CN102868352A - Induction motor vector control system with rotor resistance robustness and induction motor vector control system method - Google Patents

Abstract

The invention discloses an induction motor vector control system with rotor resistance robustness and an induction motor vector control system method. The control system comprises a reactive power modifier and a reactive power regulator, a flux linkage generator is connected with the reactive power regulator through the reactive power modifier, and the output end of the reactive power regulator and the output end of an integrator are connected with a Park converter and a Park inverse converter through a comparator. A control method comprises using D shaft given current to calculate given reactive power Q*; using rotor electric angular velocity omegar to calculate feedback reactive power Q; conducting proportional-integral reactive power adjustment operation on the given reactive power Q* and the feedback reactive power Q to obtain a correction term theta s2 of rotor position angles, and calculating to obtain the rotor position angle to be theta s= theta s1+ theta s2. The induction motor vector control system and the induction motor vector control method can correct rotor field directions so as to remove influences of rotor resistance changes in an operation process on rotor field direction control performance.

Description

Induction Motor Vector Control System and method with rotor resistance robustness

Technical field

The present invention relates to a kind of induction electromotor rotor Field Oriented Control System and method, be specifically related to a kind of Induction Motor Vector Control System and method with rotor resistance robustness.

Background technology

The advantages such as induction machine is sturdy and durable owing to it, maintenance is little are widely used in various fields, have produced good Social benefit and economic benefit.Modern Control of Induction Motors adopts field orientation control mostly.Field orientation control comprises rotor field-oriented control, stator flux orientation control and the control of air gap field orientation.It has realized the decoupling zero of excitation component and the torque component of stator current, thereby has improved the performance of dynamic response and the alternating-current actuating system of induction machine.The prerequisite that wherein realizes the control of induction electromotor rotor field orientation is to realize the accurate orientation of rotor field, and this needs accurately to calculate the parameter of induction machine.The general employing of the parameter of electric machine obtains by parameter tuning in the induction electromotor rotor Field Oriented Control System.And induction machine is in running, and its parameter is owing to being subject to the impact of the factors such as temperature, magnetic field are saturated and can changing a lot, and wherein the variation of rotor resistance is maximum, and this has seriously influenced the performance of rotor field-oriented control.

The utility model content

The technical problem to be solved in the present invention provides a kind of Induction Motor Vector Control System and method with rotor resistance robustness, can calibrate rotor field-oriented, thereby eliminate in the impact of running rotor resistance variations on rotor field-oriented control performance.

For solving the problems of the technologies described above, the invention provides a kind of Induction Motor Vector Control System with rotor resistance robustness, comprising: comparator, speed regulator, torque current calculator, torque current regulator, the Park inverse transformer, effect for space vector PWM inverter, induction machine, the magnetic linkage generator, exciting current controller, Clarke converter, the Park converter, the slip angular velocity calculator, device is calculated at the phase angle, the reactive power corrector, reactive power regulator, tachometric survey device.

Speed regulator links to each other with the torque current calculator, and torque current calculator output links to each other with the Park inverse transformer with torque current regulator by comparator with the Park converter output terminal;

The magnetic linkage generator links to each other with the slip angular velocity calculator with the torque current calculator, and the magnetic linkage generator output end links to each other with the Park inverse transformer with exciting current controller by comparator with the Park converter output terminal;

The Park inverse transformer links to each other with induction machine by effect for space vector PWM inverter;

Access Clarke converter between effect for space vector PWM inverter and induction machine, and the Clarke converter links to each other with the Park converter;

Induction machine links to each other by the comparator of tachometric survey device with the speed regulator input;

Slip angular velocity calculator output calculates device with tachometric survey device output by comparator and phase angle and links to each other;

The magnetic linkage generator links to each other with reactive power regulator by the reactive power corrector, and the reactive power regulator output calculates the device output with the phase angle and links to each other with the Park inverse transformer with the Park converter by comparator.

In the above-mentioned Induction Motor Vector Control System with rotor resistance robustness, the magnetic linkage generator comprises function generator and exciting current calculator.Function generator links to each other with the tachometric survey device, the function generator output links to each other with the exciting current calculator with the slip angular velocity calculator respectively, the exciting current calculator links to each other with the reactive power corrector with the torque current calculator, and exciting current calculator output links to each other with the Park inverse transformer by exciting current controller with the Park converter output terminal.

