CN107681936B

CN107681936B - Dual-energy-source open-winding motor driving system for vehicle and power distribution method thereof

Info

Publication number: CN107681936B
Application number: CN201710910097.3A
Authority: CN
Inventors: 许楠; 贾一帆; 初亮; 杨志华; 赵迪; 李育宽; 王严伟; 董力嘉
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2023-06-06
Anticipated expiration: 2037-09-29
Also published as: CN107681936A

Abstract

The invention provides a driving system of a double-energy-source open-winding permanent magnet synchronous motor for a vehicle, which comprises a controller, an open-winding permanent magnet synchronous motor, a main energy source inverter, an auxiliary energy source inverter, a motor rotor position sensor, a current sensor group and a voltage sensor. The invention also provides a power distribution method of the driving system of the double-energy-source open-winding permanent magnet synchronous motor for the vehicle. According to the invention, through formulating the expected power of the main energy source and distributing the voltage vectors of the double inverters, reasonable distribution of the power of the double energy sources is realized, the main energy source is enabled to work in a high-efficiency interval as much as possible under the condition of allowing working conditions, and meanwhile, the switching frequency of devices of the inverters is reduced, so that the inverter loss is reduced.

Description

Dual-energy-source open-winding motor driving system for vehicle and power distribution method thereof

Technical Field

The invention relates to the technical field of motor control, in particular to a driving system of a double-energy-source open-winding permanent magnet synchronous motor for a vehicle and a power distribution method of the driving system.

Background

In recent years, with the change of world energy structures and the increasing requirements on vehicle emission and environmental protection, electric automobiles driven by motors are rapidly developed. Most electric vehicles use a permanent magnet synchronous motor with high power density and large peak torque as a power source and a storage battery as an energy source. However, such a single battery powered and permanent magnet synchronous motor driven pure electric vehicle has two significant drawbacks: firstly, because the driving motor is excited by a permanent magnet and cannot directly adjust the intensity of an excitation magnetic field, the speed regulation difficulty of the weak magnetic field is higher, and in order to ensure enough maximum speed, higher bus voltage is generally required, so that the matching difficulty and the manufacturing cost of a power storage battery and an electric driving system are increased; secondly, the pure electric vehicle taking the storage battery as a single energy source is limited by the lower energy density and service life of the existing storage battery, and has the defects of short driving range, fast performance decay, long charging time and the like. The electric vehicle with double energy sources, which is provided with the range extender of the internal combustion engine or the fuel battery as the second energy source, can effectively overcome the defects. However, the current dual-energy-source electric automobile still adopts a mode of supplying power by a single direct current bus and driving a traditional permanent magnet synchronous motor by a single inverter. In order to realize that two energy sources with different output voltages simultaneously supply power to a direct current bus and realize power distribution, a DC/DC converter is additionally arranged, so that the system cost is increased, extra power loss is caused, the efficiency of a driving system is reduced, and in addition, the configuration still needs higher bus voltage to ensure enough maximum speed.

The above problems are solved by an open winding permanent magnet synchronous motor drive system driven by a double inverter. The double inverters are respectively powered by one energy source and jointly drive the motor. Under the configuration, compared with the configuration of single energy source power supply, under the condition of reaching the same highest vehicle speed, the bus voltage of each of the two energy sources can be properly reduced; in addition, the double energy sources can directly realize power distribution through the open winding permanent magnet synchronous motor through voltage vector distribution of the double inverters, a DC/DC converter is not needed, the system cost is reduced, and the efficiency is improved. However, the current research on the double-inverter open-winding motor driving system mainly focuses on the aspects of zero sequence current suppression, fault-tolerant control and the like of a single energy source configuration, the research on the double-energy source configuration also mainly focuses on the aspects of common-mode voltage suppression, switching frequency reduction and the like, and the research on the power distribution and voltage vector distribution method of the double-energy source open-winding motor driving system is relatively deficient.

Chinese patent document CN106059408A discloses a drive control system based on a double-power open winding permanent magnet synchronous motor and a control method thereof, however, the system can only realize qualitative distribution of double-power, and a main power supply can not realize accurate following of expected power.

Disclosure of Invention

The present invention aims to solve at least one of the above-mentioned drawbacks and disadvantages, and this object is achieved by the following technical solutions.

The invention provides a driving system of a double-energy-source open-winding permanent magnet synchronous motor for a vehicle, which is characterized by comprising a controller, an open-winding permanent magnet synchronous motor, a main energy source inverter, an auxiliary energy source inverter, a motor rotor position sensor, a current sensor group and a voltage sensor, wherein the initial end of a three-phase winding of the open-winding permanent magnet synchronous motor is connected with the output end of the main energy source inverter, the input end of the main energy source inverter is connected with the positive and negative output ends of the main energy source in parallel to supply power to the main energy source inverter, the tail end of the three-phase winding of the open-winding permanent magnet synchronous motor is connected with the output end of the auxiliary energy source inverter in parallel to supply power to the auxiliary energy source inverter, the motor rotor position sensor is connected with the open-winding permanent magnet synchronous motor, and the current is connected with the three-phase winding permanent magnet synchronous motor in series to the output ends of the open-winding permanent magnet synchronous motor, and the voltage sensor group is connected with the output ends of the main energy source and the positive and negative output ends of the auxiliary energy source in parallel to the initial end of the open-winding permanent magnet synchronous motor respectively; the controller is respectively in communication connection with the motor rotor position sensor, the current sensor group, the voltage sensor, the main energy source inverter and the auxiliary energy source inverter, and is used for receiving signals of the motor rotor position sensor, the current sensor group and the voltage sensor, performing voltage vector distribution through calculation processing, generating gating signals, and respectively transmitting the gating signals to the main energy source inverter and the auxiliary energy source inverter.

In addition, the controller includes:

the expected current calculation module receives an expected torque signal sent by the whole vehicle controller, calculates and outputs an expected current component of an expected stator current vector under a rotor coordinate system;

the first coordinate transformation module receives a three-phase current signal of the motor stator sent by the current sensor group and an angular position signal of the motor rotor sent by the motor rotor position sensor, and outputs a current component of a current vector of the motor stator under a rotor coordinate system after coordinate transformation;

the subtracter is used for obtaining a motor stator current vector deviation signal by making a difference between the expected current component signal output by the expected current calculation module and the current component signal transformed by the first coordinate transformation module and outputting the motor stator current vector deviation signal;

the expected voltage generation module receives the current vector deviation signals sent by the subtracter and respectively performs proportional integral control on the current vector deviation signals to obtain expected voltage components of the total expected voltage vector under a rotor coordinate system;

the second coordinate transformation module receives the expected voltage component signal output by the expected voltage generation module and the motor rotor angular position signal sent by the motor rotor position sensor, and outputs an expected voltage component of the total expected voltage vector under a stator coordinate system after coordinate transformation;

The third coordinate transformation module receives a current component signal of the motor stator current vector under a rotor coordinate system, which is output by the first coordinate transformation module, and a motor rotor angular position signal sent by the motor rotor position sensor, and outputs a current component of the motor stator current vector under the stator coordinate system after coordinate transformation;

the energy source total output power calculation module receives the three-phase current signals of the motor stator sent by the current sensor group, and the main energy source voltage signals and the auxiliary energy source voltage signals sent by the voltage sensor, and calculates and outputs an energy source total output power signal;

the main energy source expected power control module receives the energy source total output power signal sent by the energy source total output power calculation module and the main energy source optimal power signal sent by the whole vehicle controller and outputs a main energy source expected power signal;

the voltage vector distribution module is used for receiving the main energy source voltage signal, the auxiliary energy source voltage signal, the main energy source expected power signal, the coordinate-transformed current component signal output by the third coordinate transformation module and the coordinate-transformed voltage component signal output by the second coordinate transformation module, and carrying out voltage vector distribution and output after processing;

The first space vector pulse width modulation module receives the voltage signals distributed by the voltage vector distribution module to generate a main energy source inverter gating signal, and sends the main energy source inverter gating signal to the main energy source inverter;

and the second space vector pulse width modulation module receives the voltage signals distributed by the voltage vector distribution module to generate auxiliary energy source inverter gating signals and sends the auxiliary energy source inverter gating signals to the auxiliary energy source inverter.

In addition, the main energy source is an instant power generation device, and the auxiliary energy source is an electric energy storage device.

In addition, the first coordinate transformation module is a stator three-phase to rotor two-phase transformation module, and the second coordinate transformation module and the third coordinate transformation module are rotor two-phase to stator two-phase transformation modules.

The invention also provides a power distribution method of the double-energy-source open-winding permanent magnet synchronous motor system for the vehicle, wherein a main energy source inverter powered by a main energy source is connected with the starting end of a three-phase winding of the open-winding permanent magnet synchronous motor, and an auxiliary energy source inverter powered by an auxiliary energy source is connected with the tail end of the three-phase winding of the open-winding permanent magnet synchronous motor, and the power distribution method comprises the following steps:

Primary energy source desired power control:

three-phase stator current signal i of open winding permanent magnet synchronous motor is collected by using current sensor group _A 、i _B 、i _C The voltage sensor is used for respectively collecting the voltage signals U of the main energy source _dc1 And auxiliary energy source voltage signal U _dc2 Using formula P _dc ＝(U _dc1 -U _dc2 )(i _A +i _B +i _C ) Calculating the total output power P of the energy source _dc ；

Total output power P of energy source _dc Optimum power P with primary energy source _dc1opt The difference is made to obtain the power deviation delta P of the main energy source _dc1 I.e. ΔP _dc1 ＝P _dc -P _dc1opt ；

With main energy source power deviation DeltaP _dc1 As the input of the first-order inertia link, the expected power compensation of the main energy source is obtained through one inertia link

Compensating for desired power of primary energy source

Optimum power P with primary energy source _dc1opt Summing to obtain the desired power of the main energy source +.>

And output, i.e.)>

Voltage vector distribution for the main and auxiliary energy source inverters:

reading the component of the total desired voltage vector on the D, Q axis in the stator DQ coordinate system

Desired power of main energy source

Component i of D, Q axis of motor stator current vector under stator DQ coordinate system _D 、i _Q Main energy source voltage signal U _dc1 And auxiliary energy source voltage signal U _dc2 ；

Performing low switching frequency mode voltage vector distribution to obtain D, Q axis components of expected voltage vectors of the low switching frequency mode main energy source inverter under a stator DQ coordinate system

Desired power deviation D of main energy source in low switching frequency mode _{Pdc1_LowFre} And low switching frequency mode effective flag bit F _LowFre ；

Performing voltage vector distribution in a power accurate following mode to obtain D, Q axis components of the expected voltage vector of the main energy source inverter in the power accurate following mode under a stator DQ coordinate system

Desired power deviation D of main energy source in power accurate following mode _{Pdc1_AccFow} And power accurate following mode effective flag bit F _AccFow ；

Performing voltage vector distribution in a voltage linear distribution mode to obtain D, Q axis components of expected voltage vectors of the voltage linear distribution mode main energy source inverter under a stator DQ coordinate system

Selecting a voltage vector distribution mode to obtain D, Q axis components of a desired voltage vector of the main energy source inverter under a stator DQ coordinate system

According to the formula

Calculating D, Q axis component of auxiliary energy inverter desired voltage vector in stator DQ coordinate system>

And output->

And->

In addition, the algorithm for low switching frequency mode voltage vector distribution comprises the following steps:

step A1, defining a 4×7 matrix M _us1 ；

Step A2, matrix M _us1 Assignment of

lines

1 and 2, let M _us1 Each column 1 corresponds to the D-axis component of the alternative voltage vector in the stator DQ coordinate system, and each column 2 corresponds to the D-axis component of the alternative voltage vector in the stator DQ coordinate system, namely

Step A3, matrix M _us1 Assignment of line 3, let M _us1 The 3 rd action of each column is the output power of the main energy source under the corresponding alternative voltage vector, namely

M _us1 (3,:)＝M _us1 ([1,2],:) ^T ×[i _D ,i _Q ] ^T ；

Step A4, matrix M _us1 Assignment of line 4, let M _us1 The 4 th behavior of each column is based on the output power of the main energy source and the expected power of the main energy source under the corresponding alternative voltage vector

The absolute value of the difference, i.e

Step A5, pair M _us1 Line 4I.e. M _us1 (4: sorting to obtain M _us1 (4) column number sequence ord of ascending order;

wherein, "M _us1 (n:)' represents matrix M _us1 The "°" is a hadamard product symbol, representing multiplication of two matrices or corresponding position elements of the vectors;

step A6, let i=1; i is a cyclic flag bit, which represents an alternative voltage vector sequencing sequence number of the current attempt;

step A7, distributing the alternative voltage vector of the current cycle to the main energy source inverter, namely, enabling

Step A8, calculating D, Q axis components of the expected voltage vector distributed by the current circulation auxiliary energy source inverter under the DQ coordinate system of the stator, namely, making

Step A9, calculating the expected power deviation D of the main energy source in the low switching frequency mode of the current cycle _{Pdc1_LowFre} D is _{Pdc1_LowFre} ＝M _us1 (4,ord(i))；

Step A10, executing adjacent basic voltage vector proportion algorithm S, wherein the inputs are respectively

U _dc2 Obtaining the adjacent basic voltage vector proportion parameter a of the auxiliary energy source of the current cycle ₂ 、b ₂ ；

Step A11, judging whether the expected voltage vector distributed by the auxiliary energy source inverter of the current cycle exceeds the modulation range or not: if a is ₂ +b ₂ >1, if the expected voltage vector distributed by the auxiliary energy source inverter exceeds the modulation range, executing step A12; otherwise, executing the step A13;

step A12, effective flag position 0 in low switching frequency mode, namely F _LowFre ＝0；

Executing the next cycle, i.e. let i=i+1, turning to step A7;

a13, effective mark position 1 in low switching frequency mode, namely F _LowFre =1, exit the loop;

step A14, outputting D, Q axis component of expected voltage vector of main energy source inverter in low switching frequency mode under stator DQ coordinate system

Desired power deviation D of main energy source in low switching frequency mode _{Pdc1_LowFre} And low switching frequency mode effective flag bit F _LowFre 。

In addition, the algorithm for the power accurate following mode voltage vector distribution comprises the following steps:

step B1, according to

Calculating the current vector amplitude i of the motor stator _{s_Amp} ；

Step B2, according to the expected power of the main energy source

Calculating the amplitude of the desired voltage vector of the main energy source +.>

I.e.

Step B3 of

Giving the expected voltage vector of the main energy source inverter in a power accurate following mode according to the current vector direction of the motor stator as the amplitude, namely

Step B4, The adjacent basic voltage vector proportion algorithm S is executed, and the inputs are respectively

U _dc1 Obtaining the adjacent basic voltage vector proportion parameter a of the main energy source ₁ 、b ₁ ；

Step B5, judging whether the current expected voltage vector of the given main energy source inverter exceeds a modulation range or not: if a is ₁ +b ₁ >1, executing the steps B6 to B7; otherwise, skipping the steps B6 to B7, and executing the step B8;

step B6, calculating the amplitude of the expected voltage vector of the main energy source, namely, the amplitude of the expected voltage vector of the main energy source, which is exactly saturated with the expected voltage vector of the main energy source in the direction of the expected voltage vector of the main energy source inverter

Primary energy source adjacent basic voltage vector proportional parameter

The corrected primary energy source desired voltage vector magnitude

Step B7 of

Step B8, calculating D, Q axis components of the expected voltage vector distributed by the auxiliary energy source inverter under the DQ coordinate system of the stator, namely, making

Step B9, according to

Calculating expected power deviation D of main energy source in power accurate following mode _{Pdc1_AccFow} ；

Step B10, executing adjacent basic voltage vector proportion algorithm S, wherein the inputs are respectively

U _dc2 Obtaining the adjacent basic voltage vector proportion parameter a of the auxiliary energy source ₂ 、b ₂ ；

Step B11, judging whether the expected voltage vector distributed by the auxiliary energy source inverter exceeds the modulation range or not: if a is ₂ +b ₂ >1, executing the step B12; otherwise, executing the step B13;

step B12, effective flag position 0 in power accurate following mode, namely F _AccFow ＝0；

Step B13, effective mark position 1 of power accurate following mode, namely F _AccFow ＝1；

Step B14, D, Q axis component of expected voltage vector of main energy source inverter with accurate following output power mode under stator DQ coordinate system

Desired power deviation D of main energy source in power accurate following mode _{Pdc1_AccFow} And power accurate following mode effective flag bit F _AccFow 。

The algorithm for voltage vector distribution of the voltage straight line distribution method includes:

step C1, directly giving the desired voltage vector of the main energy source inverter according to the total desired voltage vector, namely

Step C2, executing adjacent basic voltage vector proportion algorithm S, wherein the inputs are respectively

Step C3, judging whether the current expected voltage vector of the given main energy source inverter exceeds a modulation range or not: if a is ₁ +b ₁ >1, executing the steps C4 to C6; otherwise, skipping the steps C4 to C6, and executing the step C7;

step C4, calculating the amplitude of the expected voltage vector of the main energy source, namely, the expected voltage vector of the main energy source, which is exactly saturated in the expected voltage vector of the main energy source inverter

Primary energy source adjacent basic voltage vector proportional parameter

The corrected primary energy source desired voltage vector magnitude

Step C5, according to

Calculating the total desired voltage vector magnitude +.>

Step C6 of

For amplitude, giving the desired voltage vector of the main energy source inverter in a straight line distribution mode according to the direction of the total desired voltage vector, namely

Step C7, main energy source inversion in output voltage linear distribution modeD, Q axis component of expected voltage vector in stator DQ coordinate system

In addition, the algorithm for selecting the voltage vector distribution mode comprises the following steps:

judging effective flag bit F of low switching frequency mode _LowFre Whether or not it is 1, if F _LowFre =1, determine whether the following condition F is satisfied _AccFow ＝0、D _{Pdc1_LowFre} ≤D _{Pdc1_max} 、D _{Pdc1_LowFre} ≤D _{Pdc1_AccFow} Any one of 3 conditions; if any one of the 3 conditions is met, voltage vector distribution is performed in a low switching frequency mode, namely D, Q axis components of the expected voltage vector of the main energy source inverter under a stator DQ coordinate system

If any one of the 3 conditions is not met, adopting voltage vector distribution in a power accurate following mode, namely enabling a D, Q axis component of a main energy source inverter expected voltage vector under a stator DQ coordinate system +.>

If F _LowFre =0, judging the effective flag bit F of the power accurate following mode _AccFow Whether or not it is 1; if F _AccFow =1, voltage vector distribution by power accurate following, i.e. D, Q axis component of the desired voltage vector of the main energy source inverter in stator DQ coordinate system

Otherwise, adopting a voltage linear distribution mode to distribute voltage vectors, namely enabling the expected voltage vector of the main energy source inverter to be D, Q axis components under a stator DQ coordinate system

In addition, the adjacent basic voltage vector scaling algorithm S includes:

step S1, reading single-side inversionD, Q axis component of expected voltage vector in stator DQ coordinate system

Corresponding bus voltage U _dcs ；

Step S2, according to

To calculate projection parameters J, K, L;

s3, positive and negative sign bits sign (J), sign (K) and sign (L) of J, K, L are obtained;

step S4, calculating the sector number N according to n=sign (J) +2sign (K) +4sign (L);

step S5, according to

To calculate a scale parameter X, Y, Z;

step S6, calculating and outputting the adjacent basic voltage vector proportion parameter a according to the value condition of N _s 、b _s 。

The invention has the following advantages: (1) According to the invention, through controlling the expected power of the main energy source, the reasonable expected power of the main energy source can be formulated according to the current working condition, so that the main energy source can work in a high-efficiency area and power fluctuation can be slowed down as much as possible while the power performance requirement of the whole vehicle is met; (2) The three voltage vector distribution modes of the low switching frequency mode, the power accurate following mode and the voltage linear distribution mode can achieve different power distribution effects, and the device switching frequency of the inverter can be reduced as much as possible while the main energy source power well follows the expected work rate through reasonable selection and flexible switching of the voltage vector distribution mode, so that the inverter loss is reduced, and the system efficiency is improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures.

Fig. 1 is a block diagram of the structure and the controller of a driving system of a dual-energy-source open-winding permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention.

FIG. 2 is an algorithm flow chart of the primary energy source desired power control of the system described above.

Fig. 3 is a flow chart of an algorithm for dual inverter voltage vector distribution for the system described above.

Fig. 4 is a schematic diagram of a method for distributing voltage vectors of a dual inverter of the system.

Fig. 5 is a flowchart of the algorithm of the low switching frequency mode voltage vector distribution of the system.

Fig. 6 is a flowchart of an algorithm for voltage vector distribution in a power accurate following mode of the system according to an embodiment of the present invention.

Fig. 7 is a flowchart of an algorithm of voltage vector distribution in the voltage linear distribution mode of the system.

Fig. 8 is a flowchart of an algorithm for selecting the voltage vector distribution mode of the system.

Fig. 9 is a flowchart of the adjacent basic voltage vector scaling algorithm S of the above system.

Fig. 10 is a motor speed following curve of the system described above.

Fig. 11 is a graph of motor torque variation for the system described above.

Fig. 12 is a graph of the power variation of the main energy source of the system.

Fig. 13 is a graph showing a change in the total switching frequency of the inverter device of the above system.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 shows a block diagram of a structure and a controller of a driving system of a dual-energy-source open-winding permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention. As shown in fig. 1, the motor drive system includes a controller 2, an open-winding permanent magnet synchronous motor 3, a main energy source 6, a main energy source inverter 4, an auxiliary energy source 7, an auxiliary energy source inverter 5, a motor rotor position sensor 8, a current sensor group 9, and

voltage sensors

10, 11.

The open winding permanent magnet synchronous motor 3, the main energy source 6, the main energy source inverter 4, the auxiliary energy source 7, the auxiliary energy source inverter 5, the motor rotor position sensor 8, the current sensor group 9 and the

voltage sensors

10 and 11 form a circuit structure 1 of the motor driving system, and all the components are electrically connected.

The starting end of the three-phase winding of the open-winding permanent magnet synchronous motor 3 is connected with the output end of the main energy source inverter 4, is driven by the main energy source inverter 4, and receives a main energy source inverter gating signal GatesL sent by the controller 2 of the motor driving system. The direct current bus input end of the main energy source inverter 4 is connected with the positive and negative output ends of the main energy source 6 in parallel, and the main energy source 6 supplies power for the main energy source inverter 4. The end of the three-phase winding of the open-winding permanent magnet synchronous motor 3 is connected with the output end of the auxiliary energy source inverter 5, is driven by the auxiliary energy source inverter 5, and receives an auxiliary energy source inverter gating signal GatesR sent by the motor driving system controller 2. The direct current bus input end of the auxiliary energy source inverter 5 is connected with the positive and negative output ends of the auxiliary energy source 7 in parallel, and the auxiliary energy source 7 supplies power for the auxiliary energy source inverter 5.

In particular embodiments, the primary energy source 6 includes, but is not limited to, an internal combustion engine range extender, a fuel cell, etc. instant power generation device, and the auxiliary energy source 7 includes, but is not limited to, an electrical energy storage device such as a battery or super capacitor. The main energy source inverter 4 and the auxiliary energy source inverter 5 are both voltage type three-phase double-level inverters.

A motor rotor position sensor 8 is mounted on the stator of the open winding permanent magnet synchronous motor 3 for measuring and outputting a motor rotor angular position signal θ to the motor drive system controller 2 _r The method comprises the steps of carrying out a first treatment on the surface of the The current sensor group 9 comprises 3 independent current sensors which are connected in series with open winding permanent magnet synchronous electricityThe starting end of the three-phase winding of the motor 3 is used for measuring and outputting a motor stator three-phase current signal i to the motor drive system controller 2 _A 、i _B 、i _C The method comprises the steps of carrying out a first treatment on the surface of the The voltage sensor 10 is connected in parallel with the positive and negative output ends of the main energy source 6, and measures and outputs a main energy source voltage signal U to the motor drive system controller 2 _dc1 The method comprises the steps of carrying out a first treatment on the surface of the The voltage sensor 11 is connected in parallel with the positive and negative output ends of the auxiliary energy source 7, and measures and outputs an auxiliary energy source voltage signal U to the motor drive system controller 2 _dc2 。

The controller 2 is communicatively connected to the motor rotor position sensor 8, the current sensor group 9, the voltage sensor 10, the voltage sensor 11, the main energy source inverter 4 and the auxiliary energy source inverter 5, respectively, and the controller 2 includes a desired current calculation module 12, a desired voltage generation module 13, an energy source total output power calculation module 14, a main energy source desired power control module 15, a voltage vector distribution module 16, a first space vector pulse width modulation module 17, a second space vector pulse width modulation module 18, a first coordinate transformation module 19, a second coordinate transformation module 20, a third coordinate transformation module 21 and a subtractor 22.

The desired current calculation module 12 receives a desired torque signal from the vehicle controller

And calculating d/q axis component of expected stator current vector under the coordinate system of rotor dq according to maximum torque current ratio or other control law>

The first coordinate transformation module 19 is a transformation module from stator three phases to rotor two phases, namely an ABC to dq coordinate system transformation module, and adopts equal power transformation. The first coordinate transformation module 19 receives the three-phase current signal i of the motor stator from the motor drive system current sensor group 9 _A 、i _B 、i _C And motor rotor angular position signal θ from motor rotor position sensor 8 _r After coordinate transformation, d-axis component i and q-axis component i of motor stator current vector under the coordinate system of rotor dq are output _d 、i _q ；

Subtractor 22 will

Respectively with i _d 、i _q Obtaining d-axis component delta i of motor stator current vector deviation under rotor dq coordinate system after difference _d 、Δi _q ；

The expected voltage generating module 13 receives Δi from the subtractor 22 _d 、Δi _q The signals are respectively subjected to proportional integral control to obtain d and q axis components of the total expected voltage vector under a rotor dq coordinate system

The second coordinate transformation module 20 and the third coordinate transformation module 21 are both transformation modules from rotor two phases to stator two phases, i.e. DQ to DQ coordinate system transformation modules. The second coordinate transformation module 20 receives the signal from the desired voltage generation module 13

Signal and motor rotor angular position signal θ from motor rotor position sensor 8 _r After coordinate transformation, the D, Q axis component of the total expected voltage vector under the DQ coordinate system of the stator is output>

The third coordinate transformation module 21 receives the i from the first coordinate transformation module 19 _d 、i _q Signal and motor rotor angular position signal θ from motor rotor position sensor 8 _r After coordinate transformation, D, Q axis component i of motor stator current vector under stator DQ coordinate system is output _D 、i _Q ；

The energy source total output power calculation module 14 receives a motor stator three-phase current signal i sent by the motor driving system current sensor group 9 _A 、i _B 、i _C And a primary energy source voltage signal U from a voltage sensor 10 _dc1 Auxiliary energy source voltage signal U from voltage sensor 11 _dc2 According to formula P _dc ＝(U _dc1 -U _dc2 )(i _A +i _B +i _C ) Calculated total output power signal P of output energy source _dc ；

The main energy source expected power control module 15 receives P from the energy source total output power calculation module 14 _dc Signal and main energy source optimal power signal P sent by whole vehicle controller _dc1opt Outputting the main energy source expected power signal

The voltage vector assignment module 16 receives the data from the second coordinate transformation module 20

Signal from the main energy source desired power control module 15 +. >

I from the signal and third coordinate transformation module 21 _D 、i _Q Signal and primary energy source voltage signal U from voltage sensor 10 _dc1 And auxiliary energy source voltage signal U from voltage sensor 11 _dc2 After voltage vector distribution, the D, Q axis component of the expected voltage vector of the main energy source inverter under the stator DQ coordinate system is output>

D, Q-axis component of auxiliary energy source inverter desired voltage vector in stator DQ coordinate system>

The first space vector pulse width modulation module 17 receives the voltage from the voltage vector distribution module 16

The signal, the gate signal GatesL of the inverter of generating the main energy source is sent to the inverter 4 of the main energy source;

the second space vector pulse width modulation module 18 receives the voltage vector from the voltage vector distribution module 16

The signal generates an auxiliary energy source inverter gating signal GatesR and sends it to the auxiliary energy source inverter 5.

The invention also provides a power distribution method of the double-energy-source open-winding motor driving system, which comprises the following steps:

1) Primary energy source desired power control

The main energy source expected power is controlled in an energy source total output power calculation module 14 and a main energy source expected power control module 15, and the main energy source expected power is calculated according to the current energy source total output power and the main energy source optimal power; the expected power of the main energy source follows the optimal power of the main energy source to a certain extent but is influenced by the total output power of the energy source, and the first-order inertia link is introduced to avoid severe fluctuation, so that the main energy source works in a high-efficiency area as much as possible. The primary energy source desired power control is performed once per control period, as shown in fig. 2, and specifically comprises the following steps:

(1) Reading three-phase current signal i of motor stator _A 、i _B 、i _C And a main energy source voltage signal U _dc1 Auxiliary energy source voltage signal U _dc2 And calculate the total output power P of the energy source _dc ；

Total output power P of energy source _dc The calculation formula is P _dc ＝(U _dc1 -U _dc2 )(i _A +i _B +i _C )；

(2) Total output power P of energy source _dc Optimum power P with primary energy source _dc1opt The difference is made to obtain the power deviation delta P of the main energy source _dc1 I.e. ΔP _dc1 ＝P _dc -P _dc1opt ；

(3) With main energy source power deviation DeltaP _dc1 As the input of the first-order inertia link, the expected power compensation of the main energy source is obtained through one inertia link

That is, if the control period is DeltaT, the main energy source period of the current control period is calculated by the following formulaAnd (3) power observation compensation:

wherein t is the starting time of the current control period, P _dc1 (t) Power deviation from the main energy source for the current control period, < >>

Power compensation is desired for the main energy source of the current control period,

power compensation is desired for the main energy source of the last control period.

(4) Compensating for desired power of primary energy source

And output, i.e.)>

In the implementation, since the main energy source 4 is an instant power generation device such as an internal combustion engine range extender or a fuel cell, and the power response is delayed, the first-order inertia link is introduced to avoid the expected power of the main energy source

And severely fluctuating, reserving time for the power response of the main energy source.

The power signal has a frequency domain

Satisfying differential equations in the time domain

Where s is the Laplacian.

First order inertial link gain K determination

For DeltaP _dc1 Response amplitude of (c):

when k=0 have

I.e. totally disregarding the total output power P of the energy source _dc Is the effect of (1) when the primary energy source is at the desired power +.>

Always the optimal power P of the main energy source _dc1opt But the auxiliary energy source will suffer from large power fluctuations; and +.>

Will follow P as completely as possible _dc At this time, the auxiliary energy source bears less power fluctuation, but the main energy source has larger power fluctuation, so that the proportion of the working point in the high-efficiency area is reduced.

First-order inertial link time constant T determination

For DeltaP _dc1 The response speed of the system is reasonably formulated according to the power response delay condition of the main energy source. />

2) Dual inverter voltage vector distribution

The voltage vector distribution of the double inverter is performed in the voltage vector distribution module 16, and the function is to distribute the expected voltage vector to the two inverters of the main energy source inverter 4 and the auxiliary energy source inverter 5, so that the device switching frequency of the main energy source inverter 4 is reduced as much as possible while the following requirement of the main energy source power is met as much as possible, and the inverter loss is reduced. The double inverter voltage vector allocation is performed once per control period, as shown in fig. 3, and the specific steps are as follows:

(1) Reading D, Q axis component of total expected voltage vector in stator DQ coordinate system

Main energy source desired power->

D, Q axis component i of motor stator current vector in stator DQ coordinate system _D 、i _Q Main energy source voltage signal U _dc1 And auxiliary energy source voltage signal U _dc2 ；

(2) Performing low switching frequency mode voltage vector distribution to obtain D, Q axis components of expected voltage vectors of the low switching frequency mode main energy source inverter under a stator DQ coordinate system

(3) Performing voltage vector distribution in a power accurate following mode to obtain D, Q axis components of the expected voltage vector of the main energy source inverter in the power accurate following mode under a stator DQ coordinate system

(4) Performing voltage vector distribution in a voltage linear distribution mode to obtain D, Q axis components of expected voltage vectors of the voltage linear distribution mode main energy source inverter under a stator DQ coordinate system

(5) Selecting a voltage vector distribution mode, namely selecting one voltage vector distribution mode from a low switching frequency mode, a power accurate following mode and a voltage linear distribution mode to obtain D, Q axis components of a desired voltage vector of the main energy source inverter under a stator DQ coordinate system

(6) According to the formula

Calculating auxiliary energy source inverter desired voltage vectorD, Q axis component in stator DQ coordinate system>

And output->

And->

The low switching frequency mode, the power accurate following mode and the voltage linear distribution mode are 3 voltage vector distribution modes. As shown in fig. 4, in the stator DQ coordinate system, O ₁ R is the current vector of the motor stator

O ₁ O ₂ For the total desired voltage vector

If in O ₁ Desired voltage vector as main energy source inverter +.>

Starting from O ₂ Desired voltage vector for inverter as auxiliary energy source +.>

The starting point is hexagonal A ₁ B ₁ C ₁ D ₁ E ₁ F ₁ Is->

Maximum modulation range of (2), hexagon A ₂ B ₂ C ₂ D ₂ E ₂ F ₂ Is that

Is defined by a maximum modulation range of (a); voltage vector allocation satisfies->

The two hexagonally overlapping parts are then the possible domains for voltage vector allocation, i.e. +.>

And->

Allowing coincidence in this region.

Low switching frequency mode primary energy source inverter desired voltage vector

Using only zero vectors or hexagons A ₁ B ₁ C ₁ D ₁ E ₁ F ₁ The basic voltage vector represented by the peak can obviously reduce the switching frequency of devices of the main energy source inverter and finally adopts +.>

For the feasible region to make the output power of the main energy source closest to the expected power of the main energy source +.>

The result of the voltage vector allocation in this way is represented by +. >

And->

As shown. />

Desired voltage vector of main energy source inverter in power accurate following mode

According to the motor stator current vector->

Is given by the direction of->

Amplitude is according to main energy source expected power +.>

Accurate calculation, thus only +.>

The output power of the main energy source can accurately follow +.>

The voltage vector distribution result of this mode is represented by +.>

And->

As shown.

Desired voltage vector of main energy source inverter in voltage linear distribution mode

Direct according to the total desired voltage vector +.>

Is given by the direction of (and therefore->

And->

Distributed along a straight line, this way is completely independent of the main energy source output power pair +.>

But most easily occurs in the feasible domain of voltage vector distribution in such a way that the voltage vector distribution results from the graph

And->

As shown.

As shown in fig. 5, the algorithm for voltage vector distribution in the low switching frequency mode specifically includes the following steps:

step A1, defining a 4×7 matrix M _us1 Each column of the matrix represents a main energy source inverter candidate voltage vector, including 1 zero vector and 6 basic voltage vectors;

step A2, matrix M _us1 Assignment of

lines

Wherein, "M _us1 (n:)' represents matrix M _us1 The "°" is a hadamard product symbol, representing multiplication of two matrices or corresponding position elements of the vectors, and the same applies below;

step A3, matrix M _us1 Assignment of line 3, let M _us1 The 3 rd action of each column is the output power of the main energy source under the corresponding alternative voltage vector, namely M _us1 (3,:)＝M _us1 ([1,2],:) ^T ×[i _D ,i _Q ] ^T ；

The absolute value of the difference, i.e

Step A5, pair M _us1 Line 4, M _us1 (4: sorting to obtain M _us1 (4) column number sequence ord of ascending order;

step A7, distributing the alternative voltage vector of the current cycle to the main energy source inverter 4, namely, making

Step A8, calculating D, Q axis components of the expected voltage vector distributed by the current cycle auxiliary energy source inverter 5 under the stator DQ coordinate system, namely, making

Step a11, judging whether the expected voltage vector distributed by the auxiliary energy source inverter 5 of the current cycle exceeds the modulation range: if a is ₂ +b ₂ >1, describing that the expected voltage vector distributed by the auxiliary energy source inverter exceeds the modulation range, and executing a step A12; otherwise, executing the step A13;

step A12, the expected voltage vector distributed by the auxiliary energy source inverter 5 of the current cycle exceeds the modulation range, and the alternative voltage vector of the main energy source inverter 4 cannot be adopted; low switching frequency mode valid flag position 0, i.e. let F _LowFre =0; executing the next cycle, i.e. let i=i+1, turning to step A7;

step A13, the expected voltage distributed by the auxiliary energy source inverter 5 of the current cycleThe vector does not exceed the modulation range, and alternative voltage vectors of the main energy source inverter 4 can be adopted; low switching frequency mode active flag position 1, let F _LowFre =1, exit the loop;

As shown in fig. 6, the algorithm for voltage vector distribution in the power accurate following manner specifically includes the following steps:

step B1, calculating the current vector amplitude i of the motor stator _{s_Amp} I.e.

Step B2, according to the expected power of the main energy source

I.e.

Step B3 of

Step B4, executing adjacent basic voltage vector proportion algorithm S, wherein the inputs are respectively

Step B5, judging whether the current expected voltage vector of the given main energy source inverter 4 exceeds the modulation range: if a is ₁ +b ₁ >1, describing that the expected voltage vector of the current given main energy source inverter exceeds a modulation range, and executing steps B6 to B7; otherwise, skipping the steps B6 to B7, and executing the step B8;

Primary energy source adjacent basic voltage vector proportional parameter

The corrected primary energy source desired voltage vector magnitude

Step B7 of

Giving the expected voltage vector of the main energy source inverter in a power accurate following mode according to the current vector direction of the motor stator for the amplitude, namely +.>

Step B8, calculating D, Q axis component of the desired voltage vector distributed by the auxiliary energy source inverter 5 in the stator DQ coordinate system, namely, making

Step B9, calculating workRate accurate following mode primary energy source desired power deviation D _{Pdc1_AccFow} I.e.

Step B11, judging whether the desired voltage vector distributed by the auxiliary energy source inverter 5 exceeds the modulation range: if a is ₂ +b ₂ >1, describing that the expected voltage vector distributed by the auxiliary energy source inverter 5 exceeds the modulation range, and executing step B12; otherwise, executing the step B13;

step B12, the expected voltage vector distributed by the auxiliary energy source inverter 5 exceeds the modulation range, and the power accurate following mode cannot be adopted under the working condition; the effective mark position 0 of the power accurate following mode, namely F _AccFow ＝0；

Step B13, the expected voltage vector distributed by the auxiliary energy source inverter 5 does not exceed the modulation range, and a power accurate following mode can be adopted under the working condition; effective mark position 1 of power accurate following mode, namely F _AccFow ＝1；

As shown in fig. 7, the algorithm for voltage vector distribution in the voltage straight line distribution method specifically includes the following steps:

step (a)C1, directly giving the desired voltage vector of the main energy source inverter according to the total desired voltage vector, namely

Step C3, judging whether the current expected voltage vector of the given main energy source inverter 4 exceeds the modulation range: if a is ₁ +b ₁ >1, describing that the expected voltage vector of the current given main energy source inverter 4 exceeds the modulation range, and executing steps C4-C6; otherwise, skipping the steps C4 to C6, and executing the step C7;

Primary energy source adjacent basic voltage vector proportional parameter

The corrected primary energy source desired voltage vector magnitude

Step C5, calculating the total expected voltage vector amplitude

I.e. < ->

/>

Step C6 of

Step C7, D, Q axis component of expected voltage vector of main energy source inverter under stator DQ coordinate system based on output voltage linear distribution

The three voltage vector distribution modes of the low switching frequency mode, the power accurate following mode and the voltage linear distribution mode can achieve different power distribution effects, and the device switching frequency of the inverter is reduced as much as possible while the main energy source power well follows the expected work rate through reasonably selecting and flexibly switching the voltage vector distribution mode, so that the inverter loss is reduced, and the system efficiency is improved.

As shown in fig. 8, the algorithm for selecting three voltage vector distribution modes includes the following steps:

step D1, judging the effective flag bit F of the low switching frequency mode _LowFre Whether or not it is 1; if F _LowFre =1, step D2 is performed; otherwise, executing the step D5;

step D2, judging whether the following conditions are met:

1、F _AccFow ＝0，

2、D _{Pdc1_LowFre} ≤D _{Pdc1_max} ，

3、D _{Pdc1_LowFre} ≤D _{Pdc1_AccFow} ；

d3 is executed as long as any one of the above 3 conditions is satisfied; if all 3 conditions are not satisfied, executing the step D4;

Step D3, voltage vector distribution in a low switching frequency mode is adopted, namely D, Q axis components of expected voltage vectors of the main energy source inverter under a stator DQ coordinate system

Step D4, voltage vector distribution in a power accurate following mode is adopted, namely D, Q axis components of a main energy source inverter expected voltage vector under a stator DQ coordinate system

Step D5, judging the effective zone bit F of the power accurate following mode _AccFow Whether or not it is 1; if F _AccFow =1, step D6 is performed; otherwise, executing the step D7;

step D6, voltage vector distribution in a power accurate following mode is adopted, namely D, Q axis components of the expected voltage vector of the main energy source inverter under a stator DQ coordinate system

Step D7, voltage vector distribution is carried out by adopting a voltage linear distribution mode, namely D, Q axis components of expected voltage vectors of the main energy source inverter under a stator DQ coordinate system

Wherein D is _{Pdc1_max} The maximum deviation of the expected power of the main energy source is a preset value; d (D) _{Pdc1_max} The larger the power output from the main energy source, the lower the following requirement is, and the larger the proportion of voltage vector distribution is by adopting a low switching frequency mode.

In the three voltage vector distribution modes of the low switching frequency mode, the power accurate following mode and the voltage straight line distribution mode, the adjacent basic voltage vector proportion algorithm S has the function of calculating the adjacent basic voltage vector duty ratio required by space vector pulse width modulation according to the provided single-side inverter expected voltage vector and the corresponding bus voltage, and as shown in fig. 9, the method specifically comprises the following steps:

Step S1, reading D, Q axis components of expected voltage vector of single-side inverter under stator DQ coordinate system

Corresponding bus voltageU _dcs ；

Step S2, calculating projection parameters J, K, L;

order of the game

Step S3, positive and negative sign bits sign (J), sign (K) and sign (L) of J, K, L are respectively obtained;

the operation rule of the sign function is as follows: if X >0, sign (X) =1; otherwise sign (X) =0;

s4, calculating a sector number N; let n=sign (J) +2sign (K) +4sign (L);

step S5, calculating a proportion parameter X, Y, Z;

order of the game

Step S6, calculating and outputting the adjacent basic voltage vector proportion parameter a according to the value condition of N _s 、b _s ：

If n=0, let a _s ＝0，b _s ＝0；

If n=1, let a _s ＝Z，b _s ＝Y；

If n=2, let a _s ＝Y，b _s ＝-X；

If n=3, let a _s ＝-Z，b _s ＝X；

If n=4, let a _s ＝-X，b _s ＝Z；

If n=5, let a _s ＝X，b _s ＝-Y；

If n=6, let a _s ＝-Y，b _s ＝-Z。

The present embodiment was tested below, and simulated using a Matlab/Simulink platform, and the speed loop was proportional-integral controlled, with the control parameters and open winding motor circuit parameters used as shown in table 1.

