Motor control method, vehicle and medium

Abstract

The invention provides a motor control method, a vehicle and a medium, the method is applied to a motor, and the method comprises the following steps: based on a control signal of the motor, obtaining an initial output sequence of seven segments of vectors of the control signal in a plurality of sectors of a switching period; arranging an initial output sequence of the seven segments of vectors so as to generate seven segments of vector arrangement information corresponding to each sector after even harmonics in the control signal are eliminated; and generating an output sector and an output pulse of a power converter of the motor according to the seven-segment vector arrangement information, and controlling the power converter to output a corresponding wave sending pulse according to the output sector and the output pulse. According to the method, the output sequence of seven sections of voltage vectors of a plurality of sectors of a signal in a switching period can be rearranged, so that a power controller can send out PWM (Pulse-Width Modulation) pulse by adopting a low-level and high-level combined mode, thereby effectively reducing the content of even-order and cosine-order harmonics in phase current; and the industrial scene requirements of high efficiency and low cost are effectively met.

Description

Technical Field

[0001] This application relates to the industrial sector, and more specifically, to motor control methods, vehicles, and media in the field of industrial automation. Background Technology

[0002] In the field of industrial automation, the precision and efficiency of motor control systems often directly affect equipment performance. With the increasing demand for high-precision drives, traditional motor control technology faces a severe challenge from even-order harmonic interference. Even-order harmonics can reduce motor efficiency by 15%-20% and cause problems such as abnormal bearing vibration and accelerated insulation aging.

[0003] In related technologies, traditional PWM (Pulse Width Modulation) modulation strategies generally adopt odd (3rd) harmonic compensation strategies, using additional filters or dedicated harmonic suppression modules to modulate specific frequencies.

[0004] However, traditional PWM modulation strategies suffer from drawbacks such as high control algorithm complexity, increased hardware costs, or limited compensation effects. Furthermore, the phase detection module cannot distinguish between odd and even harmonic characteristics, and cannot design a targeted even-order component suppression mechanism. This results in insufficient suppression of even-order harmonics, leading to abnormal even-order harmonic components in the controller output current, which in turn causes torque ripple and electromagnetic interference, making it difficult to meet the requirements of high-efficiency and low-cost industrial scenarios.

[0005] In summary, among the relevant technologies, traditional PWM modulation strategies are complex and costly, while having limited compensation effects. They cannot specifically suppress even harmonics, which may lead to abnormal even harmonic components in the controller output current, thereby causing torque ripple and electromagnetic interference. They are difficult to meet the requirements of high-efficiency and low-cost industrial scenarios and urgently need improvement. Summary of the Invention

[0006] This application provides a motor control method, a vehicle, and a medium. The method can rearrange the output sequence of the seven-segment voltage vectors of multiple sectors within a switching cycle, enabling the power controller to generate PWM pulses using a combination of low and high levels. This effectively reduces the content of even and cosine harmonics in the phase current, avoids torque ripple and electromagnetic interference, and effectively meets the needs of high-efficiency and low-cost industrial scenarios in practical applications.

[0007] In a first aspect, a motor control method is provided, comprising the following steps: based on a motor control signal, obtaining the initial output sequence of seven-segment vectors in multiple sectors of the control signal during a switching cycle; arranging the initial output sequence of the seven-segment vectors to generate seven-segment vector arrangement information corresponding to each sector after eliminating even harmonics in the control signal; generating the output sector and its output pulse of the motor's power converter according to the seven-segment vector arrangement information, and controlling the power converter to output corresponding ripple pulses according to the output sector and its output pulses.

[0008] The above technical solution can break the half-wave asymmetry problem caused by always starting from a low level in traditional space vector modulation by actively reconstructing the seven-segment vector output sequence of each sector within the switching cycle. Thus, without increasing hardware costs or switching losses, the voltage waveform exhibits strict half-wave symmetry between the symmetrical sectors of the half-cycle, effectively suppressing or even eliminating even harmonic components in the phase current. This helps improve the operating efficiency of the motor, reduce torque ripple and electromagnetic noise, and has great adaptability for high-performance motor drive systems with high requirements for current waveform quality.

[0009] In conjunction with the first aspect, in some possible implementations, the arrangement of the output order of the seven-segment vectors includes: arranging the seven-segment vectors of the upper bridge pulse of the target sector within the plurality of sectors based on the target output principle of the voltage vector; and completing the arrangement of the output order of the seven-segment vectors based on the arranged seven-segment vectors of the upper bridge pulse and the lower bridge pulse of the target sector.

[0010] The above technical solution allows for rearranging the upper bridge pulse sequence for only a portion of the sector (target sector) while maintaining the complementarity of the lower bridge pulse. This adheres to the basic principle of minimizing the number of switching operations of power devices, avoiding additional switching losses or electromagnetic interference introduced by the adjustment. Furthermore, the coordination of the upper and lower bridge pulses ensures that the final synthesized voltage vector satisfies the half-wave symmetry condition, thus maintaining a good balance between control complexity and harmonic suppression effect.

[0011] In conjunction with the first aspect, in some possible implementations, before arranging the seven-segment vector of the bridge pulse of the target sector within the plurality of sectors, the method further includes: acquiring distribution information of the plurality of sectors during the switching cycle; and determining the target sector based on the distribution information and the odd harmonic and even harmonic characteristics of the control signal.

[0012] Through the above technical solution, the key sectors that need adjustment can be identified by pre-analyzing the spatial distribution of sectors and the generation mechanism of harmonics within the switching cycle, such as the sectors corresponding to the second half of the cycle. This avoids indiscriminate vector rearrangement of all sectors, significantly reducing the amount of real-time computation and the computational burden on the controller, thereby improving the dynamic response speed of this application. Furthermore, the sector determination method based on harmonic characteristics in this application can effectively enhance the adaptability and robustness of the algorithm, ensuring that the key areas affecting symmetry can be accurately locked under different loads or speeds, maintaining a stable harmonic suppression effect.

[0013] In conjunction with the first aspect, in some possible implementations, arranging the seven-segment vectors of the bridge pulses of the target sector within the plurality of sectors includes: converting the starting pulse of the bridge pulse of the target sector from a first zero-identification vector to a second zero-identification vector, exchanging the second vector and the third vector of the target sector, and exchanging the fifth vector and the sixth vector of the target sector, so as to complete the arrangement of the seven-segment vectors of the bridge pulses of the target sector.

[0014] The above technical solution can directly change the starting level and the order of action of the effective vectors of the pulse sequence by changing the starting zero vector of the target sector from 000 to 111 and swapping the positions of its second and third, and fifth and sixth vectors. This ensures that the target sector and the corresponding upper half-cycle sector are strictly symmetrical in waveform. This adjustment can be used to construct a corresponding table, and the difficulty of algorithm development and debugging can be effectively reduced by looking up the table. At the same time, it ensures that the adjusted pulse sequence still meets the principle of switching only one phase bridge arm at a time, thereby effectively maintaining the switching stability of the motor system.

[0015] In conjunction with the first aspect, in some possible implementations, after generating the seven-segment vector arrangement information corresponding to each sector, the method further includes: obtaining the maximum duty cycle value, the median duty cycle value, and the minimum duty cycle value of the upper bridge of the target sector; determining the duty cycle allocation value of the upper bridge of the multiple sectors based on the difference between the target value and the maximum duty cycle value, the median duty cycle value, and the minimum duty cycle value, so as to allocate the duty cycle of the upper bridge of each sector according to the duty cycle allocation value.