In the above-mentioned Induction Motor Vector Control System with rotor resistance robustness, the reactive power corrector comprises that given reactive power is calculated device and the feedback reactive power is calculated device.Given reactive power is calculated device and is linked to each other with the magnetic linkage generator, and the feedback reactive power is calculated device and linked to each other with the tachometric survey device, and given reactive power calculating device output calculates the device output with the feedback reactive power and links to each other with reactive power regulator by comparator.

The present invention also provides a kind of induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, comprising:

Measure rotor electric angle speed omega by the tachometric survey device _r

Obtain A phase current i by current sensor _aWith B phase current i _b

With A phase current i _aWith B phase current i _bObtain d, q axle feedback current i by Clarke conversion and Park conversion _SdAnd i _Sq

Will be to rotor electric angle speed

With rotor electric angle speed omega _rDifference carry out the computing of proportional integral rotational speed regulation and obtain given torque

With rotor electric angle speed omega _rObtain rotor flux ψ by the magnetic linkage generator _rWith the given electric current of d axle

Utilize given torque

With the given electric current of d axle

Calculate the given electric current of q axle

Utilize the given electric current of q axle

With rotor flux ψ _rCalculate given slip angular velocity

Given slip angular velocity

With rotor electric angle speed omega _rSum is directional magnetic field electric angle speed, and directional magnetic field electric angle speed is carried out integration obtains the phase angle ${\mathrm{\θ}}_{s1}=\∫({\mathrm{\ω}}_r+{\mathrm{\ω}}_{\mathrm{sl}}^{*})\mathrm{dt};$

Utilize the given electric current of d axle

Calculate given reactive power Q ^*

Utilize rotor electric angle speed omega _rCalculate the feedback reactive power Q;

With given reactive power Q ^*Carry out the proportional integral reactive power with the difference of feedback reactive power Q and regulate the correction term θ that computing obtains rotor position angle _S2, obtaining thus rotor position angle is θ _s=θ _S1+ θ _S2

With d, the given electric current of q axle

With

With d, q axle feedback current i _SdAnd i _SqCompare, its difference is carried out respectively the proportional integral torque current regulate computing and proportional integral exciting current and regulate computing and obtain d, q shaft voltage

With

And with d, q shaft voltage

With

Carry out the Park inverse transformation and obtain α, β shaft voltage

Utilize space vector modulation technique to produce the PWM waveform of inverter switching device conducting state.

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, given reactive power

L wherein _sBe stator resistance, σ is the leakage inductance coefficient.

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, the feedback reactive power $Q=u_{\mathrm{s\β}}^{*}{i}_{\mathrm{s\α}}-u_{\mathrm{s\α}}^{*}{i}_{\mathrm{s\β}}-{\mathrm{\ω}}_r\mathrm{\σ}{L}_s(i_{\mathrm{s\α}}^2+i_{\mathrm{s\β}}^2).$

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, the given electric current of d axle

L wherein _mBe the motor mutual inductance.

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, the given electric current of q axle

K wherein _mBe the motor torque coefficient.

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, given slip angular velocity

T wherein _rBe rotor time constant.

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, the Park contravariant is changed to $\left[\begin{array}{c}{u}_{\mathrm{s\α}}^{*}\\ u_{\mathrm{s\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}_s& \sin {\mathrm{\θ}}_s\\ -\sin {\mathrm{\θ}}_s& \cos {\mathrm{\θ}}_s\end{array}\right]\left[\begin{array}{c}{u}_{\mathrm{sq}}^{*}\\ u_{\mathrm{sd}}\end{array}\right].$

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, Clarke is transformed to $\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -1/2& -1/2\\ 0& \sqrt{3}/2& -\sqrt{3}/2\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right].$

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, Park is transformed to $\left[\begin{array}{c}{i}_{\mathrm{sd}}\\ i_{\mathrm{sq}}\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}_s& \sin {\mathrm{\θ}}_s\\ -\sin {\mathrm{\θ}}_s& \cos {\mathrm{\θ}}_s\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right].$

In the above-mentioned induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power, the expression formula general formula that the computing of proportional integral rotational speed regulation, proportional integral torque current are regulated computing, the adjusting computing of proportional integral exciting current and proportional integral reactive power adjusting computing is:

$u\left(t\right)=K_{p}e\left(t\right)+K_I{\∫}_0^{t}e\left(t\right)\mathrm{dt},$

Wherein:

K _pBe proportional control factor,

K _IBe the integral adjustment coefficient,

E (t) is respectively to rotor electric angle speed

With rotor electric angle speed omega _rDifference, the given electric current of d axle With d axle feedback current i _SdDifference, q axle

With q axle feedback current i _SqDifference and given reactive power Q ^*With the difference of feedback reactive power Q,

U (t) is for being respectively given torque

The d shaft voltage

The q shaft voltage

Correction term θ with rotor position angle _S2

Technique effect of the present invention is: the present invention compares given reactive power and the feedback reactive power of induction machine, regulates calibration by PI rotor field-oriented, thereby eliminates rotor resistance to the impact of the performance of rotor field-oriented control.The present invention not only to rotor resistance have very strong robustness but also so that the control performance of induction machine especially dynamic property be greatly improved, satisfied the requirement of system to transmission system performance.

