CN-115276515-B - Multi-motor vector control signal modulation method, device and equipment and control system

CN115276515BCN 115276515 BCN115276515 BCN 115276515BCN-115276515-B

Abstract

The invention discloses a multi-motor vector control signal modulation method, a device, equipment and a control system, which belong to the field of motor control, wherein the method comprises the steps of firstly obtaining the effective vector duty ratio of PWM waves acting on each phase of a motor, then modulating the three effective vector duty ratios of each motor into two target vector duty ratios and a common duty ratio according to the effective vector duty ratios of all motors, and because the common vector duty ratio acts on one phase of all motors, the control signals of the n motors originally need to be changed into 2n+1 control signals, so that the number of inverter bridges needed by the control system adopting the modulation method is reduced, required components are reduced, and the method has the advantages of low cost and small volume.

Inventors

ZHUO MINGSHENG
CHEN WANXING
CHEN HONG
TANG HAIYANG
DUAN CHENGJIE
GAO YA

Assignees

珠海格力电器股份有限公司

Dates

Publication Date: 20260505
Application Date: 20220803

Claims (8)

1. The multi-motor vector control signal modulation method is characterized by comprising the following steps of: acquiring an effective vector duty cycle of a PWM wave acting on each phase of the motor; modulating the three effective vector duty cycles for controlling each motor according to the effective vector duty cycles of all motors to obtain two target vector duty cycles and a common vector duty cycle, wherein the common vector duty cycle acts on one phase of all motors, and modulating the three effective vector duty cycles for controlling each motor according to the effective vector duty cycles of all motors to obtain two target vector duty cycles comprises the following steps: Obtaining zero sequence signals according to the effective vector duty ratios of all motors, and obtaining three initial bridge arm voltage reference values of the motors according to the three effective vector duty ratios of each motor, wherein the obtaining the three initial bridge arm voltage reference values of the motors according to the three effective vector duty ratios of each motor comprises the steps of adding first effective vector duty ratios of all motors to obtain a first initial bridge arm voltage reference value, wherein the first effective vector duty ratio is the effective vector duty ratio of any phase, and the first initial bridge arm voltage reference value is used for calculating a common vector duty ratio; And adding the zero sequence signal and any two initial bridge arm voltage reference values to obtain two target vector duty ratios.
2. The method of claim 1, wherein the obtaining zero sequence signals according to the effective vector duty cycle of all motors comprises: Obtaining maximum and minimum values in initial voltage reference values for calculating the duty ratio of a target vector in all motors; and taking the half of the sum of the maximum value and the minimum value to be negative to obtain a zero sequence signal.
3. The method of claim 1, wherein modulating the three effective vector duty cycles for controlling each motor to a common vector duty cycle based on the effective vector duty cycles for all motors comprises: And taking the first initial bridge arm voltage reference values of all motors as the common vector duty ratio.
4. The method as recited in claim 1, further comprising: judging whether the value of the duty ratio of the public vector is larger than 1, and if so, setting the value of the duty ratio of the public vector to be 1; and/or judging whether the target vector duty cycle value is greater than 1, and if so, setting the target vector duty cycle value greater than 1 to be 1.
5. The method of claim 1, wherein said obtaining an effective vector duty cycle of the PWM wave applied to each phase of the motor comprises: Acquiring a voltage component of the motor; Calculating the acting time of a non-zero voltage vector in a three-phase PWM wave corresponding to the motor in a control period; And taking the ratio of the acting time to the control period as an effective vector duty ratio.
6. A multi-motor vector control signal modulation apparatus comprising: the duty cycle acquisition module is used for acquiring the effective vector duty cycle of the PWM wave acting on each phase of the motor; the system comprises a duty cycle modulation module, a zero sequence signal obtaining module, a first initial bridge arm voltage reference value obtaining module and a second initial bridge arm voltage reference value obtaining module, wherein the duty cycle modulation module is used for modulating three effective vector duty cycles for controlling each motor according to the effective vector duty cycles of all motors to obtain two target vector duty cycles and a common vector duty cycle, the common vector duty cycle acts on one phase of all motors, the zero sequence signal is concretely used for obtaining the zero sequence signal according to the effective vector duty cycles of all motors, the first effective vector duty cycles of all motors are added to obtain the first initial bridge arm voltage reference value, the first effective vector duty cycle is the effective vector duty cycle of any phase, the first initial bridge arm voltage reference value is used for calculating the common vector duty cycle, and the first effective vector duty cycle of each motor is added with the initial bridge arm voltage reference value and subtracted from the first effective vector duty cycle of each motor to obtain the other two initial bridge arm voltage reference values, and the signal is added with any two initial bridge arm voltage reference values to obtain the two target duty cycles.
7. A multi-motor vector control signal modulation apparatus comprising: A processor; A memory for storing the processor-executable instructions; the processor is configured to perform the method of any of claims 1-5.
8. The multi-motor vector control system is characterized by comprising at least two three-phase motors, a zero sequence component modulation module and a multi-bridge arm inverter; the zero sequence component modulation module is configured to perform the method of any one of claims 1-5 to obtain two target vector duty cycles and a common vector duty cycle for controlling each motor; The zero sequence component modulation module is connected with the multi-bridge arm inverter, the common vector duty ratio is connected with one of all motors through one bridge arm of the multi-bridge arm inverter, and two target vector duty ratios of each motor are respectively connected with the other two phases of the motor through one bridge arm of the multi-bridge arm inverter.

