CN103281036B - A kind of control method of five cross streams motors and control device thereof - Google Patents
A kind of control method of five cross streams motors and control device thereof Download PDFInfo
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- CN103281036B CN103281036B CN201310184464.8A CN201310184464A CN103281036B CN 103281036 B CN103281036 B CN 103281036B CN 201310184464 A CN201310184464 A CN 201310184464A CN 103281036 B CN103281036 B CN 103281036B
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Abstract
The invention discloses a kind of five cross streams motor control methods, comprise five phase PWM inverter circuit and motors, comprising: determine that the first axle maps electric current and the second axle maps electric current according to target torque, input voltage and rotating speed; The second axle feedback current is determined according to each phase current of motor; Determine that the first axle presets quadrature axis current scope according to the second axle feedback current; Preset quadrature axis current scope according to the first axle to adjust the first axle mapping electric current, and obtain the first axle output current; The input signal of five phase PWM inverter circuits is controlled according to the first axle output current.According to target torque, input voltage and rotating speed, obtain controlling electric current, control electric current is adjusted, according to the input signal of the control current circuit after adjustment, controls the waveform of motor, and then control motor rotation.Can adjust phase current according to load variations, motor speed change and input voltage fluctuation, realize moment of torsion and motor speed is adjustable, determine reliable range of operation, make operation more steady.
Description
Technical field
The present invention relates to electric machines control technology, particularly relate to a kind of control method and control device of five cross streams motors.
Background technology
In recent years, because resource in world wide and environmental problem become increasingly conspicuous, each state is all stepping up to implement new energy electric motor vehicle research and development plan.In new-energy automobile, drive motors will become main motive drive source.The form of drive motors is varied, and AC permanent magnet synchronous motor will become main flow, and the motor being essentially three-phase commercially seen at present, heterogeneous motor is rarely found.But polyphase machine possesses higher power density and torque density, torque ripple effect can be suppressed, be suitable for the environment for use of automobile drive motor like this, there is very large development space, especially five cross streams motors.Domestic electric machine industry substantially or research three phase electric machine is main, more do not go application and the control of considering polyphase machine.In order to adapt to the needs in market sooner, five cross streams motors are made to move towards market as soon as possible, need to provide a kind of five cross streams motor reliable control program as early as possible, use five-phase induction motor, the larger torque ripple effect existed in the three phase electric machine commonly used at present can be suppressed, and the torque of lifting motor and power density, car load is run more steady.
Summary of the invention
For above-mentioned defect, the object of the embodiment of the present invention is to provide a kind of control method and control device of five cross streams motors, solves for five cross streams motors, how to control this motor, realize moment of torsion and motor speed is adjustable, and make operation technical problem more stably.
To achieve these goals, the invention provides a kind of five cross streams motor control methods, comprise five phase PWM inverter circuits and five cross streams motors, wherein, described method comprises:
Determine that the first axle maps electric current and the second axle maps electric current according to target torque, input voltage and motor speed; The second axle feedback current is determined according to each phase current of described five cross streams motor; Determine that the first axle presets quadrature axis current scope according to described second axle feedback current; Preset quadrature axis current scope according to described first axle to adjust described first axle mapping electric current, and obtain the first axle output current; The input signal of described five phase PWM inverter circuits is controlled according to described first axle output current.
Further, describedly determine that the first axle is preset quadrature axis current scope and is specially according to described second axle feedback current: determine that described first axle presets quadrature axis current scope according to the first axle quadrature axis current limits value and the first axle preset difference value, determine described first axle preset difference value according to the second axle stator hypervelocity electric current and described second axle feedback current.
Further, describedly determine that described first axle preset difference value is specially according to the second axle stator hypervelocity electric current and described second axle feedback current: described second axle feedback current and described second axle stator exceed the speed limit electric current and described second axle map current ratio comparatively after, obtain the first axle deviation, described first axle deviation exports described first axle preset difference value after PI regulating and controlling.
Further, by adjust described second axle stator hypervelocity electric current and described first axle quadrature axis current limits value adjustment described first axle preset quadrature axis current scope.
Further, describedly preset quadrature axis current scope according to described first axle and electric current is mapped to described first axle adjust, and obtain the first axle output current and be specially: judge that described first axle maps electric current and whether presets within quadrature axis current scope at the first axle; Preset within quadrature axis current scope if described first axle maps electric current at described first axle, then electric current is not mapped to described first axle and adjust, obtain described first axle output current; If described first axle maps electric current outside described first axle quadrature axis current scope, then electric current is mapped to described first axle and adjust, obtain described first axle output current.
