CN112532130B - SVPWM optimization method - Google Patents
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Abstract
The invention provides an SVPWM optimization method, which comprises the following steps: 1, inputting a three-phase voltage space vector, sampling time Ts and direct-current voltage Ud;2, clark change is carried out on the three-phase voltage, and two-phase voltage vectors Ua and Ub are obtained; 3, judging the position N of a large sector where the three-phase voltage space vector Uref is positioned; 4, judging the acting time Tx and Ty of the basic space voltage in the sector N; 5, dividing each large sector into two small sectors equally, and judging the small sector where the three-phase voltage space vector Uref is located; 6, cross zero vector distribution, so that each phase has a symmetrical 60-degree switch inactive area; and 7, adjusting the voltage space vector switching point of each small sector to enable the non-action area of the switch to be overlapped with the maximum area of the switch current, and generating SVPWM modulation waveforms. The invention can reduce the influence of the switching current on the switching loss while reducing the switching times, so that the switching loss of the inverter is further reduced.
Description
Technical Field
The invention relates to the technical field of inverter modulation control, in particular to an SVPWM optimization method.
Background
Pulse width modulation (PWM, pulse width modulation) is an important component of motor control systems. Space Vector Pulse Width Modulation (SVPWM) technology is widely cited in motor vector control due to its high voltage utilization, low voltage harmonics, and easy digital implementation.
The three-phase bridge voltage inverter is in particular three half-bridges of six switching devices, which in combination have eight safe switching states. If the upper arm is turned on by "1" and the lower arm is turned off by "0" in the voltage space vector, the lower arm is turned on, and the two switching states of 000 and 111 (here, the switching states of the three upper arms) do not generate effective current in motor driving, so that the motor is called zero vector. The other six switching states are six effective vectors, respectively, which divide the 360 degree voltage space into 60 degree one sector, six sectors in total. With six basic effective vectors and two zero vectors, any vector within 360 degrees can be synthesized. When a certain vector is to be synthesized, it is first decomposed into two base vectors nearest to it, and then represented by the two vectors.
The basic principle of SVPWM is to control each bridge arm of the inverter to be conducted sequentially according to a certain frequency and sequence, and to express different working states of the inverter, the on-off states of each bridge arm are expressed by a three-dimensional space vector. Because the upper bridge arm and the lower bridge arm of each pair of bridge arms cannot be conducted simultaneously, the three-dimensional space vector is sufficient to represent the working states of all the bridge arms.
The six effective vectors of the three-phase inverter may form a hexagon of a switching state space. SVPWM is to obtain a series of rotation vectors changing at a certain speed according to the switch state hexagon, and the final practical effect is to enable the running track of the space vector of the output voltage of the inverter to be as close to a circle as possible, so that the output voltage can be used for providing power for the motor, and the motor smoothly runs according to the required speed.
The Chinese patent application with application number 201811547528.5 provides an optimization method for realizing SVPWM based on RISC-V, which comprises (1) sector judgment: judging the sector where the reference voltage Vref is located through the rotation amplitude of the voltage space vector; (2) Calculating the acting time T1 and T2 of the basic voltage vector in each sector; (3) Calculating voltage space vector switching points in each sector; (4) generating SVPWM modulation waveforms. The optimized SVPWM algorithm provided by the invention reduces the calculation of trigonometric functions in the calculation of the space vector action time of the sector where the judgment voltage is and the basic voltage, reduces the load of a CPU and is easier to realize in a digital mode.
Under the condition that the parameters of the inverter are fixed, two factors are used for influencing the switching loss of the inverter, namely the switching times and the current at the switching moment. In the above patent, although the calculation of trigonometric function is reduced and the load of the CPU is reduced in the calculation of the time of action of the sector where the judgment voltage is located and the basic voltage space vector, the influence of the switching current factor on the switching loss is not considered, so there is still room for further optimization.
