Vector control for multiphase systems

Abstract

The invention relates to vector control for multi-phase systems. A circuit for vector control includes a shift mode selector, a shift signal generator, and driver circuitry. The shift mode selector is configured to select a first shift mode from a plurality of shift modes based on the hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference. The shift signal generator is configured to generate a first pulse modulated signal for the first phase and a second pulse modulated signal for the second phase based on the selection of the first shift pattern and the current voltage reference. The driver circuitry is configured to control the switching circuitry to generate a first phase signal for a first phase based on the first pulse modulated signal and to generate a second phase signal for a second phase based on the second pulse modulated signal.

Description

Technical Field

[0001] This disclosure relates to circuits and techniques for controlling multiphase systems, and more specifically, for example, to circuits and techniques for generating pulse modulation signals for controlling three-phase motors. Background Technology

[0002] The operation of a multiphase system can be performed by a controller circuit. The controller circuit controls the switching circuitry to supply power from the power source to each phase of the multiphase system with a desired amplitude and angle based on a voltage reference used for vector control. Summary of the Invention

[0003] Generally, this disclosure relates to techniques for generating modulation signals for controlling multiphase systems (e.g., three-phase motors) while ensuring and / or improving the accuracy of voltage and / or current measurements of the phase of the multiphase system. For example, the circuit may select a first shift mode from multiple shift modes for controlling the multiphase system based on the angle of a current voltage reference (e.g., an instantaneous voltage reference) and also based on the hysteresis value and the angle of a previous voltage reference. Using the hysteresis value and the angle of the previous voltage reference can help ensure that the circuit does not change the shift mode near the edge between two sectors (e.g., within the angle defined by the hysteresis value). Changing the shift mode near the edge between two sectors can increase the amount of error in the measurement of electrical characteristics (e.g., phase current), thereby potentially reducing the stability of the multiphase system and / or potentially increasing harmonic distortion.

[0004] In some examples, this disclosure describes a circuit for vector control of a multiphase system, comprising a shift mode selector, a shift signal generator, and a driver circuit arrangement. The shift mode selector is configured to select a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, an angle of a current voltage reference, and an angle of a previous voltage reference. The shift signal generator is configured to generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference. The driver circuit arrangement is configured to control a switching circuit arrangement to generate a first phase signal for the first phase based on the first pulse modulation signal, and to generate a second phase signal for the second phase based on the second pulse modulation signal.

[0005] In some examples, this disclosure describes a method for vector control of a multiphase system, the method comprising: selecting a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, an angle of a current voltage reference, and an angle of a previous voltage reference; and generating a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference. The method further comprises: controlling switching circuitry to generate a first phase signal for the first phase based on the first pulse modulation signal, and generating a second phase signal for the second phase based on the second pulse modulation signal.

[0006] In some examples, this disclosure describes a system for vector control of a multiphase system, the system including a switching circuit arrangement, a shift mode selector, a shift signal generator, and a driver circuit arrangement. The shift mode selector is configured to select a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, an angle of a current voltage reference, and an angle of a previous voltage reference. The shift signal generator is configured to generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference. The driver circuit arrangement is configured to control the switching circuit arrangement to generate a first phase signal for the first phase based on the first pulse modulation signal, and to generate a second phase signal for the second phase based on the second pulse modulation signal.

[0007] Details of these and other examples are set forth in the accompanying drawings and the following description. Other features, objects, and advantages will be apparent from the description and drawings, as well as from the claims. Attached Figure Description

[0008] Figure 1 This is a block diagram illustrating an example system for controlling a multiphase system according to one or more techniques of this disclosure.

[0009] Figure 2 The figure shows a conceptual schematic diagram of an example system for controlling a multiphase system according to one or more techniques of this disclosure.

[0010] Figure 3 This is a graph illustrating an example of a switching mode for vector control according to one or more techniques of this disclosure.

[0011] Figure 4 This is a graph illustrating an example voltage reference for vector control according to one or more techniques of this disclosure.

[0012] Figure 5 This is a conceptual control diagram illustrating the blind zone of a symmetrical switch according to one or more techniques of this disclosure.

[0013] Figure 6 This is a graph illustrating an example of an asymmetric switch according to one or more techniques of this disclosure.

[0014] Figure 7 This is a graph illustrating an example of current measurement error at a sector boundary according to one or more techniques of this disclosure.

[0015] Figure 8 This is a graph illustrating an example current measurement using an asymmetric switch according to one or more techniques of this disclosure.

[0016] Figure 9 This is a conceptual diagram illustrating an example sector for controlling a multiphase system according to one or more techniques of this disclosure.

[0017] Figure 10 This is a first conceptual diagram illustrating an example of a hysteresis value applied to a sector for controlling a multiphase system according to one or more techniques of this disclosure.

[0018] Figure 11 This is a second conceptual diagram illustrating an example of a hysteresis value applied to a sector for controlling a multiphase system according to one or more techniques of this disclosure.

[0019] Figure 12 This is a graph illustrating example current measurements and selected sectors according to one or more techniques of this disclosure.

[0020] Figure 13 This is a conceptual vector control diagram illustrating an example mapping of long pulses, medium pulses, and short pulses to sectors according to one or more techniques of this disclosure.

[0021] Figure 14 This is a flowchart illustrating an example process according to one or more techniques of this disclosure. Detailed Implementation

[0022] Figure 1 This is a block diagram illustrating an example system 100 for controlling a multiphase system 106 according to one or more techniques of this disclosure. (As shown in...) Figure 1 As shown in the example, system 100 may include circuit 102, switching circuit device 104, and multiphase system 106. Circuit 102 may include shift mode selector 120, shift signal generator 122, and driver circuit device 124. Although Figure 1 Examples may include only two phases, but some examples may include more than two phases. For example, the switch signal generator 120 may optionally control a third phase of the multiphase system 106.

