized from U1 and U2. The above U... dc This can be the bus voltage, that is, the output voltage of the power supply unit, such as a battery pack. The aforementioned T... SThe PWM cycle time can be defined as the duration of the entire control cycle, also known as the time period. θ can be the rotor position in the permanent magnet synchronous motor, i.e., the position of the motor shaft. T1 can be the duration of vector U1, T2 can be the duration of vector U2, and T0 and T7 can be the durations of zero-sequence vectors U0 and U7, respectively. The existence of these zero-sequence vectors causes the permanent magnet synchronous motor to generate a common-mode voltage at the shaft end during control, i.e., the shaft voltage.

[0063] Optionally, in addition to the waveform signals corresponding to the three switches in the upper bridge, the initial waveform signal may also include the waveform signals corresponding to the three switches in the lower bridge, wherein the waveform of the waveform signal corresponding to the lower bridge switch is opposite to the waveform signal corresponding to the upper bridge switch.

[0064] Optionally, the time period, bus voltage, and standard voltage are obtained. Based on the above formula, the control time corresponding to each base voltage can be determined. Based on this control time, the initial waveform signal can be constructed.

[0065] like Figure 3 As shown, the voltage space vector timing sequence corresponding to the initial waveform signal can be: U0, U1, U2, U7, U7, U2, U1, U0. The control time corresponding to the first U0 is half T0, the first U1 is half T1, the first U2 is half T2, the first U7 is half T7, the second U7 is half T7, the second U2 is half T2, the second U1 is half T1, and the second U0 is half T0. At this time, zero-sequence vectors U0 and U7 exist. The existence of the zero-sequence vectors causes the permanent magnet synchronous motor to generate shaft voltage during the control process. Therefore, the initial waveform signal needs to be converted to avoid the generation of shaft voltage.

[0066] As an optional implementation, determining the time period corresponding to the initial waveform signal includes: determining a target time period that matches the rotational speed of the permanent magnet synchronous motor and the bus voltage; and setting the target time period as the time period corresponding to the initial waveform signal.

[0067] In this embodiment, the entire control cycle time, i.e., the aforementioned time period, can be calculated based on SVPWM and is related to the vehicle's rotational speed and bus voltage. Therefore, the current rotational speed of the permanent magnet synchronous motor and the bus voltage can be obtained in advance. A target time period matching the rotational speed of the permanent magnet synchronous motor and the bus voltage can be determined, and this target time period can be defined as the time period corresponding to the initial waveform signal. It should be noted that the aforementioned time period, in addition to being related to rotational speed and bus voltage, can also be related to parameters such as the model of the permanent magnet synchronous motor. No specific restrictions are placed on the method of determining the time period here; as long as it is determined based on SVPWM, it is within the scope of protection of this application.

[0068] Optionally, in the field of motor control, determining the time period corresponding to the PWM waveform signal is a crucial step that directly affects the motor's operating efficiency and performance. For permanent magnet synchronous motors, the selection of this time period can take into account the motor's speed and the bus voltage provided by the power supply unit.

[0069] Optionally, during permanent magnet synchronous motor operation, the PWM waveform output by the inverter determines the motor's input voltage and current characteristics. To achieve efficient motor control, the period of the PWM waveform (i.e., the PWM frequency) needs careful selection, which can be based on the motor's speed and bus voltage. That is, once the algorithm determines the bus voltage and motor speed, a target time period can be determined based on these two parameters. This target time period is actually one period of the PWM waveform signal, which determines the frequency of the PWM signal. Therefore, this target time period can be set as the time period corresponding to the initial waveform signal.

[0070] Optionally, a target time period can be calculated based on motor speed and bus voltage using formulas or empirical data. This calculation needs to ensure that the PWM frequency meets the accuracy requirements of current control while also considering system efficiency and heat dissipation. Once the target time period is determined, it becomes the time period of the PWM waveform signal, within which all PWM signals are generated and adjusted. Furthermore, after determining the target time period, the inverter control algorithm can generate PWM signals based on this time period to control the switching action of the IGBTs, thereby controlling the input voltage waveform of the motor. The length of this time period directly determines the pulse width and frequency of the PWM signal, affecting the motor's operating characteristics.

