CN105186937A - Direct current motor system and control method for direct current motor system - Google Patents
Direct current motor system and control method for direct current motor system Download PDFInfo
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- CN105186937A CN105186937A CN201410281456.XA CN201410281456A CN105186937A CN 105186937 A CN105186937 A CN 105186937A CN 201410281456 A CN201410281456 A CN 201410281456A CN 105186937 A CN105186937 A CN 105186937A
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Abstract
The invention discloses a control method for a direct current motor system. A direct current motor system comprises N direct current motors in parallel, an IPM module connected with the N direct current motors and a main control module outputting six paths of PWM signals to the IPM module to control the N direct current motors. The control method comprises the following steps: resistances of the N direct motors are obtained, inductance parameters of the N direct motors are obtained, and the inductance parameters comprise direct axis inductance and quadrature axis inductance; back electromotive forces of the N direct motors are obtained; rotating speeds and positions of the rotors of the N direct current motors are estimated according to the resistances, the inductance parameters and the back electromotive forces of the N direct current motors and detected phase currents of the N direct current motors and the N direct current motors are controlled at the same time. The control method can raise the system control precision, parallel direct current motors with different numbers can share the same electric control structure, standardization and generalization are achieved, the system cost can be saved effectively. The invention discloses a direct current motor system.
Description
Technical field
The present invention relates to technical field of motors, particularly a kind of control method of direct current motor system and a kind of direct current motor system.
Background technology
It is more energy-conservation, efficient that alternating current machine compared by direct current machine, and what reduce discharging along with national energy-saving advocates, and increasing air-conditioning producer utilizes direct current machine development and Design air conditioner.Existing direct current motor system mostly adopts 1 master control module controls, 1 IPM module (IntelligentPowerModule, Intelligent Power Module), then by IPM module drive 1 direct current machine.But the shortcoming that prior art exists is, direct current machine cost omits height a bit than alternating current machine cost, correspondingly, direct current motor system is compared AC motor system and is wanted complicated, more expensive.Particularly IPM module major part all dependence on import, domestic little manufacturer production, thus cause the cost of IPM module to remain high.Such as, for two through-flow cabinet indoor unit and the outdoor type of two wind wheel of needs 2 direct current machines, just need 2 IPM to drive 2 direct current machines, thus make the cost of two through-flow cabinet indoor unit and the outdoor type of two wind wheel higher.Thus, the sky high cost of direct current motor system become hinder direct current machine popularize most important obstacle.
Propose a kind of direct current motor system in correlation technique, as shown in Figure 1,1 main control module 30 ' can be adopted to control 1 IPM module 20 ' and drive 1 direct current machine 1 '; As shown in Figure 2, also adopt 1 main control module 30 ' to control 2 IPM module drive, 2 direct current machines, namely IPM module 20 ' drives direct current machine 1 ' and IPM module 21 ' to drive direct current machine 2 '; As shown in Figure 3,1 main control module 30 ' also can be adopted to control 3 IPM module drive, 3 motors, namely IPM module 20 ' drives direct current machine 1 ', IPM module 21 ' to drive direct current machine 2 ' and IPM module 22 ' to drive direct current machine 3 '.Further, because the main control module in correlation technique is up to the control interface of 3 IPM modules, just need to increase main control module if need to control more direct current machines.
To sum up, there are the needs improved in the direct current motor system of correlation technique.
Summary of the invention
The present invention is intended at least to solve one of technical problem existed in prior art.
For this reason, one object of the present invention is to propose a kind ofly 1 IPM module can be adopted to control multiple direct current machine and save the control method of the direct current motor system of the cost of direct current motor system.
Another object of the present invention is to propose a kind of direct current motor system.
The control method of the direct current motor system of embodiment proposition according to an aspect of the present invention, described direct current motor system comprises the direct current machine of N number of parallel connection, the IPM module being connected respectively to described N number of direct current machine and output six road pwm signals to described IPM module with the main control module controlled described IPM module, N be more than or equal to 2 integer, described control method comprises the following steps: the resistance obtaining described N number of direct current machine, and obtain the inductance parameters of described N number of direct current machine, wherein, described inductance parameters comprises d-axis inductance and quadrature axis inductance; Obtain the back electromotive force of described N number of direct current machine; Estimate that the rotating speed of the rotor of N number of direct current machine and position are to control described N number of direct current machine simultaneously according to the back electromotive force of the resistance of described N number of direct current machine, the inductance parameters of described N number of direct current machine and described N number of direct current machine and the phase current of N number of direct current machine that detects.
According to the control method of the direct current motor system that the embodiment of the present invention proposes, obtaining the resistance of N number of direct current machine, and after obtaining the inductance parameters of N number of direct current machine, obtain the back electromotive force of N number of direct current machine again, and estimate that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine simultaneously according to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine and the phase current of N number of direct current machine that detects.Thus, the control method of this direct current motor system controls N number of direct current machine according to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine, control precision can be improved, and adopt the electric control structure of this control method simple, the parallel connection direct motor of different number all can use same electric control structure, thus realize standardization and generalization, solve a through engineering approaches difficult problem.In addition, the method adopts the direct current machine of 1 IPM module to N number of parallel connection to control, and effectively can save the cost of direct current motor system.
In addition, according to the control method of direct current motor system of the present invention, also there is following additional technical feature:
According to one embodiment of present invention, the model of described N number of direct current machine is identical.
