CN105703678B - Vector controller and control method of a kind of ship shaft with brushless double feed stand alone generating system - Google Patents

Vector controller and control method of a kind of ship shaft with brushless double feed stand alone generating system Download PDF

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CN105703678B
CN105703678B CN201610133331.1A CN201610133331A CN105703678B CN 105703678 B CN105703678 B CN 105703678B CN 201610133331 A CN201610133331 A CN 201610133331A CN 105703678 B CN105703678 B CN 105703678B
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winding
current
power
voltage
rotor
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CN105703678A (en
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刘宏达
申乃军
庞宇
龙飞
程鹏
兰海
周磊
曲圣越
张斌
范伟远
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Harbin Engineering University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
    • H02P9/102—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for limiting effects of transients
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/48—Arrangements for obtaining a constant output value at varying speed of the generator, e.g. on vehicle
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/35—Special adaptation of control arrangements for generators for ships

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention belongs to ship power generation automation fields, are related specifically to a kind of vector controller and control method of the ship shaft with brushless double feed stand alone generating system for using brushless dual-feed motor, the operation of variable speed constant frequency Independent Power Generation being realized based on DSP technologies.The present invention includes：Including sensor circuit, signal conditioning circuit, analog to digital conversion circuit, dsp system, power of motor module, power-supply system.Present invention employs complete vector controller of the ship shaft with brushless double feed Independent Power Generation based on dsp processor platform to design and use power winding flux linkage orientation control algolithm, the invention can not only make ship shaft realize stable variable speed constant frequency operation with electricity generation system, good dynamic property can be also kept under the situation of impact anticlimax load, and number of sensors needed for the technical method is few, calculation amount is small, it can be realized on general microprocessor platform, save research and development and production cost.

Description

A kind of vector controller of ship shaft with brushless double feed stand alone generating system and control Method
Technical field
Generate electricity automation field the invention belongs to ship, be related specifically to it is a kind of using brushless dual-feed motor, based on DSP Technology can realize variable speed constant frequency Independent Power Generation operation vector controller of the ship shaft with brushless double feed stand alone generating system and Control method.
Background technology
Axis peculiar to vessel is a kind of novel axle generator suitable for constant-pitch propeller ship with brushless double feed generator, A kind of New-type electric machine-brushless dual-feed motor developed in recent years is used for the shaft generator of ship by it.This generator is only It needs to be improved on the basis of common asynchronous moter, using special rotor structure, increases the frequency converter of a low capacity It can realize that constant frequency and constant voltage generates electricity in certain range of speeds.It eliminates slip ring structure, greatly reduces failure rate, carries High maintainability, while reduce the capacity requirement of frequency converter, it is of low cost, it is more satisfactory axle generator.At present The ship brushless double feed electricity generation system of independent operating mainly uses following two control methods：
First method is scalar control method, and this method is to regard brushless dual-feed motor as a black box, no Its internal electromagnetic relationship is managed, it acquires the electric voltage frequency and amplitude of power winding terminal, is then compared with set-point, passes through PI The voltage magnitude and frequency of control winding needed for adjuster output.In this approach, the frequency of generator control winding output Rate changes with the variation of the speed of mainshaft, and the amplitude of output is as the load of power winding changes and changes, so as to ensure to send out The advantages of amplitude and frequency of motor output voltage meet Ship Power Station and require, the method is that control is simple, is easy in processor Middle realization, but the method dynamic control effect is poor, when rotating speed mutation or the load of impact anticlimax easily cause the collapse of system.
