CN107834926A - A kind of active damping system and active damping method based on voltage model - Google Patents

A kind of active damping system and active damping method based on voltage model Download PDF

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Publication number
CN107834926A
CN107834926A CN201711344764.2A CN201711344764A CN107834926A CN 107834926 A CN107834926 A CN 107834926A CN 201711344764 A CN201711344764 A CN 201711344764A CN 107834926 A CN107834926 A CN 107834926A
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mrow
msub
mfrac
motor
torque
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沈天珉
朱赟俊
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Mianyang Fulin Seiko new energy Co.,Ltd.
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Chengdu Fulin Precision New Energy Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a kind of active damping system based on voltage model and active damping method, the active damping system is made up of VCU, active damping unit, FOC, SVPWM, dc source, IGBT module, vehicle motor M and Current Voltage detection module, and the active damping unit includes flux observer, high-pass filter and moment of torsion synthesis module.Present invention is generally directed to existing active damping method operating speed sensor to obtain the problem of motor speed is brought, motor speed is obtained by using the flux observer of voltage model, due to not needing velocity sensor, not only reduce vehicle complexity and cost, and solve the environment and installation question required for acquisition speed, improve the reliability and convenience of speed acquisition.

Description

A kind of active damping system and active damping method based on voltage model
Technical field
The invention belongs to technical field of new energy, more particularly to a kind of active damping system based on voltage model and Active damping method.
Background technology
The vibrating noise problem of electric automobile and power assembly has many aspects, and such as electromagnetic noise, gear is uttered long and high-pitched sounds, bearing is made an uproar Sound etc., wherein most complicated be characterized as accelerating resonance, start shake and tooth for transmission system torsional vibration problems, major failure Wheel slap, show it is unstable, have some setbacks, pause and transition in rhythm or melody sense and shake the problems such as affect Consumer's Experience.Currently available active The method of damping solves this problem, and in general active damping method obtains motor speed using velocity sensor, but uses speed Sensor detection motor speed is spent, on the one hand increases the complexity and volume of system so that the cost increase of system, the opposing party Face velocity sensors towards ambient requires high, under many rugged environments, such as high temperature, humidity so that motor speed detects not Accurately.In addition, it is impermissible for installation rate sensor in some occasions.
The content of the invention
It is an object of the invention to：For above-mentioned problem, there is provided one kind can reduce vehicle complexity and cost, And solve the environment and installation question required for acquisition speed, improve speed obtain reliability and convenience based on voltage-mode The active damping system and active damping method of type.
The technical proposal of the invention is realized in this way：A kind of active damping system based on voltage model, its feature exist In：The active damping system by VCU, active damping unit, FOC, SVPWM, dc source, IGBT module, vehicle motor M and Current Voltage detection module forms, and the active damping unit includes flux observer, high-pass filter and moment of torsion synthesis module；
The VCU is used to send given torque Te；
The flux observer is used to obtain motor actual speed n；
The high-pass filter is used for output motor deviation rotating speed △ n；
The moment of torsion synthesis module, which is used to synthesize deviation torque △ Te caused by given torque and active damping, to be referred to Make torque Te*；
The FOC is used to obtain given voltage U*V*W*；
The SVPWM is used for the PWM ripples that the change of 6 tunnels is sent to IGBT module；
The IGBT module that the dc source is controlled by 6 road PWM ripples is reverse into three-phase alternating voltage UWV and goes to control vehicle Motor M.
A kind of active damping method of the active damping system based on voltage model, it is characterised in that：VCU is according to driver Accelerator pedal order sends given torque Te, and motor reality is drawn by flux observer according to the electric moter voltage and electric current detected Border rotating speed n, actual speed are obtained when motor speed fluctuates by high-pass filter output motor deviation rotating speed △ n according to △ n Increase the deviation torque △ Te in motor speed fluctuation opposite direction, give deviation torque △ Te caused by torque and active damping Synthesis obtains command torque Te*, command torque Te*FOC controls, FOC are participated in the feedback torque obtained by detecting current of electric Torque according to control is participated in obtains command voltage U*V*W*, command voltage changes by SVPWM sends 6 road PWM ripples, direct current Source is reverse into three-phase alternating voltage UWV by the 6 road PWM IGBT modules controlled and goes to control vehicle motor.
