CN107508517A - A kind of low-speed electronic automobile AC induction motor vector control method and system - Google Patents
A kind of low-speed electronic automobile AC induction motor vector control method and system Download PDFInfo
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- CN107508517A CN107508517A CN201710562905.1A CN201710562905A CN107508517A CN 107508517 A CN107508517 A CN 107508517A CN 201710562905 A CN201710562905 A CN 201710562905A CN 107508517 A CN107508517 A CN 107508517A
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention provides a kind of low-speed electronic automobile AC induction motor vector control method and system, including：Step 10, sector where judging voltage vector；Step 20, basic voltage vectors action time is calculated；Step 30, calculate the ON time of each bridge arm and build dead time；Step 40, control is driven to motor.The present invention can effectively reduce current distortion, running noises and torque pulsation.
Description
Technical field
The invention belongs to low-speed electronic automotive field, more particularly to a kind of low-speed electronic automobile AC induction motor vector control
Method and system processed.
Background technology
With the lasting increase of resource and environment dual-pressure, electric automobile turns into future automobile industrial expansion side
To.In terms of the current market capacity in China, technical merit, low-speed electronic automobile economical energy of the speed in 40-60km/h
Good, energy-conserving and environment-protective, economize on resources, the advantage such as use cost is low, charging is convenient, be that two, three line cities are most economical, most environmentally friendly, most
The vehicles easily promoted, it is the strategic choice that China realizes green traffic.
Compared to orthodox car, the power of low-speed electronic automobile passes through flexible cable transmission and motor and speed changer
Arrange it is varied, eliminate the devices such as shaft coupling and power transmission shaft therefore structure it is relatively simple.Motor driven systems are typically by driving
The composition such as dynamic motor, control system, deceleration and transmission device, wheel, it be whole low-speed electronic automobile most critical part it
One.The order that motor driven systems are sent by receiving control system, the machinery that the energy conversion of electrokinetic cell is motor
Can, transferred power to via transmission system on wheel, ensure normal vehicle operation.To ensure that vehicle being capable of frequency in performance
Numerous start-stop, acceleration and deceleration, the comfortableness taken and adverse circumstances by property etc., therefore for the driving of low-speed electronic automobile
System will have higher requirement.
Till now, the technology upgrading of motor driven systems mainly experienced great three times low speed miniature electric automobile
Technological transformation.The first generation is directed to the structure and characteristic of small-sized electric vehicle, devises the separately excited machine with speed governing commutation advantage
And controller drive system；As requirement of the people to riding experience gradually steps up, using the second of non-brush permanent-magnet DC motor
Also being arisen at the historic moment for drive system, DC brushless motor has higher reliability and more preferable riding experience compared to separately excited machine,
And control mode is simple, but there is larger torque pulsation in its control mode, and this is provided for the improvement of drive system of future generation
Direction；Third generation drive system is then closer to the requirement of electric automobile, the use characteristic for small-sized electric vehicle, based on arrow
The alternating current controlled system of amount control, which seems, to be more suitable for, and the stability of controller and motor is stronger, control algolithm and control strategy
Also it is more advanced.AC motor control is broadly divided into alternating current asynchronous, the class of permanent-magnet synchronous two according to control targe motor.Due to
Rare earth permanent-magnetic material is on the high side at present, for entirety applied to automotive field permagnetic synchronous motor and DC without
Brush motor price will be higher by much relative to the AC induction motor of Same Efficieney.It is more miniature than more sensitive for price factor
The also no good reason of electric automobile and time, as motor, most suitable low speed was electric at present to receive both motors
The drive system of electrical automobile is AC induction motor (ACIM) and control system.ACasynchronous motor drive system addresses low
The advantages that cost, good reliability, good speed adjusting performance, is widely used.
It is extensive using the AC induction motor of vector controlled at present in order to take into account vehicle reliability of operation and comfortableness
Apply in low-speed electronic automotive field.In AC Motor Vector Control System, it is because speed closed loop control can improve
The dynamic property of system, commonly use the rotating speed of the measurement motor such as photoelectric code disk or tachometer generator.Studied with to vector control technology
Go deep into, some sensors are expensive, to installation accuracy require it is also high, its signal is also easily by electromagnetic interference.Tape speed
In the drive system of sensor, its velocity feedback becomes unreliable.Which not only improves the cost of drive system, also limit
Its application in the presence of a harsh environment.At present, Speedless sensor operation has become in the important research in AC Drive field
One of hold, and applied in large quantities among vector controlled, almost external all big frequency converter production commercial cities have oneself
High-performance speed-sensorless control frequency converter product.Meanwhile for flux observation in senseless control,
The research of velocity estimation can also be applied to other AC Drive fields such as locomotive traction, convertible frequency air-conditioner, therefore, alternating current asynchronous
The research of motor speed-sensorless control method has theory significance and important application value.Speedless sensor control
System strategy utilizes the stator voltage being readily obtained, current signal, by the analysis to the motor model under rest frame, obtains
Obtain the control algolithm of rotating speed and it is fed back in control system by rotating speed, not only realize the high-performance control of alternating current generator rotating speed
System, also reduce the complexity and cost of system hardware.
However, following technical problem in the prior art be present：Realization of pulse width modulation based on voltage space vector (SVPWM) in vector controlled
Because dead time influences that current distortion can be caused in the practical application of technology.
The content of the invention
It is an object of the invention to overcome above shortcomings in the prior art, and a kind of low-speed electronic automobile is provided and handed over
Vector Control System of Induction Motor method and system is flowed, current distortion, running noises and torque pulsation can be effectively reduced.
