CN103117701B - Control method of mechanical elastic energy storing permanent magnet motor group under non-harmonic disturbances - Google Patents
Control method of mechanical elastic energy storing permanent magnet motor group under non-harmonic disturbances Download PDFInfo
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- CN103117701B CN103117701B CN201310076196.8A CN201310076196A CN103117701B CN 103117701 B CN103117701 B CN 103117701B CN 201310076196 A CN201310076196 A CN 201310076196A CN 103117701 B CN103117701 B CN 103117701B
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Abstract
Provided is a control method of a mechanical elastic energy storing permanent magnet motor group under non-harmonic disturbances. The permanent magnet motor group comprises a permanent magnet synchronous motor, a gear gearbox and a volute spring box used for mechanical elastic energy storing. The control method includes that a full system mathematical model including the permanent magnet synchronous motor, the gear gearbox and the volute spring box is constructed, and then non-linear internal model equations and a state feedback controller are designed aiming at nonlinear disturbances generated by a nonlinear external system. According to the control method, the different non-linear internal model equations are designed on the basis of type features of external disturbances, and the state feedback controller is designed on the basis of a nominal system control law. Test results prove that the designed state feedback controller can ensure that angular velocity output by the permanent magnet motor group under various external disturbances is basically stable and enables a closed loop system to fast track reference signals, and high-accuracy servo control of the motor group is achieved.
Description
Technical field
The present invention relates to a kind of method for controlling permanent magnet synchronous motor with mechanical elastic energy storage, belong to technical field of motors.
Background technology
Energy storage technology, for problems such as solution current new forms of energy networking, peak-frequency regulations, ensures that the electrical network equilibrium of supply and demand, maintenance system are stablized, is all of great practical significance.At further investigation mechanical whirlpool spring elastic energy storage (Mechanical Elastic Energy Storage, on the basis of MEES) principle, technical staff proposes permanent magnetic motor type mechanical elastic energy storage method, permagnetic synchronous motor (permanent magnet synchronous motor, PMSM) having the advantages such as power density is large, efficiency is high, electromagnetic torque is large, volume is little, fast response time, is the optimal selection of the method energy storage unit servo system.Due to the electromechanical coupling characteristics of unit and the nonlinear characteristic of permagnetic synchronous motor (PMSM), this energy storage mode needs one of the key technical problem solved to be exactly the nonlinear Control problem of unit.Permanent magnetic motor type mechanical elastic energy storage unit is when storage energy operation, and the continuous change of whirlpool spring elastic torque and moment of inertia, causes harmful effect by the performance of servo system.In addition PMSM itself has non-linear, the feature such as close coupling and time variation, particularly during set grid-connection storage energy operation, unit will be subjected to non-linear external disturbance often, and the PID controller adaptability that conventional parameter is fixed will be deteriorated, and be difficult to the control overflow meeting high accuracy servo system.Therefore, when the permanent-magnet electric unit storage energy operation with mechanical elastic energy storage, design a kind of control method, can ensure under the anharmonic humorous wave interference in outside, the rotating speed that permagnetic synchronous motor exports keeps substantially constant to have very important significance.
Summary of the invention
The object of the invention is to the drawback for prior art, the permanent-magnet electric unit control method with mechanical elastic energy storage under a kind of anharmonic humorous wave interference is provided.
