CN115276489A - Current balance control system of dual-redundancy permanent magnet synchronous motor - Google Patents
Current balance control system of dual-redundancy permanent magnet synchronous motor Download PDFInfo
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- H—ELECTRICITY
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- 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
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- 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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- 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
- H02P21/18—Estimation of position or speed
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- 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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- 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
- 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
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- H—ELECTRICITY
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- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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
A dual-redundancy current balance control system for a permanent magnet synchronous motor relates to a current balance control system for a permanent magnet synchronous motor. The rotating speed control proportional-integral module outputs a q-axis current given value; the current control proportional-integral module outputs q-axis voltage U of two windings q (ii) a The variable parameter sliding mode control module based on fuzzy logic comprises: the fuzzy logic controller makes fuzzy rule and outputs introduced variation parameters alpha and beta, and the variable parameter sliding mode controller defines variable parameter integral surfaceFunction and output q-axis voltage correction amount delta U of two windings q (ii) a Coordinate transformation module output voltage value U α And U β (ii) a And obtaining a control signal through the space vector pulse width modulation module, and outputting three-phase alternating current to the dual-redundancy permanent magnet synchronous motor by the inverter according to the control signal. The parameters of the sliding mode controller are changed correspondingly according to the actual current variation, so that the purposes of dynamically adjusting the current to realize current averaging, reducing the design cost and avoiding depending on design experience are achieved.
Description
Technical Field
The invention relates to a current balance control system of a permanent magnet synchronous motor, in particular to a current balance control system of a dual-redundancy permanent magnet synchronous motor, and belongs to the technical field of permanent magnet synchronous motor design.
Background
The dual-redundancy permanent magnet synchronous motor is widely applied to the fields of aerospace and the like due to the advantages of redundancy and high reliability, the reliability requirement of the motor in the special application field is higher, and the current between two modules is unequal due to the special motor winding structure of the dual-redundancy permanent magnet synchronous motor, sudden change of load torque and the like, so that the torque is further unbalanced, the control performance is poor, and the service life of the motor is influenced.
At present, although a lot of research achievements exist for a balance strategy of current between modules, various control systems generally adopt sliding mode controllers with fixed parameters, and the design of a control unit mainly depends on rich experience and multiple trial and error of practitioners, so that the design period and the design cost are greatly increased, the actual control effect often does not have the characteristic of real-time variability, and the robustness is poor when external conditions such as loads and the like suddenly change.
In view of the above, research needs to be performed on current average control of adaptive adjustment parameters to realize dynamic adjustment control to realize current average, which is of great significance to the application of dual-redundancy permanent magnet synchronous motors in special fields with high reliability requirements such as aerospace.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a dual-redundancy permanent magnet synchronous motor current balance control system, which enables the parameters of a sliding mode controller to be correspondingly changed according to the actual current variation, and achieves the purposes of dynamically adjusting the current to realize current averaging, reducing the design cost and not depending on the design experience.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dual-redundancy permanent magnet synchronous motor current balance control system comprises a rotating speed control proportion-integral module, a current control proportion-integral module, a variable parameter sliding mode control module based on fuzzy logic, a coordinate transformation module, a space vector pulse width modulation module, an inverter and a dual-redundancy permanent magnet synchronous motor;
the input of the rotating speed control proportional-integral module is the difference value between the given rotating speed and the actual rotating speed, and the output is the given value of the q-axis current;
the current control proportional-integral module inputs a q-axis current given value and actual q-axis current i of two windings q Is output as the q-axis voltage U of the two windings q ；
The variable parameter sliding mode control module based on the fuzzy logic inputs actual q-axis current i of two windings q The system comprises a fuzzy logic controller and a variable parameter sliding mode controller;
the fuzzy logic controller inputs the difference e and the differential derivative ec of the actual q-axis currents of the two windings, and e = delta i q ＝i q1 -i q2 ，