Second method is the vector decoupling control control method based on double synchronous frame, and this method is realizes stator two The full decoupled control of winding is covered, power winding and control winding are established respectively under respective synchronous coordinate system, carries out magnetic Field orientation.According to determining power winding amplitudeAnd frequencyIt can obtain prSynchronous coordinate system power winding flux linkage set amountWithAfter field orientationSolve rotor current withWithIt obtainsWithGreatly It is small.Current component is generated by power winding in the rotorBy detecting power winding actual voltage value by again through coordinate It acquires.The set-point of current component can thus be generated in the rotor in the hope of control windingPass through changes in coordinates again To acquiring control winding current component (crSynchronous coordinate system).This control method dynamic effect is good, dashes forward to rotating speed mutation and impact Reduction of Students' Study Load, which carries, can have good tracking effect, but the method height relies on the parameter of electric machine, and the parameter of electric machine can not be obtained accurately again, This acquires a certain degree of difficulty, while such method needs to carry out multiple coordinate transform to practical control, computationally intensive, can not be general micro- It is realized on processor.
Though in short, can realize control of the axis peculiar to vessel with brushless double feed Independent Power Generation using more than both methods, have The shortcomings that its is intrinsic also needs a distance for large-scale industrialization application.
Invention content
The purpose of the present invention is to provide a kind of precision height, good reliability, low-cost ship shaft band brushless double feed is only The vector controller of vertical electricity generation system.It is good the present invention also aims to provide a kind of dynamic property, it is easy at general micro- place Vector control method of the ship shaft with brushless double feed stand alone generating system realized on reason device.
The object of the present invention is achieved like this：
Vector controller of a kind of ship shaft with brushless double feed stand alone generating system, including sensor circuit, signal condition Circuit, analog to digital conversion circuit, dsp system, power of motor module, power-supply system, sensor circuit can obtain brushless dual-feed motor Rotating speed, the voltage and current signal of power winding, control winding current signal, signal conditioning circuit mainly put by operation Big device is filtered to receiving sensor signal with being sent into analog to digital conversion circuit progress data conversion after scaling processing, and modulus turns It is the AD Acquisition Circuit using ADS8568 chips as core to change circuit, and chip is connected with DSP external bus, and dsp system is using a piece of Dsp chip is as processor, model TMS320C28346, there are communication interface on dsp system, including MAX232 chips CAN communication interface that RS485 interfaces that the RS232 communication interfaces of composition, MAX485 chips are formed, SN65HVD232D are formed and The ethernet interface that RTL8019AS chips are formed, dsp system is according to the voltage, current signal, control winding of power winding Current signal, the speed of rotor and position signal and desired voltage and frequency values, by control algolithm, generate controlled quentity controlled variable, And by PWM modulation, signal is sent to power module, power module includes power drive with protection circuit and by power device group Into three-phase H-bridge inverter circuit, power-supply system includes by core processor of TPS54316 chips providing 3.3VIO working powers, 1.2V Core Operational power supplys are provided by core processor of TPS54312 chips, are provided using TLV70218 chips as core processor 1.8V clock powers carry out voltage monitoring and system reset with TPS3307-18 chips.
A kind of vector control method of ship shaft with brushless double feed stand alone generating system：
Step 1, system electrification initializes, the program being stored in by bootstrap routine calling in FLASH, journey after calling Sequence starts to bring into operation at principal function, enters step 2；
Step 2, peripheral hardware initializes, and Open Timer device interrupts, and opens total interruption；
Step 3, judge whether that reaching timer underflow interrupts, if do not reached, close total interruption, carry out rotating speed wrMeter It calculates, opens after the completion of calculating and always interrupt, judge whether to reach underflow interruption again, if reached, perform underflow interrupt routine；
Step 4, underflow interrupt routine performs, and starts AD conversion, acquires the voltage and current and control winding of power winding Then digital quantity is converted into virtual voltage current value by current signal；
Step 5, given voltage frequency f is readPAnd current rotor rotating speed wr, two winding currents are then subjected to d-q transformation, Its transition matrix is：
For the three-phase current of power winding, θ takes the angle, θ of power winding magnetic linkagep, for the three-phase electricity of control winding Stream θ takes θp-(pp+pc)θr, wherein θrAngle for rotor；
Step 6, rotor current i is carried outrd、It calculates, the calculation formula of the current value of rotor d axis is ird=(lpsiPd-us/ wP)/lpm, rotor q axis command value is directly by formulaIt acquires；
Step 7, given voltage amplitude is read, voltage error is obtained by being made the difference with current voltage value, after PI is adjusted Output rotor d shaft current offsetsThe d shaft currents i obtained with step 4rdAddition obtains the command value of rotor current d axis
Step 9, control winding open loop set-point is compared and made the difference with the d axis and q axis values for surveying control winding, passed through Two pi regulators obtain the voltage compensation value of the command value, wherein control winding of control winding voltage plus corresponding offset Calculate basisTwo formula obtain；
Step 10, control winding command voltage is obtained into two alternating voltages by standard Parker's inverse transformation, by SVPWM Module the output phase answers pwm signal；
Step 11, underflow interrupt routine, which returns, continues to perform since step 3.
