CN104201962A - Method for identifying traction induction motor parameter of high-speed train - Google Patents
Method for identifying traction induction motor parameter of high-speed train Download PDFInfo
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- CN104201962A CN104201962A CN201410425997.5A CN201410425997A CN104201962A CN 104201962 A CN104201962 A CN 104201962A CN 201410425997 A CN201410425997 A CN 201410425997A CN 104201962 A CN104201962 A CN 104201962A
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Abstract
A method for identifying a traction induction motor parameter of a high-speed train is disclosed. The method comprises the steps of: running two magnetic flux linkage observers synchronously and calibrating main model parameters such as a magnetic inductance and a rotor time constant set in a controller respectively in high-speed and low-speed running regions of the traction induction motor by utilizing respective advantages of a voltage type observer and a current type observer to enable the traction induction motor to be in a full-speed running range and enable the observation effects of the two magnetic flux linkage observers to be optimal. The method for identifying the traction induction motor parameter of the high-speed train can overcome the negative influence such as temperature rise of the motor and the excitation characteristic change, and realizes high-performance traction control.
Description
Technical field
The present invention relates to a kind of tugging and answer the directed parameter identification method of controlling use of motor-field, particularly a kind of traction induction motor parameter discrimination method.
Background technology
In electrified field of track traffic such as bullet trains, high-power induction machine, because it has the advantages such as sturdy and durable, maintenance is little, mechanical property is good, is widely applied.But the electromagnetic property due to the close coupling of induction machine high-order nonlinear, control difficulty larger, general control method is difficult to meet the strict demand that speed is high, power is large and torque characteristics is good, rotor field-oriented control has the good characteristics such as motor dynamics response is fast, torque performance is abundant, speed-regulating range width, is a kind of main flow control technology in current this field.
Rotor field-oriented control is by carrying out coordinate transform to the exciting current of motor, excitation and torque component decoupling zero are controlled, realization is similar to the control characteristic of direct current machine, because reference axis directional angle is rotor flux angle, is therefore called rotor field-oriented control.The key of carrying out field orientation control is to adopt flux observer to obtain magnetic linkage angle and amplitude accurately, because flux observer is based on motor mathematical model, depend on parameter of electric machine accuracy, when the parameter of electric machine changes, flux observer characteristic can decline, cause torque performance inaccurate, motor overheating, noise increase, even system unstability etc.
Bullet train is for a long time in Operation at full power, and motor internal temperature rise is larger, and the stator and rotor resistance parameters value of motor is altered a great deal.And for fully meeting the design requirement of traction electric machine low speed high torque and wide speed regulating range, the excursion of magnetizing inductance value is also very large.Like this, in controller, for building the major parameter of motor mathematical model, will depart from actual value, and when serious, cause control performance to decline, the essence of parameter variable effect that Here it is and the difficult point of traction electric machine high performance control.In order to overcome this impact, need to carry out on-line correction and identification to the parameter of electric machine, there have been in these areas a lot of achievements in research, can be divided into off-line and online two large class methods (H.A.Toliyat, E.Levi, M.Raina.A Review of RFO Induction Motor Parameter Estimation Techniques.IEEE Trans on Energy Conversion, Vol.18, No.2, June 2003:271-283.), offline parameter identification referred to before motor operation, it is applied pumping signal and detects motor and respond to obtain motor relevant parameter, but owing to being difficult to carry out before startup, and because motor runtime parameter can change, therefore conventionally adopt the method to parameter of electric machine on-line identification when motor moves.As least square method of recursion, its target function is the quadratic sum of measurement result to error calculated, and this class methods amount of calculation is moderate, but in optimizing process, will use the derivative of target function to the parameter of electric machine, all very sensitive to measuring noise and the fluctuation of speed.(land can induction machine state estimation and the some new method research of parameter identification doctorate paper Xi'an Communications University 2008)
Model reference adaptive on-line identification method is that to take the induction machine of actual motion be reference model, the state observation equation of motor of take is adjustable model, utilize some estimated bias that can measure (as stator voltage and electric current) of motor to adjust in real time the parameter of electric machine that adjustable model is used, thereby the parameter of identifying motor, this method have algorithm simple, the advantage such as be easy to realize in numerical control system.But during a plurality of parameter of electric machine of identification simultaneously, the parameter update law that meets stability and convergence rate is one and is difficult to the problem solving.(D.P.marcetic,S.N.Vukosavie.Speed sensorless AC drives with the rotor time constant parameter updata.IEEE Trans.on Industrial Electronies,2007,54(5):2618-2625)。Other as the parameter of electric machine discrimination method of the artificial intelligence such as neural net, fuzzy system, genetic algorithm, but all there is the shortcomings such as convergence rate is slow, algorithm and model is complicated in these methods, practice also has suitable difficulty (M.Wlas, Z.Kzeminski, H.A.Toliya.Neural network based Parameter estimation induction motors.IEEE Trans.on industrial Electronics, 2008,55 (4): 1783-1794).