According to one embodiment of present invention, the resistance of described N number of direct current machine can be obtained according to following formula:
R＝R
rated/N
Wherein, R is the resistance of described N number of direct current machine, R
ratedfor the rated resistance of the single direct current machine in described N number of direct current machine.
According to another embodiment of the invention, the resistance obtaining described N number of direct current machine specifically comprises: control the d-axis applying direct current I of described IPM module to described N number of direct current machine
d; Detect the direct-axis voltage V of described N number of direct current machine
d; According to described direct current I
dwith the direct-axis voltage V of described N number of direct current machine
dcalculate the equivalent resistance of described N number of direct current machine, and obtain the resistance of described N number of direct current machine according to the equivalent resistance of described N number of direct current machine.
Particularly, can according to the equivalent resistance of each described direct current machine of following formulae discovery:
V
d-e-I
d*R
real＝0
Wherein, R
realfor the equivalent resistance of described N number of direct current machine, e is the equivalent pressure drop of IGBT in described IPM module.
Thus, this control method can calculate the resistance of N number of parallel connection direct motor automatically, thus improves the automaticity of system, the scope of application of expanding system.
According to a further aspect of the invention embodiment propose direct current motor system, comprising: N number of direct current machine, described N number of direct current machine is connected in parallel, wherein, N be more than or equal to 2 integer, be connected respectively to the IPM module of described N number of direct current machine, export six road pwm signals to described IPM module with the main control module controlled described IPM module, described main control module is for obtaining the resistance of described N number of direct current machine, after obtaining the inductance parameters of described N number of direct current machine, and obtain the back electromotive force of described N number of direct current machine, and according to the resistance of described N number of direct current machine, the inductance parameters of described N number of direct current machine and the back electromotive force of described N number of direct current machine and the phase current of N number of direct current machine detected estimate that the rotating speed of the rotor of N number of direct current machine and position are to control described N number of direct current machine simultaneously, wherein, described inductance parameters comprises d-axis inductance and quadrature axis inductance.
According to the direct current motor system that the embodiment of the present invention proposes, main control module is obtaining the resistance of N number of direct current machine, obtain the inductance parameters of N number of direct current machine, and after the back electromotive force obtaining N number of direct current machine, estimate that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine simultaneously according to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine and the phase current of N number of direct current machine that detects.Thus, this direct current motor system controls N number of direct current machine according to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine, the control precision of system can be improved, and the electric control structure of this system is simple, the parallel connection direct motor of different number all can use same electric control structure, thus realize standardization and generalization, solve a through engineering approaches difficult problem.In addition, this direct current motor system adopts the direct current machine of 1 master control module controls, 1 IPM module to N number of parallel connection to control, and effectively can save the cost of direct current motor system.
In addition, according to direct current motor system of the present invention, also there is following additional technical feature:
According to one embodiment of present invention, the model of described N number of direct current machine is identical.
According to one embodiment of present invention, described main control module can obtain the resistance of described N number of direct current machine according to following formula:
R＝R
rated/N
Wherein, R is the resistance of described N number of direct current machine, R
ratedfor the rated resistance of the single direct current machine in described N number of direct current machine.
According to another embodiment of the invention, described main control module is also for controlling the d-axis applying direct current I of described IPM module to described N number of direct current machine
d, and detect the direct-axis voltage V of described N number of direct current machine
d, and according to described direct current I
dwith the direct-axis voltage V of described N number of direct current machine
dcalculate the equivalent resistance of described N number of direct current machine, and obtain the resistance of described N number of direct current machine according to the equivalent resistance of described N number of direct current machine.
Particularly, described main control module can according to following formulae discovery the equivalent resistance of N number of direct current machine:
V
d-e-I
d*R
real＝0
Wherein, R
realfor the equivalent resistance of described N number of direct current machine, e is the equivalent pressure drop of IGBT in described IPM module.
Thus, this control system can calculate the resistance of N number of parallel connection direct motor automatically, thus improves the automaticity of system, the scope of application of expanding system.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the direct current motor system structural representation driving 1 direct current machine in correlation technique;
Fig. 2 is the direct current motor system structural representation driving 2 direct current machines in correlation technique;
Fig. 3 is the direct current motor system structural representation driving 3 direct current machines in correlation technique;
Fig. 4 is the flow chart of the control method of direct current motor system according to the embodiment of the present invention;
Fig. 5 is the flow chart of the control method of direct current motor system according to the present invention's specific embodiment;
Fig. 6 is the flow chart of the control method of direct current motor system according to another specific embodiment of the present invention;
Fig. 7 is the flow chart of the control method of direct current motor system according to another specific embodiment of the present invention;
Fig. 8 is the structural representation of the direct current motor system according to the embodiment of the present invention;
Fig. 9 is the structural representation of the direct current motor system according to the present invention's specific embodiment; And
Figure 10 is the structural representation of the direct current motor system according to another specific embodiment of the present invention.
Reference numeral:
N number of direct current machine 10, IPM module 20 and main control module 30.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it " on " structure can comprise the embodiment that the first and second features are formed as directly contact, also can comprise other feature and be formed in embodiment between the first and second features, such first and second features may not be direct contacts.
In describing the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
With reference to description below and accompanying drawing, these and other aspects of embodiments of the invention will be known.Describe at these and in accompanying drawing, specifically disclose some particular implementation in embodiments of the invention, representing some modes of the principle implementing embodiments of the invention, but should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
Control method and the direct current motor system of the direct current motor system proposed according to the embodiment of the present invention are described with reference to the accompanying drawings.