The beneficial effects of the present invention are：The present invention is for spot ship axis with brushless double feed Independent Power Generation running technology Shortcoming, present invention employs complete vector controller of the ship shaft with brushless double feed Independent Power Generation based on dsp processor platform It designs and uses power winding flux linkage orientation control algolithm, which can not only make ship shaft realize stabilization with electricity generation system Variable speed constant frequency is run, and good dynamic property can be also kept under the situation of impact anticlimax load, and passed needed for the technical method Sensor quantity is few, and calculation amount is small, can be realized on general microprocessor platform, saves research and development and production cost.
Description of the drawings
Fundamental diagram of Fig. 1 ship shafts with brushless double feed Independent Power Generation vector controller；
Structure diagram of Fig. 2 ship shafts with brushless double feed Independent Power Generation vector controller；
Fig. 3 ship shafts band brushless double feed Independent Power Generation vector controller power principle figure；
Fig. 4 ship shafts band brushless double feed Independent Power Generation vector control algorithm functional block diagram；
Fig. 5 ship shafts band brushless double feed Independent Power Generation vector controlled program flow.
Specific embodiment
More detailed description is done to the present invention below in conjunction with the accompanying drawings, herein it should be noted that sensor circuit, letter Number modulate circuit, analog to digital conversion circuit, dsp system, power of motor module are typical connection circuit, here just not to its original Reason figure is described.
With reference to Fig. 1, Fig. 1 show fundamental diagram of the ship shaft with brushless double feed power generation vector controller, and controller leads to Cross the command value that communication interface obtains the electric voltage frequency that sends out of host computer and amplitude, dsp system by controlling analog-to-digital conversion circuit, The value by the voltage of sensor interface circuitry and signal conditioning circuit, current sensor is obtained, these signals include：Power Winding line voltage, power winding three-phase electric current, control winding three-phase current.Dsp system directly obtains simultaneously from signal conditioning circuit Obtain rotor speed and position.These signals enter dsp system, by specific algorithm, obtain the voltage instruction of control winding, warp After crossing PWM modulation, corresponding pwm signal is exported, then by level conversion and isolation circuit, drives external power drive electricity Road, control three-phase H-bridge circuit generate practical control winding voltage value.
With reference to Fig. 2, circuit structure block diagram of the ship shaft shown in Fig. 2 with brushless double feed Independent Power Generation vector controller, here Dsp processor uses TMS320C28346, it is the microprocessor of one 32, and working frequency has 32 up to 300MHZ Data/address bus, it work when need three kinds of power supplys.Here 1.2V core operational voltages, TPS54316 are generated using TPS54312 The IO operating voltages of 3.3V are generated, TLV70218 generates 1.8V clock work voltages.External clock uses the active crystalline substance of 20MHZ It shakes, is entered inside DSP by XCLKIN pins, the bus clock of 300MHZ is generated by PLL frequencys multiplication.TPS3307-18 is power supply Monitoring and reset chip, when the voltage value that power-supply system provides is less than the operating voltage of DSP, this chip will generate one again Position signal, DSP is resetted, while this chip can also carry out hand-reset by button.It is stored using IS61LV51216SRAM Device into line program run when intermediate data storage.Using SST39VF800C FLASH memories as program storage, simultaneously It can also store historical data.Two memories are connected by external bus with DSP.On communication interface circuit, 4 kinds are employed Communication interface, the convenient interconnection with various interface equipments choose MAX3232 chips and are connected with the SCIA interfaces of DSP, choose MAX485 chips are connected with the SCIB interfaces of DSP, choose SN65HVD232D chips and are connected with the eCAN interfaces of DSP, choose RTL8092AS chips are connected with the external bus of DSP.Modulus conversion chip use ADS8568 chips, it by external bus with DSP is connected.The level conversion of pwm signal is carried out with being isolated using 74LVC245 chips.