Summary of the invention
The object of the invention is to overcome the shortcomings such as prior art depends on complex model and algorithm, and practicality is poor, propose a kind of bullet train traction induction motor parameter discrimination method.The present invention adopts flux observer that the important parameters such as the magnetizing inductance of motor and rotor time constant are detected and proofreaied and correct, for excitation and torque performance provide control foundation exactly, make flux observer accurately operation under various operating modes, to realize the high performance control of the high-power induction machine in the electric traction fields such as bullet train.
The present invention adopts two kinds of flux observers: a kind of is the method for rotor flux that obtains according to calculation of parameter such as electric moter voltage, stator resistance, magnetizing inductance, leakage inductances, is called voltage-type observer; Another kind is to calculate rotor flux method according to current of electric, motor speed, rotor time constant, magnetizing inductance, is called current mode observer.Current mode observer adopts the Coordinate Conversion angle obtaining based on rotor speed integration, can eliminate the magnetic linkage coupling amount between α, β axle.
In the calculating of these two kinds of observers, except calculating factor and voltage, electric current, outside the measured values such as rotating speed, current mode observer rotor time constant used is affected greatly by motor temperature, although voltage-type observer stator resistance used is temperature influence also, but due to only for calculated resistance pressure drop, but its impact is less, and rise with motor speed, winding back emf increases, voltage-type observer is more accurate, the accuracy of current mode observer does not change with rotating speed, therefore these two kinds of observers have certain complementarity, the present invention utilizes the characteristic of these two kinds of flux observers, in tugging, answer high speed operation of motor stage and the low cruise stage magnetizing inductance L to this traction induction machine respectively
mwith rotor time constant T
rcarry out on-line correction, the accuracy of flux observer while guaranteeing described traction induction machine full speed range work, thus realize the high performance control to traction induction machine.
Principle and the step of the inventive method are as follows:
First measure the stator resistance of traction induction machine.Utilize drive circuit to send a small direct voltage to this motor, detect the electric current of this motor, direct voltage and current of electric are divided by and can obtain stator resistance value.Then to traction induction machine, adopt current closed-loop to control.Two flux observers of traction induction machine: voltage-type observer and current mode observer are worked simultaneously, utilize the rotor flux angle that voltage-type observer obtains to carry out Coordinate Conversion, and this motor is risen to rated speed point.Now the observed result of voltage-type observer is more accurate, utilizes the magnetic linkage amplitude of its observation divided by exciting current value, can obtain magnetizing inductance value; By regulating the rotor time constant in current mode observer, make the observation angle of two flux observers consistent simultaneously, reach the object of proofreading and correct rotor time constant.And then this motor speed is reduced and stable speed operation, due to calibrated before rotor time constant, current mode observer is comparatively accurate, traction induction machine moves under the low speed, utilize the rotor flux angle that current mode observer obtains to carry out Coordinate Conversion, leakage field parameter in trim voltage type flux observer, make its observation angle consistent with current mode observer, reach the object of all motor observers parameter correction used, last omnidistance operation, amplitude and angle that two flux observers are obtained contrast.Obtain omnidistance optimum observer pattern.
The present invention utilizes the complementary characteristic of two kinds of flux observers, the traction induction motor parameter that flux observer is used is proofreaied and correct repeatedly, grasp tugging and answered motor excitation inductance curve, for applying rationally motor excitation control accurately, provide foundation, in actual motion, can adopt the mode of tabling look-up to call, simultaneously identification and calibrated the parameter of electric machine of observer, accuracy of observation is improved, thereby realizes the traction control of high-performance induction machine.