A kind of low-speed electronic automobile AC induction motor vector control method proposed by the present invention, it is characterised in that the side
Method comprises the following steps：
Step 10, sector where judging voltage vector, specially converts according to Clark, obtains under two-phase rest frame
Vector Control Model, by analyzing Uα、UβSector where determining voltage vector, show that three judge vector according to formula 27
U1、 U2、U3, according to the sector where the current resultant vector of positive negative judgement of three vectors；
Step 20, basic voltage vectors action time is calculated, behind sector where specially determining current resultant vector, is calculated
ON time, intermediate variable X, Y, Z are defined, its expression formula is formula 29：
In order to avoid the error in calculating, work as T<T1+T2When, it is necessary to limit switch conduction times, make what it was exported
Maximum voltage is safe for operation to ensure in the inscribed circle of vector hexagon, and its constraints is formula 30：
Step 30, calculate the ON time of each bridge arm and build dead time, specially according to seven segmentation SVPWM vector controls
Algorithm and basic vector ON time processed, calculate switching time point T corresponding to each sectorcm1、Tcm2、Tcm3, defined variable Ta、
Tb、TcFor：
After calculating, switching time corresponding to each sector, point was as shown in the table：
Step 40, control is driven to motor, is carried out specifically by triangular signal generator and each switching point
Compare to obtain three tunnel PWM waveforms, the three roads PWM ripples are passed to dead time module, dead time module is prolonged with transmission
Slow module delays low level initial signal, what high level signal subtracted postpones signal thoroughly deserves dead time, utilizes dead band
Time carries out multiplication with initial high level signal, postpones signal respectively, so as to be embedded into SVPWM generation clock signals, most
Inverter is set to produce required voltage waveform using the signal for adding dead time as the input control signal of inverter afterwards,
Realize the drive control to motor.
Preferably, in step 10：If U1>0, then A=1, otherwise A=0；If U2>0, then B=1, otherwise B=0；If U3>
0, then C=1, otherwise C=0, A, B, C share 8 kinds of combinations, but U1, U2, U3 will not 0 or be simultaneously simultaneously in actual motion
1, actually there are 6 kinds of combinations corresponding 6 sectors just, relational expression corresponding to combination and sector is formula 28.
Sector=C × 4+B × 2+A (formula 28)
A kind of low-speed electronic automobile AC Motor Vector Control System proposed by the present invention, it is characterised in that the system
System includes：
Sector judgment means, for being converted according to Clark, obtain the vector under two-phase rest frame where voltage vector
Controlling model, by analyzing Uα、UβSector where determining voltage vector, show that three judge vector U according to formula 271、U2、U3,
According to the sector where the current resultant vector of positive negative judgement of three vectors；
Basic voltage vectors action time computing device, behind sector where determining current resultant vector, calculate conducting
Time, intermediate variable X, Y, Z are defined, its expression formula is formula 29：
In order to avoid the error in calculating, work as T<T1+T2When, it is necessary to limit switch conduction times, make what it was exported
Maximum voltage is safe for operation to ensure in the inscribed circle of vector hexagon, and its constraints is formula 30：
The ON time of each bridge arm calculates and dead time builds device, for being calculated according to seven segmentation SVPWM vector controlleds
Method and basic vector ON time, calculate switching time point T corresponding to each sectorcm1、Tcm2、Tcm3, defined variable Ta、Tb、Tc
For：
After calculating, switching time corresponding to each sector, point was as shown in the table：
Step 40, motor drive control device, for by triangular signal generator compared with each switching point
Three tunnel PWM waveforms are obtained, the three roads PWM ripples are passed to dead time module, dead time module transmission delay mould
Block postpones low level initial signal, and what high level signal subtracted postpones signal thoroughly deserves dead time, utilizes dead time
Multiplication is carried out with initial high level signal, postpones signal respectively, so as to be embedded into SVPWM generation clock signals, finally will
Add the signal of dead time makes inverter produce required voltage waveform as the input control signal of inverter, realizes
To the drive control of motor.
Preferably, if U1>0, then A=1, otherwise A=0；If U2>0, then B=1, otherwise B=0；If U3>0, then C=1, no
Then C=0, A, B, C share 8 kinds of combinations, but U1, U2, U3 will not be 0 simultaneously or be 1 simultaneously in actual motion, actually there is 6 kinds of groups
Corresponding 6 sectors just are closed, relational expression corresponding to combination and sector is formula 28.
Sector=C × 4+B × 2+A (formula 28)
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is squirrel-cage three phase AC induction machine profile；
Fig. 2 is AC induction motor vector controlled block diagram；
Fig. 3 is Clark transformation relation figures；
Fig. 4 is Park transformation relation figures；
Fig. 5 is AC induction motor illustraton of model；
Fig. 6 is three phase mains inverter structure；
Fig. 7 is voltage vector-diagram；
Fig. 8 is voltage vector synthesis schematic diagram；
Fig. 9 is voltage vector synthesis schematic diagram；
Figure 10 is error voltage vector figure；
Figure 11 is error voltage vector composite diagram；
Figure 12 is preferable and actual switch state diagram；
Figure 13 is pwm signal switch triggering figure before and after compensation；
Figure 14 is that sector judges emulation module block diagram；
Figure 15 is intermediate variable X, Y, Z computation model；
Figure 16 is basic voltage vectors action time emulation module block diagram；
Figure 17 is dead time generation module block diagram；
Figure 18 is Tcm1, Tcm2, Tcm3 computing module block diagram；
Figure 19 is 6 road PWM generation module block diagrams.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Ac three-phase asynchronous motor is a kind of rotating machinery with three-phase alternating current electric control, in order to realize that rotating speed is adjustable, electricity
Potential source typically using the inverter being made up of power switch component, produces the friendship of the approximate sine wave of amplitude and frequency-adjustable
Flow voltage.The profile of the three phase AC induction machine of one three pairs of pole is as shown in figure 1, stator slot is embedded with a, b, c three-phases around
Group.In order to generate the magnetic potential of near sinusoidal in air gap, winding uses distributed coiling.When stator winding flow through three-phase symmetrical,
A magnetic vector rotated with stator current frequency can be formed during the simple sinusoidal alternating current that 120 ° of phase angle mutual deviation, in air gap.Root
According to the difference of the rotor structure of three phase AC induction machine, squirrel-cage and Wound-rotor type can be divided into, wherein squirrel-cage is most commonly seen,
Cage rotor winding be oneself short circuit winding, be placed with each groove of rotor core a conductor (material be copper or
Aluminium), conductor is longer than iron core, at iron core both ends with two end ring by conductor short circuit, forms short-circuited winding.If iron core is removed, remain
Under winding shape like squirrel, therefore claim squirrel-cage winding.