Problem of the present invention realizes with following technical proposals:
The permanent-magnet electric unit control method with mechanical elastic energy storage under a kind of anharmonic humorous wave interference, described permanent-magnet electric unit comprises permagnetic synchronous motor, speed-changing gear box and is used as the whirlpool spring case of mechanical elastic energy storage, first described control method sets up the total system Mathematical Modeling of the permanent-magnet electric unit comprising permagnetic synchronous motor, speed-changing gear box and whirlpool spring case, then for by non-linear external system:
(wherein, matrix
,
,
for fully smooth function, and
) nonlinear disturbance that produces
, design Nonlinear Internal Model equation:
Wherein,
for the signal that external system produces,
for state variable,
for control inputs,
with
be known smooth vector field,
be the matrix of a suitable dimension,
for Hurwitz matrix,
for nonsingular matrix,
for matrix,
for smooth function,
State feedback controller is designed to:
Wherein,
for multivariable EVAC (Evacuation Network Computer Model)
nominal system
state feedback control law,
;
Wherein:
v 1,
v 2be respectively and act on
daxle,
qthe anharmonic harmonic interference signals of axle,
a,
bfor being greater than the constant of zero,
a 11,
a 21,
a 12,
a 22for matrix parameter,
,
,
,
,
,
,
,
be the matrix of certain dimension,
c 1,
c 2,
c 3for constant,
,
for the calm rule of the undisturbed nominal system of former multivariable EVAC (Evacuation Network Computer Model),
,
for smooth function,
f 1,
f 2for Hurwitz matrix,
q 1,
q 2for matrix parameter,
,
for the nonsingular rings of Sylvester equation,
u 1,
u 2for control voltage,
u d ,
u q for DC permanent magnet stator voltage
d, qaxle component,
ω m for the angular speed that motor exports;
Control to carry out as follows:
First, according to the actual operation parameters of permanent magnetic motor type mechanical elastic energy storage unit, the total system Mathematical Modeling of unit is determined; According to acting on
dThe anharmonic harmonic interference signals of axle
v 1, choose
a,
bDetermine matrix parameter
A 11,
A 21, and obtain
,
,
With
; According to acting on
qThe anharmonic harmonic interference signals of axle
v 2, choose a, b and determine matrix parameter
A 12,
A 22, and obtain
,
,
With
; Constant is chosen according to Laypunov function
c 1,
c 2With
c 3, determine the calm rule of the undisturbed nominal system of former multivariable EVAC
With
; Selection of Function
With
, determine matrix parameter
With
; Choose matrix
F 1, separate Sylvester equation and obtain matrix
,And combination
Obtain
q 1, choose matrix
F 2, separate Sylvester equation and obtain matrix
, and combination
Obtain
q 2; Will
F 1,
,
,
Put into the Nonlinear Internal Model equation of design, obtain
dThe nonlinear disturbance signal of axle
v 1Estimated value, will
F 2,
,
,
Put into the Nonlinear Internal Model equation of design, obtain
qThe nonlinear disturbance signal of axle
v 2Estimated value; Again by the nonlinear disturbance signal obtaining
v 1Estimated value,The calm rule of undisturbed nominal system
, matrix parameter
q 1Sum functions
Put into the state feedback controller of design in the lump, obtain controlling voltage
u 1, namely
u d ; Equally, by the nonlinear disturbance signal obtaining
v 2Estimated value, the calm rule of undisturbed nominal system
, matrix parameter
q 2Sum functions
Put into the state feedback controller of design in the lump, obtain controlling voltage
u 2 , namely
u q ;
Finally, by control voltage
u d with
u q be input in the total system Mathematical Modeling of permanent-magnet electric unit, just can ensure the angular speed that permanent-magnet electric unit exports under anharmonic humorous wave interference
ω m keep basicly stable.
The permanent-magnet electric unit control method with mechanical elastic energy storage under above-mentioned anharmonic humorous wave interference, the total system Mathematical Modeling of described permanent magnetic motor type mechanical elastic energy storage unit is:
，
，
，
Wherein,
b m for the damping coefficient of motor,
t m ,
t l be respectively motor output torque and elastic shaft torsional moment,
ω m ,
ω l be respectively the angular speed of motor and whirlpool spring elastic shaft,
l d ,
l q for
daxle and
qaxle inductance,
,
with
,
be respectively stator current and stator voltage
d, qaxle component,
for stator resistance,
for rotor velocity,
for rotor flux,
pfor number of pole-pairs,
for rotor moment of inertia,
rfor gear reduction box gear ratio,
nfor the whirlpool spring number of effective coils;
e,
,
bwith
hbe respectively the material elastic modulus of energy storage whorl reed, length, width and thickness;
kfor whirlpool spring quality coefficient,
for compact subset,
for the time.
The type feature that the present invention is based on external disturbance carries out Nonlinear Internal Model design; On the basis of nominal system control law, carry out the design of state feedback controller according to modular equation in structure.Result of the test shows, when unit storage energy operation, even if be subject to anharmonic humorous wave interference, closed-loop system still can tracking reference signal soon, and ensure the output speed substantially constant of permanent-magnet electric unit, the high-precision servo realizing unit controls.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is permanent magnetic motor type mechanical elastic energy storage unit total system model;
Fig. 2, Fig. 3 are Nonlinear perturbations input simulations;
Fig. 4, Fig. 5 are Systematical control inputs;
Fig. 6, Fig. 7, Fig. 8 are that system mode exports.