Further, also comprise and determine the first axle feedback current according to each phase current of described five cross streams motor; The described input signal controlling described five phase PWM inverter circuits according to described first axle output current is specially: described first axle feedback current and described first axle output current generate the first axle command voltage after PI regulating and controlling, and described second axle maps electric current and described second axle feedback current generates the second axle command voltage after PI regulating and controlling; Described first axle command voltage and described second axle command voltage are as the input signal of SVPWM module after conversion, and described SVPWM module exports the input signal of described five phase PWM inverter circuits.
Further, also comprise and determine the first axle feedback current or the 3rd axle feedback current according to each phase current of described five cross streams motor, determine that the second axle presets quadrature axis current scope according to described first axle feedback current or described 3rd axle feedback current, preset quadrature axis current scope according to described second axle to adjust described second axle mapping electric current, and obtain the second axle output current.
Further, the described input signal controlling described five phase PWM inverter circuits according to described first axle output current is specially: described first axle output current and described first axle feedback current generate the first axle command voltage after PI regulating and controlling, generate the second axle command voltage according to described second axle output current and described second axle feedback current after PI regulating and controlling; Described first axle command voltage and described second axle command voltage are as the input signal of SVPWM module after conversion, and described SVPWM module exports the input signal of described five phase PWM inverter circuits.
According to another aspect of the present invention, provide a kind of five cross streams motor control assemblies, comprise DC power supply and PWM inverter circuit, feedback current acquisition module, motor speed acquisition module, wherein, also comprise control loop module, described control loop module is used for exporting the first axle command voltage and the second axle command voltage according to target torque, input voltage and motor speed and the first axle feedback current received, the second axle feedback current; Described control loop module comprises moment of torsion to current mapping module, mapping current adjusting module and command voltage generation module; Described mapping current adjusting module maps electric current and/or the second axle mapping electric current for adjusting the first axle; Described command voltage generation module is for exporting described first axle command voltage and the second axle command voltage.
Further, described command voltage generation module comprises the first axle PI control module, the second axle PI control module; Described first axle PI control module generates the first axle command voltage according to described first axle output current and the first axle feedback current, and described second axle PI control module generates described second axle command voltage according to described second axle output current and described second axle feedback current; Or, described first axle PI control module generates described first axle command voltage according to described first axle output current and described first axle feedback current, and described second axle PI control module maps electric current according to described second axle and described second axle feedback current generates described second axle command voltage.
Five cross streams motor control methods provided by the invention, reliably can control five cross streams motors, realize moment of torsion and motor speed is adjustable; The target torque Te* received by controller, input voltage Vdc and motor speed ω, obtain controlling electric current, judge that controlling electric current needs adjustment, according to the input signal of the control Current Control five phase PWM inverter circuit after adjustment, control each phase waveform and the current signal of five-phase induction motor, control the running of five-phase induction motor.This kind arranges and can adjust phase current according to the fluctuation of the change of load, the change of motor speed and input voltage fast, realizes moment of torsion and motor speed is adjustable, arranges adjusting range to determine reliable range of operation, makes operation more steady.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of an embodiment of a kind of five cross streams motor control assemblies provided by the invention;
The structured flowchart of the control strategy that Fig. 2 provides for the embodiment of the present invention;
Fig. 3 is the control loop module frame chart in Fig. 2.
Reference numeral: DC power supply 100, control loop module 200, DC support electric capacity 301, insulated gate bipolar transistor 312, IGBT module temperature sensor 13, five cross streams motors 14, motor stator temperature sensor 15, rotor-position sensor 16, busbar voltage transducer 17, electric machine controller master board 18, entire car controller 19, map current adjusting module 20, current acquisition module 21, moment of torsion is to current mapping module 22, command voltage generation module 23, static to synchronization map module 24, be synchronized to static mapping block 25, temperature collect module 26, voltage collecting device 27, motor speed acquisition module 28, SVPWM module 29, PWM inverter circuit 30.
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with accompanying drawing, specific embodiment is described in detail.