The output is introduced variable parameters alpha and beta, alpha is a proportionality coefficient, beta is an integral coefficient, and the fuzzy logic controller formulates a fuzzy rule of alpha and beta according to the input and output sizes, wherein the fuzzy rule comprises seven fuzzy levels: the numerical value is in the range of-1 to 1 after per unit, and e and ec execute a triangular membership function in the calculation output process;
the variable parameter sliding mode controller inputs the actual q-axis current difference e and difference derivative ec of the two windings and the variable parameters alpha and beta, and defines a variable parameter integral surface function:
alpha for expediting system trackingIn the dynamic response of the mobile station (c),
the method is used for eliminating the steady-state error of system tracking, and defines an index sliding mode approximation law: s' = - χ · sgn(s) - δ s, χ > 0, δ > 0, - χ · sgn(s) represents the constant velocity approach term, δ represents an exponential approximation coefficient, according to the q-axis voltage equation:
d-axis current i d =0, wherein: r s Representing the motor stator resistance, L q Representing the q-axis component, ω, of the motor inductance e Representing the electrical angular velocity, psi, of the motor f Q-axis voltage correction quantity delta U representing motor permanent magnet flux linkage and outputting two windings by variable parameter sliding mode controller q ，
Correction quantity delta U of winding voltage for large current q Negative, correction Δ U for winding voltage with small current q Is positive, and Δ U q Inversely proportional to alpha and proportional to beta squared, and e and ec are applied by Δ U q Finally, the current approaches zero, and the effect of current averaging of the two windings is realized;
the coordinate transformation module inputs d-axis voltage of two windings and the passing delta U q The corrected q-axis voltage of the two windings is changed from the voltage value in the synchronous rotating coordinate system to the voltage value U in the alpha-beta axis static coordinate system α And U β ；
The input of the space vector pulse width modulation module is U α And U β And obtaining control signals of the two sets of inverters through voltage space vector calculation, wherein the inverters output different three-phase alternating currents corresponding to the two windings to the dual-redundancy permanent magnet synchronous motor according to the control signals.
Compared with the prior art, the invention has the beneficial effects that: aiming at a dual-redundancy permanent magnet synchronous motor, the parameters of the sliding mode controller are dynamically and adaptively changed according to the actual current difference value based on a specific fuzzy rule, so that the parameters of the sliding mode controller are correspondingly changed according to the actual current variation, the current averaging is realized by dynamically adjusting the current, the problem of uneven current between two sets of windings is effectively solved when the motor moves and has sudden load change, compared with the traditional current balancing strategy, the effect is obviously improved, meanwhile, the design of the variable parameter sliding mode control module based on fuzzy logic is beneficial to reducing the design cost and the design period of a motor control system, and the design experience of a practitioner is not required.
Drawings
FIG. 1 is a topology diagram of a dual redundant PMSM current balancing control system of the present invention;
FIG. 2 is a membership function of the current difference e and the differential derivative ec according to the present invention;
in FIG. 3, a is a fuzzy rule of α in the present invention, and b is a fuzzy rule of β in the present invention;
FIG. 4 is a schematic diagram of a variable parameter sliding mode control module based on fuzzy logic in the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
As shown in fig. 1, a dual-redundancy current balance control system for a permanent magnet synchronous motor includes a rotation speed control proportional-integral module 1, a current control proportional-integral module 2, a variable parameter sliding mode control module 3 based on fuzzy logic, a coordinate transformation module 4, a space vector pulse width modulation module 5, an inverter 6, and a dual-redundancy permanent magnet synchronous motor 7.
The input of the rotating speed control proportional-integral module 1 is the difference value between the given rotating speed and the actual rotating speed, and the output is the given value of the q-axis current.
The current control proportional-integral module 2 inputs a q-axis current given value and actual q-axis current i of two windings q Difference of (d), output as two windingsQ-axis voltage U of q 。
The variable parameter sliding mode control module 3 based on the fuzzy logic is a core link of the invention, and the actual q-axis current i of two windings is input q And obtaining the current error of the two windings and the derivative of the error through the calculation processes of difference comparison and difference derivation. The controller comprises a fuzzy logic controller and a variable parameter sliding mode controller. Different from the conventional design for eliminating buffeting and resisting interference, the invention innovatively introduces two variable parameters of alpha and beta to realize the average equality of the currents of the two windings, obtains the variable parameters of alpha and beta through a fuzzy logic controller and inputs the variable parameters of alpha and beta into a variable parameter sliding mode controller, uses an integral sliding mode surface function containing parameters as a core algorithm, and takes the current difference value and the change rate of the windings as input to obtain the correction quantity delta U of the output variable voltage q And further, the equal and average current of the two windings is realized, and the function of only singly controlling the speed of the motor in the prior art is broken through.