So-called vector controlled is exactly that the motor vector correlation that will be represented in rest frame is transformed to air-gap field, determined
Sub- magnetic field or rotor field-oriented rotatable coordinate axis are fastened, and reach the purpose of the real-time control to motor torque.Due to turning
The vector control method of sub- field orientation is simple and easy, and decoupling is convenient, and control accuracy is preferable, and the present invention is namely based on rotor magnetic
Field orientation.Alternating current generator threephase stator electric current IA、IB、IC, by being become by three-phase static coordinate system to two-phase rest frame
Get I in returnα、I β.Then two-phase rotating coordinate system is transformed to by two-phase rest frame again, and makes rotating shaft along rotor flux
Direction, obtain alternating current generator excitation current component Id, and torque current component IqThe excitation electricity of dc motor is equivalent to respectively
Stream and torque current.So by controlling IdAnd Iq, it is possible to control AC electrical according to the control method of dc motor
Machine.
The fundamental block diagram of vector controlled is as shown in Fig. 2 whole control process is realized by software.Clark conversion is three
The mutually static conversion to two-phase rest frame, Park conversion are that two-phase rest frame converts to two-phase rotating coordinate system, are entered
It is to be understood that current rotor position, it represents the angle of axle and axle, provided by rotor flux observer during row coordinate transform.It is real
Existing key is to be the construction of rotor flux observer, that is, the determination at flux linkage position of the rotor angle, and this will be related to exchanging
Asynchronous machine Current Decoupling problem.Therefore need to study the model of AC induction motor, coordinate transform and on this basis
Current Decoupling problem.
The basis of vector controlled is the foundation of threephase asynchronous machine mathematical modeling, and the electric current of three phase alternating current motor, magnetic flux
All interacted between rotating speed.In addition, the stator and rotor of three phase electric machine distinguish it is equivalent turn into three windings, each
Winding has the electromagnet inertia of oneself when producing magnetic flux, plus the electromechanical inertial of kinematic system, the lag factor of converter plant
Deng these factors all determine that asynchronous machine is a high-order, non-linear, close coupling multi-variable system.
If without coordinate axis transform, vector controlled will be unable to realize, because asynchronous machine is under three-phase static coordinate system
Close coupling, the variable to be controlled is more and complicated, when realizing vector controlled then by asynchronous machine is decoupled come
The variable of simplify control, Clarke conversion is first passed through, three-phase static coordinate system change of variable to two-phase rest frame is become
Amount, then is converted by Park, at this moment electric by two-phase stationary reference coordinate system change of variable to two-phase rotating reference frame
The rotating speed vector flux linkage vector of machine is full decoupled, and they can be regulated and controled respectively.And electric current produces equivalent rotation before and after converting
Turn magnetic field.
Clark conversion refers to that static three-phase coordinate system transformation is static two-phase coordinate system transformation.Become with invariable power electric current
Example is changed to, first considers three phase static winding A, B, C to two-phase static winding α, β conversion, abbreviation 3S/2S conversion.It, which is converted, closes
System is as shown in Figure 3.Transformation for mula is：
If three-phase windings are Y types and no zero line, there is iA+iB+iC=0, it can be obtained after bringing above formula into：
Similarly Clark conversion can also be used in voltage vector and flux linkage vector.
Park conversion refers to that two-phase rest frame is transformed to the conversion of two-phase rotating coordinate system.Here equally become with electric current
Example is changed to, first considers the conversion of two-phase static winding α, β to two-phase static winding d, q, abbreviation 2S/2R conversion.Its transformation relation
As shown in Figure 4.As shown in Figure 4：iα、iβAnd id、iqBetween following relationship be present：
The form for being converted into matrix is：
It is further converted to inverse matrix：
Similarly Park conversion can also be used in voltage vector and flux linkage vector.
Mathematical modeling is the basis of asynchronous machine research, and it is mainly by voltage equation, flux linkage equations, torque equation and motion
Equation etc. forms.When vector controlled is implemented to AC induction motor, the difference according to coordinate system is, it is necessary to respectively to three
Motor model under phase rest frame, two-phase rest frame and two-phase rotating coordinate system is analyzed.
When studying asynchronous machine multivariable model, often make the following assumptions：Ignore space harmonics, it is assumed that motor three-phase
Winding symmetric space mutual deviation electrical angle, caused magnetomotive force are sinusoidally distributed along air gap circumference.Ignore magnetic to satisfy
With winding has constant self-induction and mutual inductance.The resistance of each winding is constant, is not influenceed by frequency and temperature.Motor is turned
Son is equivalent to turn into wound rotor, and stator side, and the three-phase windings equal turn numbers after conversion are arrived in conversion.It is different so to obtain three
The physical model for walking motor is as shown in Figure 5.Three-phase windings axis A, B, C in Fig. 5 is fixed in space, using A axles as reference
Reference axis rotor windings axis a, b, c rotate with rotor, and the electrical angle between armature spindle a and stator axis A becomes for space angular displacement
Amount.Provide that each winding voltage, electric current, the positive direction of magnetic linkage meet the convention and right-hand screw rule of motor.System can be used
Voltage, magnetic linkage, torque and the equation of motion mathematical modeling of the threephase asynchronous machine under three-phase static coordinate system described.
(1) voltage equation：
The voltage equation of threephase stator winding is：
Corresponding three-phase rotor windings conversion is to the voltage equation of stator side：
In formula 5 and formula 6：uA,uB,uC,ua,ub,ucFor stator and rotor phase voltage instantaneous value, iA,iB,iC,ia,ib,
icFor stator and rotor phase current instantaneous value, ψA,ψB,ψC,ψa,ψb,ψcFor threephase stator and the total flux linkage of rotor, R1,R2It is fixed
Son and rotor windings resistance.
