阅读说明：本技术 一种双通道开关磁阻电机磁场调制驱动拓扑及其控制方法 (Magnetic field modulation driving topology of dual-channel switched reluctance motor and control method thereof ) 是由 甘醇 高瑞卿 倪锴 俞志跃 曲荣海 于 2020-05-21 设计创作，主要内容包括：本发明公开了一种双通道开关磁阻电机磁场调制驱动拓扑及其控制方法,包括直流电源、十二开关双通道逆变器、驱动信号发生模块、两台磁场调制开关磁阻电机、位置传感器、电流传感器。驱动信号发生模块用于根据电流与位置传感器采集到的磁场调制开关磁阻电机绕组电流和转子位置,为所述逆变器中的开关管产生驱动信号；所述逆变器与两台磁场调制开关磁阻电机的三相绕组连接,所述逆变器中的开关管根据驱动信号改变开关状态,为所述两台磁场调制开关磁阻电机各相绕组注入带有直流偏置的正弦电流,驱动磁场调制开关磁阻电机运行。相对于传统大量使用开关管的驱动拓扑,本发明减少了开关管的使用数量,大大降低了成本与体积,提高了变换器的功率密度。(The invention discloses a magnetic field modulation driving topology of a double-channel switched reluctance motor and a control method thereof. The driving signal generating module is used for modulating the winding current and the rotor position of the switched reluctance motor according to the magnetic field acquired by the current and position sensor and generating driving signals for a switching tube in the inverter; the inverter is connected with three-phase windings of the two magnetic field modulation switched reluctance motors, a switching tube in the inverter changes the switching state according to a driving signal, and sine current with direct current bias is injected into each phase winding of the two magnetic field modulation switched reluctance motors to drive the magnetic field modulation switched reluctance motors to operate. Compared with the traditional drive topology using a large number of switching tubes, the driving topology reduces the number of the switching tubes, greatly reduces the cost and the volume, and improves the power density of the converter.)

1. A magnetic field modulation driving topology of a double-channel switch reluctance motor is characterized by comprising a twelve-switch double-channel inverter and an inverter driving signal generating module;

the driving signal generating module is used for modulating the winding current and the rotor position of the switched reluctance motor according to the collected magnetic field and generating driving signals for the switching tubes in the twelve-switch double-channel inverter;

the twelve-switch double-channel inverter is connected with three-phase windings of the two magnetic field modulation switch reluctance motors, and is used for controlling the on-off of a switch tube according to a driving signal generated by the driving signal generating module, providing electric energy for the two magnetic field modulation switch reluctance motors, injecting sinusoidal current with direct current bias into each phase winding, and driving the two magnetic field modulation switch reluctance motors to operate.

2. The dual-channel switched reluctance motor field modulation drive topology of claim 1, wherein the twelve-switch dual-channel inverter comprises four legs connected in parallel on the same dc bus; each bridge arm comprises an upper switch tube, a middle switch tube, a lower switch tube and an anti-parallel diode corresponding to the upper switch tube, the middle switch tube and the lower switch tube; the collector of the upper switch tube is connected with the positive bus, and the emitter of the lower switch tube is connected with the negative bus;

the emitter of the upper switch tube and the collector of the middle switch tube form an upper output port of the corresponding bridge arm;

and the emitter of the middle switch tube and the collector of the lower switch tube form a lower output port corresponding to the bridge arm.

3. The magnetic field modulation driving topology of the dual-channel switched reluctance motor according to claim 2, wherein the upper output ports of the first three bridge arms are respectively connected with one end of each phase winding of the first switched reluctance motor; the other ends of the windings of the phases of the first switched reluctance motor are connected together to form a neutral point of a star structure; and the upper output port of the fourth bridge arm is connected with the neutral point and is used for providing a circulation path for the direct current offset component of the sinusoidal current.

