CN105048911A - Large power high efficiency PMSM (Permanent Magnet Synchronous Motor) servo controller for manned electric airplane - Google Patents

Large power high efficiency PMSM (Permanent Magnet Synchronous Motor) servo controller for manned electric airplane Download PDF

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Publication number
CN105048911A
CN105048911A CN201510404358.5A CN201510404358A CN105048911A CN 105048911 A CN105048911 A CN 105048911A CN 201510404358 A CN201510404358 A CN 201510404358A CN 105048911 A CN105048911 A CN 105048911A
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current
interface
control
phase
power
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赵鑫
李玉峰
江秀红
王宇鹏
邵清亮
赵为平
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Shenyang Aerospace University
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Shenyang Aerospace University
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Abstract

A large power high efficiency PMSM (Permanent Magnet Synchronous Motor) servo controller for a manned electric airplane comprises a circuit control unit and a mechanical unit. The circuit control unit comprises an internal unit and an external unit. The beneficial effects are that the PMSM servo controller achieves technical effects of high reliability (the whole machine reliably operates for two hours in a rated condition), light weight (the weight of the controller is controlled within 10kg), high efficiency (the overall efficiency is not less than 97%), large power output (the rated output is 50KW) and low cost, fills the technical gap of the design of the large power high efficiency PMSM controller for the electric airplane, and reaches the advanced level. The PMSM servo controller improves the working stability, the payload and the duration of flight of the electric airplane, reduces the cost, and is beneficial for updating and assembly of the overall system. Technical support is provided for production and maintenance of the type of the controller, and the practical significance and the benefit are very obvious.

Description

Manned electric airplane large power high efficiency permagnetic synchronous motor servo controller
Technical field
The invention belongs to technical field of servo control, particularly relate to a kind of manned electric airplane large power high efficiency permagnetic synchronous motor servo controller.
Background technology
At present, the adoptable power drive system of manned electric airplane mainly includes brush DC motor system, induction motor system, switch magnetic-resistance motor system, brushless direct current motor system and PMSM Control System.Wherein permagnetic synchronous motor (PMSM) system has the highest efficiency, high power density and torque density, the preferably performance characteristics such as speed regulation capacity, lower vibration noise, has the optimal synthesis index that electric airplane drives.
At present, high-power PMSM controller major defect: cost is high, blockade on new techniques (equipment maintenance cost is high, and technical support difficulty is large, and the cycle is long), weight large (reducing the payload of aircraft), the reliability that works long hours is low.
At present, close with manned electric airplane PMSM servo controller product mainly electric automobile PMSM big power controller.Because this controller is used for electric automobile, the type of cooling mainly water-cooling pattern of controller, and weight is large, and nominal operation efficiency is low, and the reliability that works long hours is low.Therefore, the control system of manned electric airplane permagnetic synchronous motor is not suitable for.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of manned electric airplane large power high efficiency permagnetic synchronous motor servo controller is provided.
Technical scheme of the present invention is such: this type PMSM servo controller comprises circuit control unit and machine assembly;
Wherein circuit control unit comprises internal element and external unit; Wherein internal element comprises electric capacity distribution plate B2, three-phase inverter main circuit, master board, current sensor module, temperature sensor and DC bus-bar voltage sampling unit; External unit comprises X1 interface, X2 interface, X3 interface, X4 interface, X5 interface and X6 interface;
Described three-phase inverter main circuit comprises three groups of inverter bridges and drive plate;
Described current sensor module comprises three groups of AC current sensor and one group of DC current sensor;
Described temperature sensor comprises heatsink temperature sensor and controller temperature sensor;
Described X1 interface is responsible for electric control and fans drive in working power, buffering;
Described X2 interface is responsible for switching signal input and output and analog signal input;
Described X3 interface is responsible for two-way CAN and a road RS232 bus;
Described X4 interface is responsible for electromechanical transducer, a road photoelectric encoder, a road Hall element, three groups of motor internal winding temperature analog signals;
Described X5 interface is responsible for DC bus;
Described X6 interface is responsible for driver output;
Internal element connects: DC bus interface X5 adopts bus both positive and negative polarity copper bar to connect electric capacity distribution plate B2 through over-current sensor IS4, electric capacity distribution plate B2 adopts positive and negative soft copper to arrange connection three-phase inverter main circuit, three-phase inverter main circuit adopts three-phase soft copper row after three-phase current sensor, connect driver output interface X6 again, thus forms driving major loop.Bus current transducer IS4, busbar voltage, three-phase output current transducer IS1, IS2, IS3, heatsink temperature sensor T4, controller temperature sensor T5, drive plate output temperature signal and control signal adopt terminal to be connected master board B1 by signal conditioning circuit.Master board B1 adopts terminal to connect X1, X2, X3, X4 external connection terminals respectively through insulation blocking and signal conditioning circuit simultaneously.
