CN110336504B - Permanent magnet synchronous motor control method based on virtual signal injection and gradient descent method - Google Patents
Permanent magnet synchronous motor control method based on virtual signal injection and gradient descent method Download PDFInfo
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- CN110336504B CN110336504B CN201910526540.6A CN201910526540A CN110336504B CN 110336504 B CN110336504 B CN 110336504B CN 201910526540 A CN201910526540 A CN 201910526540A CN 110336504 B CN110336504 B CN 110336504B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a virtual signal annotation based methodA permanent magnet synchronous motor control method based on the input and gradient descent method. In the process of real-time control of the permanent magnet synchronous motor
Injecting virtual signals under a coordinate system, obtaining angle reference values of the stator current vectors by using a virtual signal injection method and a gradient descent method, and obtaining the stator current vectors by using a torque compensation calculation method
And further obtaining a stator current vector reference value under a d-q coordinate system through coordinate transformation of the reference value of the axis component, and performing correction control on a gradient value under the coexistence of the maximum current torque ratio control and the flux weakening control to realize seamless switching between the maximum current torque ratio control and the flux weakening control. The invention modifies the gradient expression by introducing voltage feedback, can realize seamless switching between maximum torque-current ratio control and flux weakening control, has wide rotating speed range, does not need complex signal processing and has good dynamic response performance.
Description
Technical Field
The invention relates to a control method of a permanent magnet synchronous motor, in particular to a high-efficiency and high-performance control method of a built-in permanent magnet synchronous motor in a wide speed range, wherein the control method relates to maximum torque-current ratio control and flux weakening control based on virtual signal injection.
Background
Because of the anisotropy of the magnetic circuit, the d-axis inductance and the q-axis inductance of the built-in permanent magnet synchronous motor are not equal, so that the torque of the built-in permanent magnet synchronous motor comprises a permanent magnet torque and a reluctance torque. There is an optimum combination between the two parts so that the stator current is minimized at the same torque, and this operating condition is referred to as maximum torque to current ratio control. When the motor speed is below the base speed, the maximum torque current ratio control is usually adopted to minimize the motor copper loss due to the large copper loss ratio.
In order to obtain the reference value of the d-q axis component of the stator current vector at the maximum torque current ratio, the common method is to obtain the reference value of the q axis component of the stator current vector through a rotating speed ring, and then to obtain the reference value of the q axis component of the stator current vector through a capacitor L containing the d axis inductor LdQ-axis inductor LqAnd a permanent magnet flux linkage ΨfThe formula (c) obtains a reference value for the d-axis component of the stator current vector. But during the operation of the motor, the iron core is saturated andinfluence of temperature increase, Ld、LqAnd ΨfAre changed, and thus the reference value of the d-axis component of the stator current vector found by the conventional formula deviates from the value under the actual maximum torque current ratio control.
The inverter can provide a maximum voltage limited by the dc bus voltage. From the maximum value V of the stator voltagelimElectrical angular velocity omegaeD-axis inductance LdQ-axis inductor LqAnd a permanent magnet flux linkage ΨfThe voltage limit ellipse can be made, and the length of two axes is inversely proportional to the rotating speed. Along with the increase of the rotating speed of the motor, the voltage limit ellipse is continuously reduced; when the rotating speed is higher than the base speed, the working point on the maximum current-torque ratio curve falls outside the voltage limit ellipse, and the given value of the stator voltage is larger than the maximum value of the stator voltage. At the moment, the d-axis component current of the stator current vector must be controlled to increase along the negative direction, namely weak magnetic control is adopted, so that the stator current vector swings to the left and falls on the voltage limit ellipse. Therefore, when the rotation speed increases to a certain speed, it is necessary to switch from the maximum torque current ratio to the field weakening control. The invention provides a permanent magnet synchronous motor control method based on virtual signal injection and a gradient descent method, which can realize maximum torque current ratio control under the condition of parameter change and can ensure the smooth switching of the maximum torque current ratio and weak magnetic control.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a maximum torque current ratio and flux weakening control method of a built-in permanent magnet synchronous motor based on a virtual signal injection and gradient descent method, which can realize the maximum torque current ratio control under the condition of parameter change, can ensure the smooth switching of the maximum torque current ratio and flux weakening control, realizes more accurate maximum torque current ratio and flux weakening coexistence control, and realizes the seamless switching of the maximum torque current ratio control and the flux weakening control.