Accompanying drawing explanation
Fig. 1 voltage-type flux observer block diagram;
Fig. 2 current mode flux observer block diagram;
Fig. 3 resistance measurement schematic diagram;
Fig. 4 magnetizing inductance curve synoptic diagram;
The correction chart of Fig. 5 to rotor flux angle, the wherein leading rotor flux angle correct of Fig. 5 a current mode observation angle,
The rotor flux angle correct that Fig. 5 b current mode observation angle lags behind;
Fig. 6 magnetic linkage angular deviation correcting process figure;
Fig. 7 flux observer on-line correction schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention.
Principle and the step of the inventive method are as follows:
First measure the stator resistance of traction induction machine.Utilize drive circuit to send a small direct voltage to this motor, detect the electric current of this motor, direct voltage and current of electric are divided by and can obtain stator resistance value.Then to traction induction machine, adopt current closed-loop to control.Two kinds of flux observers of traction induction machine: voltage-type observer and current mode observer are worked simultaneously, utilize the rotor flux angle that voltage-type observer obtains to carry out Coordinate Conversion, are increased to rated speed point by the rotating speed of traction induction machine.Now the observed result of voltage-type observer is more accurate, utilizes the magnetic linkage amplitude of voltage-type observer observation divided by exciting current value, can obtain magnetizing inductance value; By regulating the rotor time constant in current mode observer, make the observation angle of two observers consistent simultaneously, reach the object of proofreading and correct rotor time constant.And then the rotating speed of this traction induction machine is reduced and stable speed operation, due to calibrated before rotor time constant, current mode observer is comparatively accurate, this motor moves under the low speed, utilize the rotor flux angle that current mode observer obtains to carry out Coordinate Conversion, leakage field parameter in trim voltage type flux observer, makes its observation angle consistent with current mode observer, reaches the object of all motor flux observers parameter correction used.The finally omnidistance operation of this traction induction machine, amplitude and angle that two flux observers are obtained contrast, and obtain omnidistance optimum observer pattern.Figure 1 shows that described voltage-type observer, voltage-type observer is obtained by motor mathematical model:
In above formula: R
sstator resistance, L
rinductor rotor, L
mmagnetizing inductance, δ L
sinterlinked leakage, ψ
s α, ψ
s βfor α β axle magnetic linkage component, u
s α, u
s βfor α β shaft voltage component, i
s α, i
s βfor α β shaft current component,
for integral operator.
By formula (1) and (2) visible voltage-type observer, be subject to stator resistance R
s, inductor rotor L
r, magnetizing inductance L
m, interlinked leakage δ L
simpact, but along with rise of rotational speed, after back-emf increases, the impact of Stator resistance voltage dropping, interlinked leakage weakens, and the leakage field of high-power induction traction electric machine is less, can ignore inductance coefficent
approach 1, therefore when motor speed is when being more than or equal to the high rotating speed of rated speed, even if the parameter of electric machine changes, the accuracy of observation of voltage-type observer is also very high.
By motor mathematical model, also can obtain current mode observer, as shown in Figure 2.
What formula (3) and (4) showed is the magnetic linkage equation under rotor coordinate, in formula, and ψ
rr α, ψ
rr βthe magnetic linkage component under this rotor coordinate, i
sr α, i
sr βthe current component being transformed under rotor coordinate, L
mmagnetizing inductance, T
rrotor time constant,
l
rinductor rotor, R
rrotor resistance.
In current mode flux observer as shown in Figure 2, magnetic linkage establishing equation is under rotor coordinate, and rotor coordinate is with rotor position
rfor orientation axes, be by motor speed ω
rthe angle that integration obtains.Stator current component i
s α, i
s βthrough Coordinate Conversion 2s-2r, just obtain current component i
sr αwith i
sr β, then pass through rotor time constant T
rafter low-pass first order filter for filter parameter, be multiplied by magnetizing inductance, calculate magnetic linkage component ψ
rr α, ψ
rr β, then pass through inverse transformation 2r-2s in static α β axis coordinate system, be exactly the magnetic linkage result ψ of observation
r α, ψ
r β.