Description of drawings

Fig. 1 is control system block diagram of the present invention.

Fig. 2 is control flow chart of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Referring to Fig. 1, Fig. 1 is control system block diagram of the present invention.Control system of the present invention comprises:

Comparator, speed regulator, torque current calculator, torque current regulator, Park inverse transformer, effect for space vector PWM inverter, induction machine, magnetic linkage generator, exciting current controller, the Clarke converter, Park converter, slip angular velocity calculator, device is calculated at the phase angle, the reactive power corrector, reactive power regulator, tachometric survey device.The magnetic linkage generator comprises function generator and exciting current calculator.The reactive power corrector comprises that given reactive power is calculated device and the feedback reactive power is calculated device.

Wherein, speed regulator links to each other with the torque current calculator, and torque current calculator output links to each other with the Park inverse transformer with torque current regulator by comparator with the Park converter output terminal;

Function generator links to each other with the tachometric survey device, the function generator output links to each other with the exciting current calculator with the slip angular velocity calculator respectively, the exciting current calculator calculates device with torque current calculator and given reactive power and links to each other, and exciting current calculator output links to each other with the Park inverse transformer with exciting current controller by comparator with the Park converter output terminal;

The Park inverse transformer links to each other with induction machine by effect for space vector PWM inverter;

Access Clarke converter between effect for space vector PWM inverter and induction machine, and the Clarke converter links to each other with the Park converter;

Induction machine links to each other by the comparator of tachometric survey device with the speed regulator input;

Slip angular velocity calculator output calculates device with tachometric survey device output by comparator and phase angle and links to each other;

The tachometric survey device calculates device with the feedback reactive power and links to each other, and given reactive power is calculated the device output and linked to each other with reactive power regulator by comparator with feedback reactive power calculating device output;

The reactive power regulator output calculates the device output with the phase angle and links to each other with the Park inverse transformer with the Park converter by comparator.

Referring to Fig. 2, Fig. 2 is control flow chart of the present invention.Its control step comprises:

Measure rotor electric angle speed omega by the tachometric survey device _r

Obtain A phase current i by current sensor _aWith B phase current i _b

With A phase current i _aWith B phase current i _bObtain d, q axle feedback current i by Clarke conversion and Park conversion _SqAnd i _Sd

Will be to rotor electric angle speed

With rotor electric angle speed omega _rDifference carry out the computing of proportional integral rotational speed regulation and obtain given torque

With rotor electric angle speed omega _rObtain rotor flux ψ by the magnetic linkage generator _rWith the given electric current of d axle

Utilize given torque

With the given electric current of d axle

Calculate the given electric current of q axle

Utilize the given electric current of q axle

With rotor flux ψ _rCalculate given slip angular velocity

Given slip angular velocity

With rotor electric angle speed omega _rSum is directional magnetic field electric angle speed, and directional magnetic field electric angle speed is carried out integration obtains the phase angle ${\mathrm{\θ}}_{s1}=\∫({\mathrm{\ω}}_r+{\mathrm{\ω}}_{\mathrm{sl}}^{*})\mathrm{dt};$

Utilize the given electric current of d axle

Calculate given reactive power Q ^*

Utilize rotor electric angle speed omega _rCalculate the feedback reactive power Q;

With given reactive power Q ^*Carry out the proportional integral reactive power with the difference of feedback reactive power Q and regulate the correction term θ that computing obtains rotor position angle _S2, obtaining thus rotor position angle is θ _s=θ _S1+ θ _S2

With d, the given electric current of q axle With

With d, q axle feedback current i _SdAnd i _SqCompare, its difference is carried out respectively the proportional integral torque current regulate computing and proportional integral exciting current and regulate computing and obtain d, q shaft voltage

With And with d, q shaft voltage

With

Carry out the Park inverse transformation and obtain α, β shaft voltage

Utilize space vector modulation technique to produce the PWM waveform of inverter switching device conducting state.

