CN112234896B - MTPV compensation method and system for driving permanent magnet synchronous motor - Google Patents

MTPV compensation method and system for driving permanent magnet synchronous motor Download PDF

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CN112234896B
CN112234896B CN202011004260.8A CN202011004260A CN112234896B CN 112234896 B CN112234896 B CN 112234896B CN 202011004260 A CN202011004260 A CN 202011004260A CN 112234896 B CN112234896 B CN 112234896B
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compensation
voltage
motor
command table
current command
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CN112234896A (en
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程德心
吴应军
杨峰
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Wuhan Kotei Informatics Co Ltd
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a method and a system for compensating MTPV (maximum voltage drop) of a driving permanent magnet synchronous motor, wherein the method comprises the following steps: drawing a voltage limit ellipse of a dq rotation coordinate system at each rotation speed after the motor enters a weak magnetic region, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters; judging whether compensation is needed according to the proportion of the total voltage of the motor to the direct-current bus voltage of the controller; and when the compensation is needed, compensating the d-axis stator current in the reference current command table according to the value of the direct current bus voltage of the controller. Voltage in dq axis, i.e. total voltage u of the machinesAnd as a condition for correcting the stator current id value in the reference current command table, compensating the d-axis stator current in the reference current command table according to the value of the direct-current bus voltage of the controller, thereby achieving the purpose of compensation, improving the voltage utilization rate of the inverter, and reducing the loss.

Description

MTPV compensation method and system for driving permanent magnet synchronous motor
Technical Field
The invention relates to the field of motor control, in particular to a method and a system for compensating a driving permanent magnet synchronous motor MTPV.
Background
The permanent magnet synchronous motor for the vehicle is used as a core component for driving the vehicle, the high-performance motor control determines the rapid development of the electric vehicle, a permanent magnet synchronous motor speed regulating system generally comprises a direct-current power supply, an inverter, a controller and a motor, and the current driving electric vehicle mainly comprises two motor drives: vector control and direct torque control.
The vector control is actually the control of three-phase stator current, and the vector control of the permanent magnet synchronous motor is realized by converting three-phase stator alternating current into two-phase direct current and directly controlling the magnitude of dq axis current. The stator current components Id and Iq are controlled in a two-phase rotating coordinate system dq axis system, so that the moment of the motor is controlled.
The prior art generally obtains a reference current command table IdqMap corresponding to different rotating speeds and different torque commands which satisfy the MTPA (maximum torque current ratio)/MTPV (maximum torque voltage ratio) control in a calibration mode on a bench. However, in the real-time control algorithm, the real-time control algorithm is influenced by factors such as temperature, resistance, inductance, harmonic waves, eddy current loss and the like. At a certain speed, the stator current may result in low voltage utilization and large losses.
Disclosure of Invention
The invention provides a MTPV compensation method for a driving permanent magnet synchronous motor, aiming at the technical problems in the prior art and solving the problems in the prior art.
The technical scheme for solving the technical problems is as follows: the MTPV compensation method for the driving permanent magnet synchronous motor comprises the following steps:
step 1, drawing a voltage limit ellipse of a dq rotation coordinate system at each rotating speed after the motor enters a flux weakening area, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters;
step 2, judging whether compensation is needed according to the proportion of the total voltage of the motor to the direct-current bus voltage of the controller;
and 3, when the compensation is needed in the step 2, compensating the d-axis stator current in the reference current command table according to the value of the direct-current bus voltage of the controller. .
The invention has the beneficial effects that: considering that in high-speed flux weakening control, each rotating speed corresponds to a voltage limit ellipse in a dq rotating coordinate system, and calibrating a reference current command table when the voltage limit ellipse is close to a theoretical MTPV curve by drawing the voltage limit ellipse and adjusting parameters; voltage in dq axis, i.e. total voltage u of the machinesAnd as a condition for correcting the stator current id value in the reference current command table, compensating the d-axis stator current in the reference current command table according to the value of the direct-current bus voltage of the controller, thereby achieving the purpose of compensation, improving the voltage utilization rate of the inverter, and reducing the loss.