For obtaining flux observer stator resistance accurately, the present invention adopts static measurement method, as shown in Figure 3, under traction induction machine inactive state, utilizes drive circuit to send the duration small voltage U of approximately 10 milliseconds to this motor two-phase stator winding
s, measure current value I
s, according to formula (5), can calculate stator resistance value R
s1, then successively the other two-phase in winding in three-phase is also sent to small voltage, measure respectively electric current, and calculate two groups of resistance value R
s2with R
s3, then to R
s1, R
s2, R
s3summation is also average, by (6), obtains stator resistance value R
s:
R
s＝(R
s1+R
s2+R
s3)/3 (6)
Then utilize voltage-type observer, formula (1) and formula (2), control motor, carries out current closed-loop control.The rotating speed of traction induction machine rises near rated speed, stable speed operation, now tugging is answered empty load of motor, and torque current component is zero, from zero 1.2-1.3 times of rising to gradually rated excitation, in this process, utilize formula (7) constantly to calculate and record magnetizing inductance L excitation current component
mthe magnetic linkage amplitude ψ obtaining with observer
r, can obtain the magnetizing inductance curve under different exciting level, as shown in Figure 4.Then motor speed being stabilized in respectively to 0.5 times, 1.5 times two groups tests respectively, result of the test averages and obtains final magnetizing inductance curve, and be stored in controller, when real time execution, tabling look-up obtains magnetizing inductance value and carries out accurately excitation and control.
In formula (7), L
mmotor excitation inductance, ψ
rmagnetic linkage amplitude, i
dit is excitation current component.
In traction induction machine when operation, two flux observers: voltage-type observer with current mode observer simultaneously in calculating, by two flux observation angles are proofreaied and correct, rotor time constant value used in correcting current type observer.As shown in Figure 5, the angle θ of voltage-type observer now
vthink magnetic linkage position accurately, if the magnetic linkage angle θ of current mode observer
cbe ahead of voltage-type observation angle θ
v, as shown in Figure 5 a, according to theory, derive, when rotor flux is leading, show rotor time constant T
rbigger than normal, need to regulate to reduce; Otherwise, as shown in Figure 5 b, if rotor flux lags behind, show rotor time constant T
rless than normal, need to regulate to increase.
To the concrete adjusting flow process of magnetic linkage angle as shown in Figure 6, first calculate current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe absolute value of angular deviation | θ
c-θ
v|, judge whether the absolute value of this deviation is less than threshold epsilon.The object that this threshold value is set is in order to eliminate the error of calculation, if when the absolute value of this deviation is less than this threshold epsilon, no longer to rotor time constant T
rproofread and correct, as current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe absolute value of angular deviation is greater than threshold epsilon, enters next step, judgement current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe poor θ of angle
c-θ
vwhether be greater than zero, i.e. current mode observer angle θ
cbe ahead of voltage-type observer angle θ
v, now reduce rotor time constant T
r; If judgement current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe poor θ of angle
c-θ
vbe less than zero, i.e. current mode observer angle θ
clag behind voltage-type observer angle θ
v, increase rotor time constant T
r.Reduce and increase rotor time constant T
rvariable quantity be expressed as δ, this variable quantity is not fixed, during beginning, numerical value is larger, along with the carrying out of adjusting, this numerical value diminishes gradually, to guarantee ultimate current type observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe absolute value of angular deviation | θ
c-θ
v| drop within the scope of threshold epsilon, guarantee the convergence of the method.
After adjusting finishes, by after the rotor time constant undated parameter in rotor-type flux observer, traction induction machine low cruise, now the work of current mode observer is comparatively accurate, can further calibrate the accuracy of voltage-type observer, and leakage field parameter is revised.The process of proofreading and correct can be carried out several times repeatedly at high speed, low speed, thereby obtains more high-precision correction.
Figure 7 shows that the on-line correction overall process schematic diagram of flux observer, the makeover process with magnetic linkage angle that obtains that comprises excitation curve.
Method of the present invention is to utilize the method mutual correction of voltage-type observer and the combination of current mode observer, obtains flux observer parameter accurately, comprises magnetizing inductance and the rotor time constant of motor.