In literary composition, each symbol inventory is:
for fully smooth function,
for nonlinear disturbance,
for the signal that external system produces,
for state variable,
for control inputs,
with
be known smooth vector field,
be the matrix of a suitable dimension,
for Hurwitz matrix,
for nonsingular matrix,
for matrix,
for smooth function,
g i for being defined in
in non-zero constant vector,
for state feedback control law,
b m for the damping coefficient of motor,
t m ,
t l be respectively motor output torque and elastic shaft torsional moment,
ω m ,
ω l be respectively the angular speed of motor and whirlpool spring elastic shaft,
l d ,
l q for
daxle and
qaxle inductance,
,
with
,
be respectively stator current and stator voltage
d, qaxle component,
for stator resistance,
for rotor velocity,
for rotor flux,
pfor number of pole-pairs,
for rotor moment of inertia,
rfor gear reduction box gear ratio,
nfor the whirlpool spring number of effective coils;
e,
,
bwith
hbe respectively the material elastic modulus of energy storage whorl reed, length, width and thickness;
kfor whirlpool spring quality coefficient,
for the time,
v (
x ) be Lyapunov function.
Embodiment
The present invention is realized by following technical scheme:
1. permanent magnetic motor type mechanical elastic energy storage unit mathematical modeling
As shown in Figure 1, gear reduction box is reduced to multiple degrees of freedom " spring-quality-damping " model to permanent magnetic motor type mechanical elastic energy storage unit total system model, wherein,
b m ,
b l be respectively the damping coefficient of motor and elastic shaft,
t m ,
t l be respectively motor output torque and elastic shaft torsional moment,
ω m ,
ω l be respectively the angular speed of motor and whirlpool spring elastic shaft.
In thermal energy storage process, permagnetic synchronous motor runs on electric motor state, supposes
d,
qaxle inductance
l d =
l q , so, permanent-magnet servo motor exists
d, qnonlinear mathematical model under axle rotational coordinates can be written as:
(1)
In formula,
i d ,
i q with
u d ,
u q be respectively stator current and stator voltage
d, qaxle component,
r s for stator resistance,
for rotor velocity,
for rotor flux,
pfor number of pole-pairs,
j m for rotor moment of inertia.
Suppose that gear reduction box gear ratio is
r, ignore gearbox power loss, then the moment of reduction box both sides, angular speed relational expression can be expressed as:
(2)
If whirlpool spring tail end adopts fixed form, according to GB " plane scroll spring designing and calculating (JB/T7366-1994) ", whirlpool, square-section spring moment of torsion can be written as:
(3)
Wherein:
nfor the whirlpool spring number of effective coils;
e,
l,
bwith
hbe respectively the material elastic modulus of energy storage whorl reed, length, width and thickness;
kfor whirlpool spring quality coefficient.
When supposing normally to run, energy-storage box main shaft and PMSM work in permanent rotary regimes, known whirlpool spring elastic shaft angular speed
ω l with the whirlpool spring number of effective coils
npass be:
(4)
Formula (4) is substituted into formula (3) can obtain, the pass of whirlpool spring moment of torsion and its angular speed is:
(5)
From formula (5), in theory, once angular speed
ω l constant, whirlpool spring elastic torque and time will present linear relationship.
The differential equation (1) just constitutes permanent magnetic motor type mechanical elastic energy storage unit total system Mathematical Modeling in conjunction with equation (2) and (5).
2. control problem describes
Consider multivariable EVAC (Evacuation Network Computer Model)
(6)
Wherein, state variable
, control inputs
,
with
be known smooth vector field,
for the nonlinear disturbance of input,
for the signal that external system produces, produced by following non-linear external system:
(7)
If do not consider, Nonlinear perturbations inputs, and the nominal system of system (6) can be written as:
(8)
For the stability problem of multivariable input system, key is the stability problem being translated into multiple single input system.
Suppose that 1 for system (8), existence Feedback Control Laws
, make nominal closed-loop system
at initial point asymptotically stability, thus there is Lyapunov function
v (
x ) meet:
(9)
Wherein,
,
with
belong to
k ∞class function.
The vector field path supposing 2 non-linear external systems (7) is bounded.