[0023] Circuit 102 can be configured for vector control of the multiphase system 106. For example, circuit 102 can be configured to control the activation of the switching elements of the switching circuit device 104 based on a current voltage reference for the multiphase system 106 (e.g., a voltage vector at a specific point in time) and a predefined switching pattern for vector control. Circuit 102 can determine the current voltage reference (e.g., angle and amplitude) based on the shunt current for the multiphase system 106. For example, current 102 may optionally include an electrical signal detector configured to determine the shunt current for the multiphase system 106 while driver circuit device 124 controls switching circuit device 104. Circuit 102 may include one or more processors, such as one or more microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or any other equivalent integrated or discrete logic circuit device, and any combination of these components. The term "processor" or "processing circuitry" can generally refer to any of the aforementioned logic circuit devices, alone or in combination with other logic circuit devices or any other equivalent circuit devices.

[0024] The switching circuit device 104 can be configured to selectively couple a first phase of the multiphase system 106 to a power supply or reference node (e.g., local ground or earth ground), and selectively couple a second phase of the multiphase system 106 to a power supply or reference node. Figure 1 In the example, the switching circuit device 104 is controlled by circuit 102, particularly, for example, driver circuit device 124. Examples of switching elements may include, but are not limited to, silicon controlled rectifiers (SCRs), field-effect transistors (FETs), and bipolar junction transistors (BJTs). Examples of FETs may include, but are not limited to, junction field-effect transistors (JFETs), metal-oxide-semiconductor FETs (MOSFETs), dual-gate MOSFETs, insulated-gate bipolar transistors (IGBTs), any other type of FET, or any combination thereof. Examples of MOSFETs may include, but are not limited to, depletion-mode p-channel MOSFETs (PMOS), enhancement-mode PMOS, depletion-mode n-channel MOSFETs (NMOS), enhancement-mode NMOS, double-diffused MOSFETs (DMOS), any other type of MOSFET, or any combination thereof. Examples of BJTs may include, but are not limited to, PNP, NPN, heterojunction, or any other type of BJT, or any combination thereof. It should be understood that the switching element can be a high-side switching element or a low-side switching element. Furthermore, the switching element can be voltage-controlled and / or current-controlled. Examples of current-controlled switching elements may include, but are not limited to, gallium nitride (GaN) MOSFETs, BJTs, or other current-controlled elements.

[0025] Multiphase system 106 may include any system using at least two phases. Examples of multiphase system 106 may include multiphase motors, such as, for example, three-phase permanent magnet synchronous motors (PMSM), three-phase brushless DC motors (BLDC), or multiphase solar inverters. Multiphase system 106 may operate as a load that converts electrical energy into mechanical energy only, a generator that converts mechanical energy into electrical energy only, or both a load and a generator.

[0026] Circuit 102 (e.g., a vector controller implemented in circuit 102) can determine voltage references (e.g., voltage amplitude and angle) for the multiphase system 106. For example, circuit 102 can use vector control, also referred to herein as "field-oriented control (FOC)," to generate a current voltage reference and / or a previous voltage reference. In some examples, shift mode selector 120 can receive the current voltage reference and / or previous voltage reference generated using vector control from a vector controller (e.g., implemented in a circuit device external to circuit 102). Examples of devices that can use vector control include, for example, linear regulators (e.g., proportional-integral (PI) or proportional-integral-derivative (PID)) and / or nonlinear regulators. The previous voltage reference may immediately precede the current voltage reference. As further shown herein, circuit 102 can use vector control (see [link to documentation]). Figure 13 The switching mode and / or shift mode (e.g., six sectors) of the sector (e.g., six sectors) are used to control the multiphase system 106.

[0027] According to the technology disclosed herein, shift mode selector 120 can be configured to select a shift mode from a plurality of shift modes for controlling multiphase system 106 based on a hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference. The hysteresis value can be pre-configured (e.g., user-defined) or predetermined (e.g., determined by circuit 102 or another circuit). For example, shift mode selector 120 can determine the direction of rotation based on the angle of the current voltage reference and the angle of the previous voltage reference. For example, shift mode selector 120 can determine that the direction of rotation is positive based on the determination that the angle of the current voltage reference is larger than the angle of the previous voltage reference. Similarly, shift mode selector 120 can determine that the direction of rotation is negative based on the determination that the angle of the current voltage reference is smaller than the angle of the previous voltage reference.

[0028] exist Figure 1In the example, shift mode selector 120 may select a first shift mode based on determining that the angle of the current voltage reference satisfies a set of predefined rotational angles for a first shift mode. For example, shift mode selector 120 may apply a hysteresis value to a set of predefined angles (e.g., 0 degrees to 60 degrees) for a first sector of a plurality of sectors to shift the set of predefined angles in a rotational direction (e.g., positive) by the hysteresis value (e.g., 10 degrees) to generate a set of predefined rotational angles for the first shift mode. In this example, shift mode selector 120 may select a first shift mode based on determining that the angle of the current voltage reference (e.g., 60 degrees) is within a set of predefined rotational angles assigned to the first shift mode (e.g., 10 degrees to 70 degrees). That is, shifting the set of predefined angles for the first sector in a rotational direction by the hysteresis value makes the angle of the current voltage reference within the set of predefined rotational angles assigned to the first shift mode. Using the hysteresis value and the angle of the previous voltage reference can help ensure that circuit 102 does not change the shift mode near the edge between two sectors (e.g., within the angle range defined by the hysteresis value).