4. The magnetic field modulation driving topology of the dual-channel switched reluctance motor according to claim 2, wherein the lower output ports of the first three bridge arms are respectively connected with one end of each phase winding of the second switched reluctance motor; the other ends of the windings of the phases of the second switched reluctance motor are connected together to form a neutral point of a star structure; and the lower output port of the fourth bridge arm is connected with the neutral point and is used for providing a circulation path for the direct current offset component of the sinusoidal current.

5. The dual channel switched reluctance machine field modulation drive topology of claim 2, wherein the twelve switch dual channel inverter operates to meet the following requirements:

the upper switch tube, the middle switch tube and the lower switch tube are only two and are simultaneously switched on.

6. The dual-channel switched reluctance motor field modulation drive topology of claim 5, wherein each leg has the following operating states during normal operation of the twelve-switch dual-channel inverter:

2, when the upper switch tube and the middle switch tube are switched on, the lower switch tube is switched off, and the potentials of the upper output end and the lower output end of the bridge arm are the same as that of the positive direct current bus;

1, switching on an upper switching tube and a lower switching tube, switching off a middle switching tube, keeping the same output end potential as a positive direct current bus on a bridge arm and keeping the same lower output end potential as a negative direct current bus;

and in the 0 state, the middle switch tube and the lower switch tube are switched on, the upper switch tube is switched off, and the potentials of the upper output end and the lower output end of the bridge arm are the same as that of the negative direct current bus.

7. The dual-channel switched reluctance motor magnetic field modulation driving topology of claim 5, wherein, when the twelve-switch dual-channel inverter normally works, four bridge arms respectively add bias components to the initial modulation waves of the upper port and the lower port, so that the modulation waves of the upper port are always greater than or equal to the modulation waves of the lower port.

8. The control method of the magnetic field modulation driving topology of the dual-channel switched reluctance motor based on any one of claims 1 to 7 is characterized by comprising the following steps:

s1, respectively obtaining d and q shaft current set values and 0 shaft current set values of the two switched reluctance motors through closed-loop regulation according to the rotating speed set values of the two switched reluctance motors and the collected rotor rotating speed feedback values;

s2, respectively calculating and obtaining d and q axis current feedback values and 0 axis current feedback values of the two switched reluctance motors according to the collected winding currents and rotor positions of the two switched reluctance motors;

s3, obtaining the d, q and 0 shaft voltage given values of the two switched reluctance motors respectively through closed-loop regulation according to the d, q and 0 shaft current given values and the feedback values of the two switched reluctance motors;

s4, obtaining three-phase voltage set values of the two switched reluctance motors respectively through coordinate transformation according to the d and q axis voltage set values and the 0 axis voltage set values of the two switched reluctance motors;

s5, calculating to obtain initial modulation waves of an upper output end and a lower output end of a fourth bridge arm according to three-phase voltage given values of the two switched reluctance motors;

s6, solving initial modulation waves of upper and lower ports of the front three bridge arms according to the three-phase voltage given values of the two switched reluctance motors and the initial modulation waves of the upper output end and the lower output end of the fourth bridge arm;

s7, respectively adding offset components to the initial modulation waves of the lower ports on the four bridge arms;

and S8, comparing the modulation wave with a carrier wave to obtain driving signals of the upper switching tube and the lower switching tube of the same bridge arm, performing logical XOR on the driving signals and the lower switching tube to serve as driving signals of the middle switching tube, setting dead time for the middle switching tube to prevent the bridge arm from being directly connected, obtaining twelve paths of PWM signals, and outputting the twelve paths of PWM signals to twelve switching tubes of the twelve-switch two-channel inverter.

Technical Field

The invention belongs to the technical field of motors, and particularly relates to a magnetic field modulation driving topology of a dual-channel switched reluctance motor and a control method thereof.

Background

With the increasing environmental pollution and energy crisis, new energy automobiles with environmental protection and energy conservation are receiving wide attention from people.

China takes the pure electric vehicle as a solution to the problems of energy shortage and environmental pollution, and the pure electric vehicle is vigorously developed and the construction of related infrastructure is actively promoted. In recent years, pure electric vehicles develop rapidly, the continuation of the journey mileage, the infrastructure construction, the power battery and other aspects are obviously improved, and the retention capacity of the pure electric vehicles in China reaches 178 thousands of vehicles by 9 months in 2018.