With reference to Fig. 3, Fig. 3 show system power supply schematic diagram.This system needs 3.3V, 1.8V, 1.2V operating voltage, control Device inputs 5V voltages, while in order to which reliability service needs to carry out voltage monitoring.The present invention chooses TPS54316U1 and generates 3.3V electricity Pressure chooses TLV70218U2 and generates 1.8V voltages, chooses TPS54312U4 and generates 1.2V operating voltages, chooses TPS3307-18U3 Carry out voltage monitoring.Zener diode ZD1, capacitance C12 (47uF) and capacitance C11 (0.1uF) are connected between+5V and GND, Mono- ends of inductance L1 are connected to the device input voltage P1 anodes (+5V) other end and are connected with U1 pins 14.U1 pins 14,15,16 are connected in Together, pin 11,12,13, which connects together, meets GND, and pin 6,7,8,9,10 connects together.Capacitance C8 (10uF) and capacitance C3 (0.1uF) is connected between U1 pins 14 and GND.Capacitance C1 (0.1uF) is connected between U1 pins 17 and GND.Resistance R1 (71.5K Ω) end is connected to 20 another termination GND of U1 pins.U1 pins 1 meet GND.Capacitance C2 (0.047uF) one terminates U1 pins 5 another termination U1 pins 10.Inductance L2 (2.7uH) one terminates U1 pins 10, and the other end generates 3.3V operating voltages.Capacitance C9 (100uF), C10 (1000pF) are connected between 3.3V and GND.Mono- ends of inductance L3 be connected to device input voltage P1 anodes (+ 5V) other end is connected with U4 pins 14.U4 pins 14,15,16 connect together, and pin 11,12,13, which connects together, meets GND, pin 6th, it 7,8,9,10 connects together.Capacitance C16 (10uF) and capacitance C15 (0.1uF) are connected between U4 pins 14 and GND.Electricity Hold C13 (0.1uF) to be connected between U4 pins 17 and GND.Resistance R3 (71.5K Ω) end is connected to 20 another termination GND of U4 pins. U4 pins 1 meet GND.Capacitance C14 (0.047uF) one terminates 5 another termination U4 pins 10 of U4 pins.Inductance L4 (5.2uH) one end U4 pins 10 are connect, the other end generates 1.2V operating voltages.Capacitance C17 (470uF), C18 (1000pF) are connected in 1.2V and GND Between.U2 pins 1 meet 3.3V, and capacitance C4 (1uF), C5 (0.1uF) are connected between 3.3V and GND.U2 pins 3 meet 1.2V, U2 pins 2 and pin 4, which connect together, meets GND, and U2 pins 5 generate 1.8V operating voltages.Capacitance C6 (1uF), C7 (0.1uF) are in parallel It is connected between 1.8V and GND.U3 pins 1 are connected to 3.3V with pin 8, and U3 pins 2 are connected with pin 3, are connected to 1.8V.Button SW1 one end is connected with U3 pins 7, another termination GND.U3 pins 4 meet GND, and pin 5 is connected with the XRSn pins of dsp chip.
With reference to Fig. 4, ship shaft band brushless double feed electricity generation system vector control algorithm is illustrated：
In figureFor power winding voltages amplitude and the setting value of frequency.usFor current power winding voltage value, work( Rate winding and the current value of control winding use i respectivelyPa、iPb、iPcAnd iCa、iCb、iCcIt represents.wPFor power winding electric angle frequency, wC Winding electric angle frequency in order to control, wsFor slip angular frequency.