[0029] The shift signal generator 122 can be configured to generate a first pulse modulation signal for a first phase of the multiphase system 106 and a second pulse modulation signal for a second phase of the multiphase system 106 based on the selection of a first shift mode and a current voltage reference. For example, based on determining that the first pulse modulation signal corresponds to a long pulse in the first shift mode and the second pulse modulation signal corresponds to a short pulse in the first shift mode, the shift signal generator 122 can shift the first pulse modulation signal in a first direction and shift the second pulse modulation signal in a second direction opposite to the first direction. In this example, the shift signal generator 122 can determine that the first shift mode assigns a long pulse to the first pulse modulation signal and the first shift mode assigns a short pulse to the second pulse modulation signal. In this case, the shift signal generator 122 can add a predetermined amount of time to the first pulse based on the first pulse modulation signal corresponding to the long pulse, such that the start and end of the first pulse are later than before the shift (see [link to relevant documentation]). Figure 6 Similarly, the shift signal generator 122 can modulate a second pulse signal corresponding to the short pulse by subtracting a predetermined amount of time from the second pulse, such that the start and end of the second pulse are later than before the shift (see [link]). Figure 6 ).

[0030] The shift signal generator 122 can generate a first pulse modulation signal and a second pulse modulation signal based on a corresponding symmetrical switching mode assigned to each of the multiple sectors used to control the multiphase system. For example, the shift signal generator 122 can select a first sector from the multiple sectors used to control the multiphase system based on the angle of the current voltage reference. For example, the shift signal generator 122 can select the first sector in response to determining that the angle of the current voltage reference is within a predefined set of angles for the first sector (see [link to relevant documentation]). Figure 9 The shift signal generator 122 can select a first pulse for the first pulse modulation signal and a second pulse for the second pulse modulation signal based on the selection of the first sector. For example, the shift signal generator 122 can determine that a symmetrical switching mode for the first sector assigns a medium pulse to the first pulse modulation signal and a symmetrical switching mode assigns a short pulse to the second pulse modulation signal. In this example, the shift signal generator 122 can use a shift mode to shift the first pulse in the first pulse modulation signal in a first direction and shift the second pulse in the second pulse modulation signal in a second direction, as described above.

[0031] The shift signal generator 122 can determine whether to shift the first pulse modulation signal and the second pulse modulation signal based on whether the angle of the current voltage reference is within a predefined angular range from the boundary formed by the two adjacent portions. In response to determining that the angle of the current voltage reference is within the predefined angular range from the boundary, the shift signal generator 122 can shift the first pulse modulation signal in a first direction and shift the second pulse modulation signal in a second direction. However, in response to determining that the angle of the current voltage reference is not within the predefined angular range from the boundary, the shift signal generator 122 can prevent shifting the first pulse modulation signal in the first direction and can prevent shifting the second pulse modulation signal in the second direction opposite to the first direction.

[0032] The shift signal generator 122 can be configured to generate a first pulse modulation signal based on a current voltage reference. For example, the shift signal generator 122 can be configured to set the duty cycle of the first pulse modulation signal and / or the duty cycle of the second pulse modulation signal based on the amplitude of the current voltage reference. Additionally or optionally, the shift signal generator 122 can be configured to set the difference in duration between long and short pulses based on the amplitude of the current voltage reference.

[0033] Driver circuitry 124 can be configured to control switching circuitry 104 to generate a first phase signal for a first phase based on a first pulse modulation signal, and to generate a second phase signal for a second phase based on a second pulse modulation signal. For example, driver circuitry 120 can be configured to generate the first phase signal based on the first pulse modulation signal to drive one or more switching elements, thereby coupling the first phase to a power supply (e.g., a DC link) or a reference node (e.g., ground). Similarly, driver circuitry 124 can be configured to generate the second phase signal based on the second pulse modulation signal to drive one or more switching elements, thereby coupling the second phase to a power supply or a reference node.

[0034] Figure 2 This is a conceptual schematic diagram illustrating an example system for controlling a multiphase system 206 according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figure 1 discuss Figure 2 For illustrative purposes only. Figure 2 The multiphase system 206 is illustrated as a three-phase motor.

[0035] Figure 1 The driver circuit 124 can control the switching elements 220A-220F (collectively referred to as "switching elements 220") of the switching circuit 204. The switching circuit 204 can control the current path (e.g., I0) through the switching elements 220. DC-link For example, switching element 220 can connect a first side (e.g., the positive terminal) of power supply 208 (e.g., a DC link) to multiphase system 206. Examples of power supply 208 may include a direct current (DC) voltage source. Switching element 220 can connect multiphase system 206 to a second side (e.g., the negative terminal or reference terminal) of power supply 208.

[0036] The electrical signal detector 230 can be configured to drive the shunt current for the multiphase system 206, while Figure 1 The driver circuit device 124 controls the switching circuit device 204 to generate a first phase signal 237 and a second phase signal 238. For example, the electrical signal detector 230 can measure the voltage drop from the input port 236 of the electrical signal detector 230 to a reference node (e.g., ground or voltage reference). When a switching signal is applied, the voltage drop may be referred to herein as the voltage response. The voltage drop can be generated from the current (e.g., I) passing through the resistor shunt 234. DC-linkThe voltage response is generated in the circuit. The electrical signal detector 230 can be used to measure the voltage response obtained from the current routed from the combination of switching elements 220 to the input port 236. The analog-to-digital converter (ADC) 232 can be configured to measure the voltage drop caused by the currents generated by phase currents 237, 238, and 239. The phase current measurement generated by the electrical signal detector 230 can be used to control the multiphase system 206 using vector control.

[0037] Figure 3 This is a graph illustrating an example of a switching mode for vector control according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-2 discuss Figure 3 .exist Figure 3 In the example, the horizontal axis represents time and the vertical axis represents the first pulse modulation signal 302, the second pulse modulation signal 304, and the third pulse modulation signal 306. Figure 3 In a symmetrical control mode (e.g., a three-phase center alignment mode), each of the first pulse modulation signal 302, the second pulse modulation signal 304, and the third pulse modulation signal 306 is aligned with the center of the switching cycle.