[0016] The above technical solution allows for a further redistribution of the upper bridge duty cycle of the target sector based on the adjustment of the vector sequence. By using the mapping relationship of "1 minus the original duty cycle", the adjusted pulse width is matched with the new vector sequence. This ensures that even when the vector sequence changes, the effective action time of each phase voltage can still correctly reflect the amplitude and direction of the required voltage vector, avoiding output voltage distortion or decreased control accuracy due to duty cycle mismatch.

[0017] In conjunction with the first aspect, in some possible implementations, after allocating the duty cycle of the upper bridge of each sector according to the duty cycle allocation value, the method further includes: detecting the starting level of the bridge arm pulse of each sector after the duty cycle allocation; and generating the even harmonic elimination evaluation result corresponding to the seven-segment vector arrangement information when the starting level of the bridge arm pulse satisfies the corresponding level condition.

[0018] The above technical solution allows for real-time evaluation of whether the harmonic cancellation strategy is being correctly executed by detecting whether the starting level of the bridge arm pulses in each sector meets the expected level (e.g., the three sectors in the first half of the cycle start at a low level, and the three sectors in the second half of the cycle start at a high level). This provides an intuitive basis for online monitoring of motor operation, helps to quickly identify abnormal pulse output or control logic errors, and enables users or upper-level controllers to confirm that the harmonic suppression measures are effective, thereby effectively improving the reliability of this application.

[0019] In conjunction with the first aspect, in some possible implementations, generating the output sector and its output pulse of the motor's power converter based on the seven-segment vector arrangement information includes: obtaining the actual electrical angle of the motor's rotor to identify the current electrical angle range of the actual electrical angle; based on the current electrical angle range, obtaining the output sector and its output pulse corresponding to the actual electrical angle from the seven-segment vector arrangement information, and controlling the power converter to output the corresponding wave pulse according to the output sector and its output pulse.

[0020] The above technical solution can dynamically combine the optimized seven-segment vector arrangement information with the actual motor operating state, i.e., the rotor electrical angle. By using the electrical angle partition lookup table, the sector to be output and the corresponding pulse sequence can be determined in real time. This ensures that the voltage waveform output at any angle throughout the entire electrical cycle can meet the half-wave symmetry condition, and that the harmonic suppression effect can effectively cover the entire operating range of the motor, thereby effectively improving the overall accuracy and dynamic response performance of motor control.

[0021] In conjunction with the first aspect, in some possible implementations, after controlling the power converter to output corresponding wave pulses according to the output sector and its output pulse, the method further includes: detecting the actual pulse signal and actual operating state of the motor; generating feedback information based on the actual pulse signal and the actual operating state; and feeding the feedback information back to the user.

[0022] The above technical solution can generate feedback information and report it to the user by monitoring the actual pulse signal output by the power converter and the operating status of the motor (such as current, speed, etc.). This allows the user or monitoring system to evaluate and adjust the actual operating effect in a timely manner, which helps to achieve predictive maintenance and optimization of motor control parameters, thereby improving the intelligence level and long-term stability of the entire drive system.

[0023] In a second aspect, a motor control device is provided, comprising: a first acquisition module, configured to acquire, based on a motor control signal, the initial output sequence of seven-segment vectors in multiple sectors of a switching cycle of the control signal; an arrangement module, configured to arrange the initial output sequence of the seven-segment vectors to generate seven-segment vector arrangement information corresponding to each sector after eliminating even harmonics in the control signal; and a control module, configured to generate the output sector and its output pulse of the motor's power converter according to the seven-segment vector arrangement information, and control the power converter to output corresponding emitting pulses according to the output sector and its output pulse.

[0024] The above technical solution can break the half-wave asymmetry problem caused by always starting from a low level in traditional space vector modulation by actively reconstructing the seven-segment vector output sequence of each sector within the switching cycle. Thus, without increasing hardware costs or switching losses, the voltage waveform exhibits strict half-wave symmetry between the symmetrical sectors of the half-cycle, effectively suppressing or even eliminating even harmonic components in the phase current. This helps improve the operating efficiency of the motor, reduce torque ripple and electromagnetic noise, and has great adaptability for high-performance motor drive systems with high requirements for current waveform quality.

[0025] In conjunction with the first aspect, in some possible implementations, the arrangement module includes: an arrangement unit for arranging the seven-segment vectors of the upper bridge pulses of the target sector within the plurality of sectors based on the target output principle of the voltage vector; and a determination unit for arranging the output order of the seven-segment vectors based on the arranged seven-segment vectors of the upper bridge pulses and the seven-segment vectors of the lower bridge pulses of the target sector.

[0026] The above technical solution allows for rearranging the upper bridge pulse sequence for only a portion of the sector (target sector) while maintaining the complementarity of the lower bridge pulse. This adheres to the basic principle of minimizing the number of switching operations of power devices, avoiding additional switching losses or electromagnetic interference introduced by the adjustment. Furthermore, the coordination of the upper and lower bridge pulses ensures that the final synthesized voltage vector satisfies the half-wave symmetry condition, thus maintaining a good balance between control complexity and harmonic suppression effect.

[0027] In conjunction with the first aspect, some possible implementations may further include: a second acquisition module, configured to acquire distribution information of the multiple sectors during the switching cycle before arranging the seven-segment vector of the bridge pulse of the target sector within the multiple sectors; and a determination module, configured to determine the target sector based on the distribution information and the odd and even harmonic characteristics of the control signal.

[0028] Through the above technical solution, the key sectors that need adjustment can be identified by pre-analyzing the spatial distribution of sectors and the generation mechanism of harmonics within the switching cycle, such as the sectors corresponding to the second half of the cycle. This avoids indiscriminate vector rearrangement of all sectors, significantly reducing the amount of real-time computation and the computational burden on the controller, thereby improving the dynamic response speed of this application. Furthermore, the sector determination method based on harmonic characteristics in this application can effectively enhance the adaptability and robustness of the algorithm, ensuring that the key areas affecting symmetry can be accurately locked under different loads or speeds, maintaining a stable harmonic suppression effect.

[0029] In conjunction with the first aspect, in some possible implementations, the arrangement unit includes: an arrangement subunit, used to convert the starting pulse of the bridge pulse of the target sector from a first identifier zero vector to a second identifier zero vector, exchange the second vector and the third vector of the target sector, and exchange the fifth vector and the sixth vector of the target sector, so as to complete the arrangement of the seven vectors of the bridge pulse of the target sector.

[0030] The above technical solution can directly change the starting level and the order of action of the effective vectors of the pulse sequence by changing the starting zero vector of the target sector from 000 to 111 and swapping the positions of its second and third, and fifth and sixth vectors. This ensures that the target sector and the corresponding upper half-cycle sector are strictly symmetrical in waveform. This adjustment can be used to construct a corresponding table, and the difficulty of algorithm development and debugging can be effectively reduced by looking up the table. At the same time, it ensures that the adjusted pulse sequence still meets the principle of switching only one phase bridge arm at a time, thereby effectively maintaining the switching stability of the motor system.