(2) flux linkage equations：
Magnetic linkage of the AC induction motor per phase winding includes his self-inductance magnetic linkage of itself and mutual inductance magnetic of other windings to him
Chain, its flux linkage equations can be expressed as form：
In formula 7：ψA,ψB,ψCFor the magnetic linkage of threephase stator winding, ψa,ψb,ψcFor the magnetic linkage of three-phase rotor windings； LA,
LB,LCFor the self-induction of threephase stator winding, La,Lb,LcFor the self-induction of three-phase rotor windings, iA,iB,iCFor threephase stator winding
Electric current, ia,ib,icFor the electric current of three-phase rotor windings, LAb,LAB... is the mutual inductance of each phase winding winding.
The magnetic flux to be interlinked with machine winding has two classes：One kind is only to be interlinked with a certain phase winding and be not passed through the leakage field of air gap
Logical, another kind of is the alternate mutual flux through air gap, and the latter is main.Mutual flux is divided into two classes again：(1) stator three
The position between rotor three-phase is fixed to phase each other, therefore mutual inductance is constant value；(2) any phase of stator is appointed with rotor
One alternate position is change, and mutual inductance is the q functions of angular displacement.
(3) electromagnetic torque equation：
It is assumed that linear magnetic circuit, magnetomotive force press Sine distribution in space, according to electromechanical energy conservation theorem, electromagnetism can be obtained and turned
Square Te expression formula is as follows：
Above formula illustrates TeIt is the function on stator current, rotor current and rotor angle, i.e., drag torque is more than one
Variable, non-linear and close coupling function.
(4) equation of motion：
In general, resistive torque damping and the elasticity of torsion torque in electric drive system are ignored, and when load
When being constant torque load, the equation of motion of motor is：
In formula 9：TL is load torque；J is the rotary inertia of unit.
Model of model of the threephase asynchronous machine under two-phase rest frame namely under alpha-beta coordinate system.By three-phase
Voltage, electric current, magnetic linkage under static coordinate (A-B-C) are transformed under two-phase rest frame alpha-beta with Clark, can be obtained
Mathematical modeling of the threephase asynchronous machine under two-phase rest frame.
(1) voltage equation：
For the motor that rotor is squirrel-cage, uα2=uβ2
(2) flux linkage equations：
(3) torque equation：
Te=npLm(iβ1iα2-iα1iβ2) (formula 12)
Model of model of the threephase asynchronous machine under two-phase rotating coordinate system namely under d-q coordinate systems.By two-phase
Electricity under static coordinate (alpha-beta) transforms to through Park can obtain threephase asynchronous machine under two-phase rotating coordinate system (d-q)
Model under two-phase rotating coordinate system.
(1) voltage equation：
(2) flux linkage equations：
(3) torque equation：
Te=npLm(id1iq2-iq1id2) (formula 15)
Above using low-speed electronic automobile using AC induction motor as research object, based on electric machine theory to magnetic linkage, voltage, electricity
The relation of the variables such as stream is analyzed.With reference to the principle of coordinate transform, for the mathematics of the asynchronous machine under different coordinates
Model is derived.Under rotor field-oriented, system vector controlled equation is established, realizes the depression of order solution of system
Coupling, laid a good groundwork for the research of following motor control strategy.
Below will analyse in depth vector controlled in SVPWM technologies principle, provide SVPWM control algolithms realize step and
Method.And the influence to SVPWM dead times in actual applications is analyzed, a kind of time-based dead area compensation is proposed
Method.
The analysis and realization of SVPWM controls
Space vector pulse width modulation (SVPWM), actually correspond to three in permagnetic synchronous motor or induction alternating current (AC) motor
Combine to a kind of special switch triggering order and pulsewidth size of the power device of phase voltage source inventer, this switch touches
Hair order and combination will produce the less sinusoidal current of distortion of three-phase 120 ° of electrical angles of difference in the stator coils.Practice and
Theory can prove that compared with direct sinusoidal pulse width modulation (SPWM) technology, SVPWM is in output voltage or motor coil
In electric current in will all produce less harmonic wave, improve the utilization ratio to power inverter DC power supply.
It is a kind of structure of typical three-phase voltage source inverter below, as shown in Figure 6.V in Fig. 6a、Vb、VcIt is inverter
Voltage output, Q1To Q6It is 6 power transistors, they are respectively by VT1、VT2、VT3、VT4、VT5、VT6This 6 control letters
Number controlled.When the power transistor of inverter bridge top half is opened, i.e. VT1、VT2Or VT3For 1 when, its lower portion phase
To power transistor be closed (VT4、VT5Or VT6For 0) so a, b, c are 0 or 1 state, Va, Vb, Vc three-phase will be determined
The waveform situation of output voltage.
The line voltage vector of inverter bridge output, the relation between phase voltage vector switching variable vector can use formula
16 and formula 17 represent：
In above formula：Vdc is the direct current supply voltage of voltage source inverter.
Therefrom it is not difficult to find out, because switching variable vector [a, b, c] has 8 different combined values, i.e. the inverter bridge first half
The on off state of 3 power transistors divided has 8 kinds of different combinations, therefore the phase voltage and line voltage of its output have 8 kinds of correspondences
Combination.Converted by Clark to obtain the space voltage vector under alpha-beta shafting according to different switches and phase voltage state, its
Conversion formula can be represented with following formula 18 and formula 19.V in table 1AN、VBN、VCNRepresent the phase voltage of 3 output, Vα、
VβRepresent the space voltage vector under alpha-beta shafting.
Vα=VAN(formula 18)
The phase voltage of the on off state of the power tube of table 1 and the coordinate components of alpha-beta shafting
Eight kinds of basic voltage vectors corresponding to eight on off states in table 1, this eight voltage vectors are by the sky where it
Between be divided into that six voltage magnitudes are equal, phase differs 60 ° of six regions, as shown in Figure 7.As can be seen from Figure 7 it is any one
Individual voltage vector can be drawn by two basic voltage vectors combination adjacent in its region, determine output voltage institute
Behind sector, by the action time T for calculating two adjacent basic voltage vectors1、T2To realize the output of resultant vector, and
When PWM cycle subdivision is sufficiently small, the track of voltage vector is approximately a circle.And voltage vector and flux linkage vector
Track is to overlap, therefore its magnetic linkage track is also an approximate circle, and SVPWM algorithms in different sectors by constantly adjusting
PWM output item and dutycycle realizes the vector controlled of motor.