[0038] Figure 2 The electrical signal detector 230 can be configured to measure the shunt current twice during a switching cycle. The electrical signal detector 230 can measure the first sample as a combination of a first-phase current and a second-phase current (I0). U +I V In this example, the electrical signal detector 230 can measure the second sample as the first phase current (I). U Based on Kirchhoff's circuit laws (i.e., I...) U +I V +I W =0), the electrical signal detector 230 can reconstruct three phase currents (I =0), U I V I W Each current in ).

[0039] Figure 4 This is a graph illustrating an example voltage reference 404 for vector control according to one or more techniques of this disclosure. Reference is for illustrative purposes only. Figures 1-3 discuss Figure 4 .exist Figure 4 In the example, Figure 1Circuit 102 controls the switching circuit device 104 to switch between switching modes, wherein each of the sub-vectors 402A, 402B, and 402C corresponds to a voltage vector of the switching mode. As shown, the sum of sub-vectors 402A, 402B, and 402C generates a voltage reference 404. In this way, circuit 102 can generate a voltage reference 404 that is different from a single vector among the sub-vectors.

[0040] Figure 5 This is a conceptual control diagram illustrating the dead zone of a symmetrical switch according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-4 discuss Figure 5 . Figure 1 Circuit 102 can modulate signals via phase modulation (see, for example, see...) Figure 4 The generated voltage is referenced to 504. (Refer to the reference...) Figure 6 As further discussed, circuit 102 may not be able to measure the shunt current in the blind zone 502 (shown as unfilled) of the control circle twice in a single cycle, which may lead to measurement errors.

[0041] Figure 6 This is a graph illustrating an example of an asymmetric switch according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-5 discuss Figure 6 .exist Figure 6 In the example, the horizontal axis represents time and the vertical axis represents the first pulse modulation signal 602, the second pulse modulation signal 604, and the third pulse modulation signal 606.

[0042] exist Figure 5 In the blind zone 502, the edges of the first pulse modulation signal 602, the second pulse modulation signal 604, and the third pulse modulation signal 606 can shift closer relative to the sampling time, which may lead to measurement errors. Figure 6 In asymmetric control modes (e.g., three-phase center alignment mode), the shift signal generator 122 receives signals from... Figure 3 In the symmetrical control mode, the long pulse (i.e., the first pulse modulation signal 602) is shifted to the right and the short pulse (i.e., the third pulse modulation signal 606) is shifted to the left. In this way, compared with a system that does not deviate from the symmetrical control mode, circuit 102 can help reduce... Figure 5 The blind spot is used to more accurately measure the first sample as a combination of the first phase current and the second phase current (I U +I V ), and the second sample is measured as the first phase current (I). U Compared to systems with non-shifted deviation symmetrical control modes, reducing the blind spot allows circuit 102 to accurately reconstruct the three-phase currents (I0) for a larger portion of the control circle. U IV I W Each current in ). For example, shift signal generator 122 can increase the amount of measurement time available for electrical signal detectors (such as ADCs).

[0043] The shift signal generator 122 can perform shifting based on the angle of a voltage reference. For example, the shift signal generator 122 can perform shifting based on the angle at which the current voltage reference is determined to be within a predefined angular range from a boundary (e.g., in...). Figure 5 (in the blind spot) and shifted away Figure 3 The symmetrical control mode. In this case, the shift signal generator 122 can prevent shift deviation based on determining that the angle of the current voltage reference is not within a predefined angle range from the boundary. Figure 3 Symmetrical control mode.

[0044] Figure 7 This is a graph illustrating an example of current measurement error at a sector boundary according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-6 discuss Figure 7 .exist Figure 7 In the example, the horizontal axis represents time and the vertical axis represents the first reconstructed phase current 702, the second reconstructed phase current 704, and the third reconstructed phase current 706. Figure 7 The diagram illustrates voltage-frequency control on a low-inductance motor (e.g., L = 0.125 mH), where the actual current appearing at point 106 in the multiphase system is smoothed. Figure 7 In the example, the reconstructed phase currents with asymmetric switching (i.e., the first reconstructed phase current 702, the second reconstructed phase current 704, and the third reconstructed phase current 706) include a current measurement error jump 712 at the sector boundary. The interaction between the measurement error from the current measurement error jump 712 and the current proportional-integral control can cause ringing, where the selected sector repeatedly changes between two sectors. Furthermore, current-frequency control operation on a low-inductance motor can lead to acoustic noise emission (e.g., 3x electrical frequency).

[0045] To determine the current in each phase of a three-phase system, circuit 102 can sample the two currents and apply Kirchhoff's circuit laws (i.e., I0) for any instantaneous time given by time. U +I V +I W=0) and reproduce the current. Examples of reasons for the current measurement error jump 712 in the measured phase current can include, for example, the assumption in a single shunt scheme: the current is sampled simultaneously, which is not true, and / or the phase current is constant during a single cycle, which may lead to larger errors when the inductance of the motor decreases. The current measurement error in a single shunt scheme can be hardware-independent and / or measurement mode-dependent.

[0046] Figure 8 This is a graph illustrating example current measurements using an asymmetrical switch according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-7 discuss Figure 8 .exist Figure 8 In the example, the horizontal axis represents time, and for the previous voltage reference, the vertical axis represents the first pulse modulation signal 802, the second pulse modulation signal 804, and the third pulse modulation signal 806, and for the current voltage reference, the vertical axis represents the first pulse modulation signal 812, the second pulse modulation signal 814, and the third pulse modulation signal 816.