[0031] In conjunction with the first aspect, some possible implementations further include: a third acquisition module, used to acquire the maximum duty cycle, median duty cycle, and minimum duty cycle of the upper bridge of the target sector after generating the seven-segment vector arrangement information corresponding to each sector; and an allocation module, used to determine the duty cycle allocation value of the upper bridge of the multiple sectors based on the difference between the target value and the maximum duty cycle, the median duty cycle, and the minimum duty cycle, so as to allocate the duty cycle of the upper bridge of each sector according to the duty cycle allocation value.

[0032] The above technical solution allows for a further redistribution of the upper bridge duty cycle of the target sector based on the adjustment of the vector sequence. By using the mapping relationship of "1 minus the original duty cycle", the adjusted pulse width is matched with the new vector sequence. This ensures that even when the vector sequence changes, the effective action time of each phase voltage can still correctly reflect the amplitude and direction of the required voltage vector, avoiding output voltage distortion or decreased control accuracy due to duty cycle mismatch.

[0033] In conjunction with the first aspect, some possible implementations may further include: a first detection module, configured to detect the starting level of the bridge arm pulse of each sector after allocating the duty cycle of the upper bridge according to the duty cycle allocation value; and a generation module, configured to generate an even harmonic elimination evaluation result corresponding to the seven-segment vector arrangement information when the starting level of the bridge arm pulse satisfies the corresponding level condition.

[0034] The above technical solution allows for real-time evaluation of whether the harmonic cancellation strategy is being correctly executed by detecting whether the starting level of the bridge arm pulses in each sector meets the expected level (e.g., the three sectors in the first half of the cycle start at a low level, and the three sectors in the second half of the cycle start at a high level). This provides an intuitive basis for online monitoring of motor operation, helps to quickly identify abnormal pulse output or control logic errors, and enables users or upper-level controllers to confirm that the harmonic suppression measures are effective, thereby effectively improving the reliability of this application.

[0035] In conjunction with the first aspect, in some possible implementations, the control module includes: an acquisition unit, configured to acquire the actual electrical angle of the motor rotor to identify the current electrical angle range of the actual electrical angle; and a control unit, configured to acquire, based on the current electrical angle range, the output sector and its output pulse corresponding to the actual electrical angle from the seven-segment vector arrangement information, and control the power converter to output the corresponding wave pulse according to the output sector and its output pulse.

[0036] The above technical solution can dynamically combine the optimized seven-segment vector arrangement information with the actual motor operating state, i.e., the rotor electrical angle. By using the electrical angle partition lookup table, the sector to be output and the corresponding pulse sequence can be determined in real time. This ensures that the voltage waveform output at any angle throughout the entire electrical cycle can meet the half-wave symmetry condition, and that the harmonic suppression effect can effectively cover the entire operating range of the motor, thereby effectively improving the overall accuracy and dynamic response performance of motor control.

[0037] In conjunction with the first aspect, some possible implementations may further include: a second detection module, used to detect the actual pulse signal and actual operating state of the motor after controlling the power converter to output corresponding wave pulses according to the output sector and its output pulse; and a feedback module, used to generate feedback information based on the actual pulse signal and the actual operating state, and to feed the feedback information back to the user.

[0038] The above technical solution can generate feedback information and report it to the user by monitoring the actual pulse signal output by the power converter and the operating status of the motor (such as current, speed, etc.). This allows the user or monitoring system to evaluate and adjust the actual operating effect in a timely manner, which helps to achieve predictive maintenance and optimization of motor control parameters, thereby improving the intelligence level and long-term stability of the entire drive system.

[0039] Thirdly, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the motor control method as described in the above embodiments.

[0040] Fourthly, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, implements the above-described motor control method.

[0041] Fifthly, a computer program product is provided, including a computer program that, when executed, implements the motor control method described above. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a spatial vector hexagon and the distribution of each vector provided in one embodiment of this application; Figure 2 This is a schematic diagram of the distribution of sectors within an electrical signal period according to an embodiment of this application; Figure 3 This is a schematic diagram of the pulse and phase voltage waveforms of the three-phase bridge arms in the first and fourth sectors provided in an embodiment of this application; Figure 4 This is a schematic flowchart of a motor control method provided in an embodiment of this application; Figure 5 A schematic diagram of the pulse and phase voltage waveforms of the three-phase bridge arms in the first and fourth sectors after arrangement, provided for one embodiment of this application; Figure 6 A schematic diagram of the software implementation logic of a pulse output strategy for suppressing even harmonics provided in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of a motor control device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0043] Figure label: Among them, 10-motor control device; 100-first acquisition module, 200-arrangement module, 300-control module; 801-memory, 802-processor, 803-communication interface. Detailed Implementation

[0044] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0045] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0046] Before explaining the motor control method in the embodiments of this application, the cause of even harmonic generation in the embodiments of this application will be explained first.

[0047] According to signal processing theory, if a signal is to be free of even harmonics, it must satisfy half-wave symmetry, which means it needs to meet the following formula:

[0048] in, for The signal value corresponding to the time. It is a periodicity.

[0049] That is, only when the absolute value of the signal at the current moment is equal to the absolute value of the signal at half a period later can the half-wave symmetrical waveform in the Fourier series contain only odd harmonics and no even harmonics.

[0050] Among them, odd harmonics refer to harmonics with frequencies that are 1, 3, 5, 7... times the fundamental frequency. For example, the 3rd harmonic at 150 Hz and the 5th harmonic at 250 Hz corresponding to the 50 Hz fundamental frequency are the most important harmonic types in power electronic systems such as power converters and motors.

[0051] Even harmonics here refer to harmonics whose frequency is 2, 4, 6, 8... times that of the fundamental frequency. For example, the 2nd harmonic at 100 Hz and the 4th harmonic at 200 Hz corresponding to the 50 Hz fundamental frequency are usually caused by asymmetric factors such as circuit asymmetry and magnetic circuit distortion, and their amplitude is generally much smaller than that of odd harmonics.

[0052] Figure 1 This is a schematic diagram of a spatial vector hexagon and the distribution of each vector provided in one embodiment of this application. Figure 1 As shown, Figure 1 This diagram illustrates a classic hexagonal spatial vector and its vector distribution. Each pair of adjacent vectors forms a sector, resulting in six sectors in total. The voltage vector Us rotates around the hexagon's center point, with one rotation representing one electrical cycle. Macroscopically, this means that voltage and current form a complete sine wave cycle. Therefore, the waveforms of the electrical signals in sectors one and four, two and five, and three and six differ by half an electrical cycle. Figure 2 As shown, where, Figure 2 This is a schematic diagram of the distribution of each sector within an electrical signal cycle according to an embodiment of this application, which shows the distribution of the six sectors throughout the entire switching cycle.

[0053] Since sectors one and four, sectors two and five, and sectors three and six are all symmetrical about half a wave, the embodiments of this application may, but are not limited to, use sectors one and four as representatives to explain why the current space vector modulation PWM wave generation strategy knows that even harmonics exist in the phase current.

[0054] The current space vector modulation follows two principles in the output sequence of the basic voltage vector within a switching cycle: the first principle is that only two power devices of one phase bridge arm switch the switching state at a time, and the second principle is that each switching cycle starts with a low-level zero vector and adopts a seven-segment waveform mode, that is, the first, fourth and seventh segments are zero vector distributions (000 or 111), and the other segments are effective vector distributions.