Fig. 8 is that voltage vector synthesizes schematic diagram by taking the first sector as an example, the voltage vector U of synthesissBy U0And U60Composition, T1、
T2U is represented respectively0And U60Action time, T then represents the time of carrier cycle.Formula can be obtained according to Vector modulation principle
(20)：
With formula (formula 20) and according to trigonometric sine theorem, can analyze (formula 21)：
And then obtain T1, T2 and be：
Determine the action time for the zero vector T0 for obtaining insertion after T1, T2 time further according to formula (formula 23).
T0=T-T1-T2(formula 23)
By above-mentioned method, T corresponding to frequency needed for system is calculated1、T2, so as to reach the purpose of frequency conversion.Addition zero
The principle of vector is：Make the on-off times of device for power switching minimum, in order that magnetic linkage smooth motion, zero vector is divided into
Several pieces, multiple spot are inserted into magnetic linkage track, total action time T0It is constant, so as to reduce the torque pulsation of motor.According to upper
Analysis is stated by T0、T1、T2Carry out respectively realizing this function by MCU PWM module, the waveform of PWM outputs is as shown in Figure 9.Figure
The 9 PWM way of outputs are commonly referred to as seven segmentation SVPWM, and 0 vector effectively divide equally by this method, makes resultant vector
Output it is more stable smooth, the magnetic linkage of synthesis also more approaches loop circle flux, can reach preferable SVPMW control effects.
The research and design of SVPMW dead area compensations
Seven segmentation SVPWM controls need the state of continuous power switched pipe to realize, in actual use, due to power device
The presence of the intrinsic storage time of part, turning it on the time is less than the turn-off time, and two opened with phase bridge arm complementation easily occur
The short trouble of power tube, in order to avoid the generation of such case, sent out after open signal generally is postponed into a dead time
Go out.The opening of power tube, turn-off time and the dead time make power tube actual output voltage waveform and preferable given voltage waveform
Compared to nonlinear distortion is generated, the dead time effects such as motor current waveform distortion and torque pulsation are triggered, especially have impact on
The low-speed performance of motor.Influence caused by order to reduce motor current waveform nonlinear distortion, devise a kind of based on time benefit
The dead-zone compensation method repaid, influenceed to make up power tube device inherent delay to caused by whole system.
For three phase electric machine inverter structure as shown in fig. 6, for single-phase inverter output voltage, dead time effect produces a system
The distorted pulse of row, pulse polarity are related to current polarity.Due to 120 ° of electrical angles of three-phase current mutual deviation, therefore in motor
Six error voltage vectors are formd, as shown in Figure 10.
Using etc. amplitude transformation when, the amplitude of error voltage vector is 4VdcTe/3T, wherein Vdc be DC bus-bar voltage,
T is carrier cycle, and error time Te is：
Te=Td+Ton-Toff(formula 24)
Wherein, Td is dead time；Ton is the time required to power tube is opened；The time required to Toff is power tube shut-off.
The direction of the vector of error voltage determines by three-phase current polarity, defines electric current to flow into machine winding as just,
The corresponding relation of the vector and current polarity is in Figure 10：Numeral 1 represents phase current as just, 0 represent phase current be it is negative, according to
The built-up sequence of abc phases, the voltage vector in corresponding diagram 10.
So that electric current ia, ib, ic are positive and negative negative sector as an example, amplitude and the phase calculation for deriving synthesized voltage vector are public
Formula, the angular range of current phasor is [330 °, 360 °] and [0,30 °] in the polarity sector.Represent that given voltage is sweared with θ
Amount and the angle of α axles, voltage vector synthesize as seen in figures 3-6.Figure 11 (a) be θ in [330 °, 360 °] angular range, figure
11 (b) is θ in [0 °, 30 °] angular range.It can be seen that as θ=0, Usyn amplitudes are minimum (formula 24), other electric currents
In polarity mountain area, it can be drawn with same procedure analysis, the influence of dead band distortion has repeatability.
|Usyn|=| Us|-|ΔU4| (formula 25)
By taking a phase bridge arms as an example, Fig. 3-7 is theoretical the starting signal state and actual switch state in a carrier cycle
Oscillogram A+L, A-L is preferable power tube switching signal, and A+R, A-R are actual power tube switching signal figure, wherein shade
Part is the state that two pipes are all not turned on, and now the output voltage of bridge arm is determined by fly-wheel diode.Work as ia>When 0, under
Bridge arm diode current flow, turned on equivalent to lower bridge arm switching tube, A+R dash area position low level, A-R are during actual switch
High level, the actual service time for understanding upper tube through analysis shortens Te than preferable service time, and when actually opening of down tube
Between then extend that Te to be done is exactly to say that the service time of upper tube extends Te and are shortened into Te so down tube service time accordingly
Make the actual switch time consistent with preferable preset time, ensure that the magnitude of voltage of output and ideal value are equal.Ia can similarly be analyzed
<When 0, the preferable service time of upper tube is shortened into Te.By adjusting a phases PWM service time come real within a modulation period
Existing time bias, the compensation method of b, c phase are identical with a phases.
Seven segmentation SVPWM methods are realized using the method for Vector modulation, due to the insertion of two zero vectors of U0, U7, can be obtained
To more simplified algorithm.With the positive and negative negative analysis of abc current polarities.As shown in figure 12, according to above-mentioned Time s Compensation, by A
+ high level extends the Te times, and B+, C+ shorten the Te times.Comprehensive three-phase obtains：Vector U4 action time is than preferable preset time
Add 2Te, vector U6 action times do not change, zero vector action time reduces 2Te.Bc phases are kept to obtain switching tube letter
It is number constant, A+ high level extension 2Te only can also be reached into same compensation effect, effectively simplify algorithm.
taRepresent bridge arm switching tube signal triggered time, t' in a phasesaRepresent that bridge arm switching tube signal touches in a phases after compensation
The time is sent out, can be obtained (formula 26) through above-mentioned analysis.
t'a=ta-Te(formula 26)
Abc current polarities it is positive and negative it is negative under, analyze the time bias of other voltage vectors synthesis sector, there is identical knot
Fruit, then other current polarity sectors are analyzed, it is as shown in table 2 to obtain final compensation method.