Fig. 4 is the flow chart of the control method of direct current motor system according to the embodiment of the present invention.Direct current motor system comprises the direct current machine of N number of parallel connection, is connected respectively to the IPM module (IntelligentPowerModule of N number of direct current machine, Intelligent Power Module) and export six road PWM (PulseWidthModulation, pulse width modulation) signal to IPM module with the main control module controlled N number of direct current machine, N be more than or equal to 2 integer.Specifically, the six road pwm signals that IPM module exports for receiving main control module, and export U, V, W three-phase driving signal to N number of direct current machine simultaneously, U, V, W three-phase driving signal running that N number of direct current machine exports according to IPM module, namely say, the U phase of N number of direct current machine is all connected with the U phase output terminal of IPM module, and the V phase of N number of direct current machine is all connected with the V phase output terminal of IPM module, and the W phase of N number of direct current machine is all connected with the W phase output terminal of IPM module.
According to one embodiment of present invention, the model of N number of direct current machine is identical.It should be noted that, here identical refers to the identical of broad sense, approximate identical.
As shown in Figure 4, the control method of this direct current motor system comprises the following steps:
S1: the resistance obtaining N number of direct current machine, and the inductance parameters obtaining N number of direct current machine, wherein, inductance parameters comprises d-axis inductance and quadrature axis inductance.
Particularly, according to one embodiment of present invention, the resistance of N number of direct current machine can be obtained according to following formula:
R＝R
rated/N
Wherein, R is the resistance of N number of direct current machine, R
ratedfor the rated resistance of the single direct current machine in N number of direct current machine, provided by the producer of direct current machine.
Namely say, the resistance of N number of direct current machine is the all-in resistance after N number of direct current machine parallel connection.
It should be noted that, N is the quantity of direct current machine, can by the quantity sets itself of the development and Design personnel of direct current motor system according to required direct current machine.Like this, after the quantity N of setting direct current machine, the resistance R of N number of direct current machine just can utilize the N of the development and Design personnel setting of direct current motor system to calculate voluntarily, namely according to the rated resistance R of the single direct current machine in the quantity N of direct current machine and N number of direct current machine
ratedobtain the resistance R of N number of parallel-connected induction motors.
According to another embodiment of the invention, the resistance obtaining N number of direct current machine specifically comprises: control IPM module applies direct current I to the d-axis of N number of direct current machine
d; Detect the direct-axis voltage V of N number of direct current machine
d; According to direct current I
dwith the direct-axis voltage V of N number of direct current machine
dcalculate the equivalent resistance of N number of direct current machine, and obtain the resistance of N number of direct current machine according to the equivalent resistance of N number of direct current machine.Wherein, it should be noted that, in an embodiment of the present invention, can N number of direct current machine be regarded as an integrated motor model, then the d-axis of N number of direct current machine is the d-axis of this integrated motor model, and the equivalent resistance of N number of direct current machine is the equivalent resistance of this integrated motor model.
Particularly, can according to the equivalent resistance of the N number of direct current machine of following formulae discovery:
V
d-e-I
d*R
real＝0
Wherein, R
realfor the equivalent resistance of N number of direct current machine, e is the equivalent pressure drop of IGBT in IPM module, for being constant with a IPM module e.Further, the equivalent resistance of N number of direct current machine is equal with the resistance R of N number of direct current machine, i.e. R=R
real.
Specifically, the resistance R of N number of direct current machine also can according to direct current I
dwith direct-axis voltage V
dcalculate, automatically can be calculated the equivalent resistance of N number of parallel-connected induction motors by direct current motor system, and be R according to the resistance R that result of calculation arranges N number of direct current machine
real, particularly, master control module controls IPM module applies default direct current I to the d-axis of N number of parallel connection direct motor
d, meanwhile, master control module controls IPM module applies to the quadrature axis of N number of parallel connection direct motor the direct current I that current value is 0
q, the direct current I applied
dafter stable, detect the direct-axis voltage V of N number of direct current machine
d, thus, can according to direct current I
dwith the direct-axis voltage V of N number of direct current machine
dcalculate the equivalent resistance of N number of direct current machine, and obtain the resistance R of N number of direct current machine according to the equivalent resistance of N number of direct current machine.
Particularly, the direct-axis voltage equation of N number of direct current machine is:
E
d＝V
d-e-I
d*R
real+ω*I
q*L
q(1)
Wherein, E
dfor the induced electromotive force of the d-axis of N number of direct current machine, V
dfor the direct-axis voltage of N number of direct current machine, e is the equivalent pressure drop of IGBT in IPM module, I
dfor the direct current applied to the d-axis of N number of direct current machine, R
realfor the equivalent resistance of N number of direct current machine, ω is the angular rate of each direct current machine in N number of direct current machine, I
qfor the direct current applied to the quadrature axis of N number of direct current machine, L
qfor the quadrature axis inductance of direct current machine each in N number of direct current machine.It should be noted that, the d-axis induced electromotive force E of N number of direct current machine
dbe the d-axis induced electromotive force of integrated motor model.
Thus, at the direct current I applied to the d-axis of N number of direct current machine
dafter stable, the induced electromotive force E of the d-axis of N number of direct current machine
dbe 0, and apply direct current I at the d-axis to N number of direct current machine
dtime, the N number of direct current machine of master control module controls maintains static, and namely in N number of direct current machine, the rotational speed omega of each direct current machine all remains 0, meanwhile, and the direct current I that the quadrature axis to N number of direct current machine applies
qalso be 0, above formula (1) can be reduced to:
V
d-e-I
d*R
real＝0。
Like this, the equivalent resistance R of N number of direct current machine can be calculated
real, and the resistance R=R of N number of direct current is set
real, thus obtain the resistance R of N number of direct current.