The control method of a kind of five cross streams motors provided by the invention.The control method of five-phase induction motor, comprises five phase PWM inverter circuits and five cross streams motors, specifically comprises the steps:
Determine that the second axle maps electric current I ds* and the first axle maps electric current I qs* according to target torque Te*, input voltage Vdc and motor speed ω;
The second axle feedback current Ids is determined according to each phase current of five cross streams motors;
Determine that the first axle presets quadrature axis current scope according to the second axle feedback current Ids;
Preset quadrature axis current scope according to the first axle to adjust the first axle mapping electric current I qs*, and obtain the first axle output current Iq*;
The input signal of five phase PWM inverter circuits is controlled according to the first axle output current Iq*.
The target torque Te* received by controller, input voltage Vdc and motor speed ω, obtain controlling electric current, judge that controlling electric current needs adjustment, according to the input signal of the control Current Control five phase PWM inverter circuit after adjustment, control each phase waveform and the current signal of five-phase induction motor, control the running of five-phase induction motor.This kind arranges and can adjust phase current according to the fluctuation of the change of load, the change of motor speed and input voltage fast, realizes moment of torsion and motor speed is adjustable, arranges adjusting range to determine reliable range of operation, makes operation more steady.
In another one embodiment of the present invention, additionally provide and how to determine that the first axle presets quadrature axis current scope according to the second axle feedback current, be specially: determine that the first axle presets quadrature axis current scope according to the first axle quadrature axis current limits value Iqmax and the first axle preset difference value Iqf, determine the first axle preset difference value according to the second axle feedback current Ids and the second axle stator hypervelocity electric current I os.Exceed the speed limit electric current I os and the second axle of second axle feedback current Ids and the second axle stator maps after electric current I ds* compares, and obtain the first axle deviation delta Iq, the first axle deviation delta Iq exports the first axle preset difference value Iqf after PI regulating and controlling.Determined first axle of embodiment of the method for the present invention is preset quadrature axis current scope and is: [-Iq1, Iq1], Iq1=Iqmax-Iqf.When the first axle mapping electric current I qs* presets within quadrature axis current scope at q axle, the first axle output current Iq*=first axle maps electric current I qs*, otherwise q axle output current Iq*=Iq1.
Map electric current I qs* by the second axle feedback current Ids to the first axle to adjust, two shaft currents can be made to influence each other, mutually adjust, thus it is more steady that motor is run.
Also can adjust the first axle by adjustment second axle stator hypervelocity electric current I os and the first axle quadrature axis current limits value Iqmax and preset quadrature axis current scope.Can make five-phase induction motor even running, holding torque is stablized, especially at high speeds.
In another one embodiment of the present invention, provide and how preset quadrature axis current scope according to the first axle and electric current I qs* is mapped to the first axle adjust, obtain the first axle output current Iq*; Be specially:
Judge that the first axle maps electric current I qs* and whether presets within quadrature axis current scope at the first axle;
Preset within quadrature axis current scope if the first axle maps electric current I qs* at the first axle, then electric current is not mapped to the first axle and adjust, obtain the first axle output current Iq*; If the first axle maps electric current outside the first axle quadrature axis current scope, then electric current is mapped to the first axle and adjust, obtain the first axle output current Iq*.Determined first axle of embodiment of the method for the present invention is preset quadrature axis current scope and is: [-Iq1, Iq1], Iq1=Iqmax-Iqf.When the first axle mapping electric current I qs* presets within quadrature axis current scope at q axle, the first axle output current Iq*=first axle maps electric current I qs*, otherwise q axle output current Iq*=Iq1.
In another one embodiment of the present invention, also comprise and determine the first axle feedback current Iqs according to each phase current of five cross streams motors, the input signal controlling five phase PWM inverter circuits according to the first axle output current Iq* is specially:
First axle output current Iq* and the first axle feedback current Iqs generates the first axle command voltage Vqs* after PI regulating and controlling, and the second axle maps electric current I ds* and the second axle feedback current Ids after PI regulating and controlling, generates the second axle command voltage Vds*; First axle command voltage Vqs* and the second axle command voltage Vds* is as the input signal of SVPWM module after being synchronized to the conversion of static mapping block, and SVPWM module exports the input signal of five phase PWM inverter circuits.