The active damping method of active damping system of the present invention based on voltage model, its described flux observer Motor actual speed n is obtained by the voltage and current signal monitored, its specific computational methods is：
The expression formula of stator magnetic linkage is：
E=u-iR is made, above formula is writeable to be turned into：
Above formula is rewritten：
In above formula, ψsFor stator magnetic linkage, on representing motor stator with subscript S in the statement of motor；U is stator voltage；R For stator resistance；I is stator current；E is counter electromotive force；ωcFor the cut-off frequency of LPF；
From expression above it can be seen that Part I is counter electromotive force E LPF, E/S is fixed in Part II Sub- magnetic linkage, final flux observation output result is determined by two LPF sums, and the size of cut-off frequency determines difference The proportion of the two parts under frequency；
Motor speed n can be obtained according to the relation of stator magnetic linkage and motor speed：
N=9.55 ω
In above formula, ψsαFor stator α axle magnetic linkages；ψsβFor stator β axle magnetic linkages；θ is stator magnetic linkage space bit angle setting；ω is electricity Machine angular speed；N is motor speed.
The active damping method of active damping system of the present invention based on voltage model, its described actual speed are led to High-pass filter output motor deviation rotating speed △ n are crossed, deviation torque △ Te are obtained according to △ n, synthesized by moment of torsion synthesis module Command torque Te*Circular be：
High Pass Filter Cutoff Frequency is set as ω1, when motor speed change frequency is more than ω1When high-pass filtering output electricity Machine deviation rotating speed △ n, when motor speed change frequency is less than ω1When high-pass filter ignore motor speed change, what is obtained is logical The motor deviation rotating speed △ n crossed after high-pass filter；
Deviation torque △ Te can be obtained according to △ n：
△ Te=kp △ n
Therefore can call instruction torque Te*：
Te*=Te- △ Te
In above formula, kp is that can set proportionality coefficient；
When certain frequency is arrived in motor speed fluctuation, fluctuating opposite direction to motor speed increases a deviation torque △ Te, now command torque fluctuating torque is changed into from the given torque that VCU is sent.
Present invention is generally directed to existing active damping method operating speed sensor to obtain the problem of motor speed is brought, and leads to Cross using the flux observer of voltage model to obtain motor speed, due to not needing velocity sensor, not only reduce vehicle Complexity and cost, and solve environment and installation question required for acquisition speed, improve the reliability of speed acquisition And convenience.
Brief description of the drawings
Fig. 1 is the theory diagram of the present invention.
Fig. 2 is motor speed actual waveform figure in the present invention.
Fig. 3 is high-pass filter output motor deviation speed diagram in the present invention.
Reference：1 is VCU, and 2 be active damping unit, and 3 be FOC, and 4 be SVPWM, and 5 be dc source, and 6 be IGBT moulds Block, 7 be vehicle motor M, and 8 be Current Voltage detection module, and 9 be flux observer, and 10 be high-pass filter, and 11 be that moment of torsion synthesizes Module.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
As shown in figure 1, a kind of active damping system based on voltage model, the active damping system is by VCU1 (vehicles Controller, Vehicle Control Unit), active damping unit 2, FOC3 (press rotor flux-orientation vector control, Flux Orientation Control), SVPWM4 (space vector pulse width modulation, Space Vector Pulse Width Modulation), dc source 5, IGBT module 6 (insulated gate bipolar transistor, Insulated Gate Bipolar Transistor), vehicle motor M7 and Current Voltage detection module 8 form, and the active damping unit includes flux observer 9th, high-pass filter 10 and moment of torsion synthesis module 11.