The motor driving system is one of the core components of the new energy automobile, and has important significance for the research of key technology of the new energy automobile. The electric automobile has many types of driving motors, and the driving motors are widely applied to direct current motors, alternating current induction motors, alternating current permanent magnet motors, switched reluctance motors and the like. The switched reluctance motor is a research hotspot in recent years, has the advantages of strong environmental adaptability, higher reliability, wider speed regulation range, simple structure, high operation efficiency, flexible control, no cooling requirement on a rotor, lower manufacturing cost and the like, is widely applied to the fields of new energy electric vehicle driving, coke industry, household appliances, textile machinery and the like, and has wide future application prospect.

In the field of electric vehicle driving, a plurality of motors are often required to operate together. In the traditional application occasions, two motors need two sets of inverters and two sets of driving modules, so that the cost is high and the size is large. The magnetic field modulation switched reluctance motor is a research hotspot in recent years, a sinusoidal current with direct current bias is introduced into a winding of the switched reluctance motor, and the motor follows the magnetic field modulation principle. However, in order to inject sinusoidal current with dc bias into two magnetic field modulation switched reluctance motors at the same time, two sets of three-phase open-winding inverters, i.e. 24 switching tubes, are generally required. Large volume, large loss and low efficiency.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides a magnetic field modulation driving topology of a dual-channel switched reluctance motor and a control method thereof, and aims to provide a driving system which is smaller in size, lower in cost and higher in operation efficiency, and injects sinusoidal current with direct current bias into two magnetic field modulation motors at the same time.

To achieve the above object, according to one aspect of the present invention, there is provided a dual channel switched reluctance motor field modulation drive topology comprising: the device comprises a direct-current power supply, a twelve-switch double-channel inverter, a driving signal generation module, two magnetic field modulation switch reluctance motors, a position sensor and a current sensor;

the driving signal generating module is used for modulating the winding current and the rotor position of the switched reluctance motor according to the collected magnetic field and generating driving signals for the switching tubes in the twelve-switch double-channel inverter;

the twelve-switch double-channel inverter is connected with three-phase windings of the two magnetic field modulation switch reluctance motors, and is used for controlling the on-off of a switch tube according to a driving signal generated by the driving signal generating module, providing electric energy for the two magnetic field modulation switch reluctance motors, injecting sinusoidal current with direct current bias into each phase winding, and driving the two magnetic field modulation switch reluctance motors to operate.

Further, the twelve-switch double-channel inverter comprises four bridge arms connected in parallel on the same direct-current bus; each bridge arm comprises an upper switch tube, a middle switch tube, a lower switch tube and an anti-parallel diode corresponding to the upper switch tube, the middle switch tube and the lower switch tube;

the collector of the switch tube on each bridge arm is connected with the positive bus, and the emitter of the lower switch tube is connected with the negative bus;

the anode connecting end of the upper switch tube and the anti-parallel diode thereof and the cathode connecting end of the middle switch tube and the anti-parallel diode thereof form an upper output end of the corresponding bridge arm;

the anode connecting end of the middle switch tube and the anti-parallel diode thereof and the cathode connecting end of the lower switch tube and the anti-parallel diode thereof form a lower output end of the corresponding bridge arm;

the upper output ports of the first three bridge arms are respectively connected with one end of each phase winding of the first switched reluctance motor;

the other ends of the windings of the phases of the first switched reluctance motor are connected together to form a neutral point of a star structure;

and the upper output port of the fourth bridge arm is connected with the neutral point and is used for providing a circulation path for the direct current offset component of the sinusoidal current.

The lower output ports of the first three bridge arms are respectively connected with one end of each phase winding of the second switched reluctance motor;

the other ends of the windings of the phases of the second switched reluctance motor are connected together to form a neutral point of a star structure;

and the lower output port of the fourth bridge arm is connected with the neutral point and is used for providing a circulation path for the direct current offset component of the sinusoidal current.

