CN103501149A - Multi-phase induction motor-specific subharmonic current suppression method - Google Patents
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Abstract
The invention relates to a multi-phase induction motor-specific subharmonic current suppression method, which includes the following steps: (A) current reference value processing; (B) current feedback value processing; (C) current regulation; (D) voltage reference value determination. Based on the vector control of a multi-phase induction motor, the method maps the current of the multi-phase motor into a corresponding synchronous rotating reference frame of a fundamental wave and each subharmonic orthogonal to each other by multiple synchronous rotating coordinate transformations, and uses proportional-integral controllers to respectively carry out tracking with zero steady-state error and combine to form an integral current controller. The method has the advantages that trapezoidal integration is adopted to increase integral accuracy, and supplemented by variable structure control, appropriate self-adaptive compensation is introduced to resist control saturation, so that static and dynamic performance is further enhanced; the method can suppress motor loss caused by the harmful subharmonic current of the multi-phase motor and the adverse affection of torque ripple, vibration noise and the like, and can utilize the positive effect of usable subharmonic; the method takes full advantage of the multi-phase motor, and enhances system performance.
Description
Technical field
The invention belongs to alternating current motor and control technology field thereof, be specifically related to a kind of multiphase induction motor and specify subharmonic current inhibition method, to realize the current waveform optimal control, can be applicable to the high-power AC motor transmission occasions such as Ship Propeling, mining machinery, track drawing, steel rolling, pump and fan speed governing.
Background technology
Alternating current machine especially cage-type induction machine, easy care simple in structure with it and the cheap characteristics of cost is widely used.And energy problem day by day highlight the waste that makes the high-power AC motor that adopts the speed governing transmission to reduce to account for very large proportion in power consumption and loss to realize energy-saving and emission-reduction, there is great economy and social effect, day by day receive publicity.
Along with the development of power electronic technology, multiphase power converter makes motor break away from the restriction of the industrial electrical network number of phases.With traditional three phase electric machine system, compare, the significant advantage of polyphase system is:
Raising along with power grade, polyphase machine is by increasing number of motor phases and inverter leg number, not only be easy to realize by low-voltage device the high-power operation of system, be conducive to lower the cost of system, the problems such as the topology that the quiet dynamic voltage balancing problem of also having avoided the device series connection to bring and many level bring and control complexity thereof.Especially the limited occasion (as marine vessel power advances) at supply power voltage, have more advantage.
Polyphase machine has the phase redundancy characteristic, when phase fault, still can obtain torque stably, realizes fault-tolerant anti-interference operation.Being suitable for naval vessel advances. nuclear power station water-cooling system, the occasion of the high reliability request such as Aero-Space.
Polyphase machine has more control resource.From on off state, there is more non-zero voltage space vector, from coordinate transform, have a plurality of mutually orthogonal
dqplane, wherein can control respectively corresponding variable, and more potential is arranged.
In polyphase machine, the harmonic field number of times increases, and impact reduces, and the torque pulsation with the function of current produces, also reduce, and makes vibration and noise reduce, and rotor loss lowers.
Yet generally speaking the polyphase machine number of turn that often is in series is less, stator leakage inductance less, to the inhibitory action of current harmonics in the situation that identical not as good as three phase electric machine.
Current harmonics mainly comes from: the dead time effect of the voltage source converter nonlinear characteristic of power supply and PWM modulation etc. can make output voltage contain a large amount of low-order harmonics, harmonic voltage acts on the Low ESR space can produce very large harmonic current, in addition, there is the unintentional nonlinearity characteristic in the iron core of motor, the harmonic back EMF that the non-sine air-gap flux causes is at the motor harmonic current that all produces in service, and, some polyphase machine New Topologicals are opened winding etc. as the H bridge, owing to having untied the winding neutral point, make some times harmonic electric current form path, impelled its formation.
Multiphase induction motor is by rational Winding Design, mating its magnetic potential space wave and current time ripple is to utilize some low-order harmonic to realize energy converting between mechanical, optimizes the air gap flux density waveform, improves utilance unshakable in one's determination, and the increase torque density, but the impact of its harmful subharmonic still should not be underestimated.Mainly be reflected in: increase winding loss; Cause the tangential torque pulsation of motor; Produce radially electro-magnetic exciting force of motor, increase vibration noise; Cause the phase current peak value to increase, and may cause over current fault, reduce the electric system performance.Although adopt to address this problem to a certain extent with filter, caused undoubtedly the increase of system bulk, weight, cost.