According to foregoing description, the resistance R of N number of direct current machine can according to calculating voluntarily the N of development and Design personnel setting of direct current motor system, now, the resistance R of N number of direct current machine can calculate rear sets itself by direct current motor system or also can calculate rear manual setting by development and Design personnel.The resistance R of N number of direct current machine also can by direct current motor system according to the direct current I applied to d-axis
dwith the direct-axis voltage V detected
dcalculate, and the resistance R of N number of direct current machine is directly set according to result of calculation.
Thus, this control method can calculate the resistance of N number of parallel connection direct motor automatically, thus improves the automaticity of system, the scope of application of expanding system.
In addition, it should be noted that, the d-axis inductance parameters of N number of direct current machine is the direct current axle inductance ratings L of single direct current machine in N number of parallel connection direct motor
d=L
drated, L
dratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer; The quadrature axis inductance parameters of N number of direct current machine is the interchange axle inductance ratings L of single direct current machine in N number of parallel connection direct motor
q=L
qrated, L
qratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
S2: the back electromotive force obtaining N number of direct current machine.
Wherein, it should be noted that, the back electromotive force E of N number of direct current machine
0for the specified back electromotive force E of single direct current machine in N number of parallel connection direct motor
0=E
0rated, E
0ratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
S3: estimate that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine simultaneously according to the back electromotive force parameter of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine and the phase current of N number of direct current machine that detects.
Such as, the stopping, startup, running speed, rotation direction etc. of N number of direct current machine can be controlled according to the controling parameters such as the rotating speed of the rotor of N number of direct current machine and position and default control program.That is, six road pwm signals can be adjusted, to make IPM module according to six road pwm signal output drive signals to control N number of direct current machine simultaneously according to the phase current of the back electromotive force of the inductance parameters of the resistance of N number of direct current machine, N number of direct current machine and N number of direct current machine and the N number of direct current machine detected.
Specifically, the controling parameters of direct current motor system can be set according to the phase current of the back electromotive force parameter of the inductance parameters of the resistance of N number of direct current machine, N number of direct current machine and N number of direct current machine and the N number of direct current machine detected, afterwards, the same with controlling 1 direct current machine in correlation technique, utilize in correlation technique 120 degree of square waves or 180 degree sinusoidal wave control startup, the stopping of N number of direct current machine simultaneously or rotate forward according to the rotating speed of specifying, reversion.
It should be noted that, in the present embodiment, can regard N number of direct current machine as an integrated motor model, the phase current of N number of direct current machine and the phase current of UVW three-phase are the phase current of integrated motor model.
Below for N=2 and N=3, describe the control method of the direct current motor system of the embodiment of the present invention in detail.
According to a specific embodiment of the present invention, work as N=2, when namely the quantity of direct current machine is 2, as shown in Figure 5, the control method of the direct current motor system of the embodiment of the present invention comprises the following steps:
S10: the quantity N=2 of setting direct current machine, and obtain the resistance of 2 direct current machines.
Wherein, the quantity N of direct current machine can be set as 2 by system development design engineer, and the resistance R of 2 direct current machines obtains according to the quantity N of direct current machine, and the N=2 that namely system development designer can be utilized to set calculates voluntarily, i.e. R=R
rated/ 2.
Certainly, the resistance R of 2 direct current machines also can by direct current motor system according to the direct current I applied to d-axis
dwith the direct-axis voltage V detected
dautomatically calculate.
S20: the inductance parameters obtaining 2 parallel connection direct motors.Wherein, inductance parameters comprises d-axis inductance L
dwith quadrature axis inductance L
q.
Wherein, it should be noted that, the d-axis inductance parameters of 2 direct current machines is the direct current axle inductance ratings L of single direct current machine in 2 parallel connection direct motors
d=L
drated, L
dratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer; The quadrature axis inductance parameters of 2 direct current machines is the interchange axle inductance ratings L of single direct current machine in 2 parallel connection direct motors
q=L
qrated, L
qratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
S30: the back electromotive force E obtaining 2 parallel connection direct motors
0.
Wherein, the back electromotive force E of 2 direct current machines
0for the specified back electromotive force E of single direct current machine in individual parallel connection direct motor
0=E
0rated, E
0ratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
S40: estimate that the rotating speed of the rotor of 2 direct current machines and position are to control 2 direct current machines simultaneously, namely control the stopping of 2 motors, startup, running speed, rotation direction simultaneously according to the back electromotive force of the resistance of 2 direct current machines, the inductance parameters of 2 direct current machines and 2 direct current machines and the phase current of 2 direct current machines that detects.
According to another specific embodiment of the present invention, work as N=3, when namely the quantity of direct current machine is 3, as shown in Figure 6, the control method of the direct current motor system of the embodiment of the present invention comprises the following steps:
S100: the quantity N=3 of setting direct current machine, and obtain the resistance of 3 direct current machines.
Wherein, the quantity N of direct current machine can be set as 3 by system development design engineer, and the resistance R of 3 direct current machines obtains according to the quantity N of direct current machine, and the N=3 that namely system development designer can be utilized to set calculates voluntarily, i.e. R=R
rated/ 3.
Certainly, the resistance R of 3 direct current machines also can by direct current motor system according to the direct current I applied to d-axis
dwith the direct-axis voltage V detected
dautomatically calculate.