As shown in fig. 3, the technical solution of the present invention is as follows:
in the process of real-time control of the permanent magnet synchronous motor
Injecting virtual signals under a coordinate system, obtaining angle reference values of the stator current vectors by using a virtual signal injection method and a gradient descent method, and obtaining the stator current vectors by using a torque compensation calculation method
And further obtaining a stator current vector reference value under a d-q coordinate system through coordinate transformation of the reference value of the axis component, and performing correction control on a gradient value under the coexistence of the maximum current torque ratio control and the flux weakening control to realize seamless switching between the maximum current torque ratio control and the flux weakening control.
In the d-q coordinate system, the direction of the d axis is the rotor flux linkage direction, and the q axis is 90 degrees behind the d axis.
Said
In the coordinate system, the coordinate system is provided with a plurality of coordinate systems,
the axial direction coincides with the stator current vector direction, as shown in figure 1,
behind shaft
The axis is 90 degrees.
The method comprises the following specific processes:
firstly, converting the acquired three-phase stator current to a d-q coordinate system of the permanent magnet synchronous motor, further processing to obtain an angle actual value of a stator current vector, and converting the stator current from the d-q coordinate system to the d-q coordinate system by using the angle actual value of the stator current vector
Under a coordinate system;
specifically, the three-phase current of the stator is collected, and the stator current vector is obtained through park transformationActual values i of d, q-axis components of the quantitiesd、iq。
The output of the current PI controller is the d-q axis voltage reference because in the linear modulation region, and the carrier frequency is relatively high, the actual d-q axis voltage can be considered as the voltage reference. And then, a mechanical angular speed of the motor is obtained by using a rotary transformer or an encoder, and the angle information of the rotor position is further obtained.
After the stator three-phase current is collected, the actual values of the d-axis component and the q-axis component of the stator current vector are obtained by combining the angle information of the rotor position and performing coordinate transformation, and the actual angle value beta of the stator current vector is further obtained.
Further converting the stator current in the d-q coordinate system to the stator current in the d-q coordinate system by utilizing the angle actual value beta of the stator current vector
Under a coordinate system. Due to the fact that
The direction of the axis coinciding with the direction of the stator current vector, and hence of the stator current vector
Axial component
Of stator current vectors
Axial component
Equal to the actual value of the magnitude of the stator current vector.
Then, the stator current in the d-q coordinate system is converted into the stator current in the d-q coordinate system by utilizing the angle actual value beta of the stator current vector
According to permanent-magnet synchronous machines in a coordinate system
Coordinate system, stator current vector
Axial component
Of stator current vectors
Axial component
Equal to the actual value of the magnitude of the stator current vector; to stator current vector
The virtual signal delta is injected into the axial component, and the electromagnetic torque T without the injection of the virtual signal delta is obtained by processing the axial component by the following formulas (1) and (2)eAnd electromagnetic torque after injection of the virtual signal delta
Wherein, ω ismIs the mechanical angular velocity, omega, of the permanent magnet synchronous motoreIs the electrical angular velocity of the permanent magnet synchronous motor; r is stator resistance, LdIs a d-axis inductance; vd、Vq、id、iqD-axis and q-axis components representing stator voltage vectors and stator current vectors, respectively;
d-axis and q-axis components of the stator current vector after injecting the virtual signal delta, respectively;
in the process of controlling the permanent magnet synchronous motor in real time only through the maximum current-torque ratio, calculating a first-order difference to obtain a torque pair
The partial derivatives of (c) are controlled as gradient values:
where γ (k) is the gradient value of the kth control period, e represents a non-zero parameter,
representing stator current vectors
An axis component, Δ (k) representing a virtual signal of a kth control period;
the injected virtual signal Δ (k) of the kth control period is specifically as follows, and a sequence formed by positive and negative signs of the virtual signals Δ of all the control periods is generated by a random number sequence, the random number sequence satisfies gaussian distribution and has an average value of 0, so that the amplitude of the injected virtual signal Δ is small enough:
Δ(k)＝1-e|γ(k-1)| (4)
wherein k represents the kth control period, e is a natural constant, and gamma (k-1) represents the gradient value of the kth-1 control period;
the relationship between the gradient value γ and the actual angle value β of the stator current vector is shown in fig. 1 as follows:
wherein, betaMTPARepresenting stator current vector at maximum torque currentThe actual value of the angle of the stator current vector when on the curve.