The phase voltage of the on off state of the power tube of table 2 and the coordinate components of alpha-beta shafting
According to the current polarity in table 2, time bias is carried out to not isopen in different current polarity sections, realizes base
In the SVPWM of time dead-time compensation algorithm.
In order to verify the validity of SVPWM control algolithms, system mould is established on the basis of MATLAB/Simulink platforms
Type, and simulation analysis are carried out, the model is also the basic algorithm for the ensorless control algorithm realized.Realize that SVPWM is calculated
The step of method simulation model is built have it is following some：
Sector judge module is built where voltage vector
Converted according to above-mentioned Clark, the Vector Control Model under two-phase rest frame can be obtained, pass through analysis
Uα、UβSector where voltage vector can be determined.Show that three judge vector U with reference to above-mentioned analysis1、U2、U3(formula 26), root
According to the positive and negative sector that can be judged where current resultant vector of three vectors.
Re-define, if U1>0, then A=1, otherwise A=0.If U2>0, then B=1, otherwise B=0.If U3>0, then C=1, no
Then C=0.Understand that A, B, C share 8 kinds of combinations, but U1, U2, U3 will not be 0 simultaneously or be 1 simultaneously in actual motion.Therefore it is real
Border combination has 6 total combinations corresponding 6 sectors just.Relational expression (formula 28) determines corresponding to combination and sector：
Sector=C × 4+B × 2+A (formula 28)
The sector according to where (formula 27) can determine current vector, the sector of foundation judges emulation module such as Figure 14 institutes
Show：
Basic voltage vectors action time computing module is built
It is determined that different fans have been calculated above, it is necessary to calculate ON time behind sector where current resultant vector
Switch conduction times under area, for the convenience of modeling, intermediate variable X, Y, Z are defined, its expression formula is：
In order to avoid the error in calculating, work as T<T1+T2When, it is necessary to limit switch conduction times, make what it was exported
Maximum voltage is safe for operation to ensure in the inscribed circle of vector hexagon.Its constraints is：
With reference to above result of calculation, establish it is as shown in figure 15 using X, Y, Z as intermediate variable, and according to intermediate variable meter
Calculate adjacent basic vector ON time T1、T2Emulation module it is as shown in figure 16.
The ON time of each bridge arm is calculated and dead time module is built
According to the analysis to seven segmentation SVPWM vector control algorithms and basic vector ON time above, in order that algorithm
It is smoothed out, it is necessary to design the switching tube switching time point T of each bridge armcm1、Tcm2、Tcm3, defined variable Ta、Tb、TcFor：
After calculating, switching time corresponding to each sector, point was as shown in table 3：
Each sector switch timetable of table 3
Three tunnel PWM waveforms are obtained compared with each switching point by triangular signal generator, such as Figure 19 institutes
Show.For this three roads PWM ripple by incoming dead time module, dead time module structure is as shown in figure 17, and he is by transmission delay module
For postponing low level initial signal.The absolute value that high level signal subtracts postpones signal is exactly dead time, the dead time
Multiplication is carried out with initial high level signal, postpones signal respectively, so as to be embedded into SVPWM generation clock signals.Finally will
Add the signal of dead time makes inverter produce required voltage waveform as the input control signal of inverter, finally
The drive control to motor can be realized.
The present invention combines the electric power feature of low-speed electronic automobile using power supply and asynchronous machine, with a kind of efficiency high, is easy to control
The SVPWM control algolithms of system establish DC-AC inverse control system, and have carried out simulation model to the control algolithm
Establish, including sector judge module, switch conduction times module, switch switching point module and control signal generation module are built
It is vertical, motor target control amount is changed into corresponding input voltage value to realize control of the motor to aim parameter.Realizing
There is the design for having carried out the dead-zone compensation method based on time bias on the basis of SVPWM controls, effectively raise SVPWM
The stability of control, reduces current distortion and torque pulsation.
In low-speed electronic automobile driving system, current rotor is generally determined by the encoder feedback information on motor
Position, but because the installation site of encoder limits, working environment is more severe, the risk to break down be present, and once send out
Raw failure, the lighter cause systematic function to decline, and severe one then directly contributes the completely idle machine of automobile, can only wait for quietly rescuing.Therefore to handing over
The faults-tolerant control Study on Problems of stream Induction Motor-Driven system seems very necessary.It presently, there are many motor driven systems
Redundancy protecting measure, and just it is being widely used in the occasion for requiring that motor is continuously run.But some of which method is deposited
In electromagnetic torque shock problem in short-term, and if failure later system continue to run, its performance will forever degenerate, most common
Be household electrical appliance, such as air-conditioning, fan.But for the driving control system for electric machine in applied to low-speed electronic automobile,
The control performance of degeneration is better than no any control action.Therefore, the Redundant Control scheme of speed sensor fault has very much
It is necessary.In order to realize fault redundance control, it is necessary to using a kind of ensorless control scheme, the present invention is using based on certainly
Adapt to sliding mode observer without sensor vector method, determine sliding formwork control mechanism by estimating electric current and magnetic flux deviation, and
Make the state of control system finally stable on designed sliding formwork hyperplane.Sliding formwork control has good dynamic response,
Also than more prominent in robustness and simplicity.
AC induction motor speed observer model
Sliding mode observer is a kind of closed loop flux linkage estimation method based on ideal model, it by the stator current of detection and
Stator voltage realizes the estimation to rotor flux and rotating speed.Under rest frame, the state equation of induction machine is：
In formula：λdr、λqrFor d, q axle rotor flux component；ids、iqsFor d, q axle rotor flux component stator current components；
ωrFor spinner velocity；Rs、RrRespectively fixed rotor resistance Ls、Lr、LmFor stator inductance, inductor rotor and rotor mutual inductance value；
TrFor rotor time constant；σ is total leakage inductance coefficient.