[0055] Based on the arrangement of adjacent voltage vectors constituting the six sectors, the PWM pulse output waveforms and line voltage waveforms of the three-phase upper bridge arms in the first and fourth sectors, which are time-separated by half an electrical cycle, can be plotted, as follows: Figure 3 As shown, where, Figure 3 This is a schematic diagram of the pulse and phase voltage waveforms of the three-phase bridge arm in the first and fourth sectors provided in an embodiment of this application. In the figure, V represents the effective vector, Uab represents the line voltage, for example, V5 is the 101 vector, and T5 is the action time corresponding to the V5 vector.

[0056] from Figure 3As can be seen, the result of the PWM pulses output by the two sectors, namely the line voltage Uab, is not symmetrical about the horizontal axis, that is, it cannot form a half-wave symmetry. By analogy with other sectors, it can be seen that the output voltage waveform does not have half-wave symmetry. The three-phase current generated by the voltage applied to the motor windings without half-wave symmetry will also not form a half-wave symmetry, which leads to the presence of even harmonics in the phase current waveform.

[0057] Figure 4 This is a schematic flowchart of a motor control method provided in an embodiment of this application.

[0058] For example, such as Figure 4 As shown, the method 400 includes: In step S401, based on the motor control signal, the initial output sequence of the seven-segment vector of the control signal in multiple sectors of the switching cycle is obtained.

[0059] It is understandable that, in this context, control signals refer to electrical signals output by the controller in the motor drive and operation system, used to instruct the motor to perform various actions, such as voltage signals, current signals, or digital pulse signals.

[0060] The voltage vector here can be understood as a virtual voltage vector with a specific amplitude and direction synthesized at the stator winding end of the motor by different conduction combinations of the power switching devices of the inverter. It can be used to control the rotation trajectory and speed of the motor stator flux linkage.

[0061] The switching cycle here refers to the duration of one on / off cycle of the inverter's power switching devices in the motor, which can be represented as a carrier cycle in the voltage waveform diagram of the inverter output. Within one switching cycle, the inverter switches between different switching states according to certain rules, collectively synthesizing the required voltage vector.

[0062] In this context, multiple sectors can be understood as six regions formed by uniformly dividing the complex plane (α-β coordinate system) containing the motor stator flux linkage or voltage vector at 60° angles to achieve precise synthesis and control of voltage vectors. Each sector corresponds to a specific set of basic voltage vector combinations. By determining the sector where the target voltage vector is located, the switching logic of the inverter can be determined.

[0063] The seven-segment vector (seven-segment voltage vector) here refers to a modulation strategy for the switching state of an inverter. Simply put, within a switching cycle, the voltage vector is distributed and switched in a seven-segment sequence, where the first, fourth, and seventh segments are zero vector distributions (000 or 111), and the other segments are effective vector distributions. This seven-segment output helps to reduce output current harmonics and improve the smoothness of motor operation.

[0064] The initial output sequence here refers to the initial switching order of the seven voltage vectors in the seven-segment vector modulation strategy within a switching cycle (non-zero vector + zero vector) before they are arranged.

[0065] For example, Table 1 is an initial output sequence table of voltage vectors for each sector provided in an embodiment of this application, which can be represented as follows: Table 1

[0066] As shown in Table 1, the voltage vectors of the first, fourth, and seventh segments of each sector within a signal cycle (switching cycle) are all zero vector distributions (000 or 111). In this case, the PWM pulses of each sector are emitted from a low level, which results in the output voltage waveform not having half-wave symmetry. The three-phase current generated by the voltage applied to the motor windings without half-wave symmetry will also not constitute half-wave symmetry, thus resulting in even harmonics in the phase current waveform.

[0067] Based on this, the embodiments of this application can adjust the voltage vector in the seven-segment vector of multiple sectors. By adjusting, the voltage waveform output by relative sectors (such as sector one and sector four, sector two and sector five, sector three and sector six) that are half a cycle apart has half-wave symmetry, thereby eliminating even harmonics in the phase current waveform.

[0068] In this embodiment of the application, by obtaining the initial output sequence of the seven segments of the voltage vector corresponding to the motor control signal in multiple sectors of the switching cycle, a data basis can be provided for subsequent elimination of even harmonics.

[0069] In step S402, the initial output order of the seven-segment vectors is arranged so that, after eliminating even harmonics in the control signal, the arrangement information of the seven-segment vectors corresponding to each sector is generated.

[0070] Based on the descriptions of other embodiments, it can be understood that in the initial output sequence of the voltage vector of each sector within the electrical signal cycle of the control signal, the PWM ripple pulse of each sector is emitted from a low level, resulting in even harmonics in the phase current waveform.

[0071] As one possible implementation, after obtaining the initial output order of the seven-segment vectors corresponding to the motor control signal in multiple sectors of the switching cycle, this application can rearrange the initial output order of the seven-segment vectors to eliminate even harmonics in the control signal.

[0072] For example, this application can set the PWM ripple pulses of sector one and sector four, sector two and sector five, sector three and sector six to a combination of low and high levels, instead of using the traditional ripple strategy where both upper and lower bridge arms emit from low levels. This makes the voltage waveforms output by sector one, sector two and sector three and sector four, sector five and sector six, which are half a cycle apart, have half-wave symmetry, so that there are no even harmonics in the phase current waveform.

[0073] Here, the seven-segment vector arrangement information corresponding to each sector refers to the information of the seven voltage vectors corresponding to each sector after the rearrangement, such as whether it is 000 or 111.

[0074] Optionally, in one embodiment of this application, arranging the output order of the seven-segment vectors includes: arranging the seven-segment vectors of the upper bridge pulses of the target sector within multiple sectors based on the target output principle of the voltage vectors; and completing the arrangement of the output order of the seven-segment vectors based on the arranged seven-segment vectors of the upper bridge pulses and the lower bridge pulses of the target sector.

[0075] Based on the descriptions of other embodiments, it can be understood that the elimination of even harmonics in the control signal in this application is mainly based on the reason for the generation of even harmonics, which makes the voltage waveforms output by the first, second, and third sectors and the fourth, fifth, and sixth sectors, which are separated by half a cycle, have half-wave symmetry, so that there are no even harmonics in the phase current waveform.

[0076] Furthermore, considering that the output sequence of the basic voltage vector in current space vector modulation follows two principles within a switching cycle: only two power devices in one phase bridge arm switch switching states at a time; each switching cycle starts with a low-level zero vector and uses a seven-segment waveform mode, i.e., the first, fourth, and seventh segments are zero vector distributions (000 or 111), and the other segments are valid vector distributions. The embodiments of this application can arrange the seven-segment vectors of the bridge pulses for multiple target sectors based on the target output principle of the voltage vector.

[0077] The target output principle can be understood here as the first principle that the output sequence of the basic voltage vector within a switching cycle must follow: only two power devices in one phase bridge arm switch their switching states at a time.

[0078] For example, this application can rearrange the seven-segment vector of the bridge pulse of the target sector in multiple sectors within a switching cycle, based on the condition that "only two power devices of one phase bridge arm switch the switching state at a time".