Disclosure of Invention
In order to overcome the defects of the prior art and provide an SVPWM optimization method, the invention has the following specific technical scheme:
an optimization method of SVPWM, comprising the following steps:
step 1, dividing a three-phase voltage vector space into six sectors, and inputting a three-phase voltage space vector, sampling time Ts and direct current bus voltage Ud;
step 2, clark change is carried out on the three-phase voltage, and voltage vectors Ua and Ub under two-phase static coordinates are obtained;
step 3, judging the position N of the large sector where the three-phase voltage space vector Uref is positioned according to the voltage vectors Ua and Ub;
step 4, judging the acting time Tx and Ty of the basic space voltage in the sector N according to the voltage vectors Ua and Ub;
step 5, dividing each large sector into two small sectors according to the acting time Tx and Ty and the position N of the large sector where the three-phase voltage space vector Uref is positioned, and judging the small sector where the three-phase voltage space vector Uref is positioned;
step 6, cross zero vector distribution, so that each phase has a symmetrical 60-degree switch inactive area;
and 7, adjusting the voltage space vector switching point of each small sector to enable the non-action area of the switch to coincide with the maximum area of the switch current, and generating SVPWM modulation waveforms.
Optionally, in step 3, the specific method for determining the sector position N of the three-phase voltage space vector Uref according to the voltage vectors Ua and Ub is as follows:
let a=1 if Ub >0, otherwise a=0;
if it isLet b=1, otherwise b=0;
if it isLet c=1, otherwise c=0;
the sector position N of the three-phase voltage space vector Uref is: n=a+2b+4c.
Optionally, in step 4, the specific method for determining the acting time Tx and Ty of the basic space voltage in the sector N according to the voltage vector is as follows:
order the
When n=i, tx=z, ty=y, if tx+ty > Ts, tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=ii, tx=y, ty= -X, if tx+ty > Ts, then tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=iii, tx= -Z, ty= -X, if tx+ty > Ts, then tx=tx=ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=iv, tx= -X, ty=z, if tx+ty > Ts, tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=v, tx=x, ty= -Y, if tx+ty > Ts, then tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=vi, tx= -Y, ty= -Z, if tx+ty > Ts, then tx=tx=ts/(tx+ty), ty=ty×ts/(tx+ty).
Optionally, in step 5, according to the acting time Tx and Ty and the position N of the large sector where the three-phase voltage space vector Uref is located, each large sector is equally divided into two small sectors, and the specific method for judging the small sector where the three-phase voltage space vector Uref is located is as follows:
when n=i and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 2;
when n=i and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 3;
when n=ii and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 4;
when n=ii and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 5;
when n=iii and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 6;
when n=iii and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 7;
when n=iv and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 8;
when n=iv and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 9;
when n=v and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 10;
when n=v and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 11;
when n=vi and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 12;
when n=vi and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 1.
Optionally, in step 6, the cross zero vector is allocated to 12 small sectors, and the 1, 4, 5, 8, 9, 12 small sectors use 111 zero vectors, and the 2, 3, 6, 7, 10, 11 small sectors use 000 zero vectors.