S200: the inductance parameters obtaining 3 parallel connection direct motors.Wherein, inductance parameters comprises d-axis inductance L
dwith quadrature axis inductance L
q.
Wherein, it should be noted that, the d-axis inductance parameters of 3 direct current machines is the direct current axle inductance ratings L of single direct current machine in 3 parallel connection direct motors
d=L
drated, L
dratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer; The quadrature axis inductance parameters of 3 direct current machines is the interchange axle inductance ratings L of single direct current machine in 3 parallel connection direct motors
q=L
qrated, L
qratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
S300: the back electromotive force E obtaining 3 parallel connection direct motors
0.
Wherein, the back electromotive force E of 3 direct current machines
0for the specified back electromotive force E of single direct current machine in individual parallel connection direct motor
0=E
0rated, E
0ratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
S400: estimate that the rotating speed of the rotor of 3 direct current machines and position are to control 3 direct current machines simultaneously, namely control the stopping of 3 motors, startup, running speed, rotation direction simultaneously according to the back electromotive force of the resistance of 3 direct current machines, the inductance parameters of 3 direct current machines and 3 direct current machines and the phase current of 3 direct current machines that detects.
Generally speaking, in another specific embodiment of the present invention, as shown in Figure 7, the control method of the direct current motor system of the embodiment of the present invention comprises the following steps:
S101: the quantity N of setting direct current machine, and obtain the resistance of N number of direct current machine.
S102: the inductance parameters obtaining N number of parallel connection direct motor.Wherein, inductance parameters comprises d-axis inductance L
dwith quadrature axis inductance L
q.
S103: the back electromotive force E obtaining N number of parallel connection direct motor
0.
According to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine and the phase current of N number of direct current machine that detects, S104: simultaneously control the stopping of N number of motor, startup, running speed, rotation direction, namely estimates that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine simultaneously.
To sum up, according to the control method of the direct current motor system that the embodiment of the present invention proposes, obtaining the resistance of N number of direct current machine, and after obtaining the inductance parameters of N number of direct current machine, obtain the back electromotive force of N number of direct current machine again, and estimate that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine simultaneously according to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine and the phase current of N number of direct current machine that detects.Thus, the control method of this direct current motor system controls N number of direct current machine according to the phase current of the inductance parameters of the resistance of N number of direct current machine, N number of direct current machine, the back electromotive force of N number of direct current machine and N number of direct current machine, control precision can be improved, and adopt the electric control structure of this control method simple, the parallel connection direct motor of different number all can use same electric control structure, thus realize standardization and generalization, solve a through engineering approaches difficult problem.In addition, the method adopts the direct current machine of 1 IPM module to N number of parallel connection to control, and effectively can save the cost of direct current motor system.In addition, this control method can calculate the resistance of N number of parallel connection direct motor automatically, thus improves the automaticity of system, the scope of application of expanding system.
Fig. 8 is the structural representation of the direct current motor system according to the embodiment of the present invention.As shown in Figure 8, this direct current motor system comprises N number of direct current machine 10, IPM module 20 and main control module 30.
Wherein, N number of direct current machine 10 is connected in parallel, and N can be the integer being more than or equal to 2, such as, N number of direct current machine 10 can be direct current machine 1, direct current machine 2 ..., direct current machine N; IPM module 20 is connected respectively to N number of direct current machine 10; Main control module 30 is for exporting six road pwm signals to IPM module 20 to control N number of direct current machine 10, and, main control module 30, for obtaining the resistance R of N number of direct current machine, after obtaining the inductance parameters of N number of direct current machine, and obtains the back electromotive force E of N number of direct current machine
0, and according to the back electromotive force E of the resistance R of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine
0and the phase current of the N number of direct current machine detected estimates that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine simultaneously, wherein, inductance parameters comprises d-axis inductance L
dwith quadrature axis inductance L
q.
Such as, main control module 30 can control the stopping, startup, running speed, rotation direction etc. of N number of direct current machine simultaneously according to the controling parameters such as the rotating speed of the rotor of N number of direct current machine and position and default control program.
That is, the direct current motor system of the embodiment of the present invention can adopt a main control module 30 to control an IPM module 20 driving N direct current machine 10.Main control module 30 is for sending six road pwm control signals to IPM module 20, and obtain U, V, W three-phase current of N number of direct current machine, to estimate rotating speed and the position of N number of DC motor rotor according to U, V, W three-phase current obtained, realize the real-time control to N number of direct current machine, wherein, N number of direct current machine U, V, W three-phase current is gathered by the current sensor of IPM module 20 outside or current sampling resistor.The six road pwm control signals that IPM module 20 exports for receiving main control module 30, and export U, V, W three-phase driving signal to N number of direct current machine 10 simultaneously, U, V, W three-phase driving signal running of N number of direct current machine 10 for exporting according to IPM module 20, wherein, the U phase of N number of direct current machine 10 is all connected with the U phase output terminal of IPM module 20, the V phase of N number of direct current machine 10 is all connected with the V phase output terminal of IPM module 20, and the W phase of N number of direct current machine 10 is all connected with the W phase output terminal of IPM module 20.It should be noted that, in the present embodiment, can regard N number of direct current machine as an integrated motor model, the phase current of N number of direct current machine and the phase current of UVW three-phase are the phase current of integrated motor model.