In another one embodiment of the present invention, also comprise and determine the first axle feedback current Iqs according to each phase current of five cross streams motors, determine that the second axle presets quadrature axis current scope according to the first axle feedback current Iqs, preset quadrature axis current scope according to the second axle to adjust the second axle mapping electric current I ds*, obtain the second axle output current.In another one embodiment of the present invention, the input signal controlling five phase PWM inverter circuits according to the first axle output current Iq* is specially: the first axle output current Iq* and the first axle feedback current Iqs generates the first axle command voltage Vqs* after PI regulating and controlling, generates the second axle command voltage Vds* according to the second axle output current and the second axle feedback current Ids after PI regulating and controlling; First axle command voltage Vqs* and the second axle command voltage Vds* is as the input signal of SVPWM module after being synchronized to the conversion of static mapping block, and SVPWM module exports the input signal of five phase PWM inverter circuits.The each phase current of five cross streams motors converts the first axle feedback current Iqs and the second axle feedback current Ids to through Clarke and Park conversion.Regulate the second axle to map electric current and the first axle mapping electric current by the first axle feedback current and the second axle feedback current simultaneously, make both influence each other, mutually regulate, control more accurate.
In another one embodiment of the present invention, also comprise and determine the 3rd axle feedback current according to each phase current of five cross streams motors, 4th axle feedback current, 5th axle feedback current, determine that the second axle presets quadrature axis current scope according to the 3rd axle feedback current, preset quadrature axis current scope according to the second axle to adjust the second axle mapping electric current I ds*, obtain the second axle output current, electric current is mapped according to the 4th axle feedback current adjustment the 3rd axle, electric current is mapped according to the 5th axle feedback current adjustment the 4th axle, electric current is mapped according to the first axle feedback current adjustment the 5th axle, obtain each axle output current respectively, particularly, the each phase current of five cross streams motors is respectively as the first axle feedback current, the second axle feedback current, the 3rd axle feedback current, the 4th axle feedback current and the 5th axle feedback current, after PI regulating and controlling, each axle command voltage is generated respectively according to each axle feedback current and each axle output current, each axle command voltage is as the input signal of SVPWM module, and SVPWM module exports the input signal of five phase PWM inverter circuits.Above-mentioned five after adjustment map the input signal of Current Control SVPWM module or the input signal of PWM inverter circuit, influence each other between each phase current, accurately each phase current of motor is adjusted, realize moment of torsion and motor speed is adjustable, and make operation more steady.
Fig. 1 is the structured flowchart of a kind of five cross streams motor control assemblies provided by the invention, as shown in Figure 1, embodiments provide a kind of five cross streams motor control assemblies, comprise DC power supply 100 and PWM inverter circuit 30 and electric machine controller master board 18, PWM inverter circuit comprises inverter circuit and modulation circuit, five cross streams motor control assemblies also comprise SVPWM module 29, be arranged on the front end of modulation circuit, control modulation circuit for generating on-off model, SVPWM module 29 can be arranged in electric machine controller master board 18.DC power supply 100 is electrokinetic cell, and general employing LiFePO4 or ternary material, power supply is high voltage direct current, and electric pressure is higher, is generally greater than 300V.DC support electric capacity 301, is connected in parallel on the DC bus of inverter circuit, plays the effect of voltage stabilizing and filtering.Inverter circuit 30 comprises ten inverter insulated gate bipolar transistors 312, and its effect is that high voltage direct current is reverse into alternating current, is controlled, namely modulated by modulation circuit by PWM output circuit; The Current Control five cross streams motor 14 being produced alternation by the switch of these ten IGBT exports the moment of torsion and speed of specifying.Effectively whether SVPWM module 29 is arranged on the front end of modulation circuit, controls modulation circuit for generating on-off model, and then the output signal of control PWM output circuit.Thus realize the motor speed of five cross streams motors and moment of torsion adjustable, thus carry out controlling effectively reliably to five cross streams motors 14, the pulsation of torque can be reduced, motor is exported steadily.
Electric machine controller master board 18 is provided with temperature collect module 26, be connected with IGBT module temperature sensor 13 and/or motor stator temperature sensor 15, for the temperature of the temperature and/or motor that detect PWM inverter circuit, prevent the temperature of PWM inverter circuit module and/or motor too high, the performance of influential system and car load.Electric machine controller master board 18 is also provided with the rotor-position sensor 16 of detection five cross streams motor 14 rotor-position, is connected with motor speed acquisition module 28, general employing revolves change.Electric machine controller master board 18 is also provided with voltage collecting device 27, is connected with busbar voltage transducer 17, the direct voltage of bus can be gathered, i.e. input voltage.Electric machine controller master board 18 is provided with the feedback current acquisition module 21 gathering each phase current, for gathering each phase current Ias-Ies.Electric machine controller master board 18 and entire car controller 19 carry out communication by CAN, are subject to the control of entire car controller 19.