[0079] Here, the upper bridge pulse refers to the drive pulse signal (high level to turn on, low level to turn off) of the three-phase upper bridge arm switching device of the power converter (such as a three-phase inverter). Its timing directly determines the on / off state of the upper bridge arm and, together with the lower bridge arm pulse, generates a certain voltage vector.

[0080] Here, the target sector can be understood as the sector among multiple sectors that requires a seven-segment voltage vector rearrangement. Since the even-order harmonics occur within a switching cycle as a result of the PWM pulse output from the sector with half-wave symmetry, i.e., the line voltage Uab is not symmetrical about the horizontal axis, this embodiment only requires a seven-segment voltage vector rearrangement for a portion of the sectors.

[0081] Therefore, by combining the seven-segment vectors of the upper bridge pulse and the seven-segment vectors of the lower bridge pulse in the target sector after arrangement, the output order of the seven-segment vectors of multiple sectors can be arranged.

[0082] Furthermore, by combining the seven-segment vectors of the upper bridge pulse and the lower bridge pulse of the target sector after arrangement, as well as the seven-segment vectors of the upper bridge pulse and the lower bridge pulse of other sectors besides the target sector, the arrangement information of the seven-segment vectors after eliminating even harmonics of multiple sectors can be obtained.

[0083] Optionally, in one embodiment of this application, before arranging the seven-segment vector of the bridge pulse of the target sector within multiple sectors, the method further includes: obtaining the distribution information of multiple sectors during the switching cycle; and determining the target sector based on the distribution information and the odd harmonic and even harmonic characteristics of the control signal.

[0084] Based on the descriptions of other embodiments, it is understood that when eliminating even harmonics, the embodiments of this application only require rearranging the seven voltage vectors of a portion of the sector (target sector).

[0085] For example, this application may, but is not limited to, obtain the distribution information of multiple sectors within a switching cycle, that is, the position of each sector within a switching cycle.

[0086] Then, based on the location of each sector and the inherent odd and even harmonic characteristics in the control signal, this application can determine the target sector.

[0087] In this context, the odd and even harmonic characteristics of the control signal can be understood as the distribution patterns of odd and even harmonics.

[0088] Based on the descriptions of other embodiments, it is understood that, from the perspective of the odd and even harmonic characteristics of the control signal, if we want the signal to be free of even harmonics, the absolute value of the signal at the current moment must be equal to the absolute value of the signal at the moment half a cycle later.

[0089] Therefore, the target sector in the embodiments of this application may be, but is not limited to, a sector of half a consecutive cycle among multiple sectors within a switching cycle, and this half-cycle sector corresponds to the sector of the other half-cycle, which is separated by half a cycle.

[0090] For example, in the embodiments of this application, the target sector may be, but is not limited to, the fourth sector, the fifth sector, and the sixth sector in the second half of a switching cycle, wherein the fourth sector corresponds to the first sector, the fifth sector corresponds to the second sector, and the sixth sector corresponds to the third sector.

[0091] Therefore, in this embodiment, only the seven voltage vector information of the fourth, fifth, and sixth sectors can be rearranged, while the seven voltage vector information of the first, second, and third sectors remains unchanged. By combining the two, the seven-segment vector arrangement information corresponding to each sector can be obtained.

[0092] Optionally, in one embodiment of this application, arranging the seven-segment vectors of the bridge pulse of the target sector within multiple sectors includes: converting the starting pulse of the bridge pulse of the target sector from a first zero-identification vector to a second zero-identification vector; and exchanging the second vector and the third vector of the target sector, and exchanging the fifth vector and the sixth vector of the target sector, to complete the arrangement of the seven-segment vectors of the bridge pulse of the target sector.

[0093] In some embodiments, when rearranging the seven voltage vectors of the target sector, that is, when rearranging the seven vectors of the three-phase upper bridge arm pulses (the three-phase lower bridge arm and the three-phase upper bridge arm are complementary outputs) of Sa, Sb, and Sc, the starting pulse of the upper bridge pulse of the target sector (fourth sector, fifth sector, and sixth sector) can first be changed from the first zero-identification vector to the second zero-identification vector. Here, the starting pulse refers to the pulse corresponding to the first voltage vector.

[0094] The first identifier zero vector here refers to the original vector information corresponding to the first voltage vector of the fourth, fifth, and sixth sectors before they were arranged, i.e., the traditional 000 zero vector.

[0095] The second identifier zero vector here refers to the expected vector information to which the first identifier zero vector needs to be converted. In this embodiment, it can be, but is not limited to, set to 111 zero vector.

[0096] It should be noted that the first and second zero-vector identifiers in this embodiment are only used to distinguish the starting pulses of each sector before and after the arrangement, that is, they serve as an identifier, but are essentially voltage vectors (zero vectors).

[0097] Then, in this embodiment of the application, the second vector and the third vector of the target sector can be exchanged, and the fifth vector and the sixth vector of the target sector can be exchanged, thereby completing the arrangement of the seven vectors of the bridge pulse of the target sector.

[0098] For example, the specific logic for the seven-segment vector arrangement of the three bridge pulses Sa, Sb, and Sc in the fourth, fifth, and sixth sectors can be, but is not limited to, represented as follows: (1) This application can convert the starting pulse (first voltage vector) of the fourth sector, the fifth sector and the sixth sector from the original 000 zero vector to 111 zero vector. The fourth, fifth and sixth sectors no longer emit pulses starting with 000 zero vector, but emit pulses starting with 111 zero vector. In this way, the fourth vector is output according to 000 zero vector and the seventh vector is output according to 111 zero vector. (2) Swap the output order of the second vectors of the fourth, fifth, and sixth sectors with the third vectors of the fourth, fifth, and sixth sectors respectively; (3) Swap the output order of the fifth vector of the fourth sector, the fifth sector and the sixth sector with the sixth vector of the fourth sector, the fifth sector and the sixth sector respectively.

[0099] This completes the rearrangement of the seven-segment vectors of the three upper bridge pulses (lower bridge and upper bridge complementary outputs) Sa, Sb, and Sc in the fourth, fifth, and sixth sectors.

[0100] Table 2 is a table of seven-segment vector arrangement information corresponding to multiple sectors after rearrangement provided in one embodiment of this application, which can be represented as follows, but is not limited to: Table 2

[0101] Optionally, in one embodiment of this application, after generating the seven-segment vector arrangement information corresponding to each sector, the method further includes: obtaining the maximum duty cycle, median duty cycle, and minimum duty cycle of the upper bridge of the target sector; and determining the duty cycle allocation value of the upper bridge of multiple sectors based on the difference between the target value and the maximum duty cycle, median duty cycle, and minimum duty cycle, so as to allocate the duty cycle of the upper bridge of each sector according to the duty cycle allocation value.

[0102] In other embodiments, after obtaining the seven-segment vector arrangement information corresponding to each sector for eliminating even harmonics, this application can redistribute the duty cycles of the three three-phase upper arms Sa, Sb, and Sc in the target sector (fourth sector, fifth sector, and sixth sector) based on the seven-segment vector arrangement information.

[0103] First, in the embodiments of this application, the duty cycles of the three upper bridges, DutySa, DutySb, and DutySc, for each sector in the fourth, fifth, and sixth sectors can be obtained based on traditional calculation methods (e.g., duty cycle = upper bridge arm conduction time ÷ PWM cycle (100μs)).