That is, main control module 30 is obtaining resistance R, the inductance parameters of N number of direct current machine, the back electromotive force E of N number of direct current machine of N number of direct current machine
0after, six road pwm signals can be adjusted respectively according to the inductance parameters of the resistance of N number of direct current machine, N number of direct current machine and the back electromotive force of N number of direct current machine and U, V, W three-phase current of N number of direct current machine, such as adjust the duty ratio of six road pwm signals respectively, afterwards, main control module 30 exports adjustment Hou six road pwm signal export three-phase driving signal to control the stopping, startup, running speed, rotation direction etc. of N number of direct current machine simultaneously to N number of direct current machine 10 to IPM module 20, IPM module 20 according to six road pwm signals simultaneously.
Specifically, main control module 30 can arrange the controling parameters of direct current motor system according to the inductance parameters of the resistance of N number of direct current machine, N number of direct current machine and the back electromotive force parameter of N number of direct current machine and U, V, W three-phase current of N number of direct current machine, afterwards, the same with controlling 1 direct current machine in correlation technique, main control module 30 utilize in correlation technique 120 degree of square waves or 180 degree sinusoidal wave control startup, the stopping of N number of direct current machine simultaneously or rotate forward according to the rotating speed of specifying, reversion.
According to one embodiment of present invention, the model of N number of direct current machine is identical.It should be noted that, here identical refers to the identical of broad sense, approximate identical.According to a concrete example of the present invention, main control module 30 can be MCU (MicroControlUnit, micro-control unit).
According to one embodiment of present invention, main control module 30 can obtain the resistance of N number of direct current machine according to following formula:
R＝R
rated/N
Wherein, R is the resistance of N number of direct current machine, R
ratedfor the rated resistance of the single direct current machine in N number of direct current machine.
Namely say, the resistance of N number of direct current machine is the all-in resistance after N number of direct current machine parallel connection.
It should be noted that, N is the quantity of direct current machine, can by the quantity sets itself of the development and Design personnel of direct current motor system according to required direct current machine.Like this, after the quantity N of setting direct current machine, the resistance R of N number of direct current machine just can utilize the N of the development and Design personnel setting of direct current motor system to calculate voluntarily, namely according to the rated resistance R of the single direct current machine in the quantity N of direct current machine and N number of direct current machine
ratedobtain the resistance R of N number of parallel-connected induction motors.
According to another embodiment of the invention, main control module 30 is also for the d-axis applying direct current I of control IPM module 20 to N number of direct current machine 10
d, and detect the direct-axis voltage V of N number of direct current machine
d, and according to direct current I
dwith the direct-axis voltage V of N number of direct current machine
dcalculate the equivalent resistance of N number of direct current machine, and obtain the resistance of N number of direct current machine according to the equivalent resistance of N number of direct current machine.Wherein, it should be noted that, in the present embodiment, can N number of direct current machine be regarded as an integrated motor model, then the d-axis of N number of direct current machine is the d-axis of this integrated motor model, and the equivalent resistance of N number of direct current machine is the equivalent resistance of this integrated motor model.
Particularly, main control module 30 can according to the equivalent resistance of the N number of direct current machine of following formulae discovery:
V
d-e-I
d*R
real＝0
Wherein, R
realfor the equivalent resistance of N number of direct current machine, e is the equivalent pressure drop of IGBT in IPM module, for being constant with a IPM module e.Further, the equivalent resistance of N number of direct current machine is equal with the resistance R of N number of direct current machine, i.e. R=R
real
Specifically, the resistance R of N number of direct current machine also can according to direct current I
dwith direct-axis voltage V
dcalculate, automatically can be calculated the equivalent resistance of N number of parallel-connected induction motors by main control module 30, and be R according to the resistance R that result of calculation arranges N number of direct current machine
real, particularly, main control module 30 control IPM module 20 applies default direct current I to the d-axis of N number of parallel connection direct motor 10
d, meanwhile, main control module 30 control IPM module 20 applies to the quadrature axis of N number of parallel connection direct motor 10 the direct current I that current value is 0
q, the direct current I applied
dafter stable, main control module 30 detects the direct-axis voltage V of N number of direct current machine
d, thus, main control module 30 can according to direct current I
dwith the direct-axis voltage V of N number of direct current machine
dcalculate the equivalent resistance of N number of direct current machine, and obtain the resistance of N number of direct current machine according to the equivalent resistance of N number of direct current machine.
Particularly, the direct-axis voltage equation of N number of direct current machine is:
E
d＝V
d-e-I
d*R
real+ω*I
q*L
q(1)
Wherein, E
dfor the induced electromotive force of the d-axis of N number of direct current machine, V
dfor the direct-axis voltage of N number of direct current machine, e is the equivalent pressure drop of IGBT in IPM module, I
dfor the direct current applied to the d-axis of N number of direct current machine, R
realfor the equivalent resistance of N number of direct current machine, ω is the angular rate of each direct current machine in N number of direct current machine, I
qfor the direct current applied to the quadrature axis of N number of direct current machine, L
qfor the quadrature axis inductance of direct current machine each in N number of direct current machine.It should be noted that, the d-axis induced electromotive force E of N number of direct current machine
dbe the d-axis induced electromotive force of integrated motor model.
Thus, at the direct current I that IPM module 20 applies to the d-axis of N number of direct current machine 10
dafter stable, the d-axis induced electromotive force E of N number of direct current machine
dbe 0, and at the direct current I that IPM module 20 applies to the d-axis of N number of direct current machine 10
dtime, main control module 30 also controls N number of direct current machine 10 and maintains static, and namely in N number of direct current machine, the rotational speed omega of each direct current machine remains 0, meanwhile, and the direct current I that the quadrature axis to N number of direct current machine 10 applies
qalso be 0, above formula (1) can be reduced to:
V
d-e-I
d*R
real＝0。
Like this, namely main control module 30 can calculate the equivalent resistance R of N number of direct current machine
real, and the resistance R=R of N number of direct current is set
real, thus obtain the resistance R of N number of direct current.