[0047] exist Figure 8 In the example, shift signal generator 122 from Figure 3 In the symmetrical control mode, shifting the first pulse modulation signal 802 to the right and the third pulse modulation signal 806 to the left helps reduce blind spots. In this example, circuit 102 can shift the first sample (I LONG +I MIDDLE The measurement is a combination of a long pulse (i.e., the first pulse modulation signal 802) and a medium pulse (i.e., the second pulse modulation signal 804) against a previous voltage reference. However, changing both the switching mode and the shift mode when switching from sector 1 to sector 2 can lead to undesirable errors in the measurement of electrical characteristics (e.g., phase current). Examples of changes in the sampled current when changing sectors are shown in Table 1. Table 1

[0048] Sudden changes in shift mode can cause nonlinear jumps in measurement error. This nonlinear behavior can form a positive feedback loop with the PI controller, potentially leading to oscillations in the phase current. These oscillations can result in unwanted acoustic noise.

[0049] Figure 9 This is a conceptual diagram illustrating an example sector 902 for controlling a multiphase system according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-8 discuss Figure 9Each sector of sector 902 (illustrated as 1, 2, 3, 4, 5, 6) can have a unique mapping of long / medium / short pulses. For example, sector 1 can have a U / V / W mapping and sector 2 can have a V / U / W mapping. Examples of complete mappings are shown in Table 2 below.

[0050] Figure 10 This is a first conceptual diagram illustrating an example of a hysteresis value applied to a sector for controlling a multiphase system according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-9 discuss Figure 10 .exist Figure 10 In the example, shift mode selector 120 can provide shift mode hysteresis to help prevent frequent shift mode jumps. For example, shift mode selector 120 can decouple shift mode changes from sector changes.

[0051] According to the technology of this disclosure, the shift mode selector 120 can be configured to select a shift mode for controlling the multiphase system 106 based on the hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference (e.g., ...). Figure 10 (A, B, C, D, E, or F). For example, shift mode selector 120 can determine the direction of rotation (e.g., forward or counterclockwise) based on the angle of the current voltage reference and the angle of the previous voltage reference. In this example, shift mode selector 120 can select a first shift mode based on determining that the angle of the current voltage reference satisfies a set of predefined rotation angles assigned to a first shift mode. The set of predefined rotation angles can include a set of predefined angles for a first sector of multiple sectors that shift hysteresis values ​​in the rotation direction. For example, shift mode selector 120 can apply hysteresis 1012 to the set of predefined angles for the first sector (e.g., 0 degrees to 60 degrees) to shift the set of predefined angles by a hysteresis value (e.g., 10 degrees) in the rotation direction (e.g., forward).

[0052] In this case, the shift mode selector 120 can select the first shift mode (e.g., "A") based on the angle of the current voltage reference within a set of predefined rotation angles for the first shift mode (e.g., "A"). That is, the angle of the current voltage reference can be selected for the second sector (e.g., ...). Figure 9 Within the set of predefined angles for sector 2), and the angle of the previous voltage reference can be for the first sector (e.g. Figure 9Within a predefined set of angles for sector 1). In this example, however, when hysteresis is applied, shift mode selector 120 can select a first shift mode (e.g., "A"). Conversely, shift mode selector 120 can select sector 2 to determine the switching mode (e.g., which phase is assigned a long pulse, medium pulse, and / or short pulse). Using the hysteresis value and the angle of the previous voltage reference to determine the shift mode can help ensure that circuit 102 does not change the shift mode near the edge between the two sectors (e.g., within the angle range defined by the hysteresis value). Although Figure 10 The example refers to the first shift pattern as "A", but in other examples, the first shift pattern can refer to one of BF or another shift pattern used for a set of different shift patterns.

[0053] As used herein, the shift pattern can define a corresponding shift for each phase. For example, shift pattern 1002 can be assigned left, none, or right as shown in Table 2. Table 2

[0054] Figure 11 This is a second conceptual diagram illustrating an example of a hysteresis value applied to a sector for controlling a multiphase system according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-10 discuss Figure 11 .

[0055] exist Figure 11 In this example, shift mode selector 120 can determine the direction of rotation (e.g., negative or clockwise) based on the angle of the current voltage reference and the angle of the previous voltage reference. In this example, shift mode selector 120 can select a first shift mode of shift mode 1102 based on a set of predefined angles for a first sector that satisfy a shift hysteresis value in the rotation direction for determining the angle of the current voltage reference. For example, shift mode selector 120 can apply hysteresis 1112 to a set of predefined angles for the first sector (e.g., 0 degrees to 60 degrees) to shift the set of predefined angles by a hysteresis value (e.g., 10 degrees) in the rotation direction (e.g., negative). In this case, shift mode selector 120 can select a first shift mode (e.g., sector "A") based on determining that the angle of the current voltage reference is within the set of predefined rotation angles for the first shift mode (e.g., "A"). In this way, the shift mode selector 120 can selectively add or subtract hysteresis values ​​from a set of predefined angles for a specific sector to help ensure that the circuit 102 does not change the shift mode near the edge between two sectors (e.g., within the range of angles defined by the hysteresis value). Although Figure 11The example refers to the first shift pattern as "A". In other examples, the first shift pattern may refer to one of the shift patterns in BF or another shift pattern used for a set of different shift patterns.

[0056] Figure 12 This is a graph illustrating example current measurements and selected sectors according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-11 discuss Figure 12 .exist Figure 12 In the example, the horizontal axis represents time and the vertical axis represents the first phase signal 1202, the second phase signal 1204, the third phase signal 1206, and the selected sector 1212.

[0057] During time range 1220, shift mode selector 120 can perform asymmetrical switching and avoid performing hysteresis on a predefined set of angles for sectors to select a shift mode, which could cause the selected sector 1212 to repeatedly change between two sectors. During time range 1222, however, shift mode selector 120 can perform hysteresis on a predefined set of angles for sectors to select a shift mode, which can help ensure that the selected sector 1212 does not repeatedly change between two sectors. In this way, compared to a system that does not select a shift mode based on hysteresis, shift mode selector 120 can help improve the stability of the control circuit.