[0104] Then, this application obtains the maximum duty cycle value for each sector by comparison. (e.g., DutySa), median value (e.g., DutySb) and minimum value (e.g., Sc).

[0105] Finally, in this embodiment of the application, the difference between the target value and the maximum duty cycle, the median duty cycle, and the minimum duty cycle can be used to determine the duty cycle allocation value of the upper bridge of multiple sectors, so as to allocate the duty cycle of the upper bridge of each sector according to the calculated duty cycle allocation value.

[0106] Here, the target value can be understood as a pre-set value that can be used as a reference value when calculating the duty cycle difference of each sector. The specific value can be adjusted by those skilled in the art according to the actual situation. This application embodiment is only for illustrative purposes and does not impose any specific limitations.

[0107] For example, in this embodiment of the application, the target value can be set to 1. The values ​​of 1 and the maximum duty cycle are calculated separately. (e.g., DutySa), median value (e.g., DutySb) and minimum value The difference between (e.g., Sc):

[0108] in, This refers to the duty cycle of the phase after redistribution, corresponding to the original maximum duty cycle. The duty cycle is the phase redistribution value corresponding to the original median duty cycle value. The duty cycle is the redistributed duty cycle corresponding to the original minimum duty cycle value.

[0109] In short, the maximum duty cycle value can be obtained by comparison in the embodiments of this application. (e.g., DutySa), median value (e.g., DutySb) and minimum value (e.g., Sc), and define the updated duty cycles of Sa, Sb, and Sc as follows: , , The phase with the maximum duty cycle calculated by the traditional method will have its final assigned duty cycle equal to 1 minus the minimum duty cycle calculated by the traditional method. The phase with the minimum duty cycle calculated by the traditional method will have its final assigned duty cycle equal to 1 minus the maximum duty cycle calculated by the traditional method. The phase with the intermediate duty cycle calculated by the traditional method will have its final assigned duty cycle equal to 1 minus the intermediate duty cycle calculated by the traditional method.

[0110] Optionally, in one embodiment of this application, after allocating the duty cycle of the upper bridge of each sector according to the duty cycle allocation value, the method further includes: detecting the starting level of the bridge arm pulse of each sector after the duty cycle is allocated; and generating an even harmonic elimination evaluation result corresponding to the seven-segment vector arrangement information when the starting level of the bridge arm pulse meets the corresponding level condition.

[0111] In some embodiments, after generating the seven-segment vector arrangement information corresponding to each sector and reallocating the duty cycle of the three-phase upper bridge arm of each sector, this application can also detect the starting level of the bridge arm pulse of each sector after the duty cycle is allocated, so that when the starting level of the bridge arm pulse meets the corresponding level condition, the even harmonic elimination evaluation result corresponding to the seven-segment vector arrangement information is generated.

[0112] That is, the embodiment of this application can generate a PWM output pulse of the control signal based on the seven-segment vector arrangement information corresponding to each sector after redistributing the duty cycle of the three-phase upper bridge arm of each sector and eliminating even harmonics.

[0113] Figure 5 This is a schematic diagram of the pulse and phase voltage waveforms of the three-phase bridge arms in the first and fourth sectors after arrangement according to an embodiment of this application. Figure 5 As shown in the figure, the waveform of the first sector remains unchanged, while the waveform of the fourth sector is relatively stable. Figure 3 The waveform of the fourth sector has changed; that is, the pulses of the three bridge arms of the fourth sector no longer start with a low level, but start with a high level.

[0114] from Figure 5The waveform of the neutral line voltage Uab shows that after redistributing the duty cycle of the three-phase upper bridge arm of each sector, the PWM output pulse diagram of the control signal generated based on the seven-segment vector arrangement information corresponding to each sector after eliminating even harmonics shows that the waveforms of sector one and sector four, that is, the line voltage Uab of sector one and sector four, are symmetrical about the horizontal axis, that is, they constitute half-wave symmetry. By analogy with other sectors, it can be seen that the voltage waveforms output by sector two and sector five, sector three and sector six also have half-wave symmetry. The three-phase current generated by the voltage with half-wave symmetry applied to the motor winding constitutes half-wave symmetry, which will result in the absence of even harmonics in the phase current waveform, thereby achieving the effect of eliminating even harmonics.

[0115] Therefore, the starting voltage of the bridge arm pulses meeting the corresponding level conditions in this embodiment can be understood as the starting voltage of the first, second, and third sectors outside the target sector being low, and the starting voltage of the target sector, namely the fourth, fifth, and sixth sectors, being high. When both conditions are met, it can be understood that the evaluation result of even harmonic elimination corresponding to the seven-segment vector arrangement information of each sector is effective elimination (even harmonics are effectively eliminated), that is, there are no even harmonics in the phase current waveform generated based on the seven-segment vector arrangement information of each sector.

[0116] In step S403, the output sector and its output pulse of the motor power converter are generated according to the seven-segment vector arrangement information, and the power converter is controlled to output the corresponding wave pulse according to the output sector and its output pulse.

[0117] In some embodiments, after adjusting the output order of the voltage vectors of multiple sectors to obtain the seven-segment vector arrangement information of multiple sectors that eliminates even harmonics, this application can generate the output sector and output pulse of the motor power converter based on the rearranged seven-segment vector arrangement information.

[0118] In other words, the embodiments of this application can obtain the output sector and its corresponding seven-segment voltage vector information required in the current motor state based on the seven-segment vector arrangement information of multiple sectors within a switching cycle obtained after rearranging. The seven-segment voltage vector information corresponding to the output sector is the output pulse in the embodiments of this application.

[0119] After obtaining the output sector and output pulse required by the motor, the embodiments of this application can control the power converter in the motor to output the corresponding wave pulse according to the output sector and output pulse.

[0120] Furthermore, considering that the electrical angle of the motor rotor directly reflects the spatial position of the rotor magnetic field, and that sector division needs to be strictly synchronized with the magnetic field position in order to achieve efficient and stable motor control, in the embodiments of this application, the specific output sector of the power converter can be determined, but is not limited to, based on the actual electrical angle of the motor rotor.

[0121] The following describes how, in the embodiments of this application, the specific output sector of the motor power converter is determined based on the actual electrical angle of the motor rotor.

[0122] Optionally, in one embodiment of this application, generating the output sector and its output pulse of the motor power converter based on the seven-segment vector arrangement information includes: obtaining the actual electrical angle of the motor rotor to identify the current electrical angle range of the actual electrical angle; based on the current electrical angle range, obtaining the output sector and its output pulse corresponding to the actual electrical angle from the seven-segment vector arrangement information, and controlling the power converter to output the corresponding wave pulse according to the output sector and its output pulse.

[0123] In actual implementation, in order to facilitate application in real-world scenarios, this application may, but is not limited to, convert the seven-segment vector arrangement information after eliminating even harmonics into a control strategy that can be practically applied in the motor control system.

[0124] For example, this application can input the seven-segment vector arrangement information after eliminating even harmonics into the motor control system, and form a certain software-level control strategy accordingly.

[0125] Then, the motor control system can acquire the actual electrical angle of the motor rotor through the application layer software in each control cycle. It should be noted that the actual electrical angle of the motor rotor here refers to the actual electrical angle of the motor at the current moment, such as 30 degrees, 40 degrees, 50 degrees, etc.