[0071] As an optional implementation, step S106 includes a first initial waveform signal, a second initial waveform signal, and a third initial waveform signal. The first initial waveform signal is used to control the input current of the first phase in the permanent magnet synchronous motor, the second initial waveform signal is used to control the input current of the second phase in the permanent magnet synchronous motor, and the third initial waveform signal is used to control the input current of the third phase in the permanent magnet synchronous motor. The target waveform signal includes a first target waveform signal, a second target waveform signal, and a third target waveform signal. Converting the initial waveform signal to obtain the target waveform signal includes: determining the first initial waveform signal as the first target waveform signal; converting the second initial waveform signal to obtain the second target waveform signal; and converting the third initial waveform signal to obtain the third target waveform signal.

[0072] In this embodiment, the initial waveform signal may include a first initial waveform signal, a second initial waveform signal, and a third initial waveform signal. The first initial waveform signal can be used to control the input current of a first phase in the permanent magnet synchronous motor, the second initial waveform signal can be used to control the input current of a second phase in the permanent magnet synchronous motor, and the third initial waveform signal can be used to control the input current of a third phase in the permanent magnet synchronous motor. The target waveform signal may include a first target waveform signal, a second target waveform signal, and a third target waveform signal.

[0073] Optionally, after acquiring the initial waveform signal, the first initial waveform signal can be determined as the first target waveform signal. However, the second and third initial waveform signals need to be converted to obtain the second and third target waveform signals. By controlling the switches in the inverter with the adjusted waveform signals, the generation of zero-sequence voltage can be avoided, thereby effectively suppressing the shaft voltage in the permanent magnet synchronous motor.

[0074] As an optional implementation, step S106, converting the second initial waveform signal to obtain the second target waveform signal, includes: segmenting the second initial waveform signal to obtain a first sub-initial waveform signal within a first time period and a second sub-initial waveform signal within a second time period, wherein the first time period and the second time period constitute a complete time period corresponding to the initial waveform signal; replacing the first sub-initial waveform signal within the first time period with the second sub-initial waveform signal, and replacing the second sub-initial waveform signal within the second time period with the first sub-initial waveform signal to obtain the second target waveform signal.

[0075] In this embodiment, the zero-sequence vector can be eliminated by reconstructing the PWM wave of the second phase, and the second initial waveform signal can be transformed. This can include the following steps: the second initial waveform can be equally divided to obtain a first sub-initial waveform signal within a first time period and a second sub-initial waveform signal within a second time period. The first and second time periods are time periods corresponding to different moments, but the lengths of the first and second time periods are the same, and the first and second time periods can constitute a complete time period corresponding to the initial waveform signal.

[0076] Optionally, after determining the first sub-initial waveform signal and the second sub-initial waveform signal, the first sub-initial waveform signal in the first time period can be replaced with the second sub-initial waveform signal, and the second sub-initial waveform signal in the second time period can be replaced with the first sub-initial waveform signal, thereby obtaining the reconstructed second target waveform signal.

[0077] like Figure 3 As shown, the second-phase PWM wave is a V-phase PWM wave, which can be decomposed and reconstructed using the waveform center as the dividing line to form... Figure 4 The waveform shown is Figure 4 This is a schematic diagram of a second-phase PWM waveform reconstructed according to an embodiment of this application, combined with... Figure 4 and Figure 3 It can be seen that before the reconstruction of the second-phase PWM waveform, the timing sequence of each vector is: U0, U1, U2, U7, U7, U2, U1, U0. After the reconstruction of the second-phase PWM waveform, the timing sequence of each vector is U3, U2, U1, U6, U6, U1, U2, U3. Since T0 and T7 have the same time, the timing of U1 and U2 remains the same after reconstruction as before, that is, the value of the synthesized reference voltage vector Um is not changed. In addition, after reconstructing the second-phase PWM waveform, through... Figure 4 Analysis shows that the duration of action of vector U3 is T0, and the duration of action of vector U6 is T7. Since T0 = T7, the durations of action of U3 and U6 are the same.