The VCU is used to send given torque Te；
The flux observer is used to obtain motor actual speed n；
The high-pass filter is used for output motor deviation rotating speed △ n；
The moment of torsion synthesis module, which is used to synthesize deviation torque △ Te caused by given torque and active damping, to be referred to Make torque Te*；
The FOC is used to obtain given voltage U*V*W*；
The SVPWM is used for the PWM ripples that the change of 6 tunnels is sent to IGBT module；
The IGBT module that the dc source is controlled by 6 road PWM ripples is reverse into three-phase alternating voltage UWV and goes to control vehicle Motor M.
A kind of active damping method of the active damping system based on voltage model as described above, it is specially：VCU is according to driving Member's accelerator pedal order sends given torque Te, and motor is drawn by flux observer according to the electric moter voltage and electric current that detect Actual speed n, actual speed are obtained when motor speed fluctuates by high-pass filter output motor deviation rotating speed △ n according to △ n Shi Zengjia is in the deviation torque △ Te of motor speed fluctuation opposite direction, deviation torque △ caused by given torque and active damping Te synthesizes to obtain command torque Te*, command torque Te*FOC controls are participated in the feedback torque obtained by detecting current of electric, FOC obtains command voltage U according to the torque for participating in control*V*W*, command voltage changes by SVPWM sends 6 road PWM ripples, direct current Power supply is reverse into three-phase alternating voltage UWV by the 6 road PWM IGBT modules controlled and goes to control vehicle motor.Its result to turn Square instruction fluctuate, vibratory response caused by this fluctuation is just cancelled out each other with original shake, thus motor speed and Vehicle rotating speed is more steady.The active damping method of the present invention solves the problems, such as because operating speed sensor is brought, no But reduce vehicle complexity and cost, and improve the reliability and convenience of speed acquisition.
Wherein, the flux observer obtains motor actual speed n, traditional electricity by the voltage and current signal monitored Pressing mold type flux observer is that stator back-emf is integrated, and stator magnetic linkage is obtained by integral operation, and the algorithm realizes letter It is single, but a series of problems be present：The DC component carried first in sampled signal, which can constantly add up, causes integral result to float Move to saturation；Second, also there is the problem of initial value setting in integral operation.In motor low speed, due to motor output voltage compared with Small, the normal work that can have a strong impact on voltage model is disturbed in the sampling such as drift so that system low-speed performance is poor.For this reason, it may be necessary to Doing some to flux observer targetedly improves.
The present invention specific computational methods be：
The expression formula of stator magnetic linkage is：
E=u-iR is made, above formula is writeable to be turned into：
Above formula is rewritten：
In above formula, ψsFor stator magnetic linkage, on representing motor stator with subscript S in the statement of motor；U is stator voltage；R For stator resistance；I is stator current；E is counter electromotive force；ωcFor the cut-off frequency of LPF.
From expression above it can be seen that Part I is counter electromotive force E LPF, E/S is fixed in Part II Sub- magnetic linkage, thus this part high-pass filtering can change do to stator magnetic linkage carry out LPF link.Final flux observation output As a result determined by two LPF sums, and the size of cut-off frequency determines the proportion of the two parts under different frequency, Need in actual applications by rationally setting cut-off frequency so that this two parts sum in All Speed Range internal stability relatively It is good, ensure stable operation in All Speed Range.
Motor speed n can be obtained according to the relation of stator magnetic linkage and motor speed：
N=9.55 ω
In above formula, ψsαFor stator α axle magnetic linkages；ψsβFor stator β axle magnetic linkages；θ is stator magnetic linkage space bit angle setting；ω is electricity Machine angular speed；N is motor speed.
The actual speed obtains deviation torque △ by high-pass filter output motor deviation rotating speed △ n according to △ n Te, pass through moment of torsion synthesis module synthetic instruction torque Te*Circular be：
As shown in Fig. 2 High Pass Filter Cutoff Frequency is set as ω1, when motor speed change frequency is more than ω1Shi Gaotong Output motor deviation rotating speed △ n are filtered, when motor speed change frequency is less than ω1When high-pass filter ignore motor speed change Change, obtain by the motor deviation rotating speed △ n after high-pass filter, as shown in Figure 3.