[0126] Then, in this embodiment of the application, the output sector and the output pulse (seven-segment vector) that match the actual electrical angle of the rotor can be obtained from the seven-segment vector arrangement information of the rearranged multiple sectors, based on the electrical angle range where the actual electrical angle of the motor rotor is located.

[0127] Figure 6 This is a schematic diagram illustrating the software implementation logic of a pulse output strategy for suppressing even-order harmonics provided in one embodiment of this application. Figure 6 As shown, the specific implementation process can be, but is not limited to, represented as follows: (1) The application layer software collects the electrical angle of the motor rotor in each control cycle of the motor; (2) The application layer software determines whether the actual electrical angle of the current motor rotor is greater than 0 degrees and less than 60 degrees. If the actual electrical angle of the current motor rotor is greater than 0 degrees and less than 60 degrees, the bottom layer software outputs the pulses corresponding to the seven segments of vector in sector 1 in Table 2. If the condition (the actual electrical angle of the rotor is greater than 0 degrees and less than 60 degrees) is not met, the software jumps to step (3). (3) The application layer software determines whether the actual electrical angle of the current motor rotor is greater than 60 degrees and less than 120 degrees. If the actual electrical angle of the current motor rotor is greater than 60 degrees and less than 120 degrees, the bottom layer software outputs the pulses corresponding to the seven segments of vector in sector 2 of Table 2. If the condition (the actual electrical angle of the rotor is greater than 60 degrees and less than 120 degrees) is not met, then jump to step (4). (4) The application layer software determines whether the actual electrical angle of the current motor rotor is greater than 120 degrees and less than 180 degrees. If the actual electrical angle of the current motor rotor is greater than 120 degrees and less than 180 degrees, the bottom layer software outputs the pulses corresponding to the seven segments of vector in sector 3 of Table 2. If the condition (the actual electrical angle of the rotor is greater than 120 degrees and less than 180 degrees) is not met, then jump to step (5). (5) The application layer software determines whether the actual electrical angle of the current motor rotor is greater than 180 degrees and less than 240 degrees. If the actual electrical angle of the current motor rotor is greater than 180 degrees and less than 240 degrees, the bottom layer software outputs the pulses corresponding to the seven segments of vector in sector 4 of Table 2. If the condition (the actual electrical angle of the rotor is greater than 180 degrees and less than 240 degrees) is not met, then jump to step (6). (6) The application layer software determines whether the actual electrical angle of the current motor rotor is greater than 240 degrees and less than 300 degrees. If the actual electrical angle of the current motor rotor is greater than 240 degrees and less than 300 degrees, the bottom layer software outputs the pulses corresponding to the seven segments of vector in sector 5 of Table 2. If the condition (the actual electrical angle of the rotor is greater than 240 degrees and less than 300 degrees) is not met, the software jumps to step (7). (7) If none of the above conditions are met, that is, the actual electrical angle of the current motor rotor is not between 0 and 300 degrees, the underlying software will output according to the pulses corresponding to the seven vectors in sector 6 of Table 2.

[0128] Optionally, in one embodiment of this application, after controlling the power converter to output the corresponding emitting pulse according to the output sector and its output pulse, the method further includes: detecting the actual pulse signal and actual operating state of the motor; generating feedback information based on the actual pulse signal and actual operating state; and feeding the feedback information back to the user.

[0129] In some embodiments, after controlling the power converter according to the determined output sector and its output pulse, in order to ensure the stability of even harmonic elimination and to ensure that the motor can operate stably under the current output sector and its output pulse, this application can also detect the actual pulse signal and actual operating state of the motor, and generate feedback information based on the actual pulse signal and actual operating state, and feed the feedback information back to the user.

[0130] In other words, the embodiments of this application can detect in real time whether the current actual pulse signal conforms to the seven-segment vector arrangement information of each sector. After the power converter outputs the corresponding wave pulse in the output sector and its output pulse, it can detect whether the waveform half a cycle before and the waveform at the current moment (i.e., the line voltage) in a switching cycle constitute half-wave symmetry, and whether the operation is normal after outputting the corresponding wave pulse in the output sector and its output pulse. This information can generate certain feedback information through software and feed it back to the motor management user.

[0131] The motor control method proposed in this application can overcome the half-wave asymmetry problem caused by always starting from a low level in traditional space vector modulation by actively reconstructing the seven-segment vector output sequence of each sector within the switching cycle. This allows the voltage waveform to exhibit strict half-wave symmetry between symmetrical sectors within the half-cycle without increasing hardware costs or switching losses. This effectively suppresses or even eliminates even-order harmonic components in the phase current, helping to improve motor operating efficiency, reduce torque ripple and electromagnetic noise. It has great adaptability for high-performance motor drive systems with high current waveform quality requirements, contributing to improved motor drive efficiency and extended motor life. Therefore, it solves the problems in related technologies where traditional PWM modulation strategies are complex and costly while having limited compensation effects, failing to specifically suppress even-order harmonics, potentially leading to abnormal even-order harmonic components in the controller output current, and consequently causing torque ripple and electromagnetic interference, making it difficult to meet the demands of high-efficiency, low-cost industrial scenarios.

[0132] Figure 7 This is a schematic diagram of the structure of a motor control device provided in an embodiment of this application.

[0133] like Figure 7 As shown, the motor control device 10 includes: a first acquisition module 100, an arrangement module 200, and a control module 300.

[0134] The first acquisition module 100 is used to acquire the initial output sequence of seven vector segments of the control signal in multiple sectors of the switching cycle based on the control signal of the motor.

[0135] The arrangement module 200 is used to arrange the initial output order of the seven-segment vectors so as to generate the arrangement information of the seven-segment vectors corresponding to each sector after eliminating even harmonics in the control signal.

[0136] The control module 300 is used to generate the output sector and its output pulse of the motor power converter according to the seven-segment vector arrangement information, and control the power converter to output the corresponding ripple pulse according to the output sector and its output pulse.

[0137] Optionally, in one embodiment of this application, the layout module 200 includes: a layout unit and a determination unit.

[0138] Among them, the arrangement unit is used to arrange the seven-segment vector of the bridge pulse of the target sector in multiple sectors based on the target output principle of voltage vector.

[0139] The determination unit is used to arrange the output order of the seven-segment vectors based on the seven-segment vectors of the upper bridge pulse and the seven-segment vectors of the lower bridge pulse of the target sector after arrangement.

[0140] Optionally, in one embodiment of this application, it further includes: a second acquisition module and a determination module.

[0141] The second acquisition module is used to acquire the distribution information of multiple sectors during the switching cycle before arranging the seven-segment vector of the bridge pulse of the target sector in multiple sectors.

[0142] The determination module is used to determine the target sector based on the distribution information and the odd and even harmonic characteristics of the control signal.

[0143] Optionally, in one embodiment of this application, the arrangement unit includes: an arrangement subunit, used to convert the starting pulse of the bridge pulse of the target sector from the first identifier zero vector to the second identifier zero vector, exchange the second vector and the third vector of the target sector, and exchange the fifth vector and the sixth vector of the target sector to complete the arrangement of the seven vectors of the bridge pulse of the target sector.

[0144] Optionally, in one embodiment of this application, it further includes: a third acquisition module and an allocation module.