Then, combining this relation with a gradient descent method, the following formula is adopted to calculate and obtain an angle reference value of the stator current vector of the next control period:
β*(k+1)＝β*(k)-αγ(k) (6)
where α is a learning rate parameter, β*(k) An angle reference value representing a stator current vector of a kth control period;
finally, in the switching control process of the permanent magnet synchronous motor under the combined action of the maximum current-torque ratio control and the field weakening, the gradient value is corrected by adopting the following formula to control:
wherein the content of the first and second substances,
as correction values of the gradient values, kFWIs the integrator coefficient, VlimIs the maximum value that the stator voltage is allowed to reach,
and
reference values for the stator voltage vector d, q-axis components, respectively.
The invention has the beneficial effects that:
the method realizes the accurate tracking of the maximum torque current ratio track by combining the virtual signal injection and the gradient descent method, and does not have the selection problem of the amplitude and the frequency of the virtual signal. And seamless switching between the maximum torque-current ratio control and the flux weakening control is realized by correcting the gradient expression.
The invention does not need complex signal processing, has good dynamic response performance, can realize seamless switching between maximum torque-current ratio control and flux weakening control, and has wide rotating speed range.
Drawings
FIG. 1 shows electromagnetic torque at different stator current angles
Schematic of the shaft current relationship.
Fig. 2 is a schematic diagram of stator current vectors under flux weakening control.
Fig. 3 is an overall control block diagram.
Fig. 4 is a graph of the operating point of the maximum torque current ratio obtained in the embodiment and the true maximum torque current ratio.
Fig. 5 is a waveform diagram of a stator current obtained in the embodiment.
Fig. 6 is a waveform diagram of the rotation speed and the gradient value γ obtained in the embodiment.
Detailed Description
The technical scheme of the invention is that the overall control block diagram is shown in figure 3 when the invention is applied to a built-in permanent magnet synchronous motor driven by a two-level three-phase inverter.
The embodiment of the invention and the implementation process thereof are as follows:
firstly, converting the acquired three-phase current of the stator to a d-q coordinate system of the permanent magnet synchronous motor, and further processing to obtain an angle actual value of a stator current vector;
specifically, three-phase current of the motor is collected, and d-q axis component i of stator current vector is obtained through park transformationd、iq。
The output of the current PI controller is the reference value of the d-q axis component of the stator voltage vector, because in the linear modulation region and the carrier frequency is relatively high, the d-q axis component of the actual stator voltage vector can be considered as the voltage reference value. And then a rotary transformer or an encoder is used for obtaining the mechanical angular speed of the motor, and further the angular information of the rotor position can be obtained.
After the stator three-phase current is collected, coordinate transformation is carried out by combining the angle information of the rotor position to obtain the actual value of the d-q axis component of the stator current vector, and the actual angle value beta of the stator current vector is further obtained.