Wherein, given reactive power L _sBe stator resistance, σ is the leakage inductance coefficient.。

The feedback reactive power $Q=u_{\mathrm{s\β}}^{*}{i}_{\mathrm{s\α}}-u_{\mathrm{s\α}}^{*}{i}_{\mathrm{s\β}}-{\mathrm{\ω}}_r\mathrm{\σ}{L}_s(i_{\mathrm{s\α}}^2+i_{\mathrm{s\β}}^2).$

The given electric current of d axle

L _mBe the motor mutual inductance.

The given electric current of q axle

K _mBe the motor torque coefficient.

Given slip angular velocity

T _rBe rotor time constant.

The Park contravariant is changed to $\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}_s& -\sin {\mathrm{\θ}}_s\\ \sin {\mathrm{\θ}}_s& \cos {\mathrm{\θ}}_s\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$

Clarke is transformed to $\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -1/2& -1/2\\ 0& \sqrt{3}/2& -\sqrt{3}/2\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right].$

Park is transformed to $\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}_s& \sin {\mathrm{\θ}}_s\\ -\sin {\mathrm{\θ}}_s& \cos {\mathrm{\θ}}_s\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right].$

The expression formula general formula that the computing of proportional integral rotational speed regulation, proportional integral torque current are regulated computing, the adjusting computing of proportional integral exciting current and proportional integral reactive power adjusting computing is:

$u\left(t\right)=K_{p}e\left(t\right)+K_I{\∫}_0^{t}e\left(t\right)\mathrm{dt},$

Wherein:

K _pBe proportional control factor,

K _IBe the integral adjustment coefficient,

E (t) is respectively to rotor electric angle speed

With rotor electric angle speed omega _rDifference, the given electric current of d axle With d axle feedback current i _SdDifference, q axle

With q axle feedback current i _SqDifference and given reactive power Q ^*With the difference of feedback reactive power Q,

U (t) is for being respectively given torque

The d shaft voltage

The q shaft voltage

Correction term θ with rotor position angle _S2

Above content described in this explanation only is to structure example of the present invention explanation.The various modifications that specific embodiments described in the invention is made, replenish, perhaps adopt similar mode to replace, only otherwise depart from structure of the present invention, perhaps do not surmount this scope as defined in the claims, all belong to protection scope of the present invention.

Claims (10)

1. the Induction Motor Vector Control System with rotor resistance robustness comprises: comparator, speed regulator, the torque current calculator, torque current regulator, Park inverse transformer, effect for space vector PWM inverter, induction machine, magnetic linkage generator, exciting current controller, the Clarke converter, Park converter, slip angular velocity calculator, device, tachometric survey device are calculated in the phase angle;

Speed regulator links to each other with the torque current calculator, and torque current calculator output links to each other with the Park inverse transformer with torque current regulator by comparator with the Park converter output terminal;

The magnetic linkage generator links to each other with the slip angular velocity calculator with the torque current calculator, and the magnetic linkage generator output end links to each other with the Park inverse transformer with exciting current controller by comparator with the Park converter output terminal;

The Park inverse transformer links to each other with induction machine by effect for space vector PWM inverter;

Access Clarke converter between effect for space vector PWM inverter and induction machine, and the Clarke converter links to each other with the Park converter;

Induction machine links to each other by the comparator of tachometric survey device with the speed regulator input;

Slip angular velocity calculator output calculates device with tachometric survey device output by comparator and phase angle and links to each other;

It is characterized in that: also comprise reactive power corrector and reactive power regulator; The magnetic linkage generator links to each other with reactive power regulator with the reactive power corrector, and reactive power regulator output sum-product intergrator output links to each other with the Park inverse transformer with the Park converter by comparator.

2. the Induction Motor Vector Control System with rotor resistance robustness according to claim 1, it is characterized in that: the magnetic linkage generator comprises function generator and exciting current calculator;

Function generator links to each other with the tachometric survey device, and the function generator output links to each other with the exciting current calculator with the slip angular velocity calculator respectively;

The exciting current calculator links to each other with the reactive power corrector with the torque current calculator, and exciting current calculator output links to each other with the Park inverse transformer by exciting current controller with the Park converter output terminal.

3. the Induction Motor Vector Control System with rotor resistance robustness according to claim 1 and 2 is characterized in that: the reactive power corrector comprises that given reactive power is calculated device and the feedback reactive power is calculated device;

Given reactive power is calculated device and is linked to each other with the magnetic linkage generator, and the feedback reactive power is calculated device and linked to each other with the tachometric survey device, and given reactive power calculating device output calculates the device output with the feedback reactive power and links to each other with reactive power regulator by comparator.