The control strategy of multiphase induction motor mainly comprises constant voltage constant frequency control, field orientation vector control, direct torque control etc.Wherein vector control adopts respectively closed-loop control by coordinate transform to magnetic linkage and electromagnetic torque, realizes the decoupling zero of magnetic field and electric current, has good dynamic and static state performance; Direct torque control does not need complicated coordinate transform, by the direct tracking of magnetic linkage and torque, realizes the high dynamic performance of PWM and system, has robustness.
Keep in check in the adverse effect of the harmful subharmonic current of multiphase induction motor, its application is restricted.And at present, the control strategy that rarely has corresponding technical literature report to specify subharmonic current to suppress about solving multiphase induction motor.
Summary of the invention
The object of the invention is to propose a kind of multiphase induction motor and specify subharmonic current inhibition method, to realize the current waveform optimal control, reduce winding loss; Slacken motor torque ripple; Reduce radially electro-magnetic exciting force of motor, reduce vibration noise; The phase current peak value of avoiding current harmonics to cause increases and the over current fault that causes, improves the electric system performance.
Technical scheme of the present invention is:
A kind of multiphase induction motor is specified subharmonic current inhibition method, comprises the following steps:
A, current reference value are processed: based on the multiphase induction motor vector control, according to motor speed
and rotor flux
proportional integral is regulated result, determines that first-harmonic and available subharmonic current are at synchronous rotating frame separately
dqthe component reference value
, and the harmful subharmonic current that makes appointment is at synchronous rotating frame separately
dqthe component reference value
be zero; Described available subharmonic current refers to the low-order harmonic electric current that can realize energy converting between mechanical, and harmful subharmonic current refers to the higher harmonic current that can not realize energy converting between mechanical,
lfor available harmonic number,
hfor harmful harmonic number,
, the minimum number of times of harmful harmonic wave is higher than the high reps of available harmonic wave;
B, current feedback value are processed: by each phase current feedback value of motor
through heterogeneous many synchronously rotating reference frame conversion, be mapped to mutually orthogonal first-harmonic and each harmonic synchronous rotating frame, obtain first-harmonic and individual harmonic current
dqthe component value of feedback
;
C, electric current regulate: the definite electric current according to steps A
dqcomponent reference value and the definite electric current of step B
dqthe component value of feedback is carried out improved proportional integral adjusting at corresponding synchronous rotating frame separately, it is to realize by the anti-saturation proportional and integral controller that improved proportional integral is regulated, a plurality of independently synchronous rotating frame current regulator stacks are formed to complete current controller, regulate and produce each synchronous rotating frame voltage
dqthe component reference value
;
D, voltage reference value are determined: each synchronous rotating frame voltage of determining according to step C
dqthe component reference value, through heterogeneous many synchronously rotating reference frames inverse transformation, forms each cross streams voltage reference value
.
Further technical scheme is:
Described multiphase induction motor is specified subharmonic current inhibition method, and the heterogeneous many synchronously rotating reference frame conversion of its step B are by matrix
trealize coordinate transform:
Matrix
tfor following form:
Wherein,
nfor the high reps of harmful harmonic wave of appointment,
mfor the number of phases,
, be each alternate angle,
for first-harmonic rotor flux vector and rest frame
athe phase angle of phase axis,
.
Described multiphase induction motor is specified subharmonic current inhibition method, and the heterogeneous many synchronously rotating reference frames inverse transformation of its step D is by matrix
tinverse matrix
t -1 realize coordinate transform:
Described multiphase induction motor is specified subharmonic current inhibition method, and its step C proportional and integral controller adopts trapezoidal integration, introduces and becomes structure compensation, realizes the self adaptation adjustment of integration item, and anti-control is saturated, has following transfer function:
Wherein,
for proportionality coefficient,
for integral coefficient,
efor the adjuster bias term,
for the unsaturated output item of adjuster,
for the saturated output item of adjuster, saturated bias term is
, coefficient
realize the self adaptation adjustment of integration item,
,
adaptive change rule be:
Coefficient in formula
.