The criterion of foundation is: when tugging is answered high speed operation of motor, voltage-type observer is affected by stator resistance only, and stator resistance can be measured when cold conditions, so its angular observation is comparatively accurate, take this angle as benchmark, by regulating rotor time constant T
rmake current mode observer angle close to it, thereby realize correcting current type flux observer major parameter rotor time constant T
r.During traction induction machine low cruise, the work of current mode observer is comparatively accurate, and magnetic linkage angle is not subject to magnetizing inductance parameter influence, can determine the leakage field parameter of voltage-type observer, further to improve its accuracy of observation.
Above method is answered under empty load of motor condition and is carried out in tugging, there is no slippage, and rotating speed integration is rotor flux direction, can avoid the impact of torque component coupling on observation effect.Do after simple modification, the inventive method can be directly used in other parameter tunings that adopts the transmission control field of induction machine.
The concrete implementation step of the inventive method is summarized as:
1, under static state, by certain two-phase of traction induction machine is injected to narrow pulse, measure stator resistance, for the calculating of voltage-type observer.
2, under zero load, the rotating speed of traction induction machine is risen to respectively to rated speed, under current closed-loop condition, the magnetic linkage amplitude of voltage-type observer observation is used for calculating magnetizing inductance, measures the magnetizing inductance value under different exciting levels of current.
3, respectively in 0.5 and 1.5 times of measurements and calculations magnetizing inductance value of rated speed, thereby obtain drawing the final average excitation curve of induction machine.
4,, when tugging is answered high speed operation of motor, it is closed-loop corrected that the magnetic linkage angle of utilizing voltage-type observer and the current mode observer angle of simultaneously working are carried out, and revises rotor time constant;
5, under traction induction machine low cruise, utilize the rotor time parameter that step 4 obtains to upgrade current mode observer, voltage-type observation station is further verified by magnetic leakage factor and accuracy of observation.
Claims (7)
1. a bullet train draws induction motor parameter discrimination method, it is characterized in that: described method is for utilizing two kinds of flux observers of traction induction machine: voltage-type observer and current mode observer advantage separately, respectively in the high speed of described traction induction machine and low cruise stage to drawing the magnetizing inductance L of induction machine
mwith rotor time constant T
rcarry out on-line correction, the accuracy of flux observer while guaranteeing described traction induction machine full speed range work, thus realize the control to traction induction machine.
2. according to bullet train traction induction motor parameter discrimination method claimed in claim 1, it is characterized in that: the step of described method is as follows:
(1) first measure the stator resistance of traction induction machine: utilize drive circuit to send a small voltage U to this motor
s, measure this motor current value I
s, voltage and current of electric are divided by and obtain stator resistance value R
s; Described stator resistance value R
sfor calculating voltage type observer;
(2) then to traction induction machine, adopt current closed-loop to control: voltage-type observer and current mode observer are worked simultaneously, utilize the rotor flux angle that voltage-type observer obtains to carry out Coordinate Conversion, and traction induction machine is risen to rated speed point; Now utilize the magnetic linkage amplitude of voltage-type observer observation divided by exciting current value, obtain magnetizing inductance value; By regulating the rotor time constant in current mode observer, make the observation angle of two observers consistent simultaneously, reach the object of proofreading and correct rotor time constant; And then the rotating speed of traction induction machine is reduced and stable speed operation, utilize the rotor flux angle that current mode observer obtains to carry out Coordinate Conversion, leakage field parameter in trim voltage type flux observer, make the observation angle of voltage-type observer consistent with current mode observer, reach the object of all motor observers parameter correction used; Finally draw the omnidistance operation of induction machine, amplitude and angle that two observers are obtained contrast, and obtain omnidistance optimum observer pattern.
3. according to bullet train traction induction motor parameter discrimination method claimed in claim 1, it is characterized in that: utilize described voltage-type observer to carry out field orientation control, carry out current closed-loop control; The rotating speed of traction induction machine rises to rated speed, changes the excitation current component i of traction induction machine
d, in this process, constantly calculate and record magnetizing inductance L
mand the magnetic linkage amplitude ψ of observer
r, calculate the magnetizing inductance curve under different exciting level, and be stored in controller; During real time execution, by tabling look-up, obtain magnetizing inductance value and control accurately.