Need to observe transient magnetic flux value in senseless control and spinner velocity, speed observer of the invention belong to
The speed observer of closed loop, its specific design are as follows：
In formula：For the rotor flux component of estimation；For the stator current components of estimation；To turn
Sub- estimating speed.
Difference between definition estimation component and true component is formula 35：
Formula 36 can be obtained accordingly：
According to induction machine state equation, state estimation equation and difference equation, it can determine that sliding formwork becomes by formula 37
The diverter surface of structure control.
Sliding mode observer stability analysis
Current stability is analyzed
Defining permanent positive Liapunov (Lyapunov) function is：
Its differential equation is：
It can be obtained according to (formula 36)：
From Li Shi equation characteristics, if meeting condition I '<0 and I >=0, then current regulation is stable.Therefore make public
Formula 40 is less than 0, and abbreviation can obtain formula (formula 41)：
If orderAccording to sliding mode control theory, the adequate condition of model stability is：
It can be seen from formula 42, if K values are sufficiently large to meet this adequate condition, current component is estimatedWill
Converge on actual value ids、iqs, both differences will level off to zero.
Rotor flux stability analysis
WhenIn state model, curveIt is the stable condition of electric current.In continuous controlIn, according to sliding mode variable structure theory, stable condition should be then written asAccording to formula
36 can draw：
WillBring formula 36 into, can obtain：
The system root described by formula 43 is：
According to the stability analysis of control theory, it is known that the system is stable.Therefore, in feedback condition
Under, this speed observer will beWithMotion, therefore formula 44 is stable.
For constant.
In stable state, formula 36 can be rewritten as：
BecauseFor arbitrary value, therefore meet that the stable condition of formula 45 is cd=cq=0, and
Therefore, in order to ensure the correct of speed observer, variable is controlledThe condition of must being fulfilled for is
If using formula 46 as the feedback quantity of observer, only it needs to be determined that a gain parameter, it is possible to realize and turn
Sub- magnetic flux and the response that torque is quick and robustness is good, compared with traditional sliding-mode speed observer, reduce observer parameter
The complexity of design.In the motor control of reality, in order to prevent the high fdrequency component in estimating speed to the bad of motor operation
Influence, after the ideal velocity estimated, add a low pass filter, it exports the estimator as actual speedAnd for the control of system.
In analyzing above, K have to be larger than or equal to ωmax, influence of the K values size to systematic function is discussed below.
(1) K values are increased,Tremble and can become big.
(2) K values are increased, the calculating for rotor flux and motor torque can be accelerated, in fact, observer can receive system
Hold back in correct flux value.If K is very big, convergence rate is infinitely great in theory.
In traditional sliding-mode speed observer, K values are a fixed value for being suitable for whole frequency band.Two more than considering
Point analysis, if in speed regulation process, K values can basisChange and if being subject to regulation automatically, then system is whole
Just more stable performance is possessed in speed adjustable range, the particularly jitter of high band can be suppressed well.
In view of problem above, a PI controller can be added in systems, so as to ensure observer while quick response,
Being capable of basisChange adjustment parameter K.The design of PI controllers is as follows：
With reference to the advantages of sliding moding structure technology and PI controllers, the expression formula that can obtain estimating speed is：
Now, formula 48 can be equivalent to：
So, KdValue will automatically adjust with the change of frequency, be not only able to the effective overall performance for improving system, and
And effectively weaken the jitter of high band.
For the flimsy problem of low-speed electronic automobile controller velocity sensor, it is proposed that one kind is based on adaptive sliding mode
The sensorless control algorithm of observer realizes the faults-tolerant control of velocity sensor.The Observer Structure is simple, has to parameter
Good robustness, there is wider speed estimate scope, the observer is applied to indirectly rotor field-oriented vector control
System, theoretical and experiment demonstrates the program is having good current tracking ability and speed to estimate at a high speed and in low-speed region
Meter ability, and the parameter of sliding-mode speed observer can the adaptive change of system for tracking estimating speed, simplifying observer
While design, the intrinsic high dither problem of sliding-mode speed observer has been effectively eliminated.
It is appreciated that embodiment of the present invention can be by hardware, software, firmware, middleware, microcode or its any group
Close to realize.For hardware implementation mode, processing unit can be in one or more application specific integrated circuits (ASIC), numeral letter
Number processor (DSP), digital signal processing device (DSPD), PLD (PLD), field programmable gate array
(FPGA), processor, controller, microcontroller, microprocessor, be designed to perform other electronics of function of the present invention
Realized in unit or its combination.Implement when with software, firmware, middleware or microcode, program code or code segment to realize
During example, it can be stored in the machine readable media of such as storage assembly.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by institute
Attached claim rather than described above limit, it is intended that will fall in the implication and scope of the equivalency of claim
All changes include in the present invention.Any reference in claim should not be considered as to the involved right of limitation
It is required that.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (4)
1. a kind of low-speed electronic automobile AC induction motor vector control method, it is characterised in that methods described includes following step
Suddenly：
Step 10, sector where judging voltage vector, specially converts according to Clark, obtains the arrow under two-phase rest frame
Controlling model is measured, by analyzing Uα、UβSector where determining voltage vector, show that three judge vector U according to formula 271、U2、
U3, according to the sector where the current resultant vector of positive negative judgement of three vectors；
Step 20, basic voltage vectors action time is calculated, behind sector where specially determining current resultant vector, calculates conducting
Time, intermediate variable X, Y, Z are defined, its expression formula is formula 29：
In order to avoid the error in calculating, work as T<T1+T2When, it is necessary to limit switch conduction times, the maximum that makes it export
Voltage is safe for operation to ensure in the inscribed circle of vector hexagon, and its constraints is formula 30：
Step 30, calculate the ON time of each bridge arm and build dead time, specially calculated according to seven segmentation SVPWM vector controlleds
Method and basic vector ON time, calculate switching time point T corresponding to each sectorcm1、Tcm2、Tcm3, defined variable Ta、Tb、Tc
For：
After calculating, switching time corresponding to each sector, point was as shown in the table：
Step 40, control is driven to motor, specifically by triangular signal generator compared with each switching point
Three tunnel PWM waveforms are obtained, the three roads PWM ripples are passed to dead time module, dead time module transmission delay mould
Block postpones low level initial signal, and what high level signal subtracted postpones signal thoroughly deserves dead time, utilizes dead time
Multiplication is carried out with initial high level signal, postpones signal respectively, so as to be embedded into SVPWM generation clock signals, finally will
Add the signal of dead time makes inverter produce required voltage waveform, realization pair as the input control signal of inverter
The drive control of motor.