Optionally, the switch states of five control periods of the small sector 1 are sequentially 001, 010, 111, 010 and 001, and the vectors of the five control periods are
The switching states of five control periods of the No. 2 small sector are 010, 011, 000, 011 and 010 in sequence, and the vectors of the five control periods are
The switching states of five control periods of the No. 3 small sector are 011, 100, 000, 100 and 011 in sequence, and the vectors of the five control periods are as follows
The on-off states of five control periods of the No. 4 small sector are sequentially 100, 101, 111, 101 and 100, and the vectors of the five control periods are
The switch states of five control periods of the No. 5 small sector are 101 and 11 in sequence0. 111, 110, 101, the vectors of the five control periods are
The switch states of five control periods of the 6 th small sector are 110, 001, 000, 001 and 110 in sequence, and the vectors of the five control periods are
The switch states of five control periods of the No. 7 small sector are 001, 010, 000, 010 and 001 in sequence, and the vectors of the five control periods are as follows
The switching states of five control periods of the No. 8 small sector are 010, 011, 111, 011 and 010 in sequence, and the vectors of the five control periods are
The switching states of five control periods of the No. 9 small sector are 011, 100, 111, 100 and 011 in sequence, and the vectors of the five control periods are as follows
The on-off states of five control periods of the No. 10 small sector are sequentially 100, 101, 000, 101 and 100, and the vectors of the five control periods are
The switch states of five control periods of the 11 # small sector are 101, 110, 000, 110 and 101 in sequence, and the vectors of the five control periods are as follows
The switch states of five control periods of the 12 # small sector are 110, 001, 111, 001, 110 in turn, the five control periodsVector is
The beneficial effects obtained by the invention include:
1. the voltage space vector is divided into 6 large sectors and 12 small sectors, zero vector distribution is crossed, each phase is provided with a symmetrical 60-degree switch non-action area, the voltage space vector switching point of each small sector is adjusted, the switch non-action area is overlapped with the maximum switch current area, the influence of the switch current on the switch loss can be reduced while the switching times are reduced, and the inverter switch loss is further reduced;
2. judging the position of a large sector where the three-phase voltage space vector Uref is located through a formula N=A+2B+4C, and calculating a complex nonlinear function is not needed, so that the load of a CPU (Central processing Unit) can be reduced, and the response efficiency of the system is improved;
3. each small sector is defined as a 5-segment modulation sector, so that the frequency and the switching loss of switching operation are reduced.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings, with emphasis instead being placed upon illustrating the principles of the embodiments.
FIG. 1 is a schematic diagram of a three-phase voltage space vector of the present invention divided into 6 large sectors;
FIG. 2 is a schematic diagram of a three-phase voltage space vector of the present invention divided into 12 small sectors;
fig. 3 is a flowchart of an embodiment of an optimization method of SVPWM according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following examples thereof; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Other systems, methods, and/or features of the present embodiments will be or become apparent to one with skill in the art upon examination of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the following detailed description.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or component referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
The invention is a SVPWM optimization method, according to the teachings of FIGS. 1-3, the following embodiments are described:
embodiment one:
as shown in fig. 1, 2 and 3, a method for optimizing SVPWM includes the following steps:
step 1, dividing a three-phase voltage vector space into six sectors, and inputting a three-phase voltage space vector, sampling time Ts and direct current bus voltage Ud;
step 2, clark change is carried out on the three-phase voltage, and voltage vectors Ua and Ub under two-phase static coordinates are obtained;
step 3, judging the position N of the large sector where the three-phase voltage space vector Uref is positioned according to the voltage vectors Ua and Ub;
step 4, judging the acting time Tx and Ty of the basic space voltage in the sector N according to the voltage vectors Ua and Ub;
step 5, dividing each large sector into two small sectors according to the acting time Tx and Ty and the position N of the large sector where the three-phase voltage space vector Uref is positioned, and judging the small sector where the three-phase voltage space vector Uref is positioned;
step 6, cross zero vector distribution, so that each phase has a symmetrical 60-degree switch inactive area;
and 7, adjusting the voltage space vector switching point of each small sector to enable the non-action area of the switch to coincide with the maximum area of the switch current, and generating SVPWM modulation waveforms.
Three-phase two-level inverter has 8 switching states, which respectively correspond to 8 basic voltage vectors, respectivelyWherein->Is a vector of the zero voltage and,is an effective fundamental voltage vector. The three-phase voltage space vector is divided into 6 sectors, and the voltage vector in each sector is synthesized by two adjacent basic voltage vectors.
Taking phase a as an example, when the load is an inductive load, if the phase angle of the voltage is 0, the current lags behind the voltage by an angle phi, phi is the phase angle of the current, and meanwhile, the phase angle is the power factor angle of the load, and the position of the current is determined by the power factor angle of the load.
Under the condition that each parameter of the inverter is fixed, the switching loss of the inverter is affected by two factors, namely, the switching frequency is determined by the switching frequency, and the magnitude of current at the switching moment, namely, the relative position of the current and the switch is determined by the power factor angle.