In conjunction with technical scheme of the present invention and principle, remarkable technique effect of the present invention is described as follows:
The know-why that a kind of multiphase induction motor of the present invention is specified subharmonic current inhibition method is mainly: the rotor flux linkage orientation vector control that the present invention is based on the many synchronous rotating frames of multiphase induction motor, utilize the multi-control degree of freedom of polyphase machine, multiphase current is converted through heterogeneous many synchronously rotating reference frames, be mapped to mutually orthogonal first-harmonic and each harmonic synchronous rotating frame, its
dqcomponent all is characterized by the DC quantity of decoupling zero, be easy to adopt simple in structure, parameter designing is easy, the proportional and integral controller of strong robustness is realized respectively quick floating tracking, and simple superposition forms complete current controller, relatively traditional proportional and integral controller, adopt the trapezoidal integration discretization to realize in digital system, improve control precision, and adopt the change structure control, and introduce the suitable anti-control of adaptive equalization link saturated, further improved dynamic and static state performance.Control method of the present invention is simple and practical, does not need complicated design of Regulator can realize that decoupling zero controls, and can not cause the phase mutual interference between the different frequency harmonic wave and cause that system is unstable.This control method suppresses the loss of electric machine that the harmful subharmonic current of multiphase induction motor causes, the negative effect such as torque pulsation and vibration noise, and the positive effect that makes available subharmonic is (as improved torque density, optimize magnetic close to improve iron core utilization etc.) excavated, give full play to the advantage of polyphase machine, improved systematic function.
The accompanying drawing explanation
Fig. 1 is that described multiphase induction motor specifies subharmonic current inhibition method always to scheme.
Fig. 2 is that described multiphase induction motor specifies subharmonic current anti-saturation proportional integral under many synchronous rotating frames to regulate inhibition method schematic diagram.
Embodiment
It is as follows that the invention will be further described in conjunction with the accompanying drawings and embodiments:
embodiment 1:as shown in Figure 1, 2, be a basic embodiment of the present invention.A kind of multiphase induction motor is specified subharmonic current inhibition method, comprises the following steps:
A, current reference value are processed: the rotor flux linkage orientation vector control based on the many synchronous rotating frames of multiphase induction motor, and according to motor speed
and rotor flux
proportional integral is regulated result, determine ratio and the phase relation of motor first-harmonic and available subharmonic current, extract at synchronous rotating frame separately the magnetic flux density waveforms that the current excitation component makes it to produce expectation, obtain first-harmonic and available subharmonic current at synchronous rotating frame separately
dqthe component reference value
, and the harmful subharmonic current that makes appointment is at synchronous rotating frame separately
dqthe component reference value
be zero; Described available subharmonic current refers to can realize energy converting between mechanical, optimize the air gap flux density waveform, increase torque density, improve the low-order harmonic electric current of utilance unshakable in one's determination, harmful subharmonic current refers to can not realize energy converting between mechanical, increase winding loss, cause tangential torque pulsation, produce the radially higher harmonic current of electro-magnetic exciting force, increase vibration noise
lfor available harmonic number,
the time, be first-harmonic,
hfor harmful harmonic number,
, the minimum number of times of harmful harmonic wave is higher than the high reps of available harmonic wave;
B, current feedback value are processed: by each phase current feedback value of motor
, wherein containing first-harmonic and available subharmonic, and harmful subharmonic that superposeed, through heterogeneous many synchronously rotating reference frame conversion, be mapped to mutually orthogonal first-harmonic and each harmonic synchronous rotating frame, obtain first-harmonic and individual harmonic current
dqthe component value of feedback
, all be characterized by DC quantity;
C, electric current regulate: the definite electric current according to steps A
dqthe component reference value
the electric current definite with step B
dqthe component value of feedback
, be the DC quantity of decoupling zero at corresponding synchronous rotating frame separately, carry out improved proportional integral adjusting, realize first-harmonic and individual harmonic current
dqthe quick astatic control of component, it is to realize by the anti-saturation proportional and integral controller that improved proportional integral is regulated, and a plurality of independently synchronous rotating frame current regulator stacks are formed to complete current controller, regulates and produces each synchronous rotating frame voltage
dqthe component reference value
;
D, voltage reference value are determined: each synchronous rotating frame voltage of determining according to step C
dqthe component reference value
, through heterogeneous many synchronously rotating reference frames inverse transformation, form each cross streams voltage reference value
; Carry out Realization of pulse width modulation based on voltage space vector (SVPWM), drive the ployphase voltages source inventer, power to multiphase induction motor.
embodiment 2:the further embodiment of embodiment 1.As different from Example 1: the heterogeneous many synchronously rotating reference frame conversion of described step B are by matrix
trealize that heterogeneous static coordinate is tied to the coordinate transform of many synchronous rotating frames:
Matrix
tfor following form:
Wherein,
nfor the high reps of harmful harmonic wave of appointment,
mfor the number of phases,
, be each alternate angle,
for first-harmonic rotor flux vector and rest frame
athe phase angle of phase axis,
.