As shown in Figure 2, five cross streams motor control assemblies also comprise control loop module 200, static to synchronization map module 24, be synchronized to static mapping block 25, control loop module 200 exports the second axle command voltage Vds* and the first axle command voltage Vqs* according to the target torque Te* received, motor speed ω and input voltage Vdc and the second axle feedback current Ids received, the first axle feedback current Iqs; Control loop module 200 comprises mapping current adjusting module 20, moment of torsion to current mapping module 22, command voltage generation module 23.
Moment of torsion gathers motor rotor position θ r to current mapping module 22 according to the target torque Te* received, motor speed ω and motor speed acquisition module 28, then obtained the angular speed of rotor by differentiate, namely motor speed ω and input voltage Vdc generates the second axle mapping electric current I ds* and the first axle mapping electric current I qs*.
Static each phase current Ias-Ies current acquisition module 21 gathered to synchronization map module 24 converts the second axle feedback current Ids and the first axle feedback current Iqs to through Clarke and Park conversion.
Command voltage generation module 23 comprises the first axle PI control module and the second axle PI control module, second beam warp allusion quotation PI control module generates the second axle command voltage Vds* according to the second axle output current and the second axle feedback current Ids, and the first beam warp allusion quotation PI control module generates the first axle command voltage Vqs* according to the first axle output current and the first axle feedback current Iqs; Or, this device embodiment provides, second axle PI control module maps electric current I ds* and the second axle feedback current Ids according to the second axle and generates the second axle command voltage Vds*, and the first axle PI control module generates the first axle command voltage Vqs* according to the first axle output current Iq* and the first axle feedback current Iqs.
Be synchronized to static mapping block 24 converts circuit in SVPWM module 29 to input signal according to the second axle command voltage Vds* and the first axle command voltage Vqs*; Be specially and add motor rotor position θ r according to the second axle command voltage Vds* and the first axle command voltage Vqs* and convert first-phase sinusoidal voltage Va--the 5th phase sinusoidal voltage Ve to through Clarke and Park inverse transformation.
Map current adjusting module 20 and map electric current I ds* and/or q axle mapping electric current I qs* for adjusting d axle, particularly, according to the first axle feedback current Iqs and the first axle stator hypervelocity electric current and the first axle map electric current I qs* determine the second axle deviation, second axle deviation exports the second axle preset difference value through PI regulating and controlling, determine that the second axle presets quadrature axis current scope according to the second axle preset difference value and the second axle quadrature axis current limits value, map current adjusting module and export the second axle output current; And/or, map electric current I ds* according to the second axle feedback current Iqs and the second axle stator hypervelocity electric current I os and the second axle and determine the first axle deviation delta Iq, first axle deviation delta Iq exports the first axle preset difference value Iqf after PI regulating and controlling, determine that the first axle presets quadrature axis current scope according to the first axle preset difference value Iqf and the first axle quadrature axis current limits value Iqmax, map current adjusting module 20 to adjust the first axle mapping electric current I qs*, export the first axle output current Iq*.By adjusting the first axle stator hypervelocity electric current and the second axle quadrature axis current limits value adjusts the second axle and presets quadrature axis current scope; And/or adjust the first axle preset quadrature axis current scope by adjustment second axle stator hypervelocity electric current I os and the first axle quadrature axis current limits value Iqmax.In the present embodiment, only adjustment first axle maps electric current I qs*, in working control, by fully adjusting second axle stator hypervelocity electric current I os and first this Two Variables of axle quadrature axis current limits value Iqmax, can make five-phase induction motor even running, especially at high speeds, holding torque is stablized.
As from the foregoing, the embodiment of the present invention has following advantage:
Five cross streams motor control methods provided by the invention, reliably can control five cross streams motors, realize moment of torsion and motor speed is adjustable; The target torque Te* received by controller, input voltage Vdc and motor speed ω, obtain controlling electric current, judge that controlling electric current needs adjustment, according to the input signal of the control Current Control five phase PWM inverter circuit after adjustment, control each phase waveform and the current signal of five-phase induction motor, control the running of five-phase induction motor.This kind arranges and can adjust phase current according to the fluctuation of the change of load, the change of motor speed and input voltage fast, realizes moment of torsion and motor speed is adjustable, arranges adjusting range to determine reliable range of operation, makes operation more steady.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. five cross streams motor control methods, comprise five phase PWM inverter circuits and five cross streams motors, it is characterized in that, described method comprises:
Determine that the first axle maps electric current and the second axle maps electric current according to target torque, input voltage and motor speed;
The second axle feedback current is determined according to each phase current of described five cross streams motor;
Determine that the first axle presets quadrature axis current scope according to described second axle feedback current;
Preset quadrature axis current scope according to described first axle to adjust described first axle mapping electric current, and obtain the first axle output current;
The input signal of described five phase PWM inverter circuits is controlled according to described first axle output current;
Wherein, describedly determine that the first axle is preset quadrature axis current scope and is specially according to described second axle feedback current: determine that described first axle presets quadrature axis current scope according to the first axle quadrature axis current limits value and the first axle preset difference value, determine described first axle preset difference value according to the second axle stator hypervelocity electric current and described second axle feedback current.