4. according to bullet train traction induction motor parameter discrimination method claimed in claim 1, it is characterized in that: when the operation of traction induction machine, voltage-type observer and current mode observer are calculating simultaneously, by two flux observation angles are proofreaied and correct, rotor time constant value used in correcting current type observer; If the magnetic linkage angle θ of current mode observer
cbe ahead of voltage-type observation angle θ
v, show rotor time constant T
rbigger than normal, need to regulate to reduce rotor time constant T
r, make current mode observation angle near voltage-type observation angle; Otherwise, if rotor flux lags behind, show rotor time constant T
rless than normal, need to regulate increase rotor time constant T
r, make current mode observation angle near voltage-type observation angle.
5. according to bullet train traction induction motor parameter discrimination method claimed in claim 4, it is characterized in that: described voltage-type observer and current mode observer move simultaneously, when tugging is answered high speed operation of motor, utilize voltage-type observation angle to revise current mode observation angle, during traction induction machine low cruise, utilize current mode observation angle to carry out verification to voltage-type, make two flux observers realize accuracy of observation accurately.
6. bullet train traction induction motor parameter discrimination method according to claim 4, is characterized in that: regulate rotor time constant T
rmethod be: first calculate current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe absolute value of angular deviation, judges whether the absolute value of this deviation is less than threshold epsilon; If current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vwhen the absolute value of angular deviation is less than threshold epsilon, no longer proofread and correct rotor time constant T
r; As current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe absolute value of angular deviation is greater than threshold epsilon, judgement current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe difference of angle, i.e. θ
c-θ
vwhether be greater than zero, i.e. current mode observer angle θ
cwhether be ahead of voltage-type observer angle θ
vif, current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe difference θ of angle
c-θ
vbe greater than zero, reduce rotor time constant T
rif, current mode observation magnetic linkage angle θ
cwith voltage-type observation angle θ
vthe difference θ of angle
c-θ
vbe less than zero, i.e. current mode observer angle θ
clag behind voltage-type observer angle θ
v, increase rotor time constant T
r.
7. according to bullet train claimed in claim 1 traction induction motor parameter discrimination method, it is characterized in that: in tugging, answer while carrying out parameter of electric machine identification under empty load of motor condition, rotating speed integration is rotor flux direction.
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| CN105811841A (en) * | 2016-04-08 | 2016-07-27 | 中车株洲电力机车研究所有限公司 | Calculation method and system of flux linkage |
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| CN110875702B (en) * | 2019-12-17 | 2021-05-25 | 湘潭电机股份有限公司 | Asynchronous traction motor stator resistance on-line detection method |
| CN111224603B (en) * | 2020-02-21 | 2021-09-14 | 珠海格力电器股份有限公司 | Compressor direct torque control method and device, compressor device and air conditioning equipment |
| CN111224603A (en) * | 2020-02-21 | 2020-06-02 | 珠海格力电器股份有限公司 | Compressor direct torque control method and device, compressor device and air conditioning equipment |
| CN113315432A (en) * | 2021-03-31 | 2021-08-27 | 新疆金风科技股份有限公司 | Parameter identification method and parameter identification device of wind driven generator |
| CN113315432B (en) * | 2021-03-31 | 2023-09-12 | 金风科技股份有限公司 | Parameter identification method and parameter identification device of wind driven generator |
| CN113311706B (en) * | 2021-05-26 | 2022-05-27 | 广东电网有限责任公司 | Automatic tracking method for high-frequency noise power gain of high-performance advanced observer |
| CN113311706A (en) * | 2021-05-26 | 2021-08-27 | 广东电网有限责任公司 | Automatic tracking method for high-frequency noise power gain of high-performance advanced observer |
| CN114389497A (en) * | 2022-03-24 | 2022-04-22 | 希望森兰科技股份有限公司 | Directional error compensation method for voltage and current hybrid flux linkage observer of asynchronous motor |
| CN114389497B (en) * | 2022-03-24 | 2022-05-27 | 希望森兰科技股份有限公司 | Directional error compensation method for voltage and current hybrid flux linkage observer of asynchronous motor |
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