In general, the switching frequency is equal to the carrier frequency, and if the modulation strategy is changed so that the switch does not operate for a period of time, the switching frequency can be smaller than the carrier frequency. By adopting the method of determining sector division by the power factor angle, the non-action area of the switch is located at the maximum moment of the switch current to the greatest extent, namely, the non-action area of the switch is symmetrically distributed at two sides of the maximum value of the switch current, so that the influence of the switch current on the switching loss can be reduced on the basis of reducing the switching times.
To achieve this objective, an SVPWM optimization method of the present invention employs 5-segment SVPWM modulation. After dividing the three-phase voltage space vector into 12 small sectors and judging the small sector where the three-phase voltage space vector Uref is located, carrying out cross zero vector distribution to enable each phase to have a symmetrical 60-degree switch inactive area, and finally adjusting the voltage space vector switching point of each small sector to enable the switch inactive area to coincide with the switch current maximum area.
Since the switch non-action areas are distributed on two sides of the switch current peak value, the loss generated during the switch action can be reduced to the greatest extent.
Embodiment two:
on the basis of the first embodiment, in step 3, the specific method for determining the sector position N of the three-phase voltage space vector Uref according to the voltage vectors Ua and Ub is as follows:
let a=1 if Ub >0, otherwise a=0;
if it isLet b=1, otherwise b=0;
if it isLet c=1, otherwise c=0;
the sector position N of the three-phase voltage space vector Uref is: n=a+2b+4c.
Optionally, in step 4, the specific method for determining the acting time Tx and Ty of the basic space voltage in the sector N according to the voltage vector is as follows:
order the
When n=i, tx=z, ty=y, if tx+ty > Ts, tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=ii, tx=y, ty= -X, if tx+ty > Ts, then tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=iii, tx= -Z, ty= -X, if tx+ty > Ts, then tx=tx=ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=iv, tx= -X, ty=z, if tx+ty > Ts, tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=v, tx=x, ty= -Y, if tx+ty > Ts, then tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=vi, tx= -Y, ty= -Z, if tx+ty > Ts, then tx=tx=ts/(tx+ty), ty=ty×ts/(tx+ty).
Optionally, in step 5, according to the acting time Tx and Ty and the position N of the large sector where the three-phase voltage space vector Uref is located, each large sector is equally divided into two small sectors, and the specific method for judging the small sector where the three-phase voltage space vector Uref is located is as follows:
when n=i and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 2;
when n=i and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 3;
when n=ii and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 4;
when n=ii and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 5;
when n=iii and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 6;
when n=iii and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 7;
when n=iv and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 8;
when n=iv and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 9;
when n=v and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 10;
when n=v and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 11;
when n=vi and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 12;
when n=vi and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 1.
And the large sector position where the three-phase voltage space vector Uref is positioned is judged through the formula N=A+2B+4C, and the complex nonlinear function is not required to be calculated, so that the load of a CPU (Central processing Unit) can be reduced, and the response efficiency of the system is improved. And each small sector is defined as a 5-segment modulation sector, so that the frequency and the switching loss of switching operation are reduced.