Deviation torque △ Te can be obtained according to △ n：
△ Te=kp △ n
Therefore can call instruction torque Te*：
Te*=Te- △ Te
In above formula, for kp for that can set proportionality coefficient, kp is the coefficient being rule of thumb manually set.
When certain frequency is arrived in motor speed fluctuation, fluctuating opposite direction to motor speed increases a deviation torque △ Te, now command torque is changed into fluctuating torque from the given torque that VCU is sent, but vehicle speed is steady.
The present invention is actively fluctuated by increasing active damping command torque, becomes ripple by the torque given originally Dynamic torque, vibratory response caused by this fluctuation are just cancelled out each other with original shake, so shaking after superposition Dynamic response is more steady on the contrary, therefore solves driveline torque vibration problem.Make compared in general active damping method With velocity sensor detection speed, active damping method of the invention obtains motor speed using flux observer, not only lowered The complexity and volume of system so that the cost of system is reduced, and is solved because velocity sensor is to environmental requirement Height, motor speed detects the problem of inaccurate and is impermissible for installation rate sensor in some occasions under many rugged environments The problem of.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.

Claims (4)

  1. A kind of 1. active damping system based on voltage model, it is characterised in that：The active damping system hinders by VCU, actively Buddhist nun's unit, FOC, SVPWM, dc source, IGBT module, vehicle motor M and Current Voltage detection module composition, the active resistance Buddhist nun's unit includes flux observer, high-pass filter and moment of torsion synthesis module；
    The VCU is used to send given torque Te；
    The flux observer is used to obtain motor actual speed n；
    The high-pass filter is used for output motor deviation rotating speed △ n；
    The moment of torsion synthesis module is used to deviation torque △ Te caused by given torque and active damping are synthesized to obtain instruction turn Square Te*；
    The FOC is used to obtain given voltage U*V*W*；
    The SVPWM is used for the PWM ripples that the change of 6 tunnels is sent to IGBT module；
    The IGBT module that the dc source is controlled by 6 road PWM ripples is reverse into three-phase alternating voltage UWV and goes to control vehicle motor M。
  2. 2. a kind of active damping method of the active damping system based on voltage model as claimed in claim 1, its feature exist In：VCU sends given torque Te according to driver's accelerator pedal order, passes through magnetic linkage according to the electric moter voltage and electric current that detect Observer draws motor actual speed n, and actual speed is obtained by high-pass filter output motor deviation rotating speed △ n according to △ n When motor speed fluctuates, the deviation torque △ Te of opposite direction are fluctuated in increase in motor speed, are given torque and are produced with active damping Raw deviation torque △ Te synthesize to obtain command torque Te*, command torque Te*Turn with the feedback obtained by detecting current of electric Square participates in FOC controls, and FOC obtains command voltage U according to the torque for participating in control*V*W*, command voltage is by SVPWM change hairs Go out 6 road PWM ripples, dc source is reverse into three-phase alternating voltage UWV by the 6 road PWM IGBT modules controlled and goes to control vehicle electricity Machine.