External unit connects: external dc bus X5 interface adopts shielded type cable to connect DC bus major loop buffering power supply unit, external drive output interface X6 adopts shielded type cable to connect PMSM motor, X1 interface adopts shielded type cable to connect operate outside power supply 24V respectively, radiator fan, cushion power on unit relay and main circuit breaker, X2 interface connects exterior I O equipment and simulation speed control device respectively, X3 interface adopts shielded type cable to connect debugging host computer respectively, user's host computer and digital displaying meter, X4 interface adopts shielded type cable to connect the photoelectric encoder that motor is installed respectively, Hall element and temperature sensor.
Machine assembly comprises housing unit, control board support and heat sink assembly; Housing unit comprises housing KT and case lid KTG; Heat sink assembly comprises radiator SRQ, radiator protecting cover SRG and radiator fan.Case lid is arranged on housing tip, and radiator is arranged on housing lower end, and radiator protecting cover is arranged on radiator two ends and bottom, and radiator fan is arranged on the side of radiator, control board support installing in housing, radiator upper end.
Described master board is arranged on control board support;
Described housing unit, control board support and heat sink assembly all adopt lightweight aluminium to make.
A kind of manned electric airplane large power high efficiency permagnetic synchronous motor servo controller, control procedure comprises the steps:
(1) motor three-phase current i is read by three-phase current sensor IS1, IS2, IS3 a, i b, i c;
(2) by three-phase current i a, i b, i ccarry out Clark and be transformed to i s αand i s β(transforming to two-phase rest frame from three-phase static coordinate system);
(3) motor speed n and rotational angle theta is measured by position speed probe e;
(4) by i s αand i s βwith rotor position ei is transformed in conjunction with carrying out Park sqand i sd(transforming to two-phase rotating coordinate system from two-phase rest frame);
(5) spinner velocity/position feedback module is by the rotor velocity n of measurement and reference rotation velocity n refdo subtraction, obtain △ n;
(6) △ n Negotiation speed adjuster calculates quadrature axis reference current i sqref;
(7) cross, straight axle reference current i sqref, i sdrefwith the cross, straight shaft current i of actual feedback sq, i sddo subtraction, obtain cross, straight axle offset current △ i sqwith △ i sd;
(8) cut-off axle reference current i sdrefbe 0;
(9) by cross, straight axle offset current △ i sqwith △ i sdcalculated by q axle and d shaft-type governor, obtain q axle and d shaft voltage controlled quentity controlled variable V sqand V sd;
(10) q axle and d shaft voltage controlled quentity controlled variable V sqand V sdwith the rotor angular position thetar detected ecombine and carry out Park inverse transformation, obtain the voltage control quantity V of two-phase rest frame s αand V s β;
(11) voltage control quantity V s αand V s βbe modulated to six path switching signals through SVPWM module, thus control opening and shutoff of three-phase inverter;
(12) when n changes, n and n refdo subtraction, obtain deviation rotating speed △ n, △ n calculates i through speed regulator sqref, i sqrefwith actual quadrature axis current i sqdo subtraction and obtain offset current △ i sq, be used for regulating actual quadrature axis current;
(13) if direct-axis current i sdbe not 0, because direct-axis current set-point is 0, i sddo subtraction with direct-axis current set-point 0 and obtain d-axis offset current △ i sd;
(14) two offset current △ i more than sqwith △ i sdfor SVPWM modulation algorithm provides two-phase control voltage V after q axle and the calculating of d shaft-type governor and Park inverse transformation s αand V s β, thus further regulation voltage space vector, and the rotating speed of motor is regulated by inverter;
(15) repeat said process, achieve the double closed-loop control system of rotating speed and electric current.
Beneficial effect of the present invention:
This type PMSM servo controller achieves the technological achievement of high reliability (under rated condition complete machine 2 hours reliability services), lightweight (controller Weight control is within 10kg), efficient (whole efficiency is not less than 97%), high-power output (amount 50KW), low cost, fill up the technological gap of electric airplane large power high efficiency permanent magnet synchronous motor (PMSM) Controller gain variations, reach advanced level.This type PMSM servo controller improves the job stability of electric airplane, payload and flying power, and reduce cost, be more conducive to the upgrading of machine system and easy to assembly, for the production of this type controller and maintenance provide technical support, its practical significance and benefit fairly obvious.
Accompanying drawing illustrates:
Fig. 1 is PMSM motor servo controller functional block diagram;
Fig. 2 is PMSM motor servo controller device assembled front view;
Fig. 3 is PMSM motor servo controller device assembling plan view;
Fig. 4 is that PMSM motor servo controller device removes top cover mounted inside vertical view;
Fig. 5 is three-phase PMSM vector conversion control system block diagram;
In figure: 1 housing, 2IGBT module, 3 connectors, 4 electric capacity distribution plates, 5 drive plates, 6 radiator fans, 7 AC current sensor, 8 bus positive pole copper bars, 9 three-phase soft copper rows 1, 10 three-phase soft copper rows 2, 11 negative soft copper rows 1, 12 positive soft copper rows 2, 13 DC current sensor, 14 radiators, 15 radiator protecting covers, 16 temperature sensors, 17 master boards, 18 aluminum studs, 19 case lid, 20 air plugs 1, 21 air plugs 2, 22 air plugs 3, 23 air plugs 4, 24 control board supports, 25 bus negative pole copper bars.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described with enforcement.
As Fig. 1,2, shown in 3 and 4, this type PMSM servo controller comprises circuit control unit and machine assembly;
Wherein circuit control unit comprises internal element and external unit; Wherein internal element comprises electric capacity distribution plate B2; Three-phase inverter main circuit (three groups of inverter bridges are often organized bridge and comprised: IGBT module M1, M2, M3 and drive plate QD1, QD2, QD3 are formed, and wherein IGBT module adopts FF600R07ME4, and drive plate adopts 2SP0115T); Master board B1 (DSP28335, as main control unit, realizes the functions such as analog-and digital-information gathering, space vector control algorithm, control logic, output, is arranged on control board support TJ1); Current sensor (three groups of AC current sensor HAH1DR400-S:IS1, IS2, IS3 and one group of DC current sensor HAH1DR200-S:IS4) and temperature sensor (heatsink temperature sensor: T4 and controller temperature sensor: T5); DC bus-bar voltage sampling unit.
External unit comprises: X1 interface (electric control in working power, buffering, fans drive: FAN1, FAN2 and FAN3); X2 interface (switching signal input and output and analog signal input); X3 interface (two-way CAN and a road RS232 bus); X4 interface (electromechanical transducer interface, road photoelectric encoder A, B, a Z, road Hall element U, V, a W, three groups of motor internal winding temperature analog signals: T1, T2, T3); X5 interface (DC bus 300-420V:X5-BUS+ and X5-BUS-); X6 interface (driver output: X6-U, X6-V and X6-W).
Internal element annexation is as follows: DC bus interface X5 adopts bus both positive and negative polarity copper bar to connect electric capacity distribution plate B2 through over-current sensor IS4, electric capacity distribution plate B2 adopts positive and negative soft copper to arrange connection three-phase inverter main circuit, three-phase inverter main circuit adopts three-phase soft copper row after three-phase current sensor, connect driver output interface X6 again, thus forms driving major loop.Bus current transducer IS4, busbar voltage, three-phase output current transducer IS1, IS2, IS3, heatsink temperature sensor T4, controller temperature sensor T5, drive plate output temperature signal and control signal adopt terminal to be connected master board B1 by signal conditioning circuit.Master board B1 adopts terminal to connect X1, X2, X3, X4 external connection terminals respectively through insulation blocking and signal conditioning circuit simultaneously.
External unit annexation is as follows: external dc bus X5 interface adopts shielded type cable to connect DC bus major loop buffering power supply unit (300-420V DC bus power supply), external drive output interface X6 adopts shielded type cable to connect PMSM motor, X1 interface adopts shielded type cable to connect operate outside power supply 24V respectively, radiator fan, cushion power on unit relay and main circuit breaker, X2 interface connects exterior I O equipment and simulation speed control device respectively, X3 interface adopts shielded type cable to connect debugging host computer respectively, user's host computer and digital displaying meter, X4 interface adopts shielded type cable to connect the photoelectric encoder that motor is installed respectively, Hall element and temperature sensor.
Machine assembly comprises housing unit, control board support 24 and heat sink assembly; Housing unit comprises housing 1KT and case lid 19KTG; Heat sink assembly comprises radiator 14SRQ, radiator protecting cover 15SRG and radiator fan 6.Case lid 19 is arranged on housing 1 top, and radiator 14 is arranged on housing 1 lower end, and radiator protecting cover 15 is arranged on radiator 14 two ends and bottom, and radiator fan 6 is arranged on the side of radiator 14, and control board support 24 is arranged in housing 1, radiator 14 upper end.
Housing unit, control board support 24 and heat sink assembly all adopt lightweight aluminium to design, design in strict accordance with national electromagnetic compatibility standard, simultaneously compatiblely consider intensity and weight and power consumption cooling requirements, especially fansink designs have employed the comprehensive Design that many flabellums large area adds fan, well meet power consumption requirements.Internal part space layout also designs in strict accordance with national electromagnetic compatibility standard, makes every effort to reliable, safe, reasonable, succinct.
The photoelectric encoder in PMSM motor servo controller functional block diagram, 300-420V DC bus power supply and DC bus major loop buffering power supply unit, the PMSM motor of 50KW, motor installed and temperature sensor, operate outside power supply 24V, exterior I O equipment, simulation speed control device, debugging host computer, user's host computer and digital displaying meter, not in application for a patent for invention scope, be mainly used for illustrating the outside annexation with this type PMSM servo controller.
The operation principle of this patent and process:
This type PMSM servo controller adopts victor chan ge control method, i.e. FOC (FieldOrientedControl).The feature that FOC controls: with rotor field-oriented, dynamic performance is good, and control precision is high, controls speed adjusting performance that is simple, that have direct current machine, operates steadily, torque pulsation is very little.System block diagram as shown in Figure 5.
Stator current is converted into the current i that two-phase rotational coordinates is fastened after coordinate transform sqand i sd, thus regulate torque.The physical quantity measured is needed to comprise stator current and rotor position angle in FOC.
FOC control mode adopts i sdref=0 controls, and only have quadrature axis component in stator current, and stator magnet kinetic potential space vector is orthogonal with magnetic field of permanent magnet space vector, the Driving Torque of motor is directly proportional to stator current.Its performance is similar to direct current machine, and control system is simple, and torque performance is good, can obtain very wide speed adjustable range.
FOC controls mainly to comprise following 5 partial contents: (1) SVPWM module.Adopt advanced modulation algorithm to reduce current harmonics, to improve DC bus-bar voltage utilance; (2) electric current read module.By three road current sensor measurement stator currents; (3) spinner velocity/position feedback module.Hall element and incremental optical-electricity encoder is adopted to come Obtaining Accurate rotor-position and angular velocity information; (4) pid control module, comprises d axle, q shaft current PID adjuster, speed by PID adjuster; (5) coordinate transformation module.Comprise Clark (3/2) conversion, Park (2/2) conversion and Park (2/2) inverse transformation.
