CN111384886A - PWM modulation method and device for motor control - Google Patents
PWM modulation method and device for motor control Download PDFInfo
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- CN111384886A CN111384886A CN201811638836.9A CN201811638836A CN111384886A CN 111384886 A CN111384886 A CN 111384886A CN 201811638836 A CN201811638836 A CN 201811638836A CN 111384886 A CN111384886 A CN 111384886A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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Abstract
The present disclosure relates to a PWM modulation method and apparatus for motor control. The method comprises the following steps: determining a PWM modulation mode; if the determined modulation mode is SHEPWM, determining the switching angle of each phase of the inverter in the full-period range; determining the number of level intervals of the current voltage angle of each phase according to the current voltage angle of each phase and the switching angle of each phase in the full-period range; and determining the level value of each phase in each level interval according to the number of the level intervals in which the current voltage angle of each phase is positioned and the number of the preset switching angles. Therefore, the level values of all phases can be obtained respectively, the high-precision modulation of SHEPWM is realized, the requirements of different application occasions are met, the universality is good, and the realization is simple.
Description
Technical Field
The present disclosure relates to the field of motor control, and in particular, to a PWM modulation method and apparatus for motor control.
Background
In the occasion of high-power motor driving, because the heat dissipation condition is harsh, the switching frequency of a power device of the inverter is limited, generally below 1kHz, and the modulation of PWM enters the working condition of low carrier ratio. In addition, in applications such as electric vehicles, the electric frequency of the motor is gradually increased to 1kHz or more in order to increase the power density of the electric drive system. At this time, if an IGBT device is used, a low carrier ratio condition also exists. Under the working conditions, compared with other modulation modes, the SHEPWM can effectively reduce harmonic waves and torque pulsation under the working conditions of low carrier ratio and improve the performance of the system.
SHEPWM is a synchronous modulation PWM, the realization method is generally an off-line table look-up mode, and in the application occasion of motor drive, the realization of a control system is complex, wherein the realization comprises SHEPWM angle calculation and modulation precision, switching of different modulation modes, code realization efficiency and the like, and sometimes the problems of insufficient control precision, disturbance in switching, poor control efficiency and the like exist. The current PWM modulation scheme is complex and has weak universality.
Disclosure of Invention
The purpose of the present disclosure is to provide a PWM modulation method and apparatus for motor control with strong versatility.
In order to achieve the above object, the present disclosure provides a PWM modulation method for motor control. The method comprises the following steps: determining a PWM modulation mode; if the determined modulation mode is SHEPWM, determining the switching angle of each phase of the inverter in the full-period range; determining the number of level intervals of the current voltage angle of each phase according to the current voltage angle of each phase and the switching angle of each phase in the full-period range; and determining the level value of each phase in each level interval according to the number of the level intervals in which the current voltage angle of each phase is positioned and the number of the preset switching angles.
Optionally, if the determined modulation mode is SHEPWM, the step of determining the switching angle of each phase of the inverter within the full cycle range includes: if the determined modulation mode is SHEPWM, determining the voltage modulation depth according to a preset motor control algorithm; before storing the number of switching angles, the voltage modulation depth and
searching the data base of the corresponding relation among the periodic switch angles, the determined voltage modulation depth and the preset switch angle number
A periodic switching angle; according to the searched front
The periodic switching angle determines the switching angle over the full period.
Optionally, the step of determining the level value of each phase in each level interval according to the number of level intervals in which the current voltage angle of each phase is located and the number of predetermined switching angles includes:
when N is an odd number and R is an even number, determining the voltage of an upper bridge arm of the modulation system as a low level;
when N is an odd number and R is an odd number, determining the voltage of an upper bridge arm of the modulation system as a high level;
when N is an even number and R is an even number, determining the voltage of an upper bridge arm of the modulation system as a high level;
and when N is an even number and R is an odd number, determining the voltage of an upper bridge arm of the modulation system as a low level, wherein N is the number of the preset switching angles, and R is the number of level intervals where the current voltage angle is located.