The non linear system that note 1 meets hypothesis 2 has the limit cycle etc. of harmonic function or nonlinear dynamic system, and the non-linear external system that the present invention considers is by Zhiyong Chen and Jie Huang(" Robust output regulation with nonlinear exosystem ".Automatica, 2005,41 (8): 1447-1454.) propose:
(10)
Wherein, matrix
,
,
for fully smooth function, and
, the system meeting (10) has a lot, and the present invention chooses famous Van der Pol oscillator, is expressed as
(11)
Wherein,
a,
bbe the constant being greater than zero, now, (11), by producing stable limit cycle, are written as the form of (10), have by Van der Pol oscillator
(12)
Wherein,
,
,
.
Suppose that 3 exist constant
r i with one group of real number
a i0
,
a i1
...,
meet
(13)
Wherein
,
lfor Lie derivatives operator, obviously, if
for
linear representation, then suppose 3 automatically to meet.
Suppose that 4 exist smooth function
, make
(14)
Wherein,
g i for being defined in
in non-zero constant vector.
Problem to be solved by this invention can be described as: for any given compact subset
, all can find state feedback controller
, make under arbitrary initial conditions, for all
with all
t>=0, the solution of closed-loop system (6) exists and bounded, and
.
3. Nonlinear Internal Model design
The object of design Nonlinear Internal Model estimates exterior nonlinear exogenous disturbances and carries out AF panel.
Order
(15)
So, there is matrix
,
, make
(16)
Wherein, matrix pair
considerable.
For setting up Nonlinear Internal Model equation, make the following assumptions
Suppose that 5 exist matrix
make
(17)
If
,
for nonsingular matrix, right along (10)
differentiate, has
(18)
(19)
Wherein,
, meet
.
Theoretical based on Systems with Linear Observation device, for non-zero constant vector in (14)
g i , choose Hurwitz matrix
f i make matrix to (
f i ,
g i ) controlled.Due to matrix pair
considerable, and
f i with
there is disjoint frequency spectrum, therefore Sylvester equation
there is unique nonsingular rings
.
Order
, then non-linear external system can be immersed in lower plane system:
(20)
For this reason, Nonlinear Internal Model is designed as follows:
(21)
If assisted error
e i for
(22)
Along equation (6), (20) and (21) to formula (22) differentiate, can obtain
(23)
4. state feedback controller design
Even if the effect of design point feedback controller is that when ensureing to there is external disturbance, closed-loop system still can progressive tracking reference signal.For the purpose of the present invention, to ensure exactly under anharmonic humorous wave interference, make permanent-magnet electric unit output speed keep basicly stable.
Based on the Nonlinear Internal Model (21) built and hypothesis 1, design point feedback controller is:
(24)
Structure Lyapunov function
(25)
Wherein
for positive real constant, along system (6) and assisted error (23) to function
wdifferentiate, obtains
(26)
Wherein,
,
By inequality
(get
c=1) apply to formula (26) Section 2, have
(27)
Suppose that existence is compacted
, for all
,
the symmetrical matrix of negative definite, so, for all
, there is arithmetic number
f, make
(28)
(27) and (28) are substituted into (26), can obtain
(29)
Rational choice constant
with
, make
(30)
So, have
(31)
Therefore all variablees are bounded.In conjunction with invariant set theorems, just can obtain
with
.Thus obtain conclusion below: for nonlinear multivariable systems (6) and the external system (7) of satisfied hypothesis 1 to hypothesis 5, Nonlinear Internal Model (21) and control inputs (24) can make closed-loop system global bounded, and
.
To 0.018kWh/1.1kW permanent magnetic motor type mechanical elastic energy storage unit experiment Analysis.Unit relevant parameters is: Rated motor torque
t e =5.0Nm,
p=4,
=0.18Wb,
r s =1.95 Ω,
l d =
l q =0.0115H,
j m =0.008kgm
2,
r=40:1,
ω l =15r/min,
b m =0.01N/rad/s.
After considering Nonlinear perturbations, permanent magnetic motor type mechanical elastic energy storage unit total system Mathematical Modeling is converted into formula (6) form of expression, the results are shown in formula (32).Visible, this unit is two variable input systems, adopts single input algorithm to process.
(32)
Wherein,
,
,
,
, control inputs
.