TABLE 1

The simulation enables the system to run for 0.9s, the expected rotating speed of the motor rises to 6000r/min at a constant speed of 0-0.3 s, the value is kept to be 0.6s, and then falls to 0 at a constant speed of 0.6-0.9 s; the load torque was stepped from 0 to 60Nm at 0.05s and held at that value until the simulation ended. Optimum power P of main energy source _dc1opt Is set to be constant at 20 kW.

Fig. 10 to 13 are waveform diagrams of control effects of the present embodiment. As shown in fig. 10, the actual motor speed can follow the desired speed well with only slight jerk when loaded with load torque for 0.05 s.

As shown in fig. 11, under the double-inverter space vector pulse width modulation clamping, the electromagnetic torque control of the motor is accurate, and the torque ripple is controlled within 3 Nm.

The primary energy source expected power curve in fig. 12 reflects the effect of the primary energy source expected power control algorithm, and it can be seen that the primary energy source expected power is smooth and has no frequent fluctuation, and is as close to the primary energy source optimal power P as possible under the condition of meeting the current working condition requirements _dc1opt The method comprises the steps of carrying out a first treatment on the surface of the The actual power curve of the main energy source reflects the effect of a double-inverter voltage vector distribution algorithm, and it can be seen that the actual power of the main energy source can well follow the expected power of the main energy source under most other working conditions except for the working conditions of extremely low torque and extremely low rotating speed of the motors of 0-0.05 s and 0.86-0.9 s, and the power following deviation is within 5 kW; the working conditions of extremely low motor torque and extremely low rotating speed cannot meet the power distribution requirement due to the fact that the stator current vector amplitude is too low.

As shown in fig. 13, since the main energy source inverter 4 adopts the zero vector, the basic voltage vector and the saturated voltage vector as much as possible under the condition of the working condition, the total switching frequency of the inverter devices is significantly lower than that of the auxiliary energy source inverter 5 which is normally modulated, especially, the total switching frequency of the main energy source inverter 4 is only 10% of that of the auxiliary energy source inverter when the rotating speed is stable, so that the sum of the total switching frequencies of the inverter devices of the double inverters is significantly reduced, the switching loss of the inverter devices is reduced, and the system efficiency is improved.

The simulation result of the embodiment shows that the power distribution method of the double-energy-source open-winding motor driving system ensures the power performance requirement of the whole vehicle, simultaneously enables the main energy source to work in a high-efficiency area as much as possible, slows down power fluctuation, reduces the switching loss of devices of the inverter and improves the system efficiency.

The driving system of the double-energy-source open-winding motor for the vehicle, provided by the invention, can be applied to a double-energy-source electric vehicle which takes an internal combustion engine range extender or a fuel cell as a main energy source and a storage battery as an auxiliary energy source. Through the establishment of the expected power of the main energy source and the distribution of the voltage vectors of the double inverters, the reasonable distribution of the power of the double energy sources is realized, the main energy source is enabled to work in a high-efficiency interval as much as possible under the condition of allowing working conditions, and meanwhile, the switching frequency of devices of the inverters is reduced, so that the inverter loss is reduced.

Claims

1. The power distribution method of the double-energy source open-winding permanent magnet synchronous motor system for the vehicle is characterized in that a main energy source inverter powered by a main energy source is connected with the starting end of a three-phase winding of the open-winding permanent magnet synchronous motor, and an auxiliary energy source inverter powered by an auxiliary energy source is connected with the tail end of the three-phase winding of the open-winding permanent magnet synchronous motor, and the power distribution method comprises the following steps:

primary energy source desired power control:

By main energy sourceRate deviation Δp _dc1 As input of the first-order inertia link, the expected power compensation of the main energy source is obtained through the first-order inertia link

Compensating for desired power of primary energy source

And output, i.e.)>

Voltage vector distribution for the main and auxiliary energy source inverters:

Main energy source desired power->

Desired power deviation D of main energy source in low switching frequency mode _{Pdc1_LowFre} And low switching frequency mode effective flag bit F _LowFre The algorithm for low switching frequency mode voltage vector distribution comprises the following steps:

step A1, defining a4×7 matrix M _us1 ；

Step A2, matrix M _us1 Assignment of lines 1 and 2, let M _us1 Each column 1 corresponds to the D-axis component of the alternative voltage vector in the stator DQ coordinate system, and each column 2 corresponds to the D-axis component of the alternative voltage vector in the stator DQ coordinate system, namely

M _us1 (3,:)＝M _us1 ([1,2],:) ^T ×[i _D ,i _Q ] ^T ；

Absolute value of difference, i.e.)>

wherein, "M _us1 (n:)' represents matrix M _us1 Is a vector of the n-th row of (c),

for Hadamard product symbol, represent multiplication of two matrix or vector corresponding position elements;

Executing the next cycle, i.e. let i=i+1, turning to step A7;

Desired power deviation D of main energy source in power accurate following mode _{Pdc1_AccFow} And power accurate following mode effective flag bit F _AccFow The algorithm for the power accurate following mode voltage vector distribution comprises the following steps:

step B1, according to

Calculating the current vector amplitude i of the motor stator _{s_Amp} ；

Step B2, according to the expected power of the main energy source

I.e.

Step B3 of

U _dc1 Obtaining the adjacent basic voltage vector proportion parameter a of the main energy source ₁ 、b ₁ ；/>

Primary energy source adjacent basic voltage vector proportional parameter

The corrected primary energy source desired voltage vector magnitude

Step B7 of

Step B9, according to

The algorithm for voltage vector distribution in the voltage straight line distribution mode comprises the following steps:

Primary energy source adjacent basic voltage vector proportional parameter

The corrected primary energy source desired voltage vector magnitude

Step C5, according to

Calculating the total desired voltage vector magnitude +.>

Step C6 of

According to the formula

And output->

And->

2. The power distribution method for a dual energy source open winding permanent magnet synchronous motor system for a vehicle according to claim 1, wherein the algorithm for selecting the voltage vector distribution mode comprises:

3. The power distribution method of the dual energy source open winding permanent magnet synchronous motor system for a vehicle according to claim 1 or 2, wherein the adjacent basic voltage vector scaling algorithm S comprises:

Corresponding bus voltage U _dcs ；

Step S2, according to

To calculate projection parameters J, K, L;

step S5, according to

To calculate a scale parameter X, Y, Z;