A drive permanent magnet synchronous motor MTPV compensation system, comprising: the device comprises a reference current command table calibration module, a compensation judgment module and a compensation calculation module;
the reference current command table calibration module is used for drawing a voltage limit ellipse of a dq rotation coordinate system at each rotating speed after the motor enters a weak magnetic region, and calibrating the reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters;
the compensation judging module is used for judging whether compensation is needed according to the proportion of the total voltage of the motor and the direct-current bus voltage of the controller;
and the compensation calculation module is used for compensating the d-axis stator current in the reference current command table according to the value of the direct-current bus voltage of the controller when the compensation judgment module judges that compensation is needed.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the process of drawing the voltage limit ellipse in the step 1 includes:
and after the voltage reaches the output voltage limit of the inverter, the rotating speed of the motor is continuously increased by increasing the d-axis stator current, and the voltage limit ellipses at all rotating speeds are drawn.
Further, in the process that parameters are adjusted in the step 1 to enable the voltage limit ellipse to approach a theoretical MTPV curve, a constant torque contour line is drawn on the dq rotation coordinate system.
Further, the parameters adjusted in step 1 include: and the motor back electromotive force, the inductance and the maximum output angle finish the calibration of the reference current command table.
Further, the step 2 is based on the total voltage u of the motorsDC bus voltage u with controllerdcThe judging whether compensation is needed or not according to the proportion comprises the following steps:
Figure BDA0002695362700000031
then, it is judged that compensation is not required;
wherein a is a threshold parameter set according to the precision requirement.
Further, the formula for compensating the d-axis stator current in the reference current command table in step 3 is as follows:id_ref＝id_ref*+id_req；
id _ ref represents the final current loop d-axis current set-point, id _ ref*Representing a d-axis current calibration in the reference current command table;
the determination in the step 2
Figure BDA0002695362700000032
When the temperature of the water is higher than the set temperature,
Figure BDA0002695362700000033
the determination in the step 2
Figure BDA0002695362700000034
When the temperature of the water is higher than the set temperature,
Figure BDA0002695362700000035
kirepresenting the integral coefficient.
The beneficial effect of adopting the further scheme is that: voltage in dq axis, i.e. total voltage u of the machinesAs a condition for correcting the value of the stator current id in the reference current command table, if the value exceeds the range, the weak magnetic quantity is increased to prevent the voltage from being over-saturated, otherwise, the weak magnetic quantity is reduced; determining a specific compensation algorithm, wherein the curve of the Idq is close to 95% u all the time after the compensation algorithmsThe permanent magnet synchronous motor enters a high-speed weak magnetic area, the voltage utilization rate at each rotating speed point can be obviously provided, the efficiency is improved after compensation, and the endurance mileage is increased.
Drawings
Fig. 1 is a flowchart of a MTPV compensation method for a driving permanent magnet synchronous motor according to the present invention;
FIG. 2 is a basic block diagram of torque control provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of various curves in a dq rotation coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a control model of a MTPV compensation method for driving a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a block diagram illustrating an embodiment of a MTPV compensation system for a driving permanent magnet synchronous motor according to the present invention;
fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
101. the device comprises a reference current command table calibration module 102, a compensation judgment module 103, a compensation calculation module 201, a processor 202, a communication interface 203, a memory 204 and a communication bus.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The voltage equation of the permanent magnet synchronous motor is as follows:
Figure BDA0002695362700000041
wherein u isdRepresenting the motor D-axis voltage; u. ofqRepresents the motor Q-axis voltage; r issRepresenting the stator resistance; i.e. idRepresenting the motor D-axis current; i.e. iqRepresents the motor Q-axis current; l isdRepresenting stator D-axis inductance; omegarRepresenting the angular speed of rotation of the motor; lambda [ alpha ]maxShowing the motor flux linkage.
Fig. 1 is a flowchart illustrating an MTPV compensation method for a driving permanent magnet synchronous motor according to an embodiment of the present invention, and fig. 2 is a basic block diagram illustrating torque control according to an embodiment of the present invention; as can be seen from fig. 1 and 2, the compensation method includes:
step 1, drawing a voltage limit ellipse of a dq rotation coordinate system at each rotation speed after the motor enters a weak magnetic area, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters. The theoretical MTPV curve is an elliptical curve for the stator currents id and iq plotted according to the above-mentioned pm synchronous machine voltage equation.
And 2, judging whether compensation is needed according to the ratio of the total voltage of the motor to the direct-current bus voltage of the controller.