The heterogeneous many synchronously rotating reference frames inverse transformation of described step D is by matrix
tinverse matrix
t -1 realize that many synchronous rotating frames arrive heterogeneous rest frame coordinate transform:
Described step C proportional integral (PI) adjuster has following transfer function:
Wherein,
for proportionality coefficient,
for integral coefficient, utilize the method for pole zero cancellation to be designed regulator parameter, when numerical control system is realized, adopt trapezoidal integration to improve the precision of integration item, eliminate static difference, its increment type pi regulator discrete form is:
Wherein,
kfor sampling sequence number,
efor the adjuster bias term,
ufor the adjuster output item,
for output increment; And introduce the change structure compensation, and realizing the self adaptation adjustment of integration item, anti-control is saturated, and transfer function is:
, coefficient
realize the self adaptation adjustment of integration item,
,
adaptive change rule be:
Coefficient in formula
.
embodiment 3:it is preferred embodiment of the present invention.Multiphase induction motor be five mutually sine open winding for electric induction motor, fundamental current is realized energy converting between mechanical, triple harmonic current does not produce energy converting between mechanical, is to suppress object.The multiphase induction motor of the present embodiment specifies subharmonic current inhibition method to comprise the following steps:
A, current reference value are processed: the rotor flux linkage orientation vector control based on five phase induction machine first-harmonic synchronous rotating frames, and according to motor speed
and rotor flux
proportional integral is regulated result, determines that the motor first-harmonic is at its synchronous rotating frame
dqthe component reference value
, and the triple harmonic current that makes appointment is at its synchronous rotating frame
dqthe component reference value
Be zero, eliminated;
B, current feedback value are processed: by motor five phase current feedback values
, wherein containing first-harmonic, and the triple-frequency harmonics that superposeed, through five mutually more synchronously rotating reference frame conversion, from five phase rest frames, being mapped to mutually orthogonal first-harmonic and triple-frequency harmonics synchronous rotating frame, matrix is pressed in conversion
trealize:
tfor following form:
Wherein,
for first-harmonic rotor flux vector and rest frame
athe phase angle of phase axis;
Conversion obtains first-harmonic and triple harmonic current
dqthe component value of feedback
, all be characterized by DC quantity;
C, electric current regulate: the definite electric current according to steps A
dqthe component reference value
the electric current dq component value of feedback definite with step B
, be the DC quantity of decoupling zero, carry out the proportional integral adjusting, realize first-harmonic and triple harmonic current
dqthe quick astatic control of component, it is that the passing ratio integral controller is realized that proportional integral is regulated, proportional integral (PI) adjuster has following transfer function:
Wherein,
for proportionality coefficient,
for integral coefficient, utilize the method for pole zero cancellation to be designed regulator parameter, when numerical control system is realized, adopt trapezoidal integration to improve the precision of integration item, eliminate static difference, its increment type pi regulator discrete form is:
Wherein,
kfor sampling sequence number,
efor the adjuster bias term,
ufor the adjuster output item,
for output increment; Introduce and become structure compensation, realize the self adaptation adjustment of integration item, anti-control is saturated, and transfer function is:
, coefficient
realize the self adaptation adjustment of integration item,
,
adaptive change rule be:
Coefficient in formula
.