  3. 3. the active damping method of the active damping system according to claim 2 based on voltage model, it is characterised in that： The flux observer obtains motor actual speed n by the voltage and current signal monitored, and its specific computational methods is：
    The expression formula of stator magnetic linkage is：
    E=u-iR is made, above formula is writeable to be turned into：
    <mrow> <msub> <mi>&amp;psi;</mi> <mi>s</mi> </msub> <mo>=</mo> <mfrac> <mi>E</mi> <mi>S</mi> </mfrac> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mo>)</mo> <mi>E</mi> </mrow> <mrow> <mo>(</mo> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mo>)</mo> <mi>S</mi> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <mi>S</mi> <mi>E</mi> </mrow> <mrow> <mo>(</mo> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mo>)</mo> <mi>S</mi> </mrow> </mfrac> <mo>+</mo> <mfrac> <mrow> <mi>&amp;omega;</mi> <mi>x</mi> </mrow> <mrow> <mo>(</mo> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mo>)</mo> <mi>S</mi> </mrow> </mfrac> </mrow>
    Above formula is rewritten：
    <mrow> <mo>=</mo> <mfrac> <mi>E</mi> <mrow> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> </mrow> </mfrac> <mo>+</mo> <mfrac> <mrow> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mi>E</mi> </mrow> <mrow> <mo>(</mo> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mo>)</mo> <mi>S</mi> </mrow> </mfrac> <mo>=</mo> <mfrac> <mi>E</mi> <mrow> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> </mrow> </mfrac> <mo>+</mo> <mfrac> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mrow> <mo>(</mo> <mi>S</mi> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mo>)</mo> </mrow> </mfrac> <mfrac> <mi>E</mi> <mi>S</mi> </mfrac> </mrow>
    In above formula, ψsFor stator magnetic linkage, on representing motor stator with subscript S in the statement of motor；U is stator voltage；R is fixed Sub- resistance；I is stator current；E is counter electromotive force；ωcFor the cut-off frequency of LPF；
    From expression above it can be seen that Part I is counter electromotive force E LPF, E/S is stator magnet in Part II Chain, final flux observation output result is determined by two LPF sums, and the size of cut-off frequency determines different frequency The proportion of the two lower parts；
    Motor speed n can be obtained according to the relation of stator magnetic linkage and motor speed：
    <mrow> <msub> <mi>&amp;psi;</mi> <mi>s</mi> </msub> <mo>=</mo> <msqrt> <mrow> <msubsup> <mi>&amp;psi;</mi> <mrow> <mi>s</mi> <mi>&amp;alpha;</mi> </mrow> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>&amp;psi;</mi> <mrow> <mi>s</mi> <mi>&amp;beta;</mi> </mrow> <mn>2</mn> </msubsup> </mrow> </msqrt> </mrow>
    <mrow> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>=</mo> <mfrac> <msub> <mi>&amp;psi;</mi> <mrow> <mi>s</mi> <mi>&amp;alpha;</mi> </mrow> </msub> <msub> <mi>&amp;psi;</mi> <mrow> <mi>s</mi> <mi>&amp;beta;</mi> </mrow> </msub> </mfrac> </mrow>
    <mrow> <mi>&amp;omega;</mi> <mo>=</mo> <mfrac> <mrow> <mi>d</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> </mrow>
    N=9.55 ω
    In above formula, ψsαFor stator α axle magnetic linkages；ψsβFor stator β axle magnetic linkages；θ is stator magnetic linkage space bit angle setting；ω is motor angle speed Degree；N is motor speed.
  4. 4. the active damping method of the active damping system according to claim 2 based on voltage model, it is characterised in that： The actual speed obtains deviation torque △ Te according to △ n, passes through torsion by high-pass filter output motor deviation rotating speed △ n Square synthesis module synthetic instruction torque Te*Circular be：
    High Pass Filter Cutoff Frequency is set as ω1, when motor speed change frequency is more than ω1When high-pass filtering output motor it is inclined Differential speed △ n, when motor speed change frequency is less than ω1When high-pass filter ignore motor speed change, what is obtained passes through height Motor deviation rotating speed △ n after bandpass filter；
    Deviation torque △ Te can be obtained according to △ n：
    △ Te=kp △ n
    Therefore can call instruction torque Te*：
    Te*=Te- △ Te
    In above formula, kp is that can set proportionality coefficient；
    When certain frequency is arrived in motor speed fluctuation, fluctuating opposite direction to motor speed increases a deviation torque △ Te, Now command torque is changed into fluctuating torque from the given torque that VCU is sent.
CN201711344764.2A 2017-12-15 2017-12-15 A kind of active damping system and active damping method based on voltage model Pending CN107834926A (en)

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CN108683380A (en) * 2018-06-20 2018-10-19 无锡巨天自动化技术有限公司 A kind of energy-saving control method of asynchronous machine
CN110138288A (en) * 2019-05-15 2019-08-16 佛山市南海南洋电机电器有限公司 A kind of emