CN104378033A - Method for tracing maximum power point of switch reluctance motor wind power generation system - Google Patents
Method for tracing maximum power point of switch reluctance motor wind power generation system Download PDFInfo
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- CN104378033A CN104378033A CN201410553554.4A CN201410553554A CN104378033A CN 104378033 A CN104378033 A CN 104378033A CN 201410553554 A CN201410553554 A CN 201410553554A CN 104378033 A CN104378033 A CN 104378033A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
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Abstract
The invention discloses a method for tracing the maximum power point of a switch reluctance motor wind power generation system. According to the method, sudden change of wind speed can be judged without a wind speed detection device, a complex control algorithm is not involved, and spot operation is convenient. Based on a perturbation and observation method, the method traces and controls the maximum power point of the system by a proper perturbation step length when the wind speed changes suddenly, the problem that lock-rotor of an electric generator happens due to the fact that exciting current is out of tone when the wind speed suddenly drops is solved, and operation stability of the switch reluctance motor wind power generation system is guaranteed. The wind power generation system mainly is composed of a wind turbine, a gearbox, a power converter, a bus capacitor, a DC power supply, a DC load, a controller, a switch reluctance motor, a signal filter device and a signal detection device. The output signal filter device is added to the DC bus side of the switch reluctance motor wind power generation system, so that the oscillation amplitude of output power is reduced, and rapidity of tracing of the maximum power point is improved.
Description
Technical field
The invention belongs to wind power generation field, relate to one and realize switched reluctance machines wind generator system maximum power point tracing method, be applicable to the switched reluctance machines wind generator system without wind speed detection device.
Background technology
Along with lack of energy and ecological deterioration, the new forms of energy such as wind energy, solar energy present development trend rapidly, and wherein wind energy is more and more important in the status of power field with its advantage such as renewable, clean.
The generator often adopted in wind power generation field at present has permanent magnet generator, common induction generator and double-fed generator.This several conventional generator not foot point in actual applications has: permanent magnet generator manufacturing cost is very large; Common induction generator generating efficiency is very low; Double-fed generator complex structure, maintenance is large, and generating efficiency is not high yet.Compared with conventional generator, it is simple that switch reluctance generator has structure, loss is little, and cost is low, high temperature resistant, without demagnetizing effect, fault-tolerant ability is high, and can save gear box during middle low cruise, operational efficiency is high, be easy to the advantage such as grid-connected, make the application of switched reluctance machines in wind generator system have more advantage.
Wind turbine is the core component of wind generator system, and the energy of catching to make it obtains and utilizes to the limit, improves generating efficiency, needs to carry out MPPT maximum power point tracking (being called for short MPPT) to electricity generation system below rated wind speed and controls.In existing numerous maximum power point tracing methods, disturbance observation is because it is without the need to knowing the relevant parameter of wind turbine in advance, easy realization, and operation of electric power system is relatively steady in control procedure, eliminate wind speed measuring device, reliability high, is widely adopted in the MPPT maximum power point tracking of switched reluctance machines wind generator system (abbreviation electricity generation system) controls.The weak point of disturbance observation is: the change due to wind turbine output lags behind the change of wind turbine mechanical output, when wind speed mutation, disturbance observation is to the determination existing defects of disturbance step-length, correct disturbance step-length can not be provided, thus make operation of electric power system in labile state, when situation is serious can there is stall in switched reluctance machines, very unfavorable to whole operation of electric power system.Here " wind speed mutation " refers to that wind speed change causes generator speed variable quantity to be more than 5 times of original rotation speed change amount.In addition, because the electric capacity at load two ends only plays the effect providing exciting voltage, add the impact of switched reluctance machines commutation, busbar voltage can fluctuate change, therefore the power output of electricity generation system also can pulsatile change, due to disturbance observation control in using system output power as controlled condition, therefore the pulsatile change of electricity generation system power output can make the size of MPPT maximum power point tracking control module to disturbance step-length have an impact, and reduces the tracking velocity of whole electricity generation system to maximum power point.
Reasonably optimizing disturbance observation, switched reluctance machines wind generator system is made not need under the condition of installing wind speed measuring device, just can judge whether wind speed undergos mutation reliably, accurately, give correct disturbance step-length to switched reluctance machines exciting current in time, ensure that electricity generation system controls can realize fast, being reliably key issue urgently to be resolved hurrily to MPPT maximum power point tracking.
Summary of the invention
Technical problem to be solved by this invention is: in switched reluctance machines wind generator system, in line with the rapidity and the stability principle that improve electricity generation system adjustment, for the phenomenon of MPPT maximum power point tracking control realization difficulty during wind speed mutation, propose a kind of method not needing wind speed detection device just can judge wind speed mutation, the stability of operation of electric power system can be ensured.In addition, add output signal (electric current, voltage) filter in electricity generation system DC bus side, the rapidity that MPPT maximum power point tracking is controlled is improved.
The technical solution adopted for the present invention to solve the technical problems is:
Step 1: gather rotating speed n (k) of current time (k moment) through filtered busbar voltage U (k), electric current I (k) and switched reluctance machines; Here k is positive integer, refers to sampling instant;
Step 2: voltage signal U (k) collected by step 1, current signal I (k), calculate the power output P (k) of k moment electricity generation system, and utilize the electricity generation system power output P (k-1) of previous moment (k-1 moment) and switched reluctance machines rotating speed n (k-1) to calculate incremental delivered power dP (k)=P (k)-P (k-1) and incremental speed dn (k)=n (the k)-n (k-1) in k moment respectively;
Step 3: judge whether the maximum point arriving electricity generation system power output, if arrive maximum power point, performs step 7; If do not arrive maximum power point, perform step 4;
Step 4: judge whether wind speed undergos mutation, if wind speed there occurs sudden change, then this condition meets, and performs step 6; If wind speed is not undergone mutation, then this condition does not meet, and performs step 5;
Step 5: the condition in step 4 does not meet, adopts general disturbance observation, i.e. step-length
the exciting current of subsequent time is determined by following formula (1):
In formula (1), i (k) is the exciting current in k moment, the exciting current that i (k+1) is the k+1 moment; Here m
1, m
2for positive number, electricity generation system all can be subject to m to the tracking velocity of maximum power point and precision
1, m
2the impact of value, the selection of this two number should ensure the increment of k moment exciting current be no more than current wind speed under maximum exciting current (i
max) 1/15, get cross conference cause the fluctuation of electricity generation system power output near optimal value very large;
Step 6: if the condition of step 4 meets, add optimization method of the present invention, step-length is certain value: δ=A, and now the exciting current of subsequent time is determined by following formula (2):
Here, A, α, β are positive number, and wherein A is a given large step-length, chooses and should be less than i
max1/15 times; Disturbance step-size factor when α, β are rotating speed sudden change, β value should be greater than 3 α, switched reluctance machines generation stall during to avoid wind speed bust;
Step 7: return step 1, the disturbance starting subsequent time (k+1 moment) controls, then go up the parameter passing in a moment to subsequent time, i.e. k=k+1, k-1=k, k-2=k-1.
In addition, to the improvement in switched reluctance machines wind generator system structure be: export branch road add filter at busbar voltage, electric current, the fluctuation sending into MPPT maximum power point tracking control module power output can be reduced, even if power output smoothly increases, disturbance step-length now in step 4 can be larger than what be greater than when not adding filter, thus the time arriving maximum power point can be shortened, improve the rapidity that electricity generation system controls MPPT maximum power point tracking.
Adopt the present invention be to the beneficial effect of method:
1. the rational modification of pair disturbance observation, do not needing can judge whether wind speed there occurs sudden change under the condition of installing wind speed detection device, and filtering has been carried out to power output, the deficiency that when both having avoided perturbation direction to judge by accident, MPPT maximum power point tracking controls, also can shorten the time that MPPT maximum power point tracking controls, effectively improve switched reluctance machines wind generator system reliability of operation and rapidity;
2. a large exciting current disturbance step-length is set when wind speed mutation, shortens switched reluctance machines wind generator system to the time of MPPT maximum power point tracking, also can improve the rapidity that switched reluctance machines wind generator system follows the trail of maximum power point;
3. the maximum power point tracing method that the present invention proposes does not relate to complicated control algolithm, and on-the-spot realization easily.
Accompanying drawing explanation
Fig. 1 is switched reluctance machines wind generator system structure chart.
Fig. 2 is the MPPT maximum power point tracking control flow chart that the present invention improves disturbance observation.
Fig. 3 is switched reluctance machines wind generator system simulation model.
Fig. 4 is system output power simulation result comparison diagram under new, old disturbance observation controls.
Fig. 5 is the rotating speed simulation result comparison diagram of switched reluctance machines under new, old disturbance observation controls.
Fig. 6 is wind turbine output mechanical power simulation result comparison diagram under new, old disturbance observation controls.
Fig. 7 is the power coefficient simulation result comparison diagram of wind turbine under new, old disturbance observation controls.
Embodiment
The general principle that disturbance observation realizes the control of Switched Reluctance GeneratorUsed in Wind Energy Converter System MPPT maximum power point tracking is: the method adopting current chopping, by detecting DC side busbar voltage and current signal, calculate the power output of electricity generation system, judged the perturbation direction of switched reluctance machines exciting current by previous moment and the power output of current time and the change sign of rotating speed, the ratio of both employings increment realizes the automatic adjustment of exciting current as disturbance step-length.By reference to the accompanying drawings the realization improving disturbance observation described in technical solution of the present invention is further described:
Figure 1 shows that the present invention adopts switched reluctance machines wind generator system structure chart, it is primarily of wind turbine 1, gear box 2, power inverter 3, bus capacitor C
f4, the composition such as DC power supply 5, DC load 6, controller 7, switched reluctance machines 8 and signal filtering device 9.
The course of work of the switched reluctance machines wind generator system shown in Fig. 1 is as follows:
Step 1: electricity generation system powers on, starting switch reluctance motor 8, by changing the turn-on angle of switched reluctance machines 8 and closing the angle of rupture, makes it first work in motoring condition, through gear box 2, together with wind turbine 1, switched reluctance machines 8 is dragged to rated speed;
Step 2: the turn-on angle of by-pass cock reluctance motor 8 and the pass angle of rupture, make it operate in generating state;
Step 3: power inverter 3 adopts self-excitation pattern, initial exciting voltage when namely switched reluctance machines runs is provided by DC power supply 5, as electric capacity C
fafter the voltage of 4 terminal voltages higher than DC power supply 5 two ends, cut away DC power supply 5 by diode VD, afterwards always by electric capacity C
f4 provide exciting voltage for switched reluctance machines 8, realize self-excitation;
Step 4: under self-excitation pattern, adopt Current cut control (being called for short CCC) method, checkout gear is by the switched reluctance machines rotating speed detected, electric current and deliver to controller 7 through the filtered busbar voltage of filter 9, current signal, controller 7 is by the switching device in driving power converter 3 after the signal transacting that collects, the disturbance carrying out electricity generation system controls, realize MPPT maximum power point tracking to regulate, and then the electric energy that wind turbine 1 is caught is as much as possible is fed to DC load 6 by switched reluctance machines 8;
Step 5: whether shut down, if so, manually excise power supply, electricity generation system is out of service; If not, step 4 is performed.
Figure 2 shows that switched reluctance machines wind generator system that the present invention proposes realizes the flow chart of maximum power point-tracing control method in the k moment.The method specific implementation process can be divided into the following steps:
Step 1: electricity generation system starts, gathers current time (k moment) busbar voltage U (k), electric current I (k) and switched reluctance machines rotating speed n (k) after filter 9 filtering;
Step 2: voltage signal U (k) utilizing step 1 to collect, current signal I (k), calculate the power output P (k) of k moment switched reluctance machines, utilize the power output P of k-1 moment switched reluctance machines (k-1) and rotating speed n (k-1) to calculate power increment dP (k) and the dn (k) in k moment;
Step 3: judge whether to arrive output of a generator maximum point, namely judge | dP (k) | whether be less than given threshold value σ, if | dP (k) | be less than σ, then illustrate and arrive maximum power point, now perform step 7; If | dp (k) | be greater than σ, then illustrate and do not arrive maximum power point, continue to perform step 4; Here σ is a positive number, it determines the termination time of perturbation motion method and the gap of electricity generation system working point and maximum power point, choose electricity generation system to control when just there is steady-sxtate wave motion | dP (k) | as its initial value, test selection can be carried out afterwards on the basis of this value;
Step 4: utilize k, k-1 and k-2 moment switched reluctance machines rotating speed and variable quantity thereof to judge whether wind speed undergos mutation, that is: | dn (k) | whether be greater than ξ
1, and | dn (k-1) |=| n (k-1)-n (k-2) | whether be less than ξ
2; If wind speed there occurs sudden change, then this condition meets, and performs step 6; If wind speed is not undergone mutation, then this condition does not meet, and performs step 5; Wherein, ξ
1, ξ
2for positive coefficient, ξ
1for judging whether electricity generation system is stable state before wind speed mutation, during stable state | dn (k) | level off to zero, therefore ξ
1should get level off to zero value; ξ
2as the operating state judging electricity generation system before and after wind speed change, during due to wind speed mutation | dn (k) | change is violent, therefore ξ
2get and severally decuple ξ
1value, but must be | dn (k) | value in excursion, otherwise meaningless;
Step 5: step 4 condition does not meet, adopts disturbance observation, i.e. step-length
wherein, dn (k) ≠ 0.Exciting current is at the increment i of subsequent time
step(k) be:
Step 6: the condition of step 4 meets, and adds optimization method of the present invention, gets δ=A, then the increment i of the exciting current of subsequent time
stepk () is determined by following formula (3):
By regulating α, β, can by-pass cock reluctance motor exciting current in time, the time arriving maximum power point can be accelerated when wind speed jumps (dn (k) > 0), generator stall can be prevented when wind speed bust (dn (k) < 0);
Step 7: the exciting current calculating subsequent time: i (k+1)=i (k)+i
step(k);
Step 8: return step 1, the disturbance starting subsequent time (k+1 moment) controls, then go up the parameter passing in a moment to subsequent time, i.e. k=k+1, k-1=k, k-2=k-1.
Embodiment:
In order to illustrate the effect of the maximum power point-tracing control method that the present invention proposes, the power generation system structure provided according to Fig. 1 and Fig. 2 and maximum power point tracing method, under Matlab environment, build switched reluctance machines wind generator system simulation model, respectively to the present invention propose method and general disturbance observation method carried out simulation result comparative analysis.The 6/4 pole switching reluctance motor of 60KW, 1500r/min of adopting Matlab to carry is as application example of the present invention.Fig. 3 is the switched reluctance machines wind generator system simulation model built in Matlab, here in order to simplify simulation model, has carried out filtering to electricity generation system power output.
The parameter of power system model is: wind wheel radius is 5m, bus capacitor C
fbe 3300 μ F, direct current power source voltage is 24V, the maximal wind-energy usage factor C of wind turbine
pmaxbe 0.48, slurry elongation is 0 °, and gear box no-load voltage ratio is 1/10.Initial wind speed is 7m/s, sports 10m/s when 0.8s, sports 9m/s to during 1.6s.Every 0.01s to MPPT maximum power point tracking disturbance once, the result shown in Fig. 4 ~ Fig. 7 is obtained.Aging method in Fig. 4 ~ Fig. 7 refers to general method of perturbation, and new method refers to the improvement method of perturbation that the present invention proposes.
A bit, the method that the present invention proposes is not limited only to 6/4 pole switching reluctance motor, is equally applicable to the switched reluctance machines of other types in statement.
According to During operation characteristic, calculate wind turbine can catch Energy maximum value P when 7m/s, 9m/s, 10m/s
optbe respectively: 7920.11W, 16833.12W and 23090.71W, improve disturbance observation from Fig. 4 and Fig. 6 visible disturbance method and the present invention and all can realize MPPT maximum power point tracking, make actual wind turbine output close to P
opt.
Jump the stage (7m/s → 10m/s) at wind speed: the tracking time of new method to switched reluctance machines wind generator system power output is 0.43s, is 0.35s to the tracking time of wind turbine output mechanical power; The tracking velocity of aging method depends on the severe degree that wind speed changes, and namely wind speed change Shaoxing opera is strong, and tracking velocity is longer.Relatively wind turbine output and its optimal value P during stable state
optknow, the steady-state error of new method and aging method is all no more than 0.12%, and the steady-state error of aging method is all no more than 0.14%, and therefore comparatively aging method is accurate for the tracking accuracy of new method.
At wind speed bust stage (10m/s → 9m/s): aging method, owing to can not judge wind speed bust in time, causes exciting current adjustment not in time, thus make operation of electric power system unstable; Effectively these problems solving aging method and exist of new method.
Adopt new method control imitation result known in analysis chart 4 and Fig. 6, the change of electricity generation system power output always lags behind the change of the mechanical output that wind turbine exports, therefore when wind speed is undergone mutation, determine that the perturbation direction of exciting current likely can make MPPT maximum power point tracking lose efficacy by electricity generation system power output and switched reluctance machines rotating speed, no matter and the power output of electricity generation system all there is fuctuation within a narrow range at ascent stage or after stable, therefore be necessary to add filtering link to the power output signal delivering to MPPT maximum power point tracking module, play the effect improved the tracking velocity of electricity generation system power output maximum point.After the constant and wind speed mutation of wind speed, power output is within the rise or fall time, two kinds of methods all adopt aging method to control, as seen from Figure 4, new method tracking velocity and precision all comparatively aging method are good, and the known filter that adds effectively can improve electricity generation system to the tracking velocity of maximum power point and precision.
Figure 5 shows that the rotation speed change curve of switched reluctance machines, comparison diagram 5 is visible with Fig. 6, and the change of rotating speed is synchronous with the change of wind turbine output mechanical power, therefore, can be judged the situation of wind speed mutation by the rotation speed change of switched reluctance machines.
Figure 7 shows that the power coefficient C of wind turbine
pcurve, as can see from Figure 7, the maximum power point-tracing control method adopting the present invention to propose can make power coefficient remain on its optimal value C
pmax(0.48) near, steady-state error is no more than 0.1%, and the tracking accuracy of aging method after wind speed mutation is obviously inferior to new method.
The simulation result of above application example shows: when wind speed is undergone mutation, the maximum power point-tracing control method that switched reluctance machines wind generator system adopts the present invention to propose can detect wind speed change in time, and rational disturbance control is carried out to the exciting current of switched reluctance machines, adopt the control method of different step-length can keep good in MPPT maximum power point tracking performance when gustiness is different, accomplish stable power generation runs, and tracking velocity is fast.Instant invention overcomes the erroneous judgement situation that the disturbance observation in maximum power point-tracing control method is reacted wind speed mutation, effectively improve the operation characteristic of electricity generation system, can be used for small power switch reluctance motor wind generator system control system.
Claims (4)
1. a switched reluctance machines wind generator system maximum power point tracing method, is characterized in that: based on disturbance observation, and the maximum power method performing step that the present invention announces is as follows:
Step 1: gather current time (k moment) busbar voltage U (k), electric current I (k) and switched reluctance machines rotating speed n (k); Here k is positive integer, refers to sampling instant;
Step 2: voltage signal U (k) collected by step 1, current signal I (k), calculate the power output P (k) of k moment switched reluctance machines wind generator system, and utilize previous moment system output power P (k-1) and switched reluctance machines rotating speed n (k-1) to calculate the power in k moment respectively and incremental speed is respectively dP (k)=P (k)-P (k-1) and dn (k)=n (k)-n (k-1);
Step 3: judge whether to arrive switched reluctance machines wind generator system power output maximum point, if arrive, perform step 7; If do not arrive, perform step 4;
Step 4: judge whether wind speed undergos mutation, if wind speed there occurs sudden change, then this condition meets, and performs step 6; If wind speed is not undergone mutation, then this condition does not meet, and performs step 5;
Step 5: step-length
an (k) ≠ 0.The exciting current of subsequent time is determined by following formula (1):
Step 6: step-length δ=A, now the exciting current of subsequent time is determined by following formula (2):
Step 7: return step 1, the disturbance starting subsequent time (k+1 moment) controls, then go up the parameter passing in a moment to subsequent time, i.e. k=k+1, k-1=k, k-2=k-1.
2. a kind of switched reluctance machines wind generator system maximum power point tracing method according to claim 1, it is characterized in that: adopt the Variation Features of wind speed mutation front-rear switch reluctance generator rotating speed to determine whether wind speed undergos mutation, namely judge that the foundation of wind speed mutation is: | dn (k) | whether be greater than ξ
1, and | dn (k-1) | whether be less than ξ
2; If wind speed there occurs sudden change, then this condition meets; If wind speed is not undergone mutation, then this condition does not meet.
3. a kind of switched reluctance machines wind generator system maximum power point tracing method according to claim 1, is characterized in that: this switched reluctance machines wind generator system course of work is as follows:
Step 1: startup stage, system electrification, switched reluctance machines moves to rated speed in electronic mode;
Step 2: the turn-on angle of by-pass cock reluctance motor and the pass angle of rupture, make it operate in generating state;
Step 3: power inverter self-excitation runs;
Step 4: under self-excitation pattern, adopt Current cut control (being called for short CCC) method, checkout gear is by the switch reluctance generator rotating speed detected, electric current and deliver to controller through the filtered busbar voltage of filter, current signal, controller is by the switching device in driving power converter after the signal transacting that collects, carry out disturbance control, realize MPPT maximum power point tracking to regulate, and then the electric energy that wind turbine is caught is as much as possible is fed to DC load by switch reluctance generator;
Step 5: whether shut down, if so, then manually excise power supply, system is out of service; If not, step 4 is performed.
4. the feature of switched reluctance machines wind generator system maximum power tracking and controlling method is according to claim 3: add output signal filter in switched reluctance machines wind generator system DC bus side, the fluctuation of bus power output can be reduced, improve the rapidity of maximal power tracing.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104660129A (en) * | 2015-03-19 | 2015-05-27 | 中国计量学院 | Switch reluctance wind driven generator control system and method |
| CN105071726A (en) * | 2015-09-08 | 2015-11-18 | 湘潭大学 | Switched reluctance wind power generation grid-connected system control method |
| CN107979314A (en) * | 2017-12-14 | 2018-05-01 | 中国计量大学 | A kind of varying speed switch magnetic resistance wind-driven generator maximum power tracking and controlling method |
| CN107979312A (en) * | 2017-12-21 | 2018-05-01 | 湖南利能科技股份有限公司 | A kind of brushless dual-feed motor hydroelectric generation control method based on MPPT |
| CN108267649A (en) * | 2016-12-30 | 2018-07-10 | 丹佛斯（天津）有限公司 | Compressor phase sequence detecting method and device and its startup control method and equipment |
| CN108667351A (en) * | 2018-06-14 | 2018-10-16 | 长春市腾新电气有限责任公司 | A kind of motor control method and device |
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2014
- 2014-10-08 CN CN201410553554.4A patent/CN104378033B/en not_active Expired - Fee Related
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| 熊立新等: "一种开关磁阻风力发电机最大风能跟踪方法", 《电工技术学报》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104660129A (en) * | 2015-03-19 | 2015-05-27 | 中国计量学院 | Switch reluctance wind driven generator control system and method |
| CN104660129B (en) * | 2015-03-19 | 2017-04-26 | 中国计量学院 | Switch reluctance wind driven generator control system and method |
| CN105071726A (en) * | 2015-09-08 | 2015-11-18 | 湘潭大学 | Switched reluctance wind power generation grid-connected system control method |
| CN108267649A (en) * | 2016-12-30 | 2018-07-10 | 丹佛斯（天津）有限公司 | Compressor phase sequence detecting method and device and its startup control method and equipment |
| CN107979314A (en) * | 2017-12-14 | 2018-05-01 | 中国计量大学 | A kind of varying speed switch magnetic resistance wind-driven generator maximum power tracking and controlling method |
| CN107979314B (en) * | 2017-12-14 | 2020-10-20 | 中国计量大学 | Variable-speed switch reluctance wind driven generator maximum power tracking control method |
| CN107979312A (en) * | 2017-12-21 | 2018-05-01 | 湖南利能科技股份有限公司 | A kind of brushless dual-feed motor hydroelectric generation control method based on MPPT |
| CN108667351A (en) * | 2018-06-14 | 2018-10-16 | 长春市腾新电气有限责任公司 | A kind of motor control method and device |
| CN108667351B (en) * | 2018-06-14 | 2019-12-17 | 长春市腾新电气有限责任公司 | Motor control method and device |
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