And 3, when the compensation is needed in the step 2, compensating the d-axis stator current in the reference current command table according to the value of the direct current bus voltage of the controller.
The invention provides a compensation method for a driving permanent magnet synchronous Motor (MTPV), which considers that in high-speed flux weakening control, each rotating speed corresponds to a voltage limit ellipse in a dq rotating coordinate system, and the calibration of a reference current command table is completed when the voltage limit ellipse is close to a theoretical MTPV curve by drawing the voltage limit ellipse and adjusting parameters; voltage in dq axis, i.e. total voltage u of the machinesAnd as a condition for correcting the stator current id value in the reference current command table, compensating the d-axis stator current in the reference current command table according to the value of the direct-current bus voltage of the controller, thereby achieving the purpose of compensation, improving the voltage utilization rate of the inverter, and reducing the loss.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a method for compensating a driving permanent magnet synchronous motor MTPV, where the embodiment of the method includes:
step 1, drawing a voltage limit ellipse of a dq rotation coordinate system at each rotation speed after the motor enters a weak magnetic area, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters.
The process of drawing the voltage limit ellipse comprises the following steps:
after the voltage reaches the output voltage limit of the inverter, the rotating speed of the motor is continuously increased by increasing the d-axis stator current, and at the moment, voltage limit ellipses under all rotating speeds are drawn.
The output voltage of the inverter is limited by the direct current input voltage, when the voltage reaches the output voltage limit of the inverter when the magnetic synchronous motor is controlled, the rotating speed is continuously increased, the demagnetizing current component id is increased, the direct-axis magnetic field intensity is weakened to be called weak magnetism, and therefore the purpose of increasing the operating rotating speed is achieved, and voltage limit ellipses under all rotating speeds are drawn in the control process.
In the flux weakening process, the control of id and iq is called flux weakening control. In high-speed flux weakening control, each rotating speed corresponds to a voltage limit ellipse in a dq rotating coordinate system, and the two-axis length of the ellipse is gradually reduced along with the increase of the rotating speed of the motor. Under a certain rotating speed, the stator current can only run in the elliptical track, and the voltage limit ellipse can be gradually reduced along with the increase of the rotating speed. After the nominal rotational speed, voltage limit ellipses at the respective rotational speeds are plotted.
FIG. 3 is a schematic diagram of reference of various curves in dq rotation coordinate system according to an embodiment of the present invention, where in FIG. 3, w1And w2All represent the angular speed of rotation of each motor, and w2＞w1，w2Corresponding voltage limit ellipse ratio w1The corresponding voltage limit ellipse is small.
Specifically, in the process of adjusting parameters to enable the voltage limit ellipse to approach the theoretical MTPV curve, a constant torque contour line is drawn on the dq rotation coordinate system.
The parameters adjusted include: and the motor back electromotive force, the inductance and the maximum output angle finish the calibration of the reference current command table.
And summarizing and drawing the MTPA, the constant Torque contour line, the theoretical MTPA curve and the theoretical MTPV curve on a graph, and adjusting parameters such as the back electromotive force, the inductance, the maximum output angle and the like of the motor to enable the theoretically drawn MTPV curve to be close to the voltage ellipse of the actual permanent magnet synchronous motor at different speeds without limit, so that the calibration of a reference current command table Torque _ Idq of the motor is completed.
In FIG. 3, Tcm1、Tcm2And Tcm3Respectively represent torque contour lines of each motor, and Tcm1＞Tcm2＞Tcm3Point A represents the intersection of the maximum torque current trace and the maximum current, and point B represents the intersection at angular velocity w2Lower motor torque contour line Tcm3Point C is indicated at an angular velocity w2Lower motor torque contour line Tcm2The intersection point of (a).
The stator current idiq can only run within the MPTV elliptical trajectory. However, in the real-time control algorithm, the real-time control algorithm is influenced by factors such as temperature, resistance, inductance, harmonic waves, eddy current loss and the like. At a certain speed, the stator current idiq is far from the MPTV elliptic curve, so that the voltage utilization rate is low and the loss is large.
And (3) when the voltage limit ellipse is close to the theoretical MTPV curve according to the method in the step 1, the curve of the voltage limit ellipse is the theoretical MTPV curve at different rotating speeds, and the current cannot exceed the maximum current circle.