First-harmonic and the stack of triple-frequency harmonics synchronous rotating frame current regulator are formed to complete current controller, regulate and produce first-harmonic and triple-frequency harmonics synchronous rotating frame voltage
dqthe component reference value
;
D, voltage reference value determine: definite first-harmonic and the triple-frequency harmonics synchronous rotating frame voltage according to step C
dqthe component reference value
through five mutually more synchronously rotating reference frame inverse transformations, realize that first-harmonic and triple-frequency harmonics synchronous rotating frame convert to five phase rest frames, matrix is pressed in conversion
tinverse matrix
t -1 realize:
t -1 for following form:
Wherein,
for first-harmonic rotor flux vector and rest frame
athe phase angle of phase axis;
Conversion obtains five cross streams voltage reference values
; Carry out Realization of pulse width modulation based on voltage space vector (SVPWM), drive the ployphase voltages source inventer, power to multiphase induction motor.
embodiment 4:it is another preferred embodiment of the present invention.Multiphase induction motor be five concentrate mutually whole apart from the star-like connection non-sinusoidal power supply of winding induction machine, fundamental current is realized energy converting between mechanical, can utilize triple harmonic current to realize energy converting between mechanical, optimizes the air gap flux density waveform simultaneously, increase torque density, improve utilance unshakable in one's determination; The quintuple harmonics electric current is due to the star-like connection of winding, and can not form path and can't circulate, be zero, do not control, and the seventh harmonic electric current is not realized energy converting between mechanical, will produce torque pulsation, loss etc., be the inhibition object.The multiphase induction motor of the present embodiment specifies subharmonic current inhibition method to comprise the following steps:
A, current reference value are processed: the rotor flux linkage orientation vector control based on five phase induction machine first-harmonics and triple-frequency harmonics synchronous rotating frame, and according to motor speed
and rotor flux
proportional integral is regulated result, determines ratio and the phase relation of first-harmonic and triple harmonic current, at first-harmonic and triple-frequency harmonics synchronous rotating frame, extract the magnetic flux density waveforms that the current excitation component makes it to produce expectation, obtains first-harmonic and triple-frequency harmonics synchronous rotating frame
dqthe component reference value
, and the seventh harmonic electric current that makes appointment is at the seventh harmonic synchronous rotating frame
dqthe component reference value
be zero, eliminated;
B, current feedback value are processed: by motor five phase current feedback values
, wherein containing first-harmonic, and superposeed three, the seventh harmonic, through five mutually more synchronously rotating reference frames conversion, from five phase rest frames, be mapped to mutually orthogonal first-harmonic and three, five, the seventh harmonic synchronous rotating frame, matrix is pressed in conversion
trealize:
tfor following form:
Wherein,
for first-harmonic rotor flux vector and rest frame
athe phase angle of phase axis;
Conversion obtains first-harmonic and three, the seventh harmonic electric current
dqthe component value of feedback
, all be characterized by DC quantity,
be zero;
C, electric current regulate: the definite electric current according to steps A
dqthe component reference value
the electric current definite with step B
dqthe component value of feedback
, be the DC quantity of decoupling zero, carry out the proportional integral adjusting, realize first-harmonic and three, the seventh harmonic electric current
dqthe quick astatic control of component, it is that the passing ratio integral controller is realized that proportional integral is regulated, proportional integral (PI) adjuster has following transfer function:
Wherein,
for proportionality coefficient,
for integral coefficient, utilize the method for pole zero cancellation to be designed regulator parameter, when numerical control system is realized, adopt trapezoidal integration to improve the precision of integration item, eliminate static difference, its increment type pi regulator discrete form is:
Wherein,
kfor sampling sequence number,
efor the adjuster bias term,
ufor the adjuster output item,
for output increment; Introduce and become structure compensation, realize the self adaptation adjustment of integration item, anti-control is saturated, and transfer function is:
for the unsaturated output item of adjuster,
for the saturated output item of adjuster, saturated bias term is
, coefficient
realize the self adaptation adjustment of integration item,
,
adaptive change rule be:
Coefficient in formula
.
First-harmonic and three, the stack of the seventh harmonic synchronous rotating frame current regulator are formed to complete current controller, regulate and produce first-harmonic and three, the seventh harmonic synchronous rotating frame voltage
dqthe component reference value
;
D, voltage reference value determine: definite first-harmonic and three, the seventh harmonic synchronous rotating frame voltage according to step C
dqthe component reference value
, and be zero quintuple harmonics synchronous rotating frame voltage
dqthe component reference value
, through five mutually more synchronously rotating reference frame inverse transformations, realizing that first-harmonic and three, five, the seventh harmonic synchronous rotating frame convert to five phase rest frames, conversion is by the inverse matrix T of matrix T
-1realize:
Conversion obtains five cross streams voltage reference values
; Carry out Realization of pulse width modulation based on voltage space vector (SVPWM), drive the ployphase voltages source inventer, power to multiphase induction motor.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount described scope as defined in the claims.