Optionally, the method further comprises: if the modulation mode is switched between different SHEPWM, each phase is controlled to have a voltage angle of
Or
And (4) switching.
Optionally, the method further comprises: if the determined modulation mode is SPWM or SVPWM, calculating a voltage angle; constructing modulation voltage values of each phase of the inverter according to the voltage angles; and determining the level value of each phase according to the modulation voltage value of each phase of the inverter.
Optionally, the voltage angle is calculated by the following formula:
θ＝α*p+β-γ
if the determined modulation mode is SPWM, the three-phase modulation voltage value of the inverter is constructed as follows:
if the determined modulation mode is SVPWM, the three-phase modulation voltage value of the inverter is constructed as follows:
wherein θ is a voltage angle, α is a motor rotor angle, p is a ratio of a motor pole pair number to a rotation pole pair number, β is a fundamental voltage vector angle, γ is a motor initial position angle, M is a voltage modulation depth, and Ua, Ub, Uc are three-phase modulation voltage values of the inverter, respectively.
The present disclosure also provides a PWM modulation apparatus for motor control. The device comprises: the mode determining module is used for determining a PWM modulation mode; the switching angle determining module is used for determining the switching angle of each phase of the inverter within the full-period range if the determined modulation mode is SHEPWM; the interval number determining module is used for determining the level interval number of the current voltage angle of each phase according to the current voltage angle of each phase and the switching angle of each phase in the full-period range; and the level value determining module is used for determining the level value of each phase in each level interval according to the number of the level intervals in which the current voltage angle of each phase is positioned and the number of the preset switching angles.
Optionally, the switch angle determining module includes: first of allThe determining submodule is used for determining the voltage modulation depth according to a preset motor control algorithm if the determined modulation mode is SHEPWM; a search submodule for storing the number of switching angles, the voltage modulation depth and the voltage
Searching the data base of the corresponding relation among the periodic switch angles, the determined voltage modulation depth and the preset switch angle number
A periodic switching angle; a second determining submodule for determining whether the search is successful or not
The periodic switching angle determines the switching angle over the full period.
Optionally, the level value determining module includes:
the third determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a low level when N is an odd number and R is an even number;
the fourth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a high level when N is an odd number and R is an odd number;
the fifth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a high level when N is an even number and R is an even number;
and the sixth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a low level when N is an even number and R is an odd number, wherein N is the number of the preset switching angles, and R is the number of level intervals where the current voltage angle is located.
Optionally, the apparatus further comprises: a control module for controlling each phase at a voltage angle of
Or
And (4) switching.
Through the technical scheme, the level value of each phase in each level interval is determined according to the number of the level intervals in which the current voltage angle of each phase is located and the number of the preset switching angles, so that the level value of each phase can be obtained respectively, high-precision modulation of SHEPWM is realized, the requirements of different application occasions are met, the universality is good, and the realization is simple.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a PWM modulation method for motor control provided by an exemplary embodiment;
FIG. 2 is a schematic diagram of determining a PWM modulation mode provided by an exemplary embodiment;
FIGS. 3 and 4 are diagrams of level values of one phase in each level interval when the number of switching angles is odd and even, respectively;
FIG. 5 is a schematic diagram of generating an SPWM output provided by an exemplary embodiment;
FIG. 6 is a block diagram of a PWM modulation apparatus for motor control provided by an exemplary embodiment;
fig. 7 is a block diagram of a PWM modulation apparatus for motor control according to another exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a PWM modulation method for motor control according to an exemplary embodiment. As shown in fig. 1, the PWM modulation method for motor control may include the following steps.
In step S11, the PWM modulation mode is determined.
In step S12, if the determined modulation mode is SHEPWM, the switching angles of the respective phases of the inverter in the full cycle range are determined.
In step S13, the number R of level intervals in which the current voltage angle of each phase is located is determined based on the current voltage angle of each phase and the switching angle of each phase in the full cycle range.
In step S14, the level value of each phase in each level section is determined based on the number R of level sections in which the current voltage angle of each phase is located and the number N of predetermined switching angles.
The PWM modulation mode can be determined using a commonly used method. The determined PWM modulation mode may include an SPWM modulation mode, an SVPWM modulation mode, and a SHEPWM modulation mode. Fig. 2 is a schematic diagram of determining a PWM modulation mode provided by an exemplary embodiment. As shown in fig. 2, the PWM modulation mode may be determined based on the motor electrical frequency (abscissa) and the switching frequency (ordinate) of the motor control system.
Wherein, a section of continuous high level or a section of continuous low level is a level interval. In one period, there are a plurality of level sections. When the number of switching angles is N, the number of level intervals R is 0,1,2, …, 4N + 1.
Through the technical scheme, the level value of each phase in each level interval is determined according to the number of the level intervals in which the current voltage angle of each phase is located and the number of the preset switching angles, so that the level value of each phase can be obtained respectively, high-precision modulation of SHEPWM is realized, the requirements of different application occasions are met, the universality is good, and the realization is simple.
In an embodiment, on the basis of fig. 1, if the determined modulation mode is SHEPWM, the step of determining the switching angles of the phases of the inverter within the full cycle range (step S12) may include the following steps:
if the determined modulation mode is SHEPWM, determining the voltage modulation depth according to a preset motor control algorithm;
storing the number of switching anglesN, Voltage modulation depth M and front
Searching the front corresponding to the determined voltage modulation depth M and the predetermined number N of the switching angles in a database of the corresponding relation among the periodic switching angles
A periodic switching angle;
according to the searched front
The periodic switching angle determines the switching angle over the full period.
The main control chip can obtain a voltage control instruction U through a motor control algorithm under a rotating coordinate system according to motor system samplingdAnd UqCalculating the voltage modulation depth
Where M is the voltage modulation depth, UdcIs the dc bus voltage.
The number of the switch angles, the voltage modulation depth and the voltage modulation front can be stored in advance
And a database of correspondence between the periodic switching angles. The corresponding relation of the three can be calculated and generated off line and stored. When in use, the third party is obtained from the known two parties by means of table look-up.
In this embodiment, the information is obtained by looking up a table in a database generated by pre-calculation
The periodic switching angle and the full-period switching angle are determined by utilizing symmetry, so that the processing method is simple, the speed is high, and errors are not easy to occur.
In an embodiment, on the basis of fig. 1, the step of determining the level value of each phase in each level interval according to the number R of level intervals in which the current voltage angle of each phase is located and the number N of predetermined switching angles (step S14) may include:
when N is an odd number and R is an even number, determining the voltage of an upper bridge arm of the modulation system as a low level;
when N is an odd number and R is an odd number, determining the voltage of an upper bridge arm of the modulation system as a high level;
when N is an even number and R is an even number, determining the voltage of an upper bridge arm of the modulation system as a high level;
and when N is an even number and R is an odd number, determining the voltage of an upper bridge arm of the modulation system as a low level, wherein N is the number of preset switching angles, and R is the number of level intervals where the current voltage angle is located.
That is, according to the characteristics of the upper arm (upper arm) SHEPWM, if (Rmod 2) XOR (N mod 2) is 1, the upper tube (upper arm) SHEPWM output is high, and if (Rmod 2) XOR (N mod 2) is 0, the upper tube (upper arm) SHEPWM output is low. Where XOR represents XOR and mod represents modulo.
Fig. 3 and 4 are schematic diagrams of level values of one phase in each level interval when the number N of switching angles is odd and even, respectively.
In fig. 3 and 4, the abscissa θ is α × p + β — γ, θ is the spatial rotation angle of the voltage vector, i.e., the voltage angle, and α is the motor rotation obtained by high-speed samplingThe sub-angle, p is the ratio of the number of pole pairs of the motor to the number of pole pairs of the rotary transformer, β is the fundamental voltage vector angle,
gamma is preset motor initial position angle α1、α2、……、αNIn fig. 3, the number of level intervals R equal to 0 corresponds to the switching angles corresponding to the 1 st, 2 nd, … … th and N th switching angles, respectively, and θ corresponds to the switching angle α from 0 to the 1 st switching angle1The level interval number R of 1 corresponds to θ from the 1 st switching angle α1To 2 nd switch angle α2At α2To αNThere may be a plurality of level intervals, shown in dashed lines.
In step S12, when the switching angles of the respective phases of the inverter are determined within the full cycle range,
can be switched by
The switching angle between (pi-2 pi) can be obtained by inverting the symmetrical switching angle between (0-pi).
In the above step S13, the current voltage angle may be αPAnd αP+1And when the current voltage angle is larger than the preset voltage angle, determining that the number R of the level intervals in which the current voltage angle is positioned is P. Wherein P is more than or equal to 0 and less than or equal to 4N +1, and P is an integer.
For example,
taking one of the phases as an example, the current voltage angle is
The current voltage angle is at α1And α2Meanwhile, the number R of level intervals in which the current voltage angle is located is 1.
In yet another embodiment, the method may further include: if it is adjustedWhen the control mode is switched among different SHEPWM, the voltage angle of each phase is controlled to be
Or
And (4) switching.
It can be seen from fig. 3 and 4 that SHEPWM at different switching angles
Or
The nearby levels are unchanged, so the SHEPWM output for each phase should be selected to be at each phase angle
Or
The position of the system is switched by different SHEPWM, so that smooth and undisturbed switching can be ensured.
After the PWM modulation is completed, a dead zone may be added and finally output.
In yet another embodiment, the method may further comprise the steps of:
if the determined modulation mode is SPWM or SVPWM, calculating a voltage angle;
constructing modulation voltage values of each phase of the inverter according to the voltage angles;
and determining the level value of each phase according to the modulation voltage value of each phase of the inverter.
Wherein the voltage angle may be calculated as described above, i.e. by the following formula:
θ＝α*p+β-γ
if the determined modulation mode is SPWM, according to the voltage vector
The three-phase modulation voltage values of the inverter may be constructed as:
if the determined modulation mode is SVPWM, the three-phase modulation voltage value of the inverter may be constructed as:
where θ is a voltage angle, α is a motor rotor angle, p is a ratio of a motor pole pair number to a rotation pole pair number, β is a fundamental voltage vector angle, γ is a motor initial position angle, M is a voltage modulation depth, and Ua, Ub, Uc are three-phase modulation voltage values of the inverter, respectively.
Meanwhile, a triangular carrier can be constructed by a carrier frequency, and SPWM or SVPWM output is generated by comparing a modulation voltage with the triangular carrier. FIG. 5 is a schematic diagram of generating an SPWM output provided by an exemplary embodiment.
The present disclosure also provides a PWM modulation apparatus of a motor. Fig. 6 is a block diagram of a PWM modulation apparatus for motor control according to an exemplary embodiment. As shown in fig. 6, the PWM modulation apparatus 10 of the motor may include a mode determination module 11, a switching angle determination module 12, an interval number determination module 13, and a level value determination module 14.
The mode determination module 11 is used to determine the PWM modulation mode.
The switching angle determining module 12 is configured to determine a switching angle of each phase of the inverter within a full cycle range if the determined modulation mode is SHEPWM.
The interval number determining module 13 is configured to determine the number of level intervals in which the current voltage angle of each phase is located according to the current voltage angle of each phase and the switching angle of each phase within the full period range.
The level value determining module 14 is configured to determine a level value of each phase in each level interval according to the number of level intervals in which the current voltage angle of each phase is located and the number of predetermined switching angles.
Optionally, the switching angle determination module may include a first determination sub-module, a lookup sub-module, and a second determination sub-module.
The first determining submodule is used for determining the voltage modulation depth according to a preset motor control algorithm if the determined modulation mode is SHEPWM.
The search submodule is used before the switching angle number, the voltage modulation depth and the voltage are stored
Searching the data base of the corresponding relation among the periodic switch angles, the determined voltage modulation depth and the preset switch angle number
Periodic switching angle.
A second determining submodule for determining whether the search is successful or not
The periodic switching angle determines the switching angle over the full period.
Alternatively, the level value determination module may include a third determination sub-module, a fourth determination sub-module, a fifth determination sub-module, and a sixth determination sub-module.
And the third determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a low level when N is an odd number and R is an even number.
And the fourth determining submodule is used for determining the voltage of the upper bridge arm of the modulation system as a high level when N is an odd number and R is an odd number.
And the fifth determining submodule is used for determining the voltage of the upper bridge arm of the modulation system as a high level when N is an even number and R is an even number.
And the sixth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a low level when N is an even number and R is an odd number, wherein N is the number of preset switching angles, and R is the number of level intervals where the current voltage angle is located.
Optionally, the apparatus 10 may further comprise a control module.
The control module is used for controlling the voltage angle of each phase to be
Or
And (4) switching.
Optionally, the apparatus 10 may further comprise a calculation module, a construction module and a level determination module.
The calculation module is used for calculating the voltage angle if the determined modulation mode is SPWM or SVPWM.
And the construction module is used for constructing each phase modulation voltage value of the inverter according to the voltage angle.
The level determining module is used for determining each phase level value according to each phase modulation voltage value of the inverter.
Optionally, the voltage angle is calculated by the following formula:
θ＝α*p+β-γ
if the determined modulation mode is SPWM, the three-phase modulation voltage value of the inverter is constructed as follows:
if the determined modulation mode is SVPWM, the three-phase modulation voltage value of the inverter is constructed as follows:
where θ is a voltage angle, α is a motor rotor angle, p is a ratio of a motor pole pair number to a rotation pole pair number, β is a fundamental voltage vector angle, γ is a motor initial position angle, M is a voltage modulation depth, and Ua, Ub, Uc are three-phase modulation voltage values of the inverter, respectively.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The realization mode of the currently mainstream SHEPWM modulation system is a main control chip and an FPGA chip, motor control is realized in the main control chip, relevant angle calculation and other work of SHEPWM are realized, and the FPGA only realizes the control of PWM level output. In the scheme, the calculation amount of the main control chip is large, the precision is influenced by the execution cycle of the main control chip, the precision is poor, and the universality is poor. In the present disclosure, the main control chip may be dedicated to the implementation of the motor control algorithm, and the FPGA may be dedicated to the implementation of various PWMs including SHEPWM. The main control chip can realize high-precision modulation of multiple PWM such as SHEPWM to FPGA only by simple setting, and the design commonality is good, realizes simply, and the precision is high.
Specifically, the modulation device provided by the present disclosure may adopt a combination of a main control chip + an FPGA chip + a motor rotor position decoding chip. Fig. 7 is a block diagram of a PWM modulation apparatus of a motor provided in another exemplary embodiment. The main control chip is used for realizing the selection of a motor control algorithm and a PWM modulation mode, and does not realize specific PWM modulation, so that the load can be reduced.
The FPGA chip is designed into a special PWM (pulse width modulation) chip and is used for modulating various PWM including SHEPWM (pulse width modulation), wherein the PWM chip comprises the operations of storing and calculating angles, sampling the position of a motor rotor, smoothly switching, adding dead zones and the like. Because the FPGA is a parallel framework, the execution speed is high, and high-precision PWM can be realized.
The motor rotor position decoding chip is used for high-speed sampling of the motor rotor position, namely high-speed decoding of a motor angle, and high-speed output of PWM (pulse width modulation) such as SHEPWM (pulse width modulation) is realized by utilizing the high-speed sampling angle in the FPGA (field programmable gate array) chip.
The three chips can adopt parallel communication, and the communication speed and efficiency are improved.
In the embodiment, when the motor is controlled, the main control chip only needs to realize a motor control algorithm and send specific data to the specific register of the FPGA, so that the FPGA can realize specific high-precision PWM output, the requirements of different application occasions can be met, and the universality is good.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. For example.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A PWM modulation method for motor control, the method comprising:
determining a PWM modulation mode;
if the determined modulation mode is SHEPWM, determining the switching angle of each phase of the inverter in the full-period range;
determining the number of level intervals of the current voltage angle of each phase according to the current voltage angle of each phase and the switching angle of each phase in the full-period range;
and determining the level value of each phase in each level interval according to the number of the level intervals in which the current voltage angle of each phase is positioned and the number of the preset switching angles.