According to foregoing description, the resistance R of N number of direct current machine can according to calculating voluntarily the N of development and Design personnel setting of direct current motor system, now, the resistance R of N number of direct current machine can calculate rear sets itself by main control module 30 or also can calculate rear manual setting by development and Design personnel.The resistance R of N number of direct current machine also can by main control module 30 according to the direct current I applied to d-axis
dwith the direct-axis voltage V detected
dcalculate, and the resistance R of N number of direct current machine is directly set according to result of calculation.
Thus, this control system can calculate the resistance of N number of parallel connection direct motor automatically, thus improves the automaticity of system, the scope of application of expanding system.
In addition, it should be noted that, the d-axis inductance parameters of N number of direct current machine is the direct current axle inductance ratings L of single direct current machine in N number of parallel connection direct motor
d=L
drated, L
dratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer; The quadrature axis inductance parameters of N number of direct current machine is the interchange axle inductance ratings L of single direct current machine in N number of parallel connection direct motor
q=L
qrated, L
qratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.In addition, the back electromotive force E of N number of direct current machine
0for the specified back electromotive force E of single direct current machine in N number of parallel connection direct motor
0=E
0rated, E
0ratedcan be provided by the producer of direct current machine, or apparatus measures can be utilized voluntarily to draw by developer.
Below for N=2 and N=3, describe the direct current motor system of the embodiment of the present invention in detail.
According to a specific embodiment of the present invention, work as N=2, when namely the quantity of direct current machine is 2, as shown in Figure 9, direct current motor system comprises: 2 direct current machines 10, IPM module 20, main control modules 30.Wherein, 2 direct current machines 10 can be direct current machine 1 and direct current machine 2, main control module 30 is for sending six road pwm control signals to IPM module 20, and gather the electric current of 2 parallel connection direct motors, the six road pwm control signals that IPM module 20 exports for receiving main control module 30, and export three-phase driving signal to 2 direct current machines 10,2 the three-phase driving signal runnings of direct current machine 10 for exporting according to IPM module 20.
Particularly, the inductance parameters of main control module 30 at the resistance R of acquisition 2 direct current machines, 2 direct current machines, the back electromotive force E of 2 direct current machines
0and after the electric current of 2 parallel connection direct motors, can according to the resistance of 2 direct current machines, the inductance parameters of 2 direct current machines, the electric current of the back electromotive force of 2 direct current machines and 2 parallel connection direct motors arranges the controling parameters of direct current motor system, and adjust six road pwm signals respectively according to controling parameters, such as adjust the duty ratio of six road pwm signals respectively, afterwards, main control module 30 exports adjustment Hou six road pwm signal to IPM module 20, IPM module 20 exports three-phase driving signal with simultaneously to the stopping of 2 direct current machines according to six road pwm signals to 2 direct current machines 10, start, running speed, rotation directions etc. control.
Wherein, the quantity N of direct current machine can be set as 2 by system development design engineer, and the resistance R of 2 direct current machines obtains according to the quantity N of direct current machine, and the N=2 that namely main control module 30 can utilize system development designer to set calculates voluntarily, i.e. R=R
rated/ 2.Certainly, the resistance R of 2 direct current machines also can by direct current motor system according to the direct current I applied to d-axis
dwith the direct-axis voltage V detected
dautomatically calculate.
According to another specific embodiment of the present invention, work as N=3, when namely the quantity of direct current machine is 3, as shown in Figure 10, direct current motor system comprises: 3 direct current machines 10, IPM module 20, main control modules 30.Wherein, 3 direct current machines 10 can be direct current machine 1, direct current machine 2 and direct current machine 3, main control module 30 is for sending six road pwm control signals to IPM module 20, and gather the electric current of 3 parallel connection direct motors, the six road pwm control signals that IPM module 20 exports for receiving main control module 30, and export three-phase driving signal to 3 direct current machines 10,3 the three-phase driving signal runnings of direct current machine 10 for exporting according to IPM module 20.
Particularly, the inductance parameters of main control module 30 at the resistance R of acquisition 3 direct current machines, 3 direct current machines, the back electromotive force E of 3 direct current machines
0and after the electric current of 3 parallel connection direct motors, can according to the resistance of 3 direct current machines, the inductance parameters of 3 direct current machines, the electric current of the back electromotive force of 3 direct current machines and 3 parallel connection direct motors arranges the controling parameters of direct current motor system, and adjust six road pwm signals respectively according to controling parameters, such as adjust the duty ratio of six road pwm signals respectively, afterwards, main control module 30 exports adjustment Hou six road pwm signal to IPM module 20, IPM module 20 exports three-phase driving signal with simultaneously to the stopping of 3 direct current machines according to six road pwm signals to 3 direct current machines 10, start, running speed, rotation directions etc. control.
Wherein, the quantity N of direct current machine can be set as 3 by system development design engineer, and the resistance R of 3 direct current machines obtains according to the quantity N of direct current machine, and the N=3 that namely main control module 30 can utilize system development designer to set calculates voluntarily, i.e. R=R
rated/ 3.Certainly, the resistance R of 3 direct current machines also can by direct current motor system according to the direct current I applied to d-axis
dwith the direct-axis voltage V detected
dautomatically calculate.