[0145] The third acquisition module is used to acquire the maximum duty cycle, median duty cycle, and minimum duty cycle of the upper bridge of the target sector after generating the seven-segment vector arrangement information corresponding to each sector.

[0146] The allocation module is used to determine the duty cycle allocation value of the upper bridge for multiple sectors based on the difference between the target value and the maximum, median and minimum duty cycle values, so as to allocate the duty cycle of the upper bridge for each sector according to the duty cycle allocation value.

[0147] Optionally, in one embodiment of this application, it further includes: a first detection module and a generation module.

[0148] The first detection module is used to detect the start level of the bridge arm pulse of each sector after allocating the duty cycle of the upper bridge according to the duty cycle allocation value.

[0149] The generation module is used to generate even harmonic elimination evaluation results corresponding to the seven-segment vector arrangement information when the starting voltage of the bridge arm pulse meets the corresponding level conditions.

[0150] Optionally, in one embodiment of this application, the control module 300 includes: an acquisition unit and a control unit.

[0151] The acquisition unit is used to acquire the actual electrical angle of the motor rotor in order to identify the current electrical angle range of the actual electrical angle.

[0152] The control unit is used to obtain the output sector and its output pulse corresponding to the actual electrical angle from the seven-segment vector arrangement information based on the current electrical angle range, and control the power converter to output the corresponding wave pulse according to the output sector and its output pulse.

[0153] Optionally, in one embodiment of this application, it further includes a second detection module and a feedback module.

[0154] The second detection module is used to detect the actual pulse signal and actual operating status of the motor after the control power converter outputs the corresponding wave pulse according to the output sector and its output pulse.

[0155] The feedback module is used to generate feedback information based on the actual pulse signal and the actual operating status, and then send the feedback information back to the user.

[0156] It should be noted that the foregoing explanation of the motor control method embodiment also applies to the motor control device of this embodiment, and will not be repeated here.

[0157] The motor control device proposed in this application can overcome the half-wave asymmetry problem caused by always starting from a low level in traditional space vector modulation by actively reconstructing the seven-segment vector output sequence of each sector within the switching cycle. This allows the voltage waveform to exhibit strict half-wave symmetry between symmetrical sectors within the half-cycle without increasing hardware costs or switching losses. This effectively suppresses or even eliminates even-order harmonic components in the phase current, helping to improve motor operating efficiency, reduce torque ripple and electromagnetic noise. It has great adaptability for high-performance motor drive systems with high current waveform quality requirements, contributing to improved motor drive efficiency and extended motor life. Therefore, it solves the problems in related technologies where traditional PWM modulation strategies are complex and costly while having limited compensation effects, failing to specifically suppress even-order harmonics, potentially leading to abnormal even-order harmonic components in the controller output current, and consequently causing torque ripple and electromagnetic interference, making it difficult to meet the demands of high-efficiency, low-cost industrial scenarios.

[0158] Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0159] It should be understood that the methods described above can be applied to... Figure 8 The vehicle with the structure shown may include: The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0160] When the processor 802 executes the program, it implements the motor control method provided in the above embodiments.

[0161] Furthermore, the vehicle also includes: Communication interface 803 is used for communication between memory 801 and processor 802.

[0162] The memory 801 is used to store computer programs that can run on the processor 802.

[0163] The memory 801 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0164] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0165] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0166] The processor 802 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0167] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform the motor control method provided in embodiments of this application.

[0168] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0169] When the functional modules are divided according to their respective functions, the device may further include: a first acquisition module, an output module, and a first generation module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here.

[0170] It should be understood that the device provided in this embodiment is used to execute the above-described motor control method, and therefore can achieve the same effect as the above-described implementation method.

[0171] When using integrated units, the device may include a processing module and a storage module. When applied to an automobile, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, etc.

[0172] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0173] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute the motor control method provided in the above embodiments.

[0174] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the motor control method provided in the above embodiment.

[0175] This embodiment also provides a computer program product. When the computer program product is run on a computer, it causes the computer to perform the above-mentioned related steps to implement the motor control method provided in the above embodiment.

[0176] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0177] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0178] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0179] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor control method, characterized in that, Includes the following steps: Based on the motor control signal, the initial output order of the seven-segment vector of the control signal in multiple sectors of the switching cycle is obtained; The initial output order of the seven vector segments is arranged so as to generate the seven vector segment arrangement information corresponding to each sector after eliminating even harmonics in the control signal; The output sector and its output pulse of the motor's power converter are generated based on the seven-segment vector arrangement information, and the power converter is controlled to output the corresponding wave pulse according to the output sector and its output pulse.

2. The method according to claim 1, characterized in that, The output order of arranging the seven vector segments includes: Based on the target output principle of voltage vector, the seven-segment vector of the bridge pulse of the target sector in the multiple sectors is arranged; Based on the seven-segment vectors of the upper bridge pulse and the seven-segment vectors of the lower bridge pulse of the target sector after arrangement, the output order of the seven-segment vectors is arranged.

3. The method according to claim 2, characterized in that, Before arranging the seven-segment vector of the bridge pulse of the target sector within the plurality of sectors, the following is also included: Obtain the distribution information of the multiple sectors during the switching cycle; The target sector is determined based on the distribution information and the odd and even harmonic characteristics of the control signal.

4. The method according to claim 2, characterized in that, The seven-segment vector for arranging the bridge pulses of the target sectors within the multiple sectors includes: The starting pulse of the bridge pulse in the target sector is converted from the first zero vector to the second zero vector. The second and third vectors of the target sector are swapped, and the fifth and sixth vectors of the target sector are swapped to complete the arrangement of the seven vectors of the bridge pulse in the target sector.

5. The method according to claim 2, characterized in that, After generating the seven-segment vector arrangement information corresponding to each sector, the method further includes: Obtain the maximum, median, and minimum duty cycle values ​​of the upper bridge in the target sector; Based on the difference between the target value and the maximum duty cycle, the median duty cycle, and the minimum duty cycle, the duty cycle allocation value of the upper bridge of the multiple sectors is determined, so as to allocate the duty cycle of the upper bridge of each sector according to the duty cycle allocation value.

6. The method according to claim 5, characterized in that, After allocating the duty cycle of the upper bridge for each sector according to the duty cycle allocation value, the method further includes: The start level of the bridge arm pulse in each sector after the duty cycle is allocated is detected; When the starting voltage of the bridge arm pulse meets the corresponding level condition, the even harmonic elimination evaluation result corresponding to the seven-segment vector arrangement information is generated.

7. The method according to claim 5, characterized in that, The step of generating the output sector and its output pulse of the motor's power converter based on the seven-segment vector arrangement information includes: The actual electrical angle of the motor rotor is obtained to identify the current electrical angle range of the actual electrical angle; Based on the current electrical angle range, the output sector and its output pulse corresponding to the actual electrical angle are obtained from the seven-segment vector arrangement information, and the power converter is controlled to output the corresponding wave pulse according to the output sector and its output pulse.

8. The method according to claim 1, characterized in that, After controlling the power converter to output corresponding transmission pulses according to the output sector and its output pulse, the method further includes: Detect the actual pulse signal and actual operating status of the motor; Feedback information is generated based on the actual pulse signal and the actual operating status, and the feedback information is fed back to the user.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the motor control method as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the motor control method as described in any one of claims 1-8.

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