Furthermore, the upper switching tubes and the middle switching tubes of the four bridge arms are eight switching tubes in total and are used for injecting sinusoidal current with direct current bias into the first magnetic field modulation switched reluctance motor;

and the eight switching tubes are respectively arranged at the upper and the lower parts of the four bridge arms and are used for injecting sinusoidal current with direct current bias into the second magnetic field modulation switched reluctance motor.

Further, the twelve-switch two-channel inverter meets the following requirements during operation:

the upper switch tube, the middle switch tube and the lower switch tube are only two and are simultaneously switched on.

Further, when the twelve-switch double-channel inverter works normally, each bridge arm has the following working states:

2, when the upper switch tube and the middle switch tube are switched on, the lower switch tube is switched off, and the potentials of the upper output end and the lower output end of the bridge arm are the same as that of the positive direct current bus;

1, switching on an upper switching tube and a lower switching tube, switching off a middle switching tube, keeping the same output end potential as a positive direct current bus on a bridge arm and keeping the same lower output end potential as a negative direct current bus;

and in the 0 state, the middle switch tube and the lower switch tube are switched on, the upper switch tube is switched off, and the potentials of the upper output end and the lower output end of the bridge arm are the same as that of the negative direct current bus.

Furthermore, when the twelve-switch two-channel inverter normally works, the modulated waves of the upper ports of the four bridge arms are always greater than or equal to the modulated waves of the lower ports.

In order to ensure that the modulated waves of the upper ports of the four bridge arms are always larger than or equal to the modulated waves of the lower ports, offset components are added in the initial modulated waves of the upper ports and the lower ports respectively.

Initial modulation wave of upper ports of the first three bridge armsAdding a bias component of u_offset1The initial modulation wave of the port on the fourth bridge armAdding a bias component of u_offset2。u_offset1-u_offset2I.e. the dc voltage across the first motor winding. u. of_offset1、u_offset2The value is not a unique solution, but the difference value of the two is fixed, and the value is a zero-sequence voltage given value of the first motor obtained by double closed-loop calculation;

initial modulation wave of ports at lower ends of front three bridge armsAdding a bias component of u_offset3The initial modulation wave of the port under the fourth bridge armAdding a bias component of u_offset4。u_offset3-u_offset4I.e. the dc voltage across the second motor winding. u. of_offset3、u_offset4The value is not the only solution, but the difference value of the two is fixed, and the value is the zero sequence voltage given value of the second motor obtained by double closed loop calculation.

According to another aspect of the present invention, there is provided a control method for a dual channel switched reluctance motor field modulation drive topology, comprising:

s1, respectively obtaining d and q shaft current set values and 0 shaft current set values of two motors through closed-loop regulation according to the set values of the rotating speeds of the two switched reluctance motors and the collected rotor rotating speed feedback values;

s2, respectively calculating and obtaining current feedback values of d, q and 0 shafts of two motors according to the collected winding currents and rotor positions of the two switched reluctance motors;

s3, obtaining given values of d-axis voltage, q-axis voltage and 0-axis voltage of the two motors respectively through closed-loop regulation according to the given values and the feedback values of d-axis current, q-axis current and 0-axis current of the two switched reluctance motors;

s4, obtaining three-phase voltage set values of the two motors respectively through coordinate transformation according to the d and q axis voltage set values and the 0 axis voltage set values of the two switched reluctance motors;

s5, calculating to obtain initial modulation waves of an upper output end and a lower output end of a fourth bridge arm according to three-phase voltage given values of the two switched reluctance motors;

s6, solving initial modulation waves of upper and lower ports of the front three bridge arms according to the three-phase voltage given values of the two switched reluctance motors and the initial modulation waves of the upper output end and the lower output end of the fourth bridge arm;

and S7, respectively adding offset components into the initial modulation waves of the lower ports on the four bridge arms.