FOC control procedure comprises the steps:
(1) motor three-phase current i is read by three-phase current sensor IS1, IS2, IS3 a, i b, i c;
(2) by three-phase current i a, i b, i ccarry out Clark and be transformed to i s αand i s β(transforming to two-phase rest frame from three-phase static coordinate system);
(3) motor speed n and rotational angle theta is measured by position speed probe e;
(4) by i s αand i s βwith rotor position ei is transformed in conjunction with carrying out Park sqand i sd(transforming to two-phase rotating coordinate system from two-phase rest frame);
(5) spinner velocity/position feedback module is by the rotor velocity n of measurement and reference rotation velocity n refdo subtraction, obtain △ n;
(6) △ n Negotiation speed adjuster calculates quadrature axis reference current i sqref;
(7) cross, straight axle reference current i sqref, i sdrefwith the cross, straight shaft current i of actual feedback sq, i sddo subtraction, obtain cross, straight axle offset current △ i sqwith △ i sd;
(8) cut-off axle reference current i sdrefbe 0;
(9) by cross, straight axle offset current △ i sqwith △ i sdcalculated by q axle and d shaft-type governor, obtain q axle and d shaft voltage controlled quentity controlled variable V sqand V sd;
(10) q axle and d shaft voltage controlled quentity controlled variable V sqand V sdwith the rotor angular position thetar detected ecombine and carry out Park inverse transformation, obtain the voltage control quantity V of two-phase rest frame s αand V s β;
(11) voltage control quantity V s αand V s βbe modulated to six path switching signals through SVPWM module, thus control opening and shutoff of three-phase inverter;
(12) when n changes, n and n refdo subtraction, obtain deviation rotating speed △ n, △ n calculates i through speed regulator sqref, i sqrefwith actual quadrature axis current i sqdo subtraction and obtain offset current △ i sq, be used for regulating actual quadrature axis current;
(13) if direct-axis current i sdbe not 0, because direct-axis current set-point is 0, i sddo subtraction with direct-axis current set-point 0 and obtain d-axis offset current △ i sd;
(14) two offset current △ i more than sqwith △ i sdfor SVPWM modulation algorithm provides two-phase control voltage V after q axle and the calculating of d shaft-type governor and Park inverse transformation s αand V s β, thus further regulation voltage space vector, and the rotating speed of motor is regulated by inverter;
(15) repeat said process, achieve the double closed-loop control system of rotating speed and electric current.
This type PMSM controller control strategy achieves efficient and high reliability.Improve traditional space vector control algorithm, pid control parameter have employed genetic algorithm and is optimized the regulator parameter in control system, thus improves controller efficiency.On Software for Design, mainly through GO method analytical technology, analytical system reliability before hardware makes, the incipient fault of digging system, the preferably configuration of certainty annuity.Utilize the importance of GO method to system core parts to sort, the key equipment of identification system, determine the safe design criterion of redundant system.In hardware designs, provide reliable protection to the critical component in system or weak link.Simultaneously according to the working condition requirement of controller, under controller is in fault mode, guarantee PMSM controller when completely not out of control or lost efficacy realize " safe mode " operational mode of PMSM controller, and take corresponding failure diagnosis and Predicting Technique, thus improve system reliability.

Claims (5)

1. a manned electric airplane large power high efficiency permagnetic synchronous motor servo controller, is characterized in that: comprise circuit control unit and machine assembly;
Wherein circuit control unit comprises internal element and external unit; Wherein internal element comprises electric capacity distribution plate B2, three-phase inverter main circuit, master board, current sensor module, temperature sensor and DC bus-bar voltage sampling unit; External unit comprises X1 interface, X2 interface, X3 interface, X4 interface, X5 interface and X6 interface;
Described three-phase inverter main circuit comprises three groups of inverter bridges and drive plate;
Described current sensor module comprises three groups of AC current sensor and one group of DC current sensor;
Described temperature sensor comprises heatsink temperature sensor and controller temperature sensor;
Described X1 interface is responsible for electric control and fans drive in working power, buffering;
Described X2 interface is responsible for switching signal input and output and analog signal input;
Described X3 interface is responsible for two-way CAN and a road RS232 bus;
Described X4 interface is responsible for electromechanical transducer, a road photoelectric encoder, a road Hall element, three groups of motor internal winding temperature analog signals;
Described X5 interface is responsible for DC bus;
Described X6 interface is responsible for driver output;
Internal element connects: DC bus interface X5 adopts bus both positive and negative polarity copper bar to connect electric capacity distribution plate B2 through over-current sensor IS4, electric capacity distribution plate B2 adopts positive and negative soft copper to arrange connection three-phase inverter main circuit, three-phase inverter main circuit adopts three-phase soft copper row after three-phase current sensor, connect driver output interface X6 again, thus form driving major loop, bus current transducer IS4, busbar voltage, three-phase output current transducer IS1, IS2, IS3, heatsink temperature sensor T4, controller temperature sensor T5, drive plate output temperature signal adopts terminal to be connected master board B1 with control signal by signal conditioning circuit, master board B1 adopts terminal to connect X1 respectively through insulation blocking and signal conditioning circuit simultaneously, X2, X3, X4 external connection terminals,
External unit connects: external dc bus X5 interface adopts shielded type cable to connect DC bus major loop buffering power supply unit, external drive output interface X6 adopts shielded type cable to connect PMSM motor, X1 interface adopts shielded type cable to connect operate outside power supply 24V respectively, radiator fan, cushion power on unit relay and main circuit breaker, X2 interface connects exterior I O equipment and simulation speed control device respectively, X3 interface adopts shielded type cable to connect debugging host computer respectively, user's host computer and digital displaying meter, X4 interface adopts shielded type cable to connect the photoelectric encoder that motor is installed respectively, Hall element and temperature sensor.