For simplicity, non-linear external disturbance input
v 1with
v 2van der Pol oscillator by formula (11) produces, and gets
, then have
,
(due to
for convenience, thus order
),
, now, this oscillator, by producing the limit cycle of bounded, supposes that 2 set up.
Suppose
c 1,
c 2with
c 3be certain normal number, get control law
(33)
Wherein,
for rotor reference rotation velocity, be taken as 600r/min, can verify that undisturbed nominal system (8) can quilt
calm.
Order
(34)
Calculate and arrange,
(35)
(36)
If
, by formula (34), (35) and (36), and choose
c 1=8000,
c 2=40 Hes
c 3=8000, can obtain
(37)
(38)
(39)
Then suppose that 1 sets up.
Choose
(40)
Then
(41)
Meet hypothesis 4.
If
v 1with
v 2act on respectively
d,
qon axle,
v 1=
w 1,
v 2=
w 2, characterization system has been injected into different nonlinear disturbance signals, when
v 1=
w 1time, through calculating:
(42)
Then there is constant
,
with
meet hypothesis 3;
When
v 2=
w 2time, through calculating:
(43)
Then there is constant
,
with
meet hypothesis 3.
According to (42), order
(44)
So, there is matrix
,
, formula (16) is set up, and
;
According to (43), order
(45)
So, there is matrix
,
, formula (16) is set up, and
.
Choose
, can be calculated
(46)
Choose
, can be calculated
(47)
So, suppose that 5 set up.
If
,
for nonsingular matrix, right along (10)
differentiate, has
(48)
Wherein,
;
If
,
for nonsingular matrix, right along (10)
differentiate, has
(49)
Wherein,
.
Choose matrix
, can verify
, solve Sylvester equation
, obtain
(50)
Choose matrix
, can verify
, solve Sylvester equation
, obtain
(51)
Below demonstrated system (32) and (11) and met required all conditions, based on the nonlinear control method that the present invention proposes, design Nonlinear Internal Model and state feedback controller as follows:
(52)
Matlab software is utilized to carry out numerical simulation, simulation step length Qu ⊿
t=0.001s, system initial condition is:
,
with
, simulation result accompanying drawing 2 to Fig. 8.Fig. 4 and Fig. 5 is the control voltage input comprising internal mold
u 1with
u 2 , namely
u d with
u q , this voltage is be injected into the control variables in permanent-magnet electric unit total system Mathematical Modeling; Fig. 6 shows what permanent-magnet electric unit exported
dshaft current
i d =0; Fig. 7 is the rotating speed of permanent magnet motor output shaft
ω m , substantially constant is in 600r/min; Fig. 8 is that permanent-magnet electric unit exports
qshaft current
i q ,
i q along with in thermal energy storage process, the increase of whirlpool spring moment of torsion constantly increases.Fig. 7 shows under multiclass external disturbance, and the state feedback controller of the present invention's design can ensure that permanent-magnet electric unit exports permanent rotating speed.Simulation result shows, closed-loop system achieves the progressive tracking to reference signal soon, and therefore, the multivariable controller of the present invention's design effectively can suppress external disturbance, and ensures permanent-magnet electric unit output speed substantially constant.