Claims (3)
1. a multiphase induction motor is specified subharmonic current inhibition method, it is characterized in that, comprises the following steps:
A, current reference value are processed: based on the multiphase induction motor vector control, according to motor speed
and rotor flux
proportional integral is regulated result, determines that first-harmonic and available subharmonic current are at synchronous rotating frame separately
dqthe component reference value
, and the harmful subharmonic current that makes appointment is at synchronous rotating frame separately
dqthe component reference value
be zero; Described available subharmonic current refers to the low-order harmonic electric current that can realize energy converting between mechanical, and harmful subharmonic current refers to the higher harmonic current that can not realize energy converting between mechanical,
lfor available harmonic number,
hfor harmful harmonic number,
, the minimum number of times of harmful harmonic wave is higher than the high reps of available harmonic wave;
B, current feedback value are processed: by each phase current feedback value of motor
through heterogeneous many synchronously rotating reference frame conversion, be mapped to mutually orthogonal first-harmonic and each harmonic synchronous rotating frame, obtain first-harmonic and individual harmonic current
dqthe component value of feedback
;
C, electric current regulate: the definite electric current according to steps A
dqcomponent reference value and the definite electric current of step B
dqthe component value of feedback is carried out improved proportional integral adjusting at corresponding synchronous rotating frame separately, it is to realize by the anti-saturation proportional and integral controller that improved proportional integral is regulated, a plurality of independently synchronous rotating frame current regulator stacks are formed to complete current controller, regulate and produce each synchronous rotating frame voltage
dqthe component reference value
;
D, voltage reference value are determined: each synchronous rotating frame voltage of determining according to step C
dqthe component reference value, through heterogeneous many synchronously rotating reference frames inverse transformation, forms each cross streams voltage reference value
.
2. multiphase induction motor according to claim 1 is specified subharmonic current inhibition method, it is characterized in that, the heterogeneous many synchronously rotating reference frame conversion of described step B are by matrix
trealize coordinate transform:
Matrix
tfor following form:
Wherein,
nfor the high reps of harmful harmonic wave of appointment,
mfor the number of phases,
, be each alternate angle,
for first-harmonic rotor flux vector and rest frame
athe phase angle of phase axis,
.
3. multiphase induction motor according to claim 2 is specified subharmonic current inhibition method, it is characterized in that, the heterogeneous many synchronously rotating reference frames inverse transformation of described step D is by matrix
tinverse matrix
t -1 realize coordinate transform:
Specify subharmonic current inhibition method according to the described multiphase induction motor of claim 1 or 3, it is characterized in that, described step C proportional and integral controller adopts trapezoidal integration, introduce and become structure compensation, realize the self adaptation adjustment of integration item, anti-control is saturated, has following transfer function:
Wherein,
for proportionality coefficient,
for integral coefficient,
efor the adjuster bias term,
for the unsaturated output item of adjuster,
for the saturated output item of adjuster, saturated bias term is
, coefficient
realize the self adaptation adjustment of integration item,
,
adaptive change rule be:
Coefficient in formula
.
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| CN108847669A (en) * | 2018-07-25 | 2018-11-20 | 南京邮电大学 | Multi-functional gird-connected inverter harmonic wave management method based on more synchronous rotating frames |
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| CN110768546A (en) * | 2019-10-31 | 2020-02-07 | 北京建筑大学 | Single-phase rectifier and control method thereof |
| CN110768546B (en) * | 2019-10-31 | 2020-08-04 | 北京建筑大学 | Single-phase rectifier and control method thereof |
| CN112436772A (en) * | 2020-11-26 | 2021-03-02 | 江苏大学 | Model prediction decomposition control method and device for open-winding five-phase permanent magnet synchronous motor |
| CN112865615A (en) * | 2021-01-18 | 2021-05-28 | 珠海格力电器股份有限公司 | Motor control method and device, storage medium and motor |
| CN113114078A (en) * | 2021-03-08 | 2021-07-13 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Position-sensorless control method of multiphase permanent magnet synchronous motor |
| CN113114078B (en) * | 2021-03-08 | 2022-05-27 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Position-sensorless control method of multiphase permanent magnet synchronous motor |
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