[0078] Figure 5 This is a schematic diagram of a voltage space quality map according to an embodiment of this application, such as... Figure 5 It can be seen that vectors U3 and U6 act in opposite directions, so they cancel each other out. Therefore, the resultant vector of vectors U3 and U6 is 0, meaning the resultant vector of U1, U2, U3, and U6 is still U. m As can be seen from the above analysis, after reconstructing the PWM waveform of the second phase, the zero-sequence vector is eliminated, and the synthesis result of the reference voltage vector is not changed, thus achieving the purpose of suppressing the shaft voltage.

[0079] As an optional implementation, step S106, converting the third initial waveform signal to obtain the third target waveform signal, includes: determining the translation time of the third initial waveform signal; adjusting the third initial waveform signal according to the translation time to obtain the third target waveform signal.

[0080] In this embodiment, the translation time can be T1 / 2, or it can be predetermined based on T1. After determining the translation time, the third initial waveform signal can be adjusted according to the translation time to obtain the target waveform signal. The third initial waveform signal can be shifted forward by the aforementioned translation time to obtain the adjusted third target waveform signal.

[0081] Optionally, this embodiment can also perform phase shifting processing on the third phase PWM waveform based on the reconstruction of the second phase PWM waveform. Figure 6 This is a schematic diagram of a third-phase PWM phase shift according to an embodiment of this application, as shown below. Figure 6 As shown, by shifting the PWM waveform of the third phase to the left by T1 / 2, the central symmetry of the PWM waveform is changed, thereby suppressing the shaft voltage. After the shift, the timing sequence of each vector is: U3, U2, U6, U6, U1, U1, U2, U3, and the duration of each voltage vector is not changed, still satisfying the "volt-second" balance principle, further achieving the effect of shaft voltage suppression.

[0082] In this embodiment, the output voltage of the second phase is reconstructed and the phase of the PWM wave of the third phase is adjusted. Based on the time period, an initial PWM waveform is constructed, which may include control waveforms corresponding to the three phases. The waveform of the second phase is split and adjusted to obtain the second target waveform signal corresponding to the second phase, and the waveform of the third phase is offset by a calculated offset time to obtain the third target waveform signal. The inverter switch can be controlled according to the determined target waveform signal to achieve the purpose of controlling the engine's operating state.

[0083] Optionally, the zero-sequence vector can be eliminated by reconstructing the PWM wave of the second phase. In this embodiment, the PWM wave of the second phase is a V-phase PWM wave. Using the waveform center as the dividing line, the waveform signal corresponding to the second phase is decomposed and reconstructed. Since T0 and T7 have the same time, the duration of U1 and U2 after reconstruction remains the same as before reconstruction, i.e., the value of the synthesized reference voltage vector Um is not changed. Furthermore, after reconstructing the second-phase PWM waveform, through... Figure 4Analysis shows that the duration of vector U3 is T0, and the duration of vector U6 is T7. Since T0 = T7, the durations of U3 and U6 are the same. From the above analysis, it can be seen that reconstructing the PWM waveform of the second phase eliminates the zero-sequence vector without changing the synthesis result of the reference voltage vector, thus achieving the goal of suppressing shaft voltage.

[0084] Optionally, this embodiment performs phase shifting on the third-phase PWM waveform based on the reconstructed second-phase PWM waveform. By shifting the third-phase PWM waveform to the left by T1 / 2, the central symmetry of the PWM waveform is changed, thereby suppressing the shaft voltage.

[0085] In this embodiment, the bus voltage of the power supply unit and the standard voltage of the motor are obtained. Based on the bus voltage and the standard voltage, an initial waveform signal is constructed. The initial waveform signal is then converted to obtain a target waveform signal. Based on the target waveform signal, the on / off state of the switches in the inverter can be controlled to control the common-mode voltage (i.e., shaft voltage) of the motor. This solves the technical problem of low common-mode voltage suppression efficiency and achieves the technical effect of improving the common-mode voltage suppression efficiency.