2. The method of claim 1, wherein the step of determining the switching angle of each phase of the inverter over a full cycle if the determined modulation mode is SHEPWM comprises:
if the determined modulation mode is SHEPWM, determining the voltage modulation depth according to a preset motor control algorithm;
before storing the number of switching angles, the voltage modulation depth and
searching the data base of the corresponding relation among the periodic switch angles, the determined voltage modulation depth and the preset switch angle number
A periodic switching angle;
according to the searched front
The periodic switching angle determines the switching angle over the full period.
3. The method of claim 1, wherein the step of determining the level value of each phase in each level interval according to the number of level intervals in which the current voltage angle of each phase is located and the number of predetermined switching angles comprises:
when N is an odd number and R is an even number, determining the voltage of an upper bridge arm of the modulation system as a low level;
when N is an odd number and R is an odd number, determining the voltage of an upper bridge arm of the modulation system as a high level;
when N is an even number and R is an even number, determining the voltage of an upper bridge arm of the modulation system as a high level;
and when N is an even number and R is an odd number, determining the voltage of an upper bridge arm of the modulation system as a low level, wherein N is the number of the preset switching angles, and R is the number of level intervals where the current voltage angle is located.
4. The method of claim 1, further comprising:
if the modulation mode is switched between different SHEPWM, each phase is controlled to have a voltage angle of
Or
And (4) switching.
5. The method of claim 1, further comprising:
if the determined modulation mode is SPWM or SVPWM, calculating a voltage angle;
constructing modulation voltage values of each phase of the inverter according to the voltage angles;
and determining the level value of each phase according to the modulation voltage value of each phase of the inverter.
6. The method of claim 5, wherein the voltage angle is calculated by the formula:
θ＝α*p+β-γ
if the determined modulation mode is SPWM, the three-phase modulation voltage value of the inverter is constructed as follows:
if the determined modulation mode is SVPWM, the three-phase modulation voltage value of the inverter is constructed as follows:
wherein θ is a voltage angle, α is a motor rotor angle, p is a ratio of a motor pole pair number to a rotation pole pair number, β is a fundamental voltage vector angle, γ is a motor initial position angle, M is a voltage modulation depth, and Ua, Ub, Uc are three-phase modulation voltage values of the inverter, respectively.
7. A PWM modulation apparatus for motor control, the apparatus comprising:
the mode determining module is used for determining a PWM modulation mode;
the switching angle determining module is used for determining the switching angle of each phase of the inverter within the full-period range if the determined modulation mode is SHEPWM;
the interval number determining module is used for determining the level interval number of the current voltage angle of each phase according to the current voltage angle of each phase and the switching angle of each phase in the full-period range;
and the level value determining module is used for determining the level value of each phase in each level interval according to the number of the level intervals in which the current voltage angle of each phase is positioned and the number of the preset switching angles.
8. The apparatus of claim 7, wherein the switch angle determination module comprises:
the first determining submodule is used for determining the voltage modulation depth according to a preset motor control algorithm if the determined modulation mode is SHEPWM;
a search submodule for storing the number of switching angles, the voltage modulation depth and the voltage
Searching the data base of the corresponding relation among the periodic switch angles, the determined voltage modulation depth and the preset switch angle number
A periodic switching angle;
a second determining submodule for determining whether the search is successful or not
The periodic switching angle determines the switching angle over the full period.
9. The apparatus of claim 7, wherein the level value determining module comprises:
the third determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a low level when N is an odd number and R is an even number;
the fourth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a high level when N is an odd number and R is an odd number;
the fifth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a high level when N is an even number and R is an even number;
and the sixth determining submodule is used for determining the voltage of an upper bridge arm of the modulation system as a low level when N is an even number and R is an odd number, wherein N is the number of the preset switching angles, and R is the number of level intervals where the current voltage angle is located.
10. The apparatus of claim 7, further comprising:
a control module for controlling each phase at a voltage angle of
Or
And (4) switching.
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