Total voltage of the motor
Figure BDA0002695362700000071
Need to satisfy
Figure BDA0002695362700000072
ulimRepresents a limit voltage value of the motor, and
Figure BDA0002695362700000073
udcrepresenting the dc bus voltage of the controller.
Neglecting the stator resistance voltage drop effect, the steady state operation voltage equation can be simplified as:
(Lqiq)2+(Ldid+λmax)2＝(ulim/ωr)2。
and 2, judging whether compensation is needed according to the ratio of the total voltage of the motor to the direct-current bus voltage of the controller.
In particular, according to the total voltage u of the machinesDC bus voltage u with controllerdcThe judging whether compensation is needed or not according to the proportion comprises the following steps:
Figure BDA0002695362700000074
then, it is determined that compensation is not necessary.
Where a is a threshold parameter set according to the accuracy requirement, for example a may be 0.02.
Voltage in dq axis, i.e. total voltage u of the machinesAs a condition for correcting the value of the stator current id in the reference current command table, the amount of weak magnetism is increased if out of range to prevent the voltage from being over-saturated, otherwise the amount of weak magnetism is decreased. Idq after compensation algorithmThe curve is always close to 95% us. Thereby achieving the purpose of compensation. The voltage utilization rate of the inverter is improved, and the loss is reduced.
And 3, when the compensation is needed in the step 2, compensating the d-axis stator current in the reference current command table according to the value of the direct current bus voltage of the controller.
The formula for compensating the d-axis stator current in the reference current command table is: id _ ref ═ id _ ref*+id_req。
id _ ref represents the final current loop d-axis current set-point, id _ ref*Representing the d-axis current calibration in the reference current command table.
Judgment in step 2
Figure BDA0002695362700000081
When the temperature of the water is higher than the set temperature,
Figure BDA0002695362700000082
judgment in step 2
Figure BDA0002695362700000083
When the temperature of the water is higher than the set temperature,
Figure BDA0002695362700000084
kirepresenting the integral coefficient.
After the compensation algorithm is added, the permanent magnet synchronous motor enters a high-speed weak magnetic area, the voltage utilization rate at each rotating speed point can be obviously provided, the efficiency is improved after compensation, and the endurance mileage is increased.
Fig. 4 is a schematic diagram of a control model of an MTPV compensation method for driving a permanent magnet synchronous motor according to an embodiment of the present invention.
Example 2
Embodiment 2 provided by the present invention is an embodiment of a compensation system for driving a permanent magnet synchronous motor MTPV provided by the present invention, and as shown in fig. 5, a structural block diagram of the embodiment of the compensation system for driving a permanent magnet synchronous motor MTPV provided by the present invention is shown, and as can be seen from fig. 5, the system includes: the system comprises: the device comprises a reference current command table calibration module 101, a compensation judgment module 102 and a compensation calculation module 103.
And the reference current command table calibration module 101 is used for drawing a voltage limit ellipse of the dq rotation coordinate system at each rotation speed after the motor enters the weak magnetic region, and calibrating the reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters.
And the compensation judging module 102 is configured to judge whether compensation is needed according to a ratio of the total voltage of the motor to the dc bus voltage of the controller.
And the compensation calculating module 103 is configured to compensate the d-axis stator current in the reference current command table according to the value of the dc bus voltage of the controller when the compensation judging module judges that compensation is required.