[0086] According to an embodiment of this application, a control device for a permanent magnet synchronous motor in a vehicle is also provided. It should be noted that the control device for the permanent magnet synchronous motor in this embodiment can be used to execute the control method for the permanent magnet synchronous motor in a vehicle as described above in this application.

[0087] Figure 7 This is a schematic diagram of a control device for a permanent magnet synchronous motor in a vehicle according to an embodiment of this application. Figure 7 As shown, the control device 70 for the permanent magnet synchronous motor in the vehicle may include: an acquisition unit 702, a construction unit 704, a conversion unit 706, and an adjustment unit 708.

[0088] The acquisition unit 702 is used to acquire the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle. The power supply unit is used to supply power to the permanent magnet synchronous motor.

[0089] The construction unit 704 is used to construct the initial waveform signal corresponding to the inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is used to control the input current of the permanent magnet synchronous motor.

[0090] The conversion unit 706 is used to convert the initial waveform signal to obtain the target waveform signal, wherein the waveform of the target waveform signal is different from the waveform of the initial waveform signal.

[0091] The adjustment unit 708 is used to adjust the opening and closing state of the switches in the inverter based on the target waveform signal in order to control the common mode voltage of the permanent magnet synchronous motor, wherein the common mode voltage is related to the input current.

[0092] Furthermore, the construction unit 704 may include: a first determining module for determining the time period corresponding to the initial waveform signal; and a second determining module for determining the initial waveform signal based on the time period, the bus voltage, and the standard voltage.

[0093] Furthermore, the first determining module includes: a first determining submodule, used to determine the target time period for matching the rotational speed of the permanent magnet synchronous motor and the bus voltage; and a second determining submodule, used to determine the target time period as the time period corresponding to the initial waveform signal.

[0094] Furthermore, the conversion unit 706 may include: a third determining module, used to determine the first initial waveform signal as the first target waveform signal; a first conversion module, used to convert the second initial waveform signal to obtain the second target waveform signal; and a second conversion module, used to convert the third initial waveform signal to obtain the third target waveform signal.

[0095] Further, the first conversion module may include: a segmentation module, used to segment the second initial waveform signal to obtain a first sub-initial waveform signal within a first time period and a second sub-initial waveform signal within a second time period, wherein the first time period and the second time period constitute a complete time period corresponding to the initial waveform signal; and a processing submodule, used to replace the first sub-initial waveform signal within the first time period with the second sub-initial waveform signal, and replace the second sub-initial waveform signal within the second time period with the first sub-initial waveform signal to obtain the second target waveform signal.

[0096] Furthermore, the second conversion module may include: a third determining submodule, used to determine the translation time of the third initial waveform signal; and to adjust the third initial waveform signal according to the translation time to obtain the third target waveform signal.

[0097] The control device for the permanent magnet synchronous motor in the vehicle in this embodiment acquires the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle through an acquisition unit, wherein the power supply unit is used to supply power to the permanent magnet synchronous motor; through a construction unit, an initial waveform signal corresponding to the inverter in the vehicle is constructed based on the bus voltage and the standard voltage, wherein the inverter is used to control the input current of the permanent magnet synchronous motor; through a conversion unit, the initial waveform signal is converted to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from that of the initial waveform signal; through an adjustment unit, the on / off state of the switch in the inverter is adjusted based on the target waveform signal to control the common mode voltage of the permanent magnet synchronous motor, wherein the common mode voltage is related to the input current, thereby solving the technical problem of low common mode voltage suppression efficiency and achieving the technical effect of improving the common mode voltage suppression efficiency.

[0098] According to an embodiment of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the control method for a permanent magnet synchronous motor in a vehicle as described in the above embodiments.

[0099] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0100] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle, wherein the power supply unit is used to supply power to the permanent magnet synchronous motor; constructing an initial waveform signal corresponding to the inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is used to control the input current of the permanent magnet synchronous motor; converting the initial waveform signal to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from the waveform of the initial waveform signal; adjusting the opening and closing state of the switch in the inverter based on the target waveform signal to control the common mode voltage of the permanent magnet synchronous motor, wherein the common mode voltage is associated with the input current.

[0101] Optionally, the computer-readable storage medium may also execute program code that performs the following steps: determining the time period corresponding to the initial waveform signal; and determining the initial waveform signal based on the time period, the bus voltage, and the standard voltage.

[0102] Optionally, the computer-readable storage medium may also execute program code that performs the following steps: determining a target time period that matches the rotational speed of the permanent magnet synchronous motor and the bus voltage; and determining the target time period as the time period corresponding to the initial waveform signal.

[0103] Optionally, the computer-readable storage medium may also execute program code that performs the following steps: determining a first initial waveform signal as a first target waveform signal; converting a second initial waveform signal to obtain a second target waveform signal; and converting a third initial waveform signal to obtain a third target waveform signal.

[0104] Optionally, the computer-readable storage medium may also execute program code that performs the following steps: segmenting the second initial waveform signal to obtain a first sub-initial waveform signal within a first time period and a second sub-initial waveform signal within a second time period, wherein the first time period and the second time period constitute a complete time period corresponding to the initial waveform signal; replacing the first sub-initial waveform signal within the first time period with the second sub-initial waveform signal, and replacing the second sub-initial waveform signal within the second time period with the first sub-initial waveform signal to obtain the second target waveform signal.

[0105] Optionally, the computer-readable storage medium may also execute program code that performs the following steps: determining the translation time of the third initial waveform signal; adjusting the third initial waveform signal according to the translation time to obtain the third target waveform signal.

[0106] In this embodiment, the bus voltage of the power supply unit and the standard voltage of the motor are acquired. Based on the bus voltage and the standard voltage, an initial waveform signal is constructed. The initial waveform signal is then converted to obtain a target waveform signal. Based on the target waveform signal, the on / off state of the switches in the inverter can be controlled to control the common-mode voltage (i.e., shaft voltage) of the motor. This solves the technical problem of low common-mode voltage suppression efficiency and achieves the technical effect of improving the common-mode voltage suppression efficiency.

[0107] According to an embodiment of this application, a processor is also provided for running a program, wherein the control method for a permanent magnet synchronous motor in a vehicle described in the above embodiments is executed when the program is run by the processor.

[0108] Optionally, in this embodiment, the computer terminal may be located in at least one of a plurality of network devices in a computer network.

[0109] In this embodiment, the computer terminal described above can execute the program code for the following steps in the multilingual translation method: obtaining the planned work order to be inspected, wherein the planned work order is used to characterize the operation status in the power system; identifying abnormal data in the planned work order and determining the customer terminal for processing the abnormal data; adjusting the initial format of the abnormal data to a tabular form; and controlling the communication software to send the tabular abnormal data to the customer terminal.

[0110] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the multilingual translation method and apparatus in this application embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the aforementioned multilingual translation method. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0111] The processor can access information and application programs stored in memory via a transmission device to perform the following steps: acquiring the bus voltage corresponding to the power supply unit in the vehicle and the standard voltage of the permanent magnet synchronous motor in the vehicle, wherein the power supply unit is used to supply power to the permanent magnet synchronous motor; constructing an initial waveform signal corresponding to the inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is used to control the input current of the permanent magnet synchronous motor; converting the initial waveform signal to obtain a target waveform signal, wherein the waveform of the target waveform signal is different from the waveform of the initial waveform signal; adjusting the opening and closing state of the switches in the inverter based on the target waveform signal to control the common-mode voltage of the permanent magnet synchronous motor, wherein the common-mode voltage is related to the input current.

[0112] Optionally, the processor may also execute program code that performs the following steps: determining the time period corresponding to the initial waveform signal; and determining the initial waveform signal based on the time period, the bus voltage, and the standard voltage.