Embodiment III:
the present embodiment is basically the same as the second embodiment, except that:
in step 6, the cross zero vector is allocated to 12 small sectors, and small sectors 1, 4, 5, 8, 9, and 12 use 111 zero vectors, and small sectors 2, 3, 6, 7, 10, and 11 use 000 zero vectors. Optionally, the switch states of five control periods of the small sector 1 are sequentially 001, 010, 111, 010 and 001, and the vectors of the five control periods are
The switching states of five control periods of the No. 2 small sector are 010, 011, 000, 011 and 010 in sequence, and the vectors of the five control periods are
The switching states of five control periods of the No. 3 small sector are 011, 100, 000, 100 and 011 in sequence, and the vectors of the five control periods are as follows
The on-off states of five control periods of the No. 4 small sector are sequentially 100, 101, 111, 101 and 100, and the vectors of the five control periods are
The switch states of the five control periods of the No. 5 small sector are sequentially as follows101. 110, 111, 110, 101, the vectors of the five control periods are
The switch states of five control periods of the 6 th small sector are 110, 001, 000, 001 and 110 in sequence, and the vectors of the five control periods are
The switch states of five control periods of the No. 7 small sector are 001, 010, 000, 010 and 001 in sequence, and the vectors of the five control periods are as follows
The switching states of five control periods of the No. 8 small sector are 010, 011, 111, 011 and 010 in sequence, and the vectors of the five control periods are
The switching states of five control periods of the No. 9 small sector are 011, 100, 111, 100 and 011 in sequence, and the vectors of the five control periods are as follows
The on-off states of five control periods of the No. 10 small sector are sequentially 100, 101, 000, 101 and 100, and the vectors of the five control periods are
The switch states of five control periods of the 11 # small sector are 101, 110, 000, 110 and 101 in sequence, and the vectors of the five control periods are as follows
The switch states of five control periods of the 12 # small sector are 110, 001, 111, 001, 110 in turn, five control periodsThe vector of the time period is
The function expression of the switching point waveform of the three-phase voltage A phase is as follows:
from the above functional expression, the switch has two symmetrical 60 ° dead zones phi-30 ° to 30 ° +phi and 150 ° +phi to 210 ° +phi throughout a 360 ° period. The power factor angle is used for controlling the distribution position of each small sector, so that the switch non-action area is distributed on two sides of the switch current peak value. Under the condition of a certain switching frequency, the switching loss is basically not influenced by the power factor angle, and the minimum switching loss is always achieved.
In summary, the SVPWM optimization method disclosed by the invention has the following beneficial technical effects: 1. the voltage space vector is divided into 6 large sectors and 12 small sectors, zero vector distribution is crossed, each phase is provided with a symmetrical 60-degree switch non-action area, the voltage space vector switching point of each small sector is adjusted, the switch non-action area is overlapped with the maximum switch current area, the influence of the switch current on the switch loss can be reduced while the switching times are reduced, and the inverter switch loss is further reduced;
2. judging the position of a large sector where the three-phase voltage space vector Uref is located through a formula N=A+2B+4C, and calculating a complex nonlinear function is not needed, so that the load of a CPU (Central processing Unit) can be reduced, and the response efficiency of the system is improved;
3. each small sector is defined as a 5-segment modulation sector, so that the frequency and the switching loss of switching operation are reduced.
While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples, and various configurations may omit, replace, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in a different order than described and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, as the technology evolves, elements therein may be updated, i.e., many of the elements are examples, and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of exemplary configurations involving implementations. However, the configuration may be practiced without these specific details, such as well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configuration. This description provides only an example configuration and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configuration will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples should be understood as illustrative only and not limiting the scope of the invention. Various changes and modifications to the present invention may be made by one skilled in the art after reading the teachings herein, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.
Claims (6)
1. A method for optimizing SVPWM, comprising the steps of:
step 1, dividing a three-phase voltage vector space into six sectors, and inputting a three-phase voltage space vector, sampling time Ts and direct current bus voltage Ud;
step 2, clark change is carried out on the three-phase voltage, and voltage vectors Ua and Ub under two-phase static coordinates are obtained;
step 3, judging the position N of the large sector where the three-phase voltage space vector Uref is positioned according to the voltage vectors Ua and Ub;
step 4, judging the acting time Tx and Ty of the basic space voltage in the sector N according to the voltage vectors Ua and Ub;
step 5, dividing each large sector into two small sectors according to the acting time Tx and Ty and the position N of the large sector where the three-phase voltage space vector Uref is positioned, and judging the small sector where the three-phase voltage space vector Uref is positioned;
step 6, cross zero vector distribution, so that each phase has a symmetrical 60-degree switch inactive area;
and 7, adjusting the voltage space vector switching point of each small sector to enable the non-action area of the switch to coincide with the maximum area of the switch current, and generating SVPWM modulation waveforms.