Pass through setting valueWith current value usCompare and make the difference, rotor d shaft current offsets are reached after pi regulator In addition the rotor d axis current values i oriented by power winding magnetic fieldrd, can obtain the command value of rotor d axisirdBy such as Lower formula obtains：
To ensure power winding magnetic field orientation, the command value of rotor q axisIt is obtained by equation below：
By power winding current value iPd、iPq, rotor current command valueIt can obtain control winding current instruction valueIt specifically calculates as follows：
By two PI tune after the current instruction value of obtained control winding and current control winding electric current are relatively made the difference Device is saved along with control winding voltage compensation value, can obtain the voltage instruction value of control windingThe electricity of control winding Press compensation value calculation as follows：
Wherein, lps、lpmRespectively power winding self-induction, power winding and rotor mutual inductance, rr, lrDistinguish rotor internal resistance and oneself Sense, lcs、lcmRespectively winding self-induction in order to control, control winding and rotor mutual inductance.
By what is obtainedIt carries out coordinate inverse transformation and obtains the command voltage of control winding
With reference to Fig. 5, the software flow pattern of the controller is as follows：
Step 1, system electrification initializes, the program being stored in by bootstrap routine calling in FLASH, journey after calling Sequence starts to bring into operation at principal function, enters step 2；
Step 2, peripheral hardware initializes, and Open Timer device interrupts, and opens total interruption,.
Step 3, judge whether that reaching timer underflow interrupts, if do not reached, close total interruption, carry out rotating speed wrMeter It calculates, opens after the completion of calculating and always interrupt, judge whether to reach underflow interruption again, if reached, perform underflow interrupt routine.
Step 4, underflow interrupt routine performs, and starts AD conversion, acquires the voltage and current and control winding of power winding Then digital quantity is converted into virtual voltage current value by current signal.
Step 5, given voltage frequency f is readPAnd current rotor rotating speed wr, two winding currents are then subjected to d-q transformation, Its transition matrix is：
For the three-phase current of power winding, θ takes the angle, θ of power winding magnetic linkagep, for the three-phase electricity of control winding Stream θ takes θp-(pp+pc)θr, wherein θrAngle for rotor.
Step 6, rotor current i is carried outrd、It calculates.The calculation formula of the current value of rotor d axis is ird=(lpsiPd-us/ wP)/lpm, rotor q axis command value is directly by formulaIt acquires.
Step 7, given voltage amplitude is read, voltage error is obtained by being made the difference with current voltage value, after PI is adjusted Output rotor d shaft current offsetsThe d shaft currents i obtained with step 4rdAddition obtains the command value of rotor current d axis
Step 9, control winding open loop set-point is compared and made the difference with the d axis and q axis values for surveying control winding, passed through Two pi regulators obtain the voltage compensation value of the command value, wherein control winding of control winding voltage plus corresponding offset Calculate basisTwo formula obtain.
Step 10, control winding command voltage is obtained into two alternating voltages by standard Parker's inverse transformation, by SVPWM Module the output phase answers pwm signal.
Step 11, underflow interrupt routine, which returns, continues to perform since step 3.