[0058] Figure 13 This is a conceptual vector control diagram illustrating an example mapping of long pulses, medium pulses, and short pulses to sectors according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-12 discuss Figure 13 .

[0059] exist Figure 13In the example, the rotor's field direction is divided into sections 1301, 1302, 1303, 1304, 1305, and 1306. Section 1301 allocates a first pulse modulation signal 1310A, a second pulse modulation signal 1312A, and a third pulse modulation signal 1314A to control the current in the "U" phase winding, the "V" phase winding, and the "W" phase winding, respectively. Similarly, section 1312 allocates a first pulse modulation signal 1310B, a second pulse modulation signal 1302B, and a third pulse modulation signal 1314B to control the current in the "U" phase winding, the "V" phase winding, and the "W" phase winding, respectively. Part 1303 allocates a first pulse modulation signal 1310C, a second pulse modulation signal 1312C, and a third pulse modulation signal 1314C to control the current in the “U” phase winding, the “V” phase winding, and the “W” phase winding, respectively, and part 1304 allocates a first pulse modulation signal 1310D, a second pulse modulation signal 1312D, and a third pulse modulation signal 1314D to control the current in the “U” phase winding, the “V” phase winding, and the “W” phase winding, respectively. Furthermore, portion 1305 allocates the first pulse modulation signal 1310E, the second pulse modulation signal 1312E, and the third pulse modulation signal 1314E to control the current in the "U" phase winding, the "V" phase winding, and the "W" phase winding, respectively, and portion 1306 allocates the first pulse modulation signal 1310F, the second pulse modulation signal 1312F, and the third pulse modulation signal 1314F to control the current in the "U" phase winding, the "V" phase winding, and the "W" phase winding, respectively.

[0060] The shift signal generator 122 can assign symmetrical switching modes to each sector, where the symmetrical switching modes define the pulse length (e.g., maximum / long, medium, and minimum / short) for each phase. For example, the shift signal generator 122 can assign PWM. Max (e.g., maximum / long pulse), PWM Mid (e.g., medium pulse) and PWM Min (e.g., minimum / short pulse), as shown in Table 3. Using PWM Max PWM Mid and PWM Min This allows the shift signal generator 120 to reduce the complexity of the circuit 102. Table 3

[0061] Figure 14 This is a flowchart illustrating an example process according to one or more techniques of this disclosure. Reference is made for illustrative purposes only. Figures 1-13 discuss Figure 14 .

[0062] Shift mode selector 120 can select a shift mode (1402) from multiple shift modes for controlling multiphase system 106 based on the hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference. For example, shift mode selector 120 can determine the direction of rotation based on the angle of the current voltage reference and the angle of the previous voltage reference. In this example, shift mode selector 120 can select a first shift mode based on a set of predefined angles for a first sector that determine the angle of the current voltage reference satisfies the shift hysteresis value in the direction of rotation. The angle of the current voltage reference may be within a set of predefined angles for a second sector of multiple sectors, and the angle of the previous voltage reference may be within a set of predefined angles for the first sector. The set of predefined angles for the first sector may include 60-degree angles. For example, the set of predefined angles for the first sector may include: a first angle between 0 and 60 degrees, a second angle between 60 and 120 degrees, a third angle between 120 and 180 degrees, a fourth angle between 180 and 240 degrees, a fifth angle between 240 and 300 degrees, or a sixth angle between 300 and 360 degrees.

[0063] The shift signal generator 122 can generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system (1404) based on the selection of a first shift mode and a current voltage reference. For example, the shift signal generator 122 can shift the first pulse modulation signal in a first direction and shift the second pulse modulation signal in a second direction opposite to the first direction based on the selection of the first shift mode. For example, the shift signal generator 122 can shift the first pulse modulation signal in a first direction (e.g., right) and shift the second pulse modulation signal in a second direction (e.g., left) based on a first shift mode that maps the first modulation signal (e.g., phase U) to the first direction and the second modulation signal (e.g., phase W) to the second direction.

[0064] The driver circuitry 124 can control the switching circuitry 104 to generate a first-phase signal for a first phase based on a first pulse modulation signal and a second-phase signal for a second phase based on a second pulse modulation signal (1406). The switching circuitry 104 may include a three-phase inverter circuit. In some examples, the multiphase system 106 may include a three-phase motor.

[0065] In some examples, while the driver circuitry 124 controls the switching circuitry 104 to generate a first phase signal and a second phase signal, the electrical signal detector can determine the shunt current for the multiphase system 106. For example, Figure 2 The electrical signal detector 230 can determine the shunt current used in the multiphase system 106.

[0066] The following terms may illustrate one or more aspects of this disclosure.

[0067] Clause 1: A circuit for vector control of a multiphase system, the circuit comprising: a shift mode selector configured to select a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, an angle of a current voltage reference, and an angle of a previous voltage reference; a shift signal generator configured to generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference; and a driver circuit arrangement configured to control a switching circuit arrangement to generate a first phase signal for the first phase based on the first pulse modulation signal, and to generate a second phase signal for the second phase based on the second pulse modulation signal.

[0068] Clause 2: The circuit according to Clause 1, wherein, in order to select a first shift mode, the shift mode selector is configured to: determine a rotation direction based on the angle of the current voltage reference and the angle of the previous voltage reference; and select a first shift mode based on determining that the angle of the current voltage reference satisfies a set of predefined rotation angles assigned to the first shift mode, the set of predefined rotation angles including a set of predefined angles for a first sector of a plurality of sectors for shifting hysteresis values ​​in the rotation direction.