[0113] Optionally, the processor may also execute program code that performs the following steps: determining the target time period for matching the speed of the permanent magnet synchronous motor and the bus voltage; and setting the target time period as the time period corresponding to the initial waveform signal.

[0114] Optionally, the processor may also execute program code that performs the following steps: determining the first initial waveform signal as the first target waveform signal; converting the second initial waveform signal to obtain the second target waveform signal; and converting the third initial waveform signal to obtain the third target waveform signal.

[0115] Optionally, the processor may also execute program code that performs the following steps: segmenting the second initial waveform signal to obtain a first sub-initial waveform signal within a first time period and a second sub-initial waveform signal within a second time period, wherein the first time period and the second time period constitute a complete time period corresponding to the initial waveform signal; replacing the first sub-initial waveform signal within the first time period with the second sub-initial waveform signal, and replacing the second sub-initial waveform signal within the second time period with the first sub-initial waveform signal to obtain the second target waveform signal.

[0116] Optionally, the processor may also execute program code that performs the following steps: determining the translation time of the third initial waveform signal; adjusting the third initial waveform signal according to the translation time to obtain the third target waveform signal.

[0117] Optionally, the processor may also execute program code that performs the following steps: determining the personnel information corresponding to the abnormal data, wherein the personnel information is used to determine the client terminal associated with the abnormal data; invoking the information sending template; adjusting the information sending template using the abnormal data to obtain the message to be sent; and sending the message to be sent to the client terminal.

[0118] Optionally, the processor may also execute program code that performs the following steps: obtaining pre-stored key-value pairs, wherein the key-value pairs are used to associate client terminals and personnel information corresponding to the client terminals; determining the client terminals corresponding to the personnel information based on the key-value pairs; and controlling the communication software to send a message to the client terminals using the personnel information.

[0119] The embodiments of this application obtain the bus voltage of the power supply unit and the standard voltage of the motor. Based on the bus voltage and the standard voltage, an initial waveform signal is constructed. The initial waveform signal is then converted to obtain a target waveform signal. Based on the target waveform signal, the on / off state of the switches in the inverter can be controlled to control the common-mode voltage (i.e., shaft voltage) of the motor. This solves the technical problem of low common-mode voltage suppression efficiency and achieves the technical effect of improving the common-mode voltage suppression efficiency.

[0120] According to an embodiment of this application, a computer program product is also provided, which includes computer instructions, wherein when the computer instructions are executed by a processor, they implement the control method for a permanent magnet synchronous motor in a vehicle as described in the above embodiments.

[0121] According to another aspect of the embodiments of this application, a vehicle is also provided, which can be used to execute the control method of the permanent magnet synchronous motor in the vehicle of the embodiments of this application.

[0122] Embodiments of this application may provide an electronic device that may include a memory and a processor.

[0123] Figure 8 This is a block diagram of an electronic device for a control method of a permanent magnet synchronous motor in a vehicle according to an embodiment of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present application described and / or claimed herein.

[0124] like Figure 8 As shown, device 800 includes a computing unit 801, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 802 or a computer program loaded from storage unit 808 into random access memory (RAM) 803. RAM 803 can also store various programs and data required for the operation of device 800. The computing unit 801, ROM 802, and RAM 803 are interconnected via bus 804. Input / output (I / O) interface 805 is also connected to bus 804.

[0125] Multiple components in device 800 are connected to I / O interface 805, including: input unit 806, such as keyboard, mouse, etc.; output unit 807, such as various types of monitors, speakers, etc.; storage unit 808, such as disk, optical disk, etc.; and communication unit 809, such as network card, modem, wireless transceiver, etc. Communication unit 809 allows device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0126] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as data verification methods. For example, in some embodiments, the data verification method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the data verification method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform a data verification method by any other suitable means (e.g., by means of firmware).

