CN-122001246-A - Common-mode voltage suppression method, device and equipment for aerocar

CN122001246ACN 122001246 ACN122001246 ACN 122001246ACN-122001246-A

Abstract

The application provides a common-mode voltage suppression method, device and equipment for a flying car, which are applied to the technical field of motor drive control. The method comprises the steps of determining a reference phase shift angle of each available speed regulator applicable to the current flight working condition according to the current flight working condition information of the flying automobile and the available speed regulators in the plurality of electronic speed regulators. And determining phase-shift angle fine adjustment values of the available speed regulators according to the current running state information of the available speed regulators. And fine tuning the reference phase shift angle based on the phase shift angle fine tuning value aiming at each available speed regulator to obtain the optimal phase shift angle of the available speed regulator. The carrier signal of the motor speed regulator is controlled according to the optimal phase shift angle command generated by the optimal phase shift angle so as to inhibit the total common mode voltage of the flight control system, and the problem that common mode electromagnetic interference in the flight control system cannot be effectively inhibited in the traditional motor driving process can be solved.

Inventors

LI JUN
LU FAYAN
HAI BIN

Assignees

安徽开阳科技有限公司
奇瑞汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260210

Claims (10)

1. The common-mode voltage suppression method for the flying automobile is characterized by being applied to a flight control system, wherein the flight control system comprises a plurality of electronic speed regulators, and the method comprises the following steps of: Determining a reference phase shift angle of each available speed regulator applicable to the current flight condition according to the current flight condition information of the flying automobile and the available speed regulators in the plurality of electronic speed regulators; Determining phase-shift angle fine adjustment values of the available speed regulators according to the current running state information of the available speed regulators; for each available speed regulator, fine tuning the reference phase shift angle based on the phase shift angle fine tuning value to obtain an optimal phase shift angle of the available speed regulator; And controlling a carrier signal of the motor speed regulator according to the optimal phase shift angle instruction generated by the optimal phase shift angle so as to inhibit the total common mode voltage of the flight control system.
2. The method of claim 1, wherein said determining phase angle trim values for each of said available electric regulators based on current operating state information for a plurality of said available regulators comprises: Acquiring a power supply voltage of the flight control system; calculating a total common mode voltage observation value of the flight control system according to the switching state signals of the available speed regulators and the power supply voltage; And determining the phase shift angle trim value according to the total common mode voltage observed value.
3. The method of claim 2, wherein said calculating a total common mode voltage observation of said flight control system from said supply voltage and a switch status signal of each of said available governors comprises: for any one of the available speed regulators, determining the equivalent voltage of each switch according to the switch state signal of each switch in the available speed regulator; Determining a common mode voltage observation value of the available speed regulator according to the equivalent voltage of each switch and the power supply voltage; and determining the total common-mode voltage observed value according to the common-mode voltage observed value of each available speed regulator.
4. The method of claim 2, wherein said determining the phase shift angle trim value from the total common mode voltage observation comprises: Calculating an intensity index of the total common mode voltage observed value; And in each control period, determining the phase shift angle fine adjustment value of the current control period according to the intensity index and the historical phase shift angle fine adjustment value of the previous control period, wherein the intensity index corresponding to the phase shift angle fine adjustment value is lower than the intensity index corresponding to the historical phase shift angle fine adjustment value.
5. The method of claim 1, wherein said determining a reference phase shift angle for each of said available governors for use in a current flight condition based on current flight condition information of a flying vehicle and available governors of a plurality of said electronic governors comprises: inquiring a preset working condition database based on the rotating speed instruction and the torque instruction of each motor in the current flight working condition information to obtain a reference phase-shifting angle set matched with the current flight working condition, wherein the working condition database stores the reference phase-shifting angle set which enables the total common-mode voltage of the flight control system to be minimum under different flight working conditions; And determining the reference phase shift angles allocated to the available speed regulators from the reference phase shift angle set according to the electric regulation quantity.
6. The method according to claim 1, wherein the method further comprises: When at least one available speed regulator is detected to be faulty, determining a target phase shift angle of each remaining available speed regulator according to the available quantity of the remaining available speed regulators in the flight control system; And controlling each remaining available speed regulator to smoothly transition from the current phase shift angle to the target phase shift angle.
7. The method of claim 6, wherein said controlling the smooth transition of each of said remaining available governors from a current phase shift angle to said target phase shift angle comprises: For any remaining available speed regulator, determining the transition step number of the remaining available speed regulator from the current phase shift angle to the target phase shift angle according to the preset transition time and transition period; determining a phase shift angle adjustment sequence of the remaining available speed regulator according to the current phase shift angle, the target phase shift angle and the transition step number, wherein the phase shift angle adjustment sequence comprises a transition phase shift angle matched with each transition step number; And in the transition time, adjusting the phase shift angles of the remaining available speed regulators based on the transition phase shift angles matched with each transition step number so that each remaining available speed regulator respectively reaches a corresponding target phase shift angle.
8. The common-mode voltage suppression device for the flying automobile is characterized by being applied to a flying control system, wherein the flying control system comprises a plurality of electronic speed regulators, and the device comprises: The determining module is used for determining a reference phase shift angle of each available speed regulator applicable to the current flight working condition according to the current flight working condition information of the flying automobile and the available speed regulators in the plurality of electronic speed regulators; The determining module is further used for determining phase-shift angle fine adjustment values of the available speed regulators according to the current running state information of the available speed regulators; The fine adjustment module is used for carrying out fine adjustment on the reference phase shift angle based on the phase shift angle fine adjustment value aiming at each available speed regulator to obtain the optimal phase shift angle of the available speed regulator; And the control module is used for controlling the carrier signal of the motor speed regulator according to the optimal phase shift angle instruction generated by the optimal phase shift angle so as to inhibit the total common mode voltage of the flight control system.
9. A common mode voltage rejection device for a flying car, characterized in that it comprises a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor executing the machine executable instructions to implement the common mode voltage rejection method for a flying car according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method of common mode voltage suppression for a flying car according to any one of claims 1 to 7.