The fuzzy logic controller inputs the difference e and the differential derivative ec of the actual q-axis currents of the two windings, e = delta i q ＝i q1 -i q2 ，
The output is the variation parameters alpha and beta required by the next link (variable parameter sliding mode controller), alpha is a proportionality coefficient, beta is an integral coefficient, and the fuzzy logic controller formulates the fuzzy rule of alpha and beta according to the input and output sizes and comprises seven fuzzy levels: negative big NB, negative middle NM, negative small NS, nominal zero value ZE, positive small PS, middle PM and positive big PB, fuzzy rules of alpha and beta are formulated according to different characteristics of parameters required by a rear link, as shown in figure 3, a range is between-1 and 1 after numerical value per unit, a triangular membership function is executed by e and ec in a calculation output process, as shown in figure 2.
Further, as shown in conjunction with fig. 2-3, of the seven blur levels, the positive small PS defines a range of (0,0.33) times the excess amount to a nominal zero value ZE, the positive PM defines a range of (0.33,0.66) times the excess amount to a nominal zero value ZE, the positive large PB defines a range of (0.66,1) times the excess amount to a nominal zero value ZE, the negative small NS defines a range of (0,0.33) times the smaller amount to a nominal zero value ZE, the negative medium NM defines a range of (0.33,0.66) times the smaller amount to a nominal zero value ZE, and the negative large NB defines a range of (0.66,1) times the smaller amount to a nominal zero value ZE.
In order to achieve the control purpose that the q-axis current difference e and the difference derivative ec of two windings of the motor both approach to zero, when the input signal current difference e and the difference derivative ec are far away from the respective nominal zero values ZE, the parameter alpha is set to be a low value, and the parameter beta is set to be a high value; and when the input approaches the nominal zero value ZE, the parameter is set to a smaller value to obtain a smoother output voltage correction amount delta U q (ii) a Once input on the nominal zero value ZE, the parameter is scaled to the nominal zero value ZE.
The variable parameter sliding mode controller inputs the actual q-axis current difference e and difference derivative ec of the two windings and the variable parameters alpha and beta, and defines a variable parameter integral surface function:
alpha is used to speed up the dynamic response of the system tracking,
the method is used for eliminating the steady-state error of system tracking, and defines an index sliding mode approximation law: s' = - χ · sgn(s) - δ s, χ > 0, δ > 0, - χ · sgn(s) represent constant velocity approach terms, δ represents an exponential approach coefficient. According to the q-axis voltage equation:
d-axis current i d =0, wherein: r s Represents the motor stator resistance, L q Representing the q-axis component, ω, of the motor inductance e Representing the electrical angular velocity, psi, of the motor f Q-axis voltage correction quantity delta U representing motor permanent magnet flux linkage and outputting two windings by variable parameter sliding mode controller q ，
Correction quantity delta U of winding voltage for large current q Is negative and is small for currentWinding voltage correction amount DeltaU q Is positive, and Δ U q Inversely proportional to α and proportional to β squared (fuzzy rule of α and β approximate symmetry), and e and ec are passed through application of Δ U q Finally, the current is close to zero, and the effect of current averaging of the two windings is realized.
The sliding mode control is variable structure control, the control is nonlinear, and the characteristic can enable a controlled system to enter a sliding mode under a certain condition, namely small-amplitude and high-frequency fluctuation is carried out along a preset state track. The variable parameter sliding mode motion state based on fuzzy logic designed by the invention is divided into two parts, wherein the first part is that the system state approaches to the sliding mode surface and contacts with the sliding mode surface for the first time, and the second part is that the system is on the designed variable parameter integration surface
The phase of the up-and-down movement of the surroundings, t, represents the time from the beginning to the end of the movement of the system from the initial state.