2. The optimization method of SVPWM according to claim 1, wherein in step 3, the specific method for determining the sector position N of the three-phase voltage space vector Uref from the voltage vectors Ua and Ub is:
let a=1 if Ub >0, otherwise a=0;
if it isLet b=1, otherwise b=0;
if it isLet c=1, otherwise c=0;
the sector position N of the three-phase voltage space vector Uref is: n=a+2b+4c.
3. The method for optimizing SVPWM according to claim 2, wherein in step 4, the specific method for determining the active time Tx and Ty of the basic space voltage in the sector N according to the voltage vector is as follows:
order the
When n=i, tx=z, ty=y, if tx+ty > Ts, tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=ii, tx=y, ty= -X, if tx+ty > Ts, then tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=iii, tx= -Z, ty= -X, if tx+ty > Ts, then tx=tx=ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=iv, tx= -X, ty=z, if tx+ty > Ts, tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=v, tx=x, ty= -Y, if tx+ty > Ts, then tx=tx×ts/(tx+ty), ty=ty×ts/(tx+ty);
when n=vi, tx= -Y, ty= -Z, if tx+ty > Ts, then tx=tx=ts/(tx+ty), ty=ty×ts/(tx+ty);
wherein, ts is sampling time, ud is dc bus voltage.
4. A method for optimizing SVPWM according to claim 3, wherein in step 5, according to the action time Tx and Ty and the position N of the large sector where the three-phase voltage space vector Uref is located, each large sector is equally divided into two small sectors, and the specific method for determining the small sector where the three-phase voltage space vector Uref is located is as follows:
when n=i and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 2;
when n=i and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 3;
when n=ii and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 4;
when n=ii and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 5;
when n=iii and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 6;
when n=iii and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 7;
when n=iv and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 8;
when n=iv and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 9;
when n=v and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 10;
when n=v and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 11;
when n=vi and Tx > Ty, the small sector number where the three-phase voltage space vector Uref is located is 12;
when n=vi and Tx < Ty, the small sector number where the three-phase voltage space vector Uref is located is 1.
5. The method of optimizing SVPWM as claimed in claim 4, wherein in step 6, the cross zero vector is assigned to 12 small sectors, and the small sectors 1, 4, 5, 8, 9, and 12 use 111 zero vectors, and the small sectors 2, 3, 6, 7, 10, and 11 use 000 zero vectors.
6. A SVPWM optimization method according to claim 5, wherein,
the on-off states of five control periods of the small sector 1 are 001, 010, 111, 010 and 001 in sequence, and the vectors of the five control periods are as follows
The switching states of five control periods of the No. 2 small sector are 010, 011, 000, 011 and 010 in sequence, and the vectors of the five control periods are
The switching states of five control periods of the No. 3 small sector are 011, 100, 000, 100 and 011 in sequence, and the vectors of the five control periods are as follows
The on-off states of five control periods of the No. 4 small sector are sequentially 100, 101, 111, 101 and 100, and the vectors of the five control periods are
The switch states of five control periods of the No. 5 small sector are 101, 110, 111, 110 and 101 in sequence, and the vectors of the five control periods are
The switch states of five control periods of the 6 th small sector are 110, 001, 000, 001 and 110 in sequence, and the vectors of the five control periods are
The switch states of five control periods of the No. 7 small sector are 001, 010, 000, 010 and 001 in sequence, and the vectors of the five control periods are as follows
The switching states of five control periods of the No. 8 small sector are 010, 011, 111, 011 and 010 in sequence, and the vectors of the five control periods are
The switching states of five control periods of the No. 9 small sector are 011, 100, 111, 100 and 011 in sequence, and the vectors of the five control periods are as follows
The on-off states of five control periods of the No. 10 small sector are sequentially 100, 101, 000, 101 and 100, and the vectors of the five control periods are
The switch states of five control periods of the 11 # small sector are 101, 110, 000, 110 and 101 in sequence, and the vectors of the five control periods are as follows
The switch states of five control periods of the 12 # small sector are 110, 001, 111, 001 and 110 in sequence, and the vectors of the five control periods are
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