2. low-speed electronic automobile AC induction motor vector control method according to claim 1, it is characterised in that：In step
In rapid 10：If U1>0, then A=1, otherwise A=0；If U2>0, then B=1, otherwise B=0；If U3>0, then C=1, otherwise C=0,
A, B, C share 8 kinds of combinations, but U1, U2, U3 will not be 0 simultaneously or be 1 simultaneously in actual motion, actually have 6 kinds of combinations just right
6 sectors are answered, relational expression corresponding to combination and sector is formula 28.
Sector=C × 4+B × 2+A (formula 28).
3. a kind of low-speed electronic automobile AC Motor Vector Control System, it is characterised in that the system includes：
Sector judgment means, for being converted according to Clark, obtain the vector controlled under two-phase rest frame where voltage vector
Model, by analyzing Uα、UβSector where determining voltage vector, show that three judge vector U according to formula 271、U2、U3, according to
Sector where the current resultant vector of positive negative judgement of three vectors；
Basic voltage vectors action time computing device, behind sector where determining current resultant vector, ON time is calculated,
Intermediate variable X, Y, Z are defined, its expression formula is formula 29：
In order to avoid the error in calculating, work as T<T1+T2When, it is necessary to limit switch conduction times, the maximum that makes it export
Voltage is safe for operation to ensure in the inscribed circle of vector hexagon, and its constraints is formula 30：
The ON time of each bridge arm calculates and dead time builds device, for according to seven segmentation SVPWM vector control algorithms and
Basic vector ON time, calculate switching time point T corresponding to each sectorcm1、Tcm2、Tcm3, defined variable Ta、Tb、TcFor：
After calculating, switching time corresponding to each sector, point was as shown in the table：
Step 40, motor drive control device, for being obtained by triangular signal generator compared with each switching point
Three tunnel PWM waveforms, the three roads PWM ripples are passed to dead time module, dead time module transmission delay module is prolonged
Slow low level initial signal, what high level signal subtracted postpones signal thoroughly deserves dead time, is distinguished using dead time
Multiplication is carried out with initial high level signal, postpones signal, so as to be embedded into SVPWM generation clock signals, will finally be added
The signal of dead time makes inverter produce required voltage waveform as the input control signal of inverter, realizes to motor
Drive control.
4. low-speed electronic automobile AC Motor Vector Control System according to claim 3, it is characterised in that：If U1
>0, then A=1, otherwise A=0；If U2>0, then B=1, otherwise B=0；If U3>0, then C=1, otherwise C=0, A, B, C share 8 kinds
Combination, but U1, U2, U3 will not be 0 simultaneously or be 1 simultaneously in actual motion, actually there is 6 kinds of combinations corresponding 6 sectors just, group
Relational expression corresponding to conjunction and sector is formula 28.
Sector=C × 4+B × 2+A (formula 28).
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| CN109687791A (en) * | 2019-01-23 | 2019-04-26 | 广东工业大学 | The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation |
| CN110784147A (en) * | 2019-10-23 | 2020-02-11 | 华中科技大学 | Motor position-free vector control system based on dead zone compensation and motor system |
| CN111769776A (en) * | 2020-06-30 | 2020-10-13 | 中科芯集成电路有限公司 | Current reconstruction system and method for hub motor controller |
| CN112286125A (en) * | 2020-10-30 | 2021-01-29 | 东南大学 | Event-triggered fixed-time fault-tolerant control method and system for motor-driven fan |
| CN113098339A (en) * | 2021-05-20 | 2021-07-09 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
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| CN115189615A (en) * | 2021-09-23 | 2022-10-14 | 广州启明星机器人有限公司 | SVPWM control device of brushless DC motor |
| CN116614000A (en) * | 2023-05-30 | 2023-08-18 | 洛阳理工学院 | Vehicle-mounted power electronic transformer structure and stable operation control method thereof |
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| CN109687791A (en) * | 2019-01-23 | 2019-04-26 | 广东工业大学 | The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation |
| CN110784147A (en) * | 2019-10-23 | 2020-02-11 | 华中科技大学 | Motor position-free vector control system based on dead zone compensation and motor system |
| CN111769776A (en) * | 2020-06-30 | 2020-10-13 | 中科芯集成电路有限公司 | Current reconstruction system and method for hub motor controller |
| CN111769776B (en) * | 2020-06-30 | 2023-04-28 | 中科芯集成电路有限公司 | Current reconstruction system and method for hub motor controller |
| CN112286125A (en) * | 2020-10-30 | 2021-01-29 | 东南大学 | Event-triggered fixed-time fault-tolerant control method and system for motor-driven fan |
| CN112286125B (en) * | 2020-10-30 | 2021-09-17 | 东南大学 | Event-triggered fixed-time fault-tolerant control method and system for motor-driven fan |
| CN113098339A (en) * | 2021-05-20 | 2021-07-09 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
| CN113098339B (en) * | 2021-05-20 | 2022-12-20 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
| CN113241983A (en) * | 2021-05-26 | 2021-08-10 | 青岛大学 | Dead zone compensation method and system for three-phase voltage source inverter |
| CN113241983B (en) * | 2021-05-26 | 2022-12-23 | 青岛大学 | Dead zone compensation method and system for three-phase voltage source inverter |
| CN115189615A (en) * | 2021-09-23 | 2022-10-14 | 广州启明星机器人有限公司 | SVPWM control device of brushless DC motor |
| CN116614000A (en) * | 2023-05-30 | 2023-08-18 | 洛阳理工学院 | Vehicle-mounted power electronic transformer structure and stable operation control method thereof |
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