The designed system can be easily verified to meet the stable condition that s · s' is less than 0, namely the sliding state can be reached from the initial unknown state in limited time, and an exponential sliding mode approach law is selected: s' = -chi · sgn(s) - δ s, chi > 0, δ > 0, wherein-chi · sgn(s) represents a constant velocity approach term, ensuring that an approach velocity is chi instead of zero when s is close to zero, and ensuring that the system reaches a sliding mode surface within a limited time, δ represents an exponential approach coefficient, the larger the exponential approach coefficient, the faster the approach velocity, and the higher the sensitivity of the whole variable parameter sliding mode system. Different approach rates are obtained by changing the approach coefficients, the greater the approach coefficient is, the faster the approach rate is, the higher the sensitivity of the whole variable parameter sliding mode control system is, but the too large overshoot can be caused, and the impact can be caused on the system stability; otherwise, the response rate of the system is controlled to be reduced when the value of the approach coefficient is too small, and the control performance of the system is reduced.
Due to the creative introduction of two variable parameters of alpha and beta which are dynamically changed, delta U q The change rule can be correspondingly adjusted according to the change trend of the difference value of the winding current, and the effect of current averaging is better than that of the traditional sliding mode controller with fixed parameters when the sudden change of the external load is respondedGood and more robust.
Referring to FIG. 4, for ease of understanding, the variable parameter sliding mode control module based on fuzzy logic can be understood as being input by the I-th element, the control system (actual q-axis current I of the two windings) q1 And i q2 ) (ii) a A second link, namely a fuzzy logic controller (input q-axis current is subjected to subtraction and derivative calculation and input into a fuzzy rule controller, and variation parameters alpha and beta are obtained through output); link III-variable parameter sliding mode controller (according to innovative variable parameter integral surface function:
constructed); and the IV link, namely the four parts of the output (voltage correction quantity delta Uq, which is used for enabling the q-axis voltages on the two windings to be equal and indirectly realizing current averaging) of the control system.
The coordinate transformation module 4 inputs d-axis voltage of two windings and the passing delta U q The corrected q-axis voltage of the two windings is changed from the voltage value in the synchronous rotating coordinate system to the voltage value U in the alpha-beta axis static coordinate system α And U β 。
The input of the space vector pulse width modulation module 5 (SVPWM) is U α And U β In order to realize accurate control of output voltage, the space vector pulse width modulation module 5 obtains control signals of two sets of inverters 6 through sector judgment and vector action time calculation and voltage space vector calculation, the inverters 6 convert direct current into different three-phase alternating currents corresponding to two windings according to the control signals and output the three-phase alternating currents to the dual-redundancy permanent magnet synchronous motor 7 for use, and finally complete closed-loop control is realized by enabling voltage signals U on the two windings q The current is more uniform and the current average is indirectly realized, the dual-redundancy permanent magnet synchronous motor 7 comprises two sets of windings, and the torque pulsation of the dual-redundancy permanent magnet synchronous motor is smaller than that of a single winding during normal work; when the current values in the two sets of windings are the same, the torque of the motor is about 2 times that of each winding, and meanwhile, the reliability and the redundancy of the whole motor system are greatly improved due to the characteristics of the two sets of windings.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (2)
1. The utility model provides a two redundant PMSM current balance control system which characterized in that: the device comprises a rotating speed control proportional-integral module (1), a current control proportional-integral module (2), a variable parameter sliding mode control module (3) based on fuzzy logic, a coordinate transformation module (4), a space vector pulse width modulation module (5), an inverter (6) and a dual-redundancy permanent magnet synchronous motor (7);
the rotating speed control proportional-integral module (1) inputs a difference value between a given rotating speed and an actual rotating speed and outputs a given value of q-axis current;
the current control proportional-integral module (2) inputs a q-axis current given value and actual q-axis current i of two windings q Is output as q-axis voltage U of the two windings q ；
The variable parameter sliding mode control module (3) based on the fuzzy logic inputs actual q-axis current i of two windings q The system comprises a fuzzy logic controller and a variable parameter sliding mode controller;