Description

Multi-motor vector control signal modulation method, device and equipment and control system Technical Field The present invention relates to the field of motor control, and in particular, to a method, an apparatus, a device, and a control system for modulating a multi-motor vector control signal. Background Along with the development of control theory, computer level and motor technology manufacturing level, in recent years, the multi-motor variable frequency speed regulating system has the advantages of high energy density, suitability for fault-tolerant operation, high energy efficiency and the like, and is widely applied to the fields of household appliances, transportation, aerospace and the like. The inverter with the traditional control structure needs to provide three control signals (duty ratio) for one motor, and needs a plurality of inverter bridges to drive a plurality of motors at the same time, so that a plurality of switching devices are needed, the cost is high, and the size is large. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides a multi-motor vector control signal modulation method, a device, equipment and a control system, which are used for solving the problems of a driving system topological structure, multiple motors to be driven simultaneously, multiple inverter bridges to be driven simultaneously, more switching devices, high cost and large volume. The technical scheme adopted for solving the technical problems is as follows: in a first aspect, a method for modulating a multi-motor vector control signal is provided, including the steps of: acquiring an effective vector duty cycle of a PWM wave acting on each phase of the motor; And modulating three effective vector duty cycles for controlling each motor according to the effective vector duty cycles of all motors to obtain two target vector duty cycles and a common vector duty cycle, wherein the common vector duty cycle acts on one phase of all motors. Further, the modulating the three effective vector duty cycles for controlling each motor according to the effective vector duty cycles of all motors to obtain two target vector duty cycles includes: obtaining zero sequence signals according to the effective vector duty ratios of all motors, and obtaining three initial bridge arm voltage reference values of each motor according to the three effective vector duty ratios of the motors; And adding the zero sequence signal and any two initial bridge arm voltage reference values to obtain two target vector duty ratios. Further, the obtaining the zero sequence signal according to the effective vector duty ratio of all the motors includes: Obtaining maximum and minimum values in initial voltage reference values for calculating the duty ratio of a target vector in all motors; and taking the half of the sum of the maximum value and the minimum value to be negative to obtain a zero sequence signal. Further, the obtaining three initial bridge arm voltage reference values of the motors according to the three effective vector duty ratios of each motor includes: Adding first effective vector duty ratios of all motors to obtain a first initial bridge arm voltage value, wherein the first effective vector duty ratio is the effective vector duty ratio of any phase, and the first initial bridge arm voltage value is used for calculating a common vector duty ratio; And respectively adding the first effective vector duty ratio of the motor with the initial bridge arm voltage values in the other two effective vector duty ratios except the first effective vector duty ratio of each motor, and subtracting the first effective vector duty ratio of the motor to obtain the other two initial bridge arm voltage reference values. Further, the modulating the three effective vector duty cycles for controlling each motor according to the effective vector duty cycles of all motors to obtain a common vector duty cycle includes: And taking the first initial bridge arm voltage reference values of all motors as the common vector duty ratio. Further, the method further comprises the following steps: judging whether the value of the duty ratio of the public vector is larger than 1, and if so, setting the value of the duty ratio of the public vector to be 1; and/or judging whether the target vector duty cycle value is greater than 1, and if so, setting the target vector duty cycle value greater than 1 to be 1. Further, the obtaining the effective vector duty ratio of the PWM wave acting on each phase of the motor includes: Acquiring a voltage component of the motor; Calculating the acting time of a non-zero voltage vector in a three-phase PWM wave corresponding to the motor in a control period; And taking the ratio of the acting time to the control period as an effective vector duty ratio. In a second aspect, there is provided a multi-motor vector control signal modulation apparatus comprising: the duty cycle acquisition module i