Fig. 6 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 6, the electronic device may include: the system comprises a processor 201, a communication interface 202, a memory 203 and a communication bus 204, wherein the processor 201, the communication interface 202 and the memory 203 are communicated with each other through the communication bus 204. The processor 201 may call a computer program stored on the memory 203 and executable on the processor 201 to execute the driving permanent magnet synchronous motor MTPV compensation method provided by the above embodiments, for example, including: step 1, drawing a voltage limit ellipse of a dq rotation coordinate system at each rotation speed after a motor enters a weak magnetic area, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters; step 2, judging whether compensation is needed according to the proportion of the total voltage of the motor to the direct-current bus voltage of the controller; and 3, when the compensation is needed in the step 2, compensating the d-axis stator current in the reference current command table according to the value of the direct current bus voltage of the controller.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the MTPV compensation method for driving the permanent magnet synchronous motor provided in the foregoing embodiments when executed by a processor, and the method includes: step 1, drawing a voltage limit ellipse of a dq rotation coordinate system at each rotation speed after a motor enters a weak magnetic area, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters; step 2, judging whether compensation is needed according to the proportion of the total voltage of the motor to the direct-current bus voltage of the controller; and 3, when the compensation is needed in the step 2, compensating the d-axis stator current in the reference current command table according to the value of the direct current bus voltage of the controller.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. A method for compensating MTPV of a driving permanent magnet synchronous motor is characterized by comprising the following steps:
step 1, drawing a voltage limit ellipse of a dq rotation coordinate system at each rotating speed after the motor enters a flux weakening area, and calibrating a reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters;
step 2, judging whether compensation is needed according to the proportion of the total voltage of the motor to the direct-current bus voltage of the controller;
step 3, when the compensation is needed in the step 2, compensating the d-axis stator current in the reference current command table according to the value of the direct current bus voltage of the controller;
the step 2 is based on the total voltage u of the motorsDC bus voltage u with controllerdcThe judging whether compensation is needed or not according to the proportion comprises the following steps:
Figure FDA0003315021760000011
then, it is judged that compensation is not required;
wherein a is a threshold parameter set according to the precision requirement;
the formula for compensating the d-axis stator current in the reference current command table in the step 3 is as follows: id _ ref ═id_ref*+id_req；
id _ ref represents the final current loop d-axis current set-point, id _ ref*Representing a d-axis current calibration in the reference current command table;
the determination in the step 2
Figure FDA0003315021760000012
When the temperature of the water is higher than the set temperature,
Figure FDA0003315021760000013
the determination in the step 2
Figure FDA0003315021760000014
When the temperature of the water is higher than the set temperature,
Figure FDA0003315021760000015
kirepresenting the integral coefficient.
2. The method of claim 1, wherein the step 1 of plotting the voltage limit ellipse comprises:
and after the voltage reaches the output voltage limit of the inverter, the rotating speed of the motor is continuously increased by increasing the d-axis stator current, and the voltage limit ellipses at all rotating speeds are drawn.
3. The method of claim 1, wherein the dq rotation coordinate system is further plotted with a constant torque contour during the step 1 of adjusting the parameters to approximate the voltage limit ellipse to a theoretical MTPV curve.
4. The method of claim 1, wherein the parameters adjusted in step 1 comprise: and the motor back electromotive force, the inductance and the maximum output angle finish the calibration of the reference current command table.
5. A drive permanent magnet synchronous motor MTPV compensation system, the system comprising: the device comprises a reference current command table calibration module, a compensation judgment module and a compensation calculation module;
the reference current command table calibration module is used for drawing a voltage limit ellipse of a dq rotation coordinate system at each rotating speed after the motor enters a weak magnetic region, and calibrating the reference current command table of the motor when the voltage limit ellipse is close to a theoretical MTPV curve by adjusting parameters;
the compensation judging module is used for judging whether compensation is needed according to the proportion of the total voltage of the motor and the direct-current bus voltage of the controller;
the compensation calculation module is used for compensating the d-axis stator current in the reference current command table according to the value of the direct-current bus voltage of the controller when the compensation judgment module judges that compensation is needed;
the compensation judging module is used for judging the total voltage u of the motorsDC bus voltage u with controllerdcThe judging whether compensation is needed or not according to the proportion comprises the following steps:
Figure FDA0003315021760000021
then, it is judged that compensation is not required;
wherein a is a threshold parameter set according to the precision requirement;
the formula of the compensation calculation module for compensating the d-axis stator current in the reference current command table is as follows: id _ ref ═ id _ ref*+id_req；
id _ ref represents the final current loop d-axis current set-point, id _ ref*Representing a d-axis current calibration in the reference current command table;
the compensation judging module judges
Figure FDA0003315021760000031
When the temperature of the water is higher than the set temperature,
Figure FDA0003315021760000032
the compensation judging module judges
Figure FDA0003315021760000033
When the temperature of the water is higher than the set temperature,
Figure FDA0003315021760000034
kirepresenting the integral coefficient.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method of driving a permanent magnet synchronous motor MTPV according to any one of claims 1 to 4.
7. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method for compensating a driving permanent magnet synchronous motor MTPV according to any one of claims 1 to 4.
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CN104734592A (en) * 2015-04-01 2015-06-24 南车株洲电力机车研究所有限公司 Control method and system for permanent magnet synchronous motor
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