2. manned electric airplane large power high efficiency permagnetic synchronous motor servo controller according to claim 1, is characterized in that: machine assembly comprises housing unit, control board support and heat sink assembly; Housing unit comprises housing KT and case lid KTG; Heat sink assembly comprises radiator SRQ, radiator protecting cover SRG and radiator fan, case lid is arranged on housing tip, radiator is arranged on housing lower end, radiator protecting cover is arranged on radiator two ends and bottom, radiator fan is arranged on the side of radiator, control board support installing in housing, radiator upper end.
3. manned electric airplane large power high efficiency permagnetic synchronous motor servo controller according to claim 1, is characterized in that: described master board is arranged on control board support.
4. manned electric airplane large power high efficiency permagnetic synchronous motor servo controller according to claim 1, is characterized in that: described housing unit, control board support and heat sink assembly all adopt lightweight aluminium to make.
5. the control method of manned electric airplane large power high efficiency permagnetic synchronous motor servo controller according to claim 1, is characterized in that: control procedure comprises the steps:
(1) motor three-phase current i is read by three-phase current sensor IS1, IS2, IS3 a, i b, i c;
(2) by three-phase current i a, i b, i ccarry out Clark and be transformed to i s αand i s β;
(3) motor speed n and rotational angle theta is measured by position speed probe e;
(4) by i s αand i s βwith rotor position ei is transformed in conjunction with carrying out Park sqand i sd;
(5) spinner velocity/position feedback module is by the rotor velocity n of measurement and reference rotation velocity n refdo subtraction, obtain △ n;
(6) △ n Negotiation speed adjuster calculates quadrature axis reference current i sqref;
(7) cross, straight axle reference current i sqref, i sdrefwith the cross, straight shaft current i of actual feedback sq, i sddo subtraction, obtain cross, straight axle offset current △ i sqwith △ i sd;
(8) cut-off axle reference current i sdrefbe 0;
(9) by cross, straight axle offset current △ i sqwith △ i sdcalculated by q axle and d shaft-type governor, obtain q axle and d shaft voltage controlled quentity controlled variable V sqand V sd;
(10) q axle and d shaft voltage controlled quentity controlled variable V sqand V sdwith the rotor angular position thetar detected ecombine and carry out Park inverse transformation, obtain the voltage control quantity V of two-phase rest frame s αand V s β;
(11) voltage control quantity V s αand V s βbe modulated to six path switching signals through SVPWM module, thus control opening and shutoff of three-phase inverter;
(12) when n changes, n and n refdo subtraction, obtain deviation rotating speed △ n, △ n calculates i through speed regulator sqref, i sqrefwith actual quadrature axis current i sqdo subtraction and obtain offset current △ i sq, be used for regulating actual quadrature axis current;
(13) if direct-axis current i sdbe not 0, because direct-axis current set-point is 0, i sddo subtraction with direct-axis current set-point 0 and obtain d-axis offset current △ i sd;
(14) two offset current △ i more than sqwith △ i sdfor SVPWM modulation algorithm provides two-phase control voltage V after q axle and the calculating of d shaft-type governor and Park inverse transformation s αand V s β, thus further regulation voltage space vector, and the rotating speed of motor is regulated by inverter;
(15) repeat said process, achieve the double closed-loop control system of rotating speed and electric current.
CN201510404358.5A 2015-07-10 2015-07-10 Large power high efficiency PMSM (Permanent Magnet Synchronous Motor) servo controller for manned electric airplane Pending CN105048911A (en)

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