Claims (2)
1. the permanent-magnet electric unit control method with mechanical elastic energy storage under an anharmonic humorous wave interference, it is characterized in that, described permanent-magnet electric unit comprises permagnetic synchronous motor, speed-changing gear box and is used as the whirlpool spring case of mechanical elastic energy storage, first described control method sets up the total system Mathematical Modeling of the permanent-magnet electric unit comprising permagnetic synchronous motor, speed-changing gear box and whirlpool spring case, then for by non-linear external system:
, wherein, matrix
,
,
for fully smooth function, and
, the nonlinear disturbance of generation
, design Nonlinear Internal Model equation:
，
Wherein,
for the signal that external system produces,
for state variable,
for control inputs,
with
be known smooth vector field,
be the matrix of a suitable dimension,
for Hurwitz matrix,
for nonsingular matrix,
for matrix,
for smooth function,
State feedback controller is designed to:
，
Wherein,
for multivariable EVAC (Evacuation Network Computer Model)
nominal system
state feedback control law,
;
Wherein:
v 1,
v 2be respectively and act on
daxle,
qthe anharmonic harmonic interference signals of axle,
a,
bfor being greater than the constant of zero,
a 11,
a 21,
a 12,
a 22for matrix parameter,
,
,
,
,
,
,
,
be the matrix of certain dimension,
c 1,
c 2,
c 3for constant,
,
for the calm rule of the undisturbed nominal system of former multivariable EVAC (Evacuation Network Computer Model),
,
for smooth function,
f 1,
f 2for Hurwitz matrix,
q 1,
q 2for matrix parameter,
u 1,
u 2for control voltage,
u d ,
u q for DC permanent magnet stator voltage
d, qaxle component,
ω m for the angular speed that motor exports;
Control to carry out as follows:
First, according to the actual operation parameters of permanent magnetic motor type mechanical elastic energy storage unit, the total system Mathematical Modeling of unit is determined; According to acting on
dThe anharmonic harmonic interference signals of axle
v 1, choose a, b and determine matrix parameter
A 11,
A 21, and obtain
,
,
With
; According to acting on
qThe anharmonic harmonic interference signals of axle
v 2, choose a, b and determine matrix parameter
A 12,
A 22, and obtain
,
,
With
; Constant is chosen according to Laypunov function
c 1,
c 2With
c 3,Determine the calm rule of undisturbed nominal system
With
; Selection of Function
With
, determine matrix parameter
With
; Choose matrix
F 1, separate Sylvester equation and obtain matrix
, and combination
Obtain
q 1, choose matrix
F 2, separate Sylvester equation and obtain matrix
, and combination
Obtain
q 2; Will
F 1,
,
,
Put into the Nonlinear Internal Model equation of design, obtain
dThe nonlinear disturbance signal of axle
v 1Estimated value, will
F 2,
,
,
Put into the Nonlinear Internal Model equation of design, obtain
qThe nonlinear disturbance signal of axle
v 2Estimated value; Again by the nonlinear disturbance signal obtaining
v 1Estimated value, the calm rule of undisturbed nominal system
, matrix parameter
q 1Sum functions
Put into the state feedback controller of design in the lump, obtain controlling voltage
u 1, namely
u d ; Equally, by the nonlinear disturbance signal obtaining
v 2Estimated value,The calm rule of undisturbed nominal system
, matrix parameter
q 2Sum functions
Put into the state feedback controller of design in the lump, obtain controlling voltage
u 2 , namely
u q ;
Finally, by control voltage
u d with
u q be input in the total system Mathematical Modeling of permanent-magnet electric unit, just can ensure the angular speed that permanent-magnet electric unit exports under anharmonic humorous wave interference
ω m keep stable.
2. the permanent-magnet electric unit control method with mechanical elastic energy storage under a kind of anharmonic humorous wave interference according to claim 1, it is characterized in that, the total system Mathematical Modeling of described permanent magnetic motor type mechanical elastic energy storage unit is:
，
，
，
Wherein,
b m for the damping coefficient of motor,
t m ,
t l be respectively motor output torque and elastic shaft torsional moment,
ω m ,
ω l be respectively the angular speed of motor and whirlpool spring elastic shaft,
l d ,
l q for
daxle and
qaxle inductance,
,
with
,
be respectively stator current and stator voltage
d, qaxle component,
for stator resistance,
for rotor velocity,
for rotor flux,
pfor number of pole-pairs,
for rotor moment of inertia,
rfor gear reduction box gear ratio,
nfor the whirlpool spring number of effective coils;
e,
,
bwith
hbe respectively the material elastic modulus of energy storage whorl reed, length, width and thickness;
kfor whirlpool spring quality coefficient,
for the time.
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| CN104935229B (en) * | 2015-04-03 | 2017-12-12 | 华北电力大学（保定） | The acquisition methods of the real-time rotary inertia of energy storage volute spring |
| CN105932922B (en) * | 2016-06-20 | 2018-08-07 | 华北电力大学（保定） | A kind of control method of mechanical elastic energy storage magneto alternator |
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| Control of Permanent-Magnet Generators Applied to Variable-Speed Wind-Energy System Connected to the Grid;Monica Chinchilla et.al;《IEEE TRANSACTIONS ON ENERGY CONVERSION》;20060331;第21卷(第1期);全文 * |
| 永磁电机式机械弹性储能机组及其关键技术初探;米增强等;《电力系统自动化》;20130110;第37卷(第1期);全文 * |
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