The stator current in the d-q coordinate system can be further transformed to the actual angle value beta of the stator current vector
Under a coordinate system. Due to the fact that
The direction of the axis coinciding with the direction of the stator current vector, and hence of the stator current vector
Axial component
Of stator current vectors
Axial component
Equal to the magnitude of the stator current vector.
Then, according to the permanent magnet synchronous machine
Coordinate system, stator current vector
Axial component
Of stator current vectors
Axial component
Equal to the magnitude of the stator current vector; to stator current vector
The virtual signal delta is injected into the axial component, and the electromagnetic torque T without the injection of the virtual signal delta is obtained by processing the axial component by the following formulas (1) and (2)eAnd electromagnetic torque after injection of the virtual signal delta
Wherein, ω ismIs the mechanical angular velocity, omega, of the permanent magnet synchronous motoreIs the electrical angular velocity of the permanent magnet synchronous motor; r is stator resistance, LdIs a d-axis inductance; vd、Vd、id、iqD-q axis components representing stator voltage and stator current vectors, respectively;
d-q axis components of the stator current vector after injection of the virtual signal delta, respectively;
the above formula includes d-axis inductor LdIts value may deviate from the nominal value due to magnetic saturation. However, since the magnetic path of the permanent magnet corresponds to the magnetic path of the d-axis magnetic path, the magnetic saturation is relatively saturated, and thus the magnetic saturation is applied to the LdThe numerical value is not greatly influenced, and is calculated by the formula (3)
Still a more satisfactory accuracy can be obtained.
In the real-time control process of the permanent magnet synchronous motor only through the maximum current-torque ratio, calculating a first-order difference to obtain an electromagnetic torque pair
The partial derivatives of (c) are controlled as gradient values:
wherein, gamma (k) is the gradient value of the kth control period, epsilon represents a nonzero parameter and is a very small constant for preventing the denominator value from being too small, and delta (k) represents a virtual signal of the kth control period;
the injected virtual signal Δ (k) of the kth control period is specifically as follows, and a sequence of positive and negative signs of the virtual signal Δ of all the control periods is generated by a random number sequence which satisfies a gaussian distribution and has an average value of 0:
Δ(k)＝1-e|γ(k-1)| (4)
wherein k represents the kth control period, e is a natural constant, and gamma (k-1) represents the gradient value of the kth-1 control period;
as the absolute value of γ decreases, i.e., closer to the maximum torque current ratio operating point, the absolute value of Δ decreases. And when the stator current vector falls on the maximum torque current ratio curve, γ is 0 and Δ is 0.
Then, the angle reference value of the stator current vector of the next control period is calculated and obtained by adopting the following formula:
β*(k+1)＝β*(k)-αγ(k) (6)
where α is a learning rate parameter, β*(k) An angle reference value representing a stator current vector of a kth control period;
the method for acquiring the stator current vector reference value comprises the following steps:
specifically, the following expression is adopted to obtain
Reference value of shaft current
Wherein, KtiIs the integrator coefficient, KtIs a constant of the torque to be applied,
is the electromagnetic torque reference value and s is the laplace operator.
Reference value of shaft current
For stator current vector
And (3) carrying out coordinate transformation on the reference value of the axial component to obtain the reference value of the d-q axial component of the stator current vector:
the above formula uses a fixed torque constant and an open-loop compensated integrator to obtain the stator current
Reference value of axial component
Combined stator current vector
And obtaining the reference value of the d-q axis component of the stator current vector through coordinate transformation, so that the angle reference value of the stator current vector cannot be continuously changed only when the gradient value gamma is 0, namely the stator current vector is positioned on a maximum torque current ratio curve, and the stator current vector is ensured to be converged on the maximum torque current ratio (MTPA) curve.