According to the direct current motor system that the embodiment of the present invention proposes, main control module is obtaining the resistance of N number of direct current machine, and after obtaining the inductance parameters of N number of direct current machine, obtain the back electromotive force of N number of direct current machine again, and estimate that the rotating speed of the rotor of N number of direct current machine and position are to control N number of direct current machine according to the back electromotive force of the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and N number of direct current machine and the phase current of N number of direct current machine that detects.Thus, this direct current motor system controls N number of direct current machine according to the resistance of N number of direct current machine, the inductance parameters of N number of direct current machine and the back electromotive force of N number of direct current machine and the phase current of N number of direct current machine, the control precision of system can be improved, and the electric control structure of this system is simple, the parallel connection direct motor of different number all can use same electric control structure, thus realize standardization and generalization, solve a through engineering approaches difficult problem.In addition, this direct current motor system adopts the direct current machine of 1 master control module controls, 1 IPM module to N number of parallel connection to control, and effectively can save the cost of direct current motor system.In addition, this control system can calculate the resistance of N number of parallel connection direct motor automatically, thus improves the automaticity of system, the scope of application of expanding system.
Describe and can be understood in flow chart or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this specification, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), erasablely edit read-only memory (EPROM or flash memory), fiber device, and portable optic disk read-only memory (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanner to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the application-specific integrated circuit (ASIC) of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (10)
1. the control method of a direct current motor system, it is characterized in that, described direct current motor system comprises the direct current machine of N number of parallel connection, the IPM module being connected respectively to described N number of direct current machine and output six road pwm signals to described IPM module with the main control module controlled described N number of direct current machine, N be more than or equal to 2 integer, described control method comprises the following steps:
Obtain the resistance of described N number of direct current machine, and obtain the inductance parameters of described N number of direct current machine, wherein, described inductance parameters comprises d-axis inductance and quadrature axis inductance;
Obtain the back electromotive force of described N number of direct current machine; And
Estimate that the rotating speed of the rotor of N number of direct current machine and position are to control described N number of direct current machine simultaneously according to the inductance parameters of the resistance of described N number of direct current machine, described N number of direct current machine, the back electromotive force parameter of described N number of direct current machine and the phase current of N number of direct current machine that detects.
2. the control method of direct current motor system according to claim 1, is characterized in that, the model of described N number of direct current machine is identical.
3. the control method of direct current motor system according to claim 2, is characterized in that, obtains the resistance of described N number of direct current machine according to following formula:
R＝R
rated/N
Wherein, R is the resistance of described N number of direct current machine, R
ratedfor the rated resistance of the single direct current machine in described N number of direct current machine.
4. the control method of direct current motor system according to claim 2, is characterized in that, obtains the resistance of described N number of direct current machine, specifically comprises:
Control the d-axis applying direct current I of described IPM module to described N number of direct current machine
d;
Detect the direct-axis voltage V of described N number of direct current machine
d;
According to described direct current I
dwith the direct-axis voltage V of described N number of direct current machine
dcalculate the equivalent resistance of described N number of direct current machine, and obtain the resistance of described N number of direct current machine according to the equivalent resistance of described N number of direct current machine.
5. the control method of direct current motor system according to claim 4, is characterized in that, the equivalent resistance of N number of direct current machine according to following formulae discovery:
V
d-e-I
d*R
real＝0
Wherein, R
realfor the equivalent resistance of described N number of direct current machine, e is the equivalent pressure drop of IGBT in described IPM module.
6. a direct current motor system, is characterized in that, comprising:
N number of direct current machine, described N number of direct current machine is connected in parallel, wherein, N be more than or equal to 2 integer;
Be connected respectively to the IPM module of described N number of direct current machine;
Export six road pwm signals to described IPM module with the main control module controlled described N number of direct current machine, described main control module is for obtaining the resistance of described N number of direct current machine, obtain the inductance parameters of described N number of direct current machine, and obtain the back electromotive force of described N number of direct current machine, and according to the resistance of described N number of direct current machine, the inductance parameters of described N number of direct current machine and the back electromotive force parameter of described N number of direct current machine and the phase current of N number of direct current machine detected estimate that the rotating speed of the rotor of N number of direct current machine and position are to control described N number of direct current machine simultaneously, wherein, described inductance parameters comprises d-axis inductance and quadrature axis inductance.
7. direct current motor system as claimed in claim 6, it is characterized in that, the model of described N number of direct current machine is identical.
8. direct current motor system according to claim 7, is characterized in that, described main control module obtains the resistance of described N number of direct current machine according to following formula:
R＝R
rated/N
Wherein, R is the resistance of described N number of direct current machine, R
ratedfor the rated resistance of the single direct current machine in described N number of direct current machine.
9. direct current motor system according to claim 7, is characterized in that, described main control module also applies direct current I to the d-axis of described N number of direct current machine for controlling described IPM module simultaneously
d, and detect the direct-axis voltage V of described N number of direct current machine
d, and according to described direct current I
dwith the direct-axis voltage V of described N number of direct current machine
dcalculate the equivalent resistance of described N number of direct current machine, and obtain the resistance of described N number of direct current machine according to the equivalent resistance of described N number of direct current machine.
10. direct current motor system according to claim 9, is characterized in that, the equivalent resistance of described main control module N number of direct current machine according to following formulae discovery:
V
d-e-I
d*R
real＝0
Wherein, R
realfor the equivalent resistance of described N number of direct current machine, e is the equivalent pressure drop of IGBT in described IPM module.
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