2. five cross streams motor control methods according to claim 1, it is characterized in that, describedly determine that described first axle preset difference value is specially according to the second axle stator hypervelocity electric current and described second axle feedback current: described second axle feedback current and described second axle stator exceed the speed limit electric current and described second axle map current ratio comparatively after, obtain the first axle deviation, described first axle deviation exports described first axle preset difference value after PI regulating and controlling.
3. five cross streams motor control methods according to claim 1, is characterized in that, by adjust described second axle stator hypervelocity electric current and described first axle quadrature axis current limits value adjustment described first axle preset quadrature axis current scope.
4. five cross streams motor control methods according to claim 1, is characterized in that: describedly preset quadrature axis current scope according to described first axle and map electric current to described first axle and adjust, and obtain the first axle output current and be specially:
Judge that described first axle maps electric current and whether presets within quadrature axis current scope at the first axle;
Preset within quadrature axis current scope if described first axle maps electric current at described first axle, then electric current is not mapped to described first axle and adjust, obtain described first axle output current; If described first axle maps electric current outside described first axle quadrature axis current scope, then electric current is mapped to described first axle and adjust, obtain described first axle output current.
5. five cross streams motor control methods according to any one of claim 1-4, is characterized in that, also comprise and determine the first axle feedback current according to each phase current of described five cross streams motor;
The described input signal controlling described five phase PWM inverter circuits according to described first axle output current is specially:
Described first axle feedback current and described first axle output current generate the first axle command voltage after PI regulating and controlling, and described second axle maps electric current and described second axle feedback current generates the second axle command voltage after PI regulating and controlling; Described first axle command voltage and described second axle command voltage are as the input signal of SVPWM module after conversion, and described SVPWM module exports the input signal of described five phase PWM inverter circuits.
6. five cross streams motor control methods according to any one of claim 1-4, it is characterized in that, also comprise and determine the first axle feedback current according to each phase current of described five cross streams motor, determine that the second axle presets quadrature axis current scope according to described first axle feedback current, preset quadrature axis current scope according to described second axle to adjust described second axle mapping electric current, and obtain the second axle output current.
7. five cross streams motor control methods according to claim 6, is characterized in that, the described input signal controlling described five phase PWM inverter circuits according to described first axle output current is specially:
Described first axle output current and described first axle feedback current generate the first axle command voltage after PI regulating and controlling, generate the second axle command voltage according to described second axle output current and described second axle feedback current after PI regulating and controlling; Described first axle command voltage and described second axle command voltage are as the input signal of SVPWM module after conversion, and described SVPWM module exports the input signal of described five phase PWM inverter circuits.
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| JP6376370B2 (en) * | 2014-08-08 | 2018-08-22 | 東洋システム株式会社 | Feedback control device |
| CN104901598B (en) * | 2015-06-24 | 2017-07-28 | 广东威灵电机制造有限公司 | Motor driver, method and motor |
| WO2021196218A1 (en) * | 2020-04-03 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Motor control method and apparatus, movable platform, and storage medium |
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Effective date of registration: 20190326 Address after: 317000 east gate of Taizhou City, Zhejiang Province Co-patentee after: Zhejiang Geely Holding Group Co., Ltd. Patentee after: Zhejiang Geely Automobile Research Institute Co., Ltd. Address before: 311228 No. 206 Farmer's Second House in Linjiang Industrial Park, Xiaoshan District, Hangzhou City, Zhejiang Province Co-patentee before: Zhejiang Geely Automobile Research Institute Co., Ltd. Patentee before: Hangzhou Branch, Zhejiang Geely Automobile Research Institute Co., Ltd. Co-patentee before: Zhejiang Geely Holding Group Co., Ltd. |