Finally, when the generated electromagnetic torques are the same, the angle actual value of the stator current vector under the field weakening control is always larger than that under the maximum torque current ratio control, and therefore the gradient value γ under the field weakening control is always larger than 0. In the switching control process of the permanent magnet synchronous motor under the combined action of maximum current-torque ratio control and flux weakening, the gradient value is corrected by adopting the following formula to control:
wherein the content of the first and second substances,
as correction values of the gradient values, kFWIs the integrator coefficient, VlimIs the maximum value that the stator voltage is allowed to reach,
and
the d-axis and q-axis reference values of the stator voltage vector are respectively.
Integral term in the above formula
The upper limit value of (2) is 0. As shown in fig. 2, when the generated electromagnetic torques are the same, the angle actual value of the stator current vector under the field weakening control is always larger than that under the maximum torque current ratio control, and therefore the gradient value γ is always larger than 0 under the field weakening control. When the stator current vector is positioned on the maximum torque current ratio curve, the integral term is always 0, and the gradient value gamma converges to 0; when the rotating speed is increased and the motor works in a weak magnetic area, the integral term is less than 0, the integral term is utilized to correct the expression of the gradient value gamma, and the correction value of the gradient is
It converges to a value greater than 0.
After correction
The expression (2) is suitable for both maximum torque current ratio control and flux weakening control, so that seamless switching from the maximum torque current ratio control to the flux weakening control can be realized.
Examples of specific applications
To verify the reliability of the method of the invention, relevant experiments were performed. The parameters of the interior permanent magnet machine used in the experiment are shown in table 1 below.
TABLE 1 Motor parameters
| Number of pole pairs | 2 |
| Stator resistor | 4.31Ω |
| d-axis inductor | 56mH |
| q-axis inductor | 119mH |
| DC bus voltage | 300V |
| Rated power | 2kW |
| Rated speed of rotation | 800rpm |
FIG. 4 is a curve of the operation point of the maximum torque current ratio calculated by the method and the real maximum torque current ratio when the motor speed is 300 rpm. It can be seen that the method can better track a real maximum torque current ratio curve, wherein the error mainly comes from the d-axis inductance LdA change in value.
Fig. 5 shows a waveform of a stator current corresponding to a sudden increase in load torque from 0 to 20Nm at 1s and a sudden decrease from 20Nm to 10Nm at 2s, at a motor rotation speed of 300 rpm. It can be seen that the dynamic response of the stator current waveform is very fast (0.3s), and the overshoot is mainly caused by the change of the torque constant and the fact that equations (1) and (2) are no longer true in the dynamic process.
FIG. 6 shows that the load torque is 10Nm, the rotation speed is uniformly accelerated from 700rpm to 1020rpm, and the maximum torque-current ratio control area is entered into the field weakening control area; then the speed is uniformly reduced from 1020rpm to 700rpm, and the corresponding rotating speed and the waveform of the gradient value gamma are returned from the field weakening control area to the maximum torque current ratio control area. It can be seen that when the stator current vector falls on the maximum torque current ratio curve, the value of γ fluctuates around 0; when the motor enters the field weakening control area, gamma is a positive value. As can be seen from fig. 6, the method can achieve fast and smooth switching between the maximum torque-to-current ratio control and the field weakening control.