[0069] Clause 3: The circuit according to Clause 2, wherein the angle of the current voltage reference is within a set of predefined angles for a second sector for a plurality of sectors, and wherein a shift hysteresis value in the rotation direction for the set of predefined angles for a first sector makes the angle of the current voltage reference within the set of rotational predefined angles assigned to the first shift mode.

[0070] Clause 4: The circuit described in Clauses 2 to 3, wherein the set of predefined angles for the first sector includes a 60-degree angle.

[0071] Clause 5: The circuit described in Clauses 2 to 4, wherein the set of predefined angles for the first sector includes: a first angle between 0 degrees and 60 degrees; a second angle between 60 degrees and 120 degrees; a third angle between 120 degrees and 180 degrees; a fourth angle between 180 degrees and 240 degrees; a fifth angle between 240 degrees and 300 degrees; or a sixth angle between 300 degrees and 360 degrees.

[0072] Clause 6: The circuit according to Clauses 1 to 5, wherein, in order to generate the first pulse modulation signal and the second pulse modulation signal, the shift signal generator is configured to: shift the first pulse modulation signal in a first direction and shift the second pulse modulation signal in a second direction opposite to the first direction, based on the selection of a first shift mode.

[0073] Clause 7: The circuit according to Clause 6, wherein, in order to generate the first pulse modulation signal and the second pulse modulation signal, the shift signal generator is configured to: select a first sector from a plurality of sectors for controlling the multiphase system based on the angle of the current voltage reference; and select a first pulse for the first pulse modulation signal and a second pulse for the second pulse modulation signal based on the selection of the first sector, wherein, for shifting, the shift signal generator is configured to shift the first pulse in the first pulse modulation signal in a first direction and shift the second pulse in the second pulse modulation signal in a second direction.

[0074] Clause 8: The circuits described in Clauses 1 to 7 further include an electrical signal detector configured to determine the shunt current for the multiphase system while the driver circuitry controls the switching circuitry to generate a first pulse signal and a second pulse signal.

[0075] Clause 9: The circuit described in Clauses 1 to 8, wherein the switching circuit device includes a three-phase inverter circuit; and wherein the multiphase system includes a three-phase motor.

[0076] Clause 10: A method for vector control of a multiphase system, the method comprising: selecting a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, an angle of a current voltage reference, and an angle of a previous voltage reference; generating a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference; and controlling switching circuitry to generate a first phase signal for the first phase based on the first pulse modulation signal and a second phase signal for the second phase based on the second pulse modulation signal.

[0077] Clause 11: The method according to Clause 10, wherein selecting the first sector comprises: determining a rotation direction based on the angle of the current voltage reference and the angle of the previous voltage reference; and selecting the first shift mode based on determining that the angle of the current voltage reference satisfies a set of predefined rotation angles assigned to the first shift mode, the set of predefined rotation angles including a set of predefined angles for the first sector for shifting hysteresis values ​​in the rotation direction.

[0078] Clause 12: The method according to Clauses 10 to 11, wherein the angle of the current voltage reference is within a set of predefined angles for a second sector for a plurality of sectors, and wherein the angle of the previous voltage reference is within a set of predefined angles for a first sector.

[0079] Clause 13: The method described in accordance with Clauses 11 to 12, wherein the set of predefined angles for the first sector includes a 60-degree angle.

[0080] Clause 14: The method described in Clauses 11 to 13, wherein the set of predefined angles for the first sector includes: a first angle between 0 degrees and 60 degrees; a second angle between 60 degrees and 120 degrees; a third angle between 120 degrees and 180 degrees; a fourth angle between 180 degrees and 240 degrees; a fifth angle between 240 degrees and 300 degrees; or a sixth angle between 300 degrees and 360 degrees.

[0081] Clause 15: The method according to Clauses 10 to 14, wherein generating the first pulse and the second pulse comprises: shifting the first pulse modulation signal in a first direction and shifting the second pulse modulation signal in a second direction opposite to the first direction based on the selection of a first shift mode.

[0082] Clause 16: The method according to Clause 15, wherein generating the first pulse and the second pulse comprises: selecting a first sector from a plurality of sectors for controlling a multiphase system based on an angle of a current voltage reference; and selecting a first pulse length for a first pulse modulation signal and a second pulse length for a second pulse modulation signal based on the selection of the first sector, wherein shifting comprises shifting the first pulse in the first pulse modulation signal in a first direction and shifting the second pulse in the second pulse modulation signal in a second direction.

[0083] Clause 17: The method according to Clauses 10 to 16 further includes: determining the shunt current for the multiphase system while the control switching circuit device generates a first pulse signal and a second pulse signal.

[0084] Clause 18: The method according to Clauses 10 to 17, wherein the switching circuit device includes a three-phase inverter circuit and wherein the multiphase system includes a three-phase motor.

[0085] Clause 19: A system for vector control of a multiphase system, the system comprising: a switching circuit device; a shift mode selector configured to select a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, an angle of a current voltage reference, and an angle of a previous voltage reference; a shift signal generator configured to generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference; and a driver circuit device configured to control the switching circuit device to generate a first phase signal for the first phase based on the first pulse modulation signal and to generate a second phase signal for the second phase based on the second pulse modulation signal.

[0086] Clause 20: The system described in Clause 19 also includes a multiphase system.

[0087] Various aspects have been described in this disclosure. These or other aspects are within the scope of the appended claims.

Claims

1. A circuit for vector control of a multiphase system, the circuit comprising: A shift mode selector is configured to select a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference. A shift signal generator is configured to generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference. as well as The driver circuit device is configured to control the switching circuit device to generate a first phase signal for the first phase based on the first pulse modulation signal, and to generate a second phase signal for the second phase based on the second pulse modulation signal.