4. one kind has the induction electromotor rotor field orientation control method that the rotor position angle reactive power is proofreaied and correct, and comprising:

Measure rotor electric angle speed omega by the tachometric survey device _r

Obtain A phase current i by current sensor _aWith B phase current i _b

With A phase current i _aWith B phase current i _bObtain d, q axle feedback current i by Clarke conversion and Park conversion _SqAnd i _Sd

Will be to rotor electric angle speed

With rotor electric angle speed omega _rDifference carry out the computing of proportional integral rotational speed regulation and obtain given torque

With rotor electric angle speed omega _rObtain rotor flux ψ by the magnetic linkage generator _rWith the given electric current of d axle

Utilize given torque

With the given electric current of d axle

Calculate the given electric current of q axle

Utilize the given electric current of q axle

With rotor flux ψ _rCalculate given slip angular velocity

Given slip angular velocity

With rotor electric angle speed omega _rSum is directional magnetic field electric angle speed, and directional magnetic field electric angle speed is carried out integration obtains phase angle θ _S1

Utilize the given electric current of d axle

Calculate given reactive power Q ^*

Utilize rotor electric angle speed omega _rCalculate the feedback reactive power Q;

With given reactive power Q ^*Carry out the proportional integral reactive power with the difference of feedback reactive power Q and regulate the correction term θ that computing obtains rotor position angle _S2, and to calculate rotor position angle be θ _s=θ _S1+ θ _S2

With d, the given electric current of q axle

With

With d, q axle feedback current i _SdAnd i _SqCompare, its difference is carried out respectively the proportional integral torque current regulate computing and proportional integral exciting current and regulate computing and obtain d, q shaft voltage

With

And with d, q shaft voltage

With

Carry out the Park inverse transformation and obtain α, β shaft voltage Utilize space vector modulation technique to produce the PWM waveform of inverter switching device conducting state.

5. the induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power according to claim 4 is characterized in that: given reactive power

L wherein _sBe stator resistance, σ is the leakage inductance coefficient.

6. the induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power according to claim 4 is characterized in that: the feedback reactive power

L wherein _sBe stator resistance, σ is the leakage inductance coefficient.

7. according to claim 4 have an induction electromotor rotor field orientation control method that the rotor position angle reactive power is proofreaied and correct, and it is characterized in that:

The given electric current of d axle

The given electric current of q axle

L wherein _mBe motor mutual inductance, K _mBe the motor torque coefficient.

8. the induction electromotor rotor field orientation control method with the correction of rotor position angle reactive power according to claim 4 is characterized in that: given slip angular velocity

T wherein _rBe rotor time constant.

9. according to claim 4 have an induction electromotor rotor field orientation control method that the rotor position angle reactive power is proofreaied and correct, and it is characterized in that:

The Park contravariant is changed to $\left[\begin{array}{c}{u}_{\mathrm{s\α}}^{*}\\ u_{\mathrm{s\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}_s& \sin {\mathrm{\θ}}_s\\ -\sin {\mathrm{\θ}}_s& \cos {\mathrm{\θ}}_s\end{array}\right]\left[\begin{array}{c}{u}_{\mathrm{sq}}^{*}\\ u_{\mathrm{sd}}\end{array}\right];$

Clarke is transformed to $\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -1/2& -1/2\\ 0& \sqrt{3}/2& -\sqrt{3}/2\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right];$

Park is transformed to $\left[\begin{array}{c}{i}_{\mathrm{sd}}\\ i_{\mathrm{sq}}\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}_s& \sin {\mathrm{\θ}}_s\\ -\sin {\mathrm{\θ}}_s& \cos {\mathrm{\θ}}_s\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right].$

10. according to claim 4 have an induction electromotor rotor field orientation control method that the rotor position angle reactive power is proofreaied and correct, and it is characterized in that: the computing of proportional integral rotational speed regulation, proportional integral torque current are regulated computing, proportional integral exciting current and are regulated the expression formula general formula that computing and proportional integral reactive power regulate computing and be:

$u\left(t\right)=K_{p}e\left(t\right)+K_I{\∫}_0^{t}e\left(t\right)\mathrm{dt},$

Wherein:

K _pBe proportional control factor,

K _IBe the integral adjustment coefficient,

E (t) is respectively to rotor electric angle speed

With rotor electric angle speed omega _rDifference, the given electric current of d axle With d axle feedback current i _SdDifference, q axle

With q axle feedback current i _SqDifference and given reactive power Q ^*With the difference of feedback reactive power Q,

U (t) is for being respectively given torque

The d shaft voltage

The q shaft voltage

Correction term θ with rotor position angle _S2

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