And S8, comparing the modulation wave with the carrier wave to obtain driving signals of the upper switching tube and the lower switching tube of the same bridge arm. The logical exclusive OR of the two is used as a driving signal of the middle switch tube. And setting dead time for the centering switch tube to prevent the bridge arm from being directly connected, obtaining twelve paths of PWM signals and outputting the signals to twelve switch tubes of the twelve-switch double-channel inverter.

Generally, compared with the prior art, the technical scheme of the invention needs two independent inverters and drive signal generation modules if two traditional motors need to run simultaneously, so that a large number of IGBTs (insulated gate bipolar translator) are needed, generally 24 IGBTs are needed, and the system cost is high and the volume is large; the driving topology provided by the invention can simultaneously drive two magnetic field modulation switched reluctance motors, reduces the use amount of IGBTs to 12, reduces the cost, reduces the volume and improves the operation efficiency.

Drawings

FIG. 1 is a schematic diagram of a dual channel switched reluctance motor field modulation drive topology provided by the present invention;

FIG. 2(a) is a schematic diagram of a state of a two-channel switched reluctance motor magnetic field modulation driving topology bridge arm 2 provided by the invention;

fig. 2(b) is a schematic state diagram of a two-channel switched reluctance motor magnetic field modulation driving topology bridge arm 1 provided by the invention;

FIG. 2(c) is a schematic diagram of a state of a two-channel switched reluctance motor magnetic field modulation driving topology bridge arm 0 provided by the invention;

fig. 3(a) is a schematic diagram of a dc offset component flow path of a phase a current when a first bridge arm of a dual-channel switched reluctance motor magnetic field modulation driving topology provided by the present invention is in a 2 state and a fourth bridge arm is in a 0 state;

fig. 3(b) is a schematic diagram of a dc offset component flow path of a phase a current when a first bridge arm of a dual-channel switched reluctance motor magnetic field modulation driving topology is in a 1 state and a fourth bridge arm is in a 1 state, according to the present invention;

fig. 3(c) is a schematic diagram of a dc offset component flow path of a phase a current when a first bridge arm of a dual-channel switched reluctance motor magnetic field modulation driving topology is in a 0 state and a fourth bridge arm of the dual-channel switched reluctance motor magnetic field modulation driving topology is in a 0 state according to the present invention;

FIG. 4 is a block diagram of a topology control method for field modulation driving of a dual-channel switched reluctance motor according to the present invention;

FIG. 5 is a schematic diagram of an initial modulated wave superimposed with an offset component to obtain a modulated wave and a zero sequence voltage of a winding;

FIG. 6 is a schematic diagram of modulated wave and carrier comparison to generate a switch tube drive signal;

fig. 7 is a schematic diagram of the switching states and the bridge arm states of the upper, middle and lower tubes of the same bridge arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Aiming at the defects or improvement requirements of the prior art, the invention provides a magnetic field modulation driving topology of a dual-channel switched reluctance motor and a control method thereof, and aims to provide a driving system which is smaller in size, lower in cost and higher in operation efficiency, and injects sine current with direct current bias into two magnetic field modulation motors at the same time.

To achieve the above object, as shown in fig. 1, according to one aspect of the present invention, there is provided a dual channel switched reluctance motor field modulation drive topology, comprising: the device comprises a direct-current power supply, a twelve-switch double-channel inverter, a driving signal generation module, two magnetic field modulation switch reluctance motors, a position sensor and a current sensor; the drive signal generation module is used for modulating the winding current and the rotor position of the switched reluctance motor according to the collected magnetic field and generating drive signals for the switch tubes in the twelve-switch double-channel inverter.

The twelve-switch double-channel inverter is connected with three-phase windings of the two magnetic field modulation switch reluctance motors, and is used for controlling the on-off of a switch tube according to a driving signal generated by the driving signal generating module, providing electric energy for the two magnetic field modulation switch reluctance motors, injecting sinusoidal current with direct current bias into each phase winding, and driving the two magnetic field modulation switch reluctance motors to operate.