the fuzzy logic controller inputs the difference e and the differential derivative ec of the actual q-axis currents of the two windings, e = delta i q ＝i q1 -i q2 ，
The output is introduced variable parameters alpha and beta, alpha is a proportionality coefficient, beta is an integral coefficient, and the fuzzy logic controller formulates a fuzzy rule of alpha and beta according to the input and output sizes, wherein the fuzzy rule comprises seven fuzzy levels: the numerical value is in the range of-1 to 1 after per unit, and e and ec execute a triangular membership function in the calculation output process;
the input of the variable parameter sliding mode controller is the actual q-axis current difference value e and difference derivative ec of the two windings and the variable parameters alpha and beta, and a variable parameter integral surface function is defined as follows:
alpha is used to speed up the dynamic response of the system tracking,
the method is used for eliminating the steady-state error of system tracking, and defines an index sliding mode approximation law: s' = - χ · sgn(s) - δ s, χ > 0, δ > 0, - χ · sgn(s) represents the constant velocity approach term, δ represents the exponential approach coefficient, according to the q-axis voltage equation:
d-axis current i d =0, wherein: r s Representing the motor stator resistance, L q Representing the q-axis component, ω, of the motor inductance e Representing the electrical angular velocity, psi, of the motor f Q-axis voltage correction quantity delta U representing motor permanent magnet flux linkage and outputting two windings by variable parameter sliding mode controller q ，
Correction quantity delta U of winding voltage for large current q Negative, correction Δ U for winding voltage with small current q Is positive, and Δ U q Inversely proportional to alpha and proportional to beta squared, and e and ec are appliedPlus delta U q Finally, the current approaches zero, and the effect of current averaging of the two windings is realized;
the coordinate transformation module (4) inputs d-axis voltage of two windings and delta U q The corrected q-axis voltage of the two windings is changed from the voltage value in the synchronous rotation coordinate system to the voltage value U in the alpha-beta axis static coordinate system α And U β ；
The input of the space vector pulse width modulation module (5) is U α And U β And control signals of two sets of inverters (6) are obtained through voltage space vector calculation, and the inverters (6) output different three-phase alternating currents corresponding to the two windings to the dual-redundancy permanent magnet synchronous motor (7) according to the control signals.
2. The current balance control system of the dual-redundancy permanent magnet synchronous motor according to claim 1, characterized in that: of the seven blur levels, the positive small PS defined range is (0,0.33 ] times the excess amount to a nominal zero value ZE, the positive PM defined range is (0.33,0.66 ] times the excess amount to a nominal zero value ZE, the positive large PB defined range is (0.66,1 ] times the excess amount to a nominal zero value ZE, the negative small NS defined range is (0,0.33 ] times the under amount to a nominal zero value ZE, the negative medium NM defined range is (0.33,0.66 ] times the under amount to a nominal zero value ZE, and the negative large NB defined range is (0.66,1 ] times the under amount to a nominal zero value ZE.
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| CN202210934308.8A CN115276489B (en) | 2022-08-04 | 2022-08-04 | Current balance control system of dual-redundancy permanent magnet synchronous motor |
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| CN115276489B CN115276489B (en) | 2024-04-02 |
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| CN110138297A (en) * | 2019-05-31 | 2019-08-16 | 东南大学 | A kind of permanent magnetic linear synchronous motor speed and current double closed-loop control system and control method |
| CN110289795A (en) * | 2019-05-29 | 2019-09-27 | 南京金崎新能源动力研究院有限公司 | A kind of Over Electric Motor with PMSM control system and control method |
| WO2022110277A1 (en) * | 2020-11-26 | 2022-06-02 | 江苏大学 | Model predictive decomposition control method and apparatus for open-winding five-phase permanent magnet synchronous motor |
| CN114826073A (en) * | 2022-04-27 | 2022-07-29 | 西北工业大学 | Current balance control method of dual-redundancy permanent magnet synchronous motor control system |
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| CN110289795A (en) * | 2019-05-29 | 2019-09-27 | 南京金崎新能源动力研究院有限公司 | A kind of Over Electric Motor with PMSM control system and control method |
| CN110138297A (en) * | 2019-05-31 | 2019-08-16 | 东南大学 | A kind of permanent magnetic linear synchronous motor speed and current double closed-loop control system and control method |
| WO2022110277A1 (en) * | 2020-11-26 | 2022-06-02 | 江苏大学 | Model predictive decomposition control method and apparatus for open-winding five-phase permanent magnet synchronous motor |
| CN114826073A (en) * | 2022-04-27 | 2022-07-29 | 西北工业大学 | Current balance control method of dual-redundancy permanent magnet synchronous motor control system |
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