Claims (2)
1. A permanent magnet synchronous motor control method based on virtual signal injection and a gradient descent method is characterized by comprising the following steps:
in the process of real-time control of the permanent magnet synchronous motor
Injecting virtual signals under a coordinate system, obtaining angle reference values of the stator current vectors by using a virtual signal injection method and a gradient descent method, and obtaining the stator current vectors by using a torque compensation calculation method
Reference value of shaft component, torque ratio to maximum currentThe gradient value under the coexistence of the control and the flux weakening control is corrected and controlled, and the seamless switching between the maximum current-torque ratio control and the flux weakening control is realized;
the method comprises the following specific processes:
firstly, converting the acquired three-phase current of the stator to a d-q coordinate system of the permanent magnet synchronous motor, and further processing to obtain an angle actual value of a stator current vector;
then, the stator current in the d-q coordinate system is converted into the stator current in the d-q coordinate system by utilizing the angle actual value beta of the stator current vector
According to permanent-magnet synchronous machines in a coordinate system
Coordinate system, stator current vector
Axial component
Of stator current vectors
Axial component
Equal to the actual value of the magnitude of the stator current vector; to stator current vector
Injecting a virtual signal delta into the axial component, and respectively processing the axial component by using the following formula to obtain an electromagnetic torque T without the injected virtual signal deltaeAnd electromagnetic torque after injection of the virtual signal delta
Wherein, ω ismIs the mechanical angular velocity, omega, of the permanent magnet synchronous motoreIs the electrical angular velocity of the permanent magnet synchronous motor; r is stator resistance, LdIs a d-axis inductance; vd、Vq、id、iqD-axis and q-axis components representing stator voltage vectors and stator current vectors, respectively;
d-axis and q-axis components of the stator current vector after injecting the virtual signal delta, respectively;
in the process of controlling the permanent magnet synchronous motor in real time only through the maximum current-torque ratio, calculating a first-order difference to obtain a torque pair
The partial derivatives of (c) are controlled as gradient values:
where γ (k) is the gradient value of the kth control period, e represents a non-zero parameter,
representing stator current vectors
An axis component, Δ (k) representing a virtual signal of a kth control period;
then, the angle reference value of the stator current vector of the next control period is calculated and obtained by adopting the following formula:
β*(k+1)＝β*(k)-αγ(k) (6)
where α is a learning rate parameter, β*(k) An angle reference value representing a stator current vector of a kth control period;
finally, in the switching control process of the permanent magnet synchronous motor under the combined action of the maximum current-torque ratio control and the field weakening, the gradient value is corrected by adopting the following formula to control:
wherein the content of the first and second substances,
as correction values of the gradient values, kFWIs the integrator coefficient, VlimIs the maximum value that the stator voltage is allowed to reach,
and
reference values for the stator voltage vector d, q-axis components, respectively.
2. The method for controlling the permanent magnet synchronous motor based on the virtual signal injection and gradient descent method according to claim 1, characterized in that:
the injected virtual signal Δ (k) of the kth control period is specifically as follows, and a sequence of positive and negative signs of the virtual signal Δ of all the control periods is generated by a random number sequence which satisfies a gaussian distribution and has an average value of 0:
Δ(k)＝1-e|γ(k-1)| (4)
wherein k represents the kth control period, e is a natural constant, and gamma (k-1) represents the gradient value of the kth-1 control period.
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| CN101567655A (en) * | 2008-04-24 | 2009-10-28 | 迈为电子技术（上海）有限公司 | Control method of IPM electromotor for driving electric motor car |
| CN108377116A (en) * | 2018-04-11 | 2018-08-07 | 东软集团股份有限公司 | A kind of the current work point given system and method for permanent magnet AC motor |
| JP6391438B2 (en) * | 2014-11-21 | 2018-09-19 | スマック株式会社 | Motor control device |
| CN109889118A (en) * | 2019-03-21 | 2019-06-14 | 上海交通大学 | A kind of linear time-varying rotor position estimate method of low speed permanent magnet synchronous motor |
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| CN101567655A (en) * | 2008-04-24 | 2009-10-28 | 迈为电子技术（上海）有限公司 | Control method of IPM electromotor for driving electric motor car |
| JP6391438B2 (en) * | 2014-11-21 | 2018-09-19 | スマック株式会社 | Motor control device |
| CN108377116A (en) * | 2018-04-11 | 2018-08-07 | 东软集团股份有限公司 | A kind of the current work point given system and method for permanent magnet AC motor |
| CN109889118A (en) * | 2019-03-21 | 2019-06-14 | 上海交通大学 | A kind of linear time-varying rotor position estimate method of low speed permanent magnet synchronous motor |
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