2. The circuit of claim 1, wherein, in order to select the first shift mode, the shift mode selector is configured to: The rotation direction is determined based on the angle of the current voltage reference and the angle of the previous voltage reference; and The first shift mode is selected based on the determination that the angle of the current voltage reference satisfies a set of predefined rotation angles assigned to the first shift mode, the set of predefined rotation angles including a set of predefined angles for a first sector that shifts the hysteresis value in the rotation direction for a plurality of sectors.

3. The circuit of claim 2, wherein the angle of the current voltage reference is within a set of predefined angles for a second sector of the plurality of sectors, and wherein the hysteresis value is shifted in the rotation direction of the set of predefined angles for the first sector such that the angle of the current voltage reference is within the set of rotational predefined angles assigned to the first shift mode.

4. The circuit of claim 2, wherein the set of predefined angles for the first sector includes 60-degree angles.

5. The circuit of claim 2, wherein the set of predefined angles for the first sector includes: The first angle between 0 degrees and 60 degrees; The second angle between 60 degrees and 120 degrees; The third angle between 120 degrees and 180 degrees; The fourth angle between 180 degrees and 240 degrees; The fifth angle between 240 degrees and 300 degrees; or The sixth angle between 300 degrees and 360 degrees.

6. The circuit of claim 1, wherein, in order to generate the first pulse modulation signal and the second pulse modulation signal, the shift signal generator is configured to: Based on the selection of the first shift mode, the first pulse modulation signal is shifted in a first direction, and the second pulse modulation signal is shifted in a second direction opposite to the first direction.

7. The circuit of claim 6, wherein, in order to generate the first pulse modulation signal and the second pulse modulation signal, the shift signal generator is configured to: Based on the angle of the current voltage reference, a first sector is selected from a plurality of sectors used to control the multiphase system; and Based on the selection of the first sector, a first pulse for the first pulse modulation signal and a second pulse for the second pulse modulation signal are selected. In order to perform the shifting, the shift signal generator is configured to shift the first pulse in the first pulse modulation signal in the first direction and shift the second pulse in the second pulse modulation signal in the second direction.

8. The circuit of claim 1, further comprising: An electrical signal detector is configured to determine the shunt current for the multiphase system while the driver circuit device controls the switching circuit device to generate the first pulse signal and the second pulse signal.

9. The circuit according to claim 1, The switching circuit device includes a three-phase inverter circuit; and The multiphase system mentioned above includes a three-phase motor.

10. A method for vector control of a multiphase system, the method comprising: Based on the hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference, a first shift mode is selected from multiple shift modes used to control the multiphase system; Based on the selection of the first shift mode and the current voltage reference, a first pulse modulation signal for the first phase of the multiphase system and a second pulse modulation signal for the second phase of the multiphase system are generated; as well as A control switching circuit device is configured to generate a first phase signal for the first phase based on the first pulse modulation signal, and to generate a second phase signal for the second phase based on the second pulse modulation signal.

11. The method of claim 10, wherein selecting the first sector comprises: The rotation direction is determined based on the angle of the current voltage reference and the angle of the previous voltage reference; as well as The first shift mode is selected based on the determination that the angle of the current voltage reference satisfies a set of predefined rotation angles assigned to the first shift mode, the set of predefined rotation angles including a set of predefined angles for a first sector that shifts the hysteresis value in the rotation direction for a plurality of sectors.

12. The method of claim 11, wherein the angle of the current voltage reference is within a set of predefined angles for a second sector of the plurality of sectors, and wherein the hysteresis value is shifted in the rotation direction relative to the set of predefined angles for the first sector such that the angle of the current voltage reference is within the set of rotational predefined angles assigned to the first shift mode.

13. The method of claim 11, wherein the set of predefined angles for the first sector includes 60-degree angles.

14. The method of claim 11, wherein the set of predefined angles for the first sector comprises: The first angle between 0 degrees and 60 degrees; The second angle between 60 degrees and 120 degrees; The third angle between 120 degrees and 180 degrees; The fourth angle between 180 degrees and 240 degrees; The fifth angle between 240 degrees and 300 degrees; or The sixth angle between 300 degrees and 360 degrees.

15. The method of claim 10, wherein generating the first pulse and the second pulse comprises: Based on the selection of the first shift mode, the first pulse modulation signal is shifted in a first direction, and the second pulse modulation signal is shifted in a second direction opposite to the first direction.

16. The method of claim 15, wherein generating the first pulse and the second pulse comprises: Based on the angle of the current voltage reference, a first sector is selected from a plurality of sectors used to control the multiphase system; as well as Based on the selection of the first sector, a first pulse length for the first pulse modulation signal and a second pulse length for the second pulse modulation signal are selected. The shifting includes: shifting the first pulse in the first pulse modulation signal in the first direction, and shifting the second pulse in the second pulse modulation signal in the second direction.

17. The method of claim 10, further comprising: While controlling the switching circuit device to generate the first pulse signal and the second pulse signal, the shunt current for the multiphase system is determined.

18. The method of claim 10, wherein the switching circuit device comprises a three-phase inverter circuit, and wherein the multiphase system comprises a three-phase motor.

19. A system for vector control of a multiphase system, the system comprising: Switching circuit device; A shift mode selector is configured to select a first shift mode from a plurality of shift modes for controlling the multiphase system based on a hysteresis value, the angle of the current voltage reference, and the angle of the previous voltage reference. A shift signal generator is configured to generate a first pulse modulation signal for a first phase of the multiphase system and a second pulse modulation signal for a second phase of the multiphase system based on the selection of the first shift mode and the current voltage reference. as well as A driver circuit device is configured to control the switching circuit device to generate a first phase signal for the first phase based on the first pulse modulation signal, and to generate a second phase signal for the second phase based on the second pulse modulation signal.

20. The system of claim 19, further comprising the multiphase system.

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