Description

Common-mode voltage suppression method, device and equipment for aerocar Technical Field The application relates to the technical field of motor drive control, in particular to a common-mode voltage suppression method, device and equipment for a flying car. Background Common mode voltage is a long standing problem in the field of motor drives. Because modern motor control systems widely adopt pulse width modulation technology, high-frequency switching action can lead to severe common-mode voltage jump, and the change rate (dv/dt) is extremely high. The traditional common-mode voltage suppression scheme is mainly aimed at a single-motor system, and if the scheme is directly applied to a multi-motor system, a mode of independently adding filtering hardware for each electric regulator is generally adopted, so that the weight, cost and volume of the system are greatly increased, and the requirement of a flying car on a high power-weight ratio is contrary. In addition, the traditional software modulation strategy is mostly optimized independently for each electric modulation, lacks system-level cooperation, and can cause common-mode noise spectrum diffusion during asynchronous operation of multiple motors, so that the electromagnetic interference problem is more complex. Therefore, a method, device and equipment for suppressing common-mode voltage of a flying car are needed to solve the problem that common-mode electromagnetic interference in a flight control system cannot be effectively suppressed in the conventional motor driving process. Disclosure of Invention The application aims to provide a common-mode voltage suppression method, device and equipment for a flying automobile, which solve the problem that common-mode electromagnetic interference in a flight control system cannot be effectively suppressed in the traditional motor driving process. In a first aspect, an embodiment of the present application provides a method for suppressing a common mode voltage of a flying vehicle, which is applied to a flight control system, where the flight control system includes a plurality of electronic speed regulators. The method comprises the steps of determining a reference phase shift angle of each available speed regulator applicable to the current flight working condition according to the current flight working condition information of the flying automobile and the available speed regulators in the plurality of electronic speed regulators. And determining phase-shift angle fine adjustment values of the available speed regulators according to the current running state information of the available speed regulators. And fine tuning the reference phase shift angle based on the phase shift angle fine tuning value aiming at each available speed regulator to obtain the optimal phase shift angle of the available speed regulator. And controlling a carrier signal of the motor speed regulator according to the optimal phase shift angle instruction generated by the optimal phase shift angle to inhibit the total common mode voltage of the flight control system. According to the common-mode voltage suppression method for the aerocar, which is provided by the embodiment of the application, the reference phase shift angle after offline optimization is quickly matched for each available speed regulator according to the current flight working condition, then the flight control system calculates a global phase shift angle fine tuning value based on the real-time collected running state information, and the reference phase shift angles of all the speed regulators are subjected to uniform collaborative fine tuning, so that the average value or the absolute value of the total common-mode voltage of the flight control system in one switching period is minimized, the optimal common-mode voltage suppression effect is adaptively maintained under various complex flight sections of the aerocar, and the electromagnetic compatibility, the running reliability and the safety of the whole power system are remarkably improved. One possible implementation, determining phase angle trim values for each of the available electric regulators based on current operational state information for a plurality of the available regulators, includes obtaining a supply voltage for a flight control system. And calculating the total common-mode voltage observation value of the flight control system according to the switching state signals and the power supply voltage of each available speed regulator. And determining a phase shift angle trim value according to the total common mode voltage observation value. One possible implementation, calculating the overall common mode voltage observation of the flight control system from the switch status signals of the various available governors and the supply voltage, includes determining an equivalent voltage for each switch for any available governor from the switch status signal of each switch in the available governors. A