Specifically, the twelve-switch double-channel inverter comprises four bridge arms connected in parallel on the same direct-current bus; the collector of the switch tube on each bridge arm is connected with the positive bus, and the emitter of the lower switch tube is connected with the negative bus; each bridge arm comprises an upper switch tube (S in figure 1)_1u、S_2u、S_3u、S_4u) Middle switch tube (S in figure 1)_1m、S_2m、S_3m、S_4m) Lower switch tube (S in figure 1)_1l、S_2l、S_3l、S_4l) And its corresponding anti-parallel diode;the emitting electrode of the upper switch tube and the collector electrode of the middle switch tube form an upper output end of the corresponding bridge arm; the emitter of the middle switch tube and the collector of the lower switch tube form a lower output end of the corresponding bridge arm; as shown in fig. 1, one end of the a-phase winding of the first motor is connected to the upper output port of the first bridge arm; one end of the B-phase winding is connected with the upper output port of the second bridge arm; one end of the C-phase winding is connected with an upper output port of the third bridge arm; and the other ends of the windings of the phases are connected together to form a neutral point of a star structure, and the neutral point is connected to an upper output port of the fourth bridge arm. One end of an A-phase winding of the second motor is connected with the lower output port of the first bridge arm; one end of the B-phase winding is connected with the lower output port of the second bridge arm; one end of the C-phase winding is connected with the lower output port of the third bridge arm; and the other ends of the windings of the phases are connected together to form a neutral point of a star structure, and the neutral point is connected to the lower output port of the fourth bridge arm.

Upper switch tubes of four bridge arms (S in figure 1)_1u、S_2u、S_3u、S_4u) Middle switch tube (S in figure 1)_1m、S_2m、S_3m、S_4m) The magnetic field modulation switched reluctance motor comprises eight switching tubes in total, and is used for injecting sinusoidal current with direct current bias into a first magnetic field modulation switched reluctance motor; four bridge arm middle switch tubes (S in figure 1)_1m、S_2m、S_3m、S_4m) Lower switch tube (S in figure 1)_1l、S_2l、S_3l、S_4l) And the total number of the eight switching tubes is used for injecting sinusoidal current with direct current bias into the second magnetic field modulation switched reluctance motor.

In order to meet the requirements that the bridge arm is not straight through, the potentials of the upper output port and the lower output port are determined values, the twelve-switch double-channel inverter has to meet the following requirements when in operation: the upper switch tube, the middle switch tube and the lower switch tube are only two and are simultaneously switched on.

When the twelve-switch double-channel inverter works normally, each bridge arm has the following working states: the embodiment of the invention is explained by taking a first bridge arm as an example, and the states of the switching tubes in all states are shown in fig. 2(a) to 2 (c);

2, when the upper switch tube and the middle switch tube are switched on, the lower switch tube is switched off, and the potentials of the upper output end and the lower output end of the bridge arm are the same as that of the positive direct current bus;

1, switching on an upper switching tube and a lower switching tube, switching off a middle switching tube, keeping the same output end potential as a positive direct current bus on a bridge arm and keeping the same lower output end potential as a negative direct current bus;

and in the 0 state, the middle switch tube and the lower switch tube are switched on, the upper switch tube is switched off, and the potentials of the upper output end and the lower output end of the bridge arm are the same as that of the negative direct current bus.

As shown in fig. 3(a) to 3(c), the first arm is set to be in the 2 state, and the fourth arm is set to be in the 0 state; the first bridge arm is in a 1 state, and the fourth bridge arm is in a 1 state; the first bridge arm is in a 0 state, the fourth bridge arm is in a 0 state, the direct current offset component flow paths of the A-phase currents of the two motors are drawn, and the arrow directions indicate the flow directions of the direct current offset currents.

In order to meet the requirement of normal operation of the twelve-switch two-channel inverter, the modulated waves of the upper ports of the four bridge arms are always greater than or equal to the modulated waves of the lower ports. To ensure this, the modulated waves of the upper ports of the four bridge arms must be always greater than or equal to the modulated waves of the lower ports, and offset components are added to the initial modulated waves of the upper and lower ports respectively.