[0127] According to an embodiment of this application, a control method for a permanent magnet synchronous motor in a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0128] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display, monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or pathball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0132] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., a communication network) of any form or medium. Examples of communication networks include Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

[0133] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0134] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0135] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0136] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0137] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0138] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0139] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0140] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a permanent magnet synchronous motor in a vehicle, characterized by, The method comprises: acquiring a bus voltage corresponding to a power supply unit in a vehicle, and a standard voltage of a permanent magnet synchronous motor in the vehicle, wherein the power supply unit is configured to supply power to the permanent magnet synchronous motor; constructing an initial waveform signal corresponding to an inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is configured to control an input current of the permanent magnet synchronous motor; converting the initial waveform signal to obtain a target waveform signal, wherein a waveform of the target waveform signal is different from that of the initial waveform signal; adjusting an on-off state of a switch in the inverter based on the target waveform signal to control a common-mode voltage of the permanent magnet synchronous motor, wherein the common-mode voltage is associated with the input current.

2. The method of claim 1, wherein, The method of constructing the initial waveform signal corresponding to the inverter in the vehicle based on the bus voltage and the standard voltage comprises: determining a time period corresponding to the initial waveform signal; determining the initial waveform signal based on the time period, the bus voltage and the standard voltage.

3. The method of claim 2, wherein, The method of determining the time period corresponding to the initial waveform signal comprises: determining a target time period matching a rotation speed of the permanent magnet synchronous motor and the bus voltage; determining the target time period as the time period corresponding to the initial waveform signal.

4. The method of claim 1, wherein, The initial waveform signal comprises a first initial waveform signal, a second initial waveform signal and a third initial waveform signal, the first initial waveform signal is configured to control an input current of a first phase of the permanent magnet synchronous motor, the second initial waveform signal is configured to control an input current of a second phase of the permanent magnet synchronous motor, and the third initial waveform signal is configured to control an input current of a third phase of the permanent magnet synchronous motor, the target waveform signal comprises a first target waveform signal, a second target waveform signal and a third target waveform signal, and the method of converting the initial waveform signal to obtain the target waveform signal comprises: determining the first initial waveform signal as the first target waveform signal; converting the second initial waveform signal to obtain the second target waveform signal; converting the third initial waveform signal to obtain the third target waveform signal.

5. The method of claim 4, wherein, The method of converting the second initial waveform signal to obtain the second target waveform signal comprises: segmenting the second initial waveform signal to obtain a first sub-initial waveform signal in a first time period and a second sub-initial waveform signal in a second time period, wherein the first time period and the second time period constitute a complete time period corresponding to the initial waveform signal; replacing the first sub-initial waveform signal in the first time period with the second sub-initial waveform signal, and replacing the second sub-initial waveform signal in the second time period with the first sub-initial waveform signal to obtain the second target waveform signal.

6. The method of claim 4, wherein, The method of converting the third initial waveform signal to obtain the third target waveform signal comprises: determining a translation time of the third initial waveform signal; According to the translation time, the third initial waveform signal is adjusted to obtain the third target waveform signal.

7. A control device of a permanent magnet synchronous motor in a vehicle, characterized by, Comprise: An acquisition unit is configured to acquire a bus voltage corresponding to a power supply unit in a vehicle and a standard voltage of a permanent magnet synchronous motor in the vehicle, wherein the power supply unit is configured to supply power to the permanent magnet synchronous motor; A construction unit is configured to construct an initial waveform signal corresponding to an inverter in the vehicle based on the bus voltage and the standard voltage, wherein the inverter is configured to control an input current of the permanent magnet synchronous motor; A conversion unit is configured to convert the initial waveform signal to obtain a target waveform signal, wherein a waveform of the target waveform signal is different from a waveform of the initial waveform signal; An adjustment unit is configured to adjust an on-off state of a switch in the inverter based on the target waveform signal to control a common-mode voltage of the permanent magnet synchronous motor, wherein the common-mode voltage is associated with the input current.

8. A vehicle characterized by comprising: A device for performing the method of any one of claims 1 to 6.

9. A processor, comprising: The processor is configured to run a program, wherein the program, when run by the processor, performs the method of any one of claims 1 to 6.

10. A computer program product, characterised in that, Computer instructions are included, which, when executed by a processor, implement the method of any one of claims 1 to 6.

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