Claims (1)

1. a kind of vector control method of ship shaft with brushless double feed stand alone generating system, ship shaft band brushless double feed is only The vector controller of vertical electricity generation system, including sensor circuit, signal conditioning circuit, analog to digital conversion circuit, dsp system, motor Power module, power-supply system, sensor circuit can obtain the voltage and current letter of the rotating speed of brushless dual-feed motor, power winding Number, the current signal of control winding, signal conditioning circuit mainly filtered by operational amplifier to receiving sensor signal Analog to digital conversion circuit is sent into after wave and scaling processing and carries out data conversion, and analog to digital conversion circuit is using ADS8568 chips as core AD Acquisition Circuit, chip is connected with DSP external bus, and dsp system is using a piece of dsp chip as processor, model TMS320C28346, there are communication interface on dsp system, the RS232 communication interfaces formed including MAX232 chips, MAX485 chips form RS485 interfaces, SN65HVD232D form CAN communication interface and RTL8019AS chips form with Too Network Communication interface, dsp system according to the voltage of power winding, current signal, the current signal of control winding, rotor speed With position signal and desired voltage and frequency values, by control algolithm, controlled quentity controlled variable is generated, and by PWM modulation, signal is sent To power module, power module includes power drive and the three-phase H-bridge inverter circuit protected circuit and be made of power device, electricity Source system includes the IO working powers that 3.3V is provided using TPS54316 chips as core processor, using TPS54312 chips as core Processor provides 1.2V Core Operational power supplys, and 1.8V clock powers are provided by core processor of TLV70218 chips, with TPS3307-18 chips carry out voltage monitoring and system reset；It is characterized in that：
Step 1, system electrification initializes, the program being stored in by bootstrap routine calling in FLASH, and program is opened after calling Beginning brings into operation at principal function, enters step 2；
Step 2, peripheral hardware initializes, and Open Timer device interrupts, and opens total interruption；
Step 3, judge whether that reaching timer underflow interrupts, if do not reached, close total interruption, carry out rotating speed wrIt calculates, meter Total interruption is opened after the completion of calculating, judges whether to reach underflow interruption again, if reached, performs underflow interrupt routine；
Step 4, underflow interrupt routine performs, and starts AD conversion, acquires the voltage and current of power winding and the electric current of control winding Then digital quantity is converted into virtual voltage current value by signal；
Step 5, given voltage frequency f is readPAnd current rotor rotating speed wr, two winding currents are then subjected to d-q transformation, turn Changing matrix is：
For the three-phase current of power winding, θ takes the angle, θ of power winding magnetic linkagep, for the three-phase current of control winding, θ takes θp-(pp+pc)θr, wherein θrAngle for rotor；
Step 6, rotor current i is carried outrd、It calculates, the calculation formula of the current value of rotor d axis is ird=(lpsiPd-us/wP)/ lpm, usFor current power winding voltage value, wPFor power winding electric angle frequency, lps、lpmRespectively power winding self-induction, power around Group and rotor mutual inductance, rr, lrRespectively rotor internal resistance and self-induction, lcs、lcmRespectively control winding self-induction, control winding and rotor Mutual inductance, wsFor slip angular frequency, iPd、iPqFor power winding current value, wCWinding electric angle frequency in order to control, rotor q axis command values Directly by formulaIt acquires；
Step 7, given voltage amplitude is read, voltage error is obtained by being made the difference with current voltage value, is exported after PI is adjusted Rotor d shaft current offsetsThe d shaft currents i obtained with step 4rdAddition obtains the command value of rotor current d axis
Step 8, the d axis of control winding and the open loop set-point of q shaft currents is calculated, formula is
Step 9, control winding open loop set-point is compared and made the difference with the d axis and q axis values for surveying control winding, pass through two Pi regulator obtains the command value of control winding voltage plus corresponding offset, and the wherein voltage compensation value of control winding calculates According toTwo formula obtain；
Step 10, control winding command voltage is obtained into two alternating voltages by standard Parker's inverse transformation, by SVPWM modules The output phase answers pwm signal；
Step 11, underflow interrupt routine, which returns, continues to perform since step 3.
CN201610133331.1A 2016-03-09 2016-03-09 Vector controller and control method of a kind of ship shaft with brushless double feed stand alone generating system Active CN105703678B (en)

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CN108322117B (en) * 2018-01-26 2019-08-13 华中科技大学 Control system, feed forward control method and the parameter identification method of brushless dual-feed motor
CN112087166B (en) * 2020-09-17 2022-05-27 华中科技大学 Alternating current-direct current hybrid double-fed asynchronous full-electric ship electric propulsion system and control method
CN114217557B (en) * 2021-12-13 2024-02-13 北京环境特性研究所 Control equipment, system and method for opening and closing lens cover in place

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