Initial modulation wave of upper ports of the first three bridge armsAdding a bias component of u_offset1The initial modulation wave of the port on the fourth bridge armAdding a bias component of u_offset2。u_offset1-u_offset2I.e. the dc voltage across the first motor winding. u. of_offset1、u_offset2The value is not a unique solution, but the difference value of the two is fixed, and the value is a zero-sequence voltage given value of the first motor obtained by double closed-loop calculation;

initial modulation wave of ports at lower ends of front three bridge armsAdding a bias component of u_offset3The initial modulation wave of the port under the fourth bridge armAdding a bias component of u_offset4。u_offset3-u_offset4I.e. the dc voltage across the second motor winding. u. of_offset3、u_offset4The value is not the only solution, but the difference value of the two is fixed, and the value is the zero sequence voltage given value of the second motor obtained by double closed loop calculation.

The invention provides a control method for a magnetic field modulation driving topology of a dual-channel switched reluctance motor, which comprises the following steps of:

s1, obtaining d and q shaft current set values i and 0 shaft current set values i of two motors respectively through closed-loop regulation according to the set values of the rotating speeds of the two motors and the collected rotor rotating speed feedback values_dq01 ^*，i_dq02 ^*；

S2, respectively calculating and obtaining d and q axis current feedback values and 0 axis current feedback values i of the two motors according to the collected winding currents and rotor positions of the two switched reluctance motors_dq01，i_dq02；

S3, obtaining given values of d-axis voltage, q-axis voltage and 0-axis voltage of the two motors respectively through closed-loop regulation according to the given values and the feedback values of d-axis current, q-axis current and 0-axis current of the two motors

S4, setting values according to d, q and 0 shaft voltages of the two motorsObtaining three-phase voltage set values of two motors respectively through coordinate transformation

S5, setting values according to three-phase voltages of two motorsCalculating to obtain initial modulation waves of the upper output end and the lower output end of the fourth bridge armTaking the first motor as an example,

s6, according to the three-phase voltage given values of the two motors and the initial modulation waves of the upper output end and the lower output end of the fourth bridge arm, the initial modulation waves of the upper ports and the lower ports of the first three bridge arms are solvedTaking the first motor as an example,

s7, initially modulating waves at ports of the first three bridge armsAdding an offset component u_offset1Obtaining the modulated waves of the upper ports of the first three bridge armsInitial modulation wave of port on fourth bridge armAdding an offset component u_offset2Obtaining a modulated wave of the port on the fourth bridge armInitial modulation wave of ports at lower ends of front three bridge armsAdding an offset component u_offset3Obtaining the modulation waves of the lower ports of the first three bridge armsThe fourth bridge lower port initial modulation waveAdding an offset component u_offset4Obtaining a modulated wave of the port at the lower end of the fourth bridge armTaking the first motor as an example, as shown in figure 5,

s8, taking the first bridge arm as an example, modulating the wave by the upper portCompared with the triangular carrier, as shown in fig. 6, when the modulated wave is larger than the triangular carrier, the signal X1 is at a high level, and the signal X2 is at a low level; when the modulation wave is smaller than the triangular carrier wave, the signal X1 is at a low level, and the signal X2 is at a high level;

taking the first bridge arm as an example, the lower port is modulated with a waveComparing with the triangular carrier, when the modulation wave is larger than the triangular carrier, the signal Z1 is at high level, and the signal Z2 is at low level; when the modulation wave is smaller than the triangular carrier wave, the signal Z1 is at a low level, and the signal Z2 is at a high level;

x1 is used as an upper switch tube S_1uUsing Z2 as the lower switch tube S_1lThe driving signal of (2) is the logical exclusive-or of X1 and Z1 as the middle switch tube S_1mThe drive signal of (1). And dead time is set for the centering switch tube to prevent the bridge arm from being directly connected. Taking the driving signals of the three switching tubes of the first bridge arm as an example, the states of the three switching tubes are shown in fig. 7. Finally, twelve paths of PWM signals are obtained and output to twelve switch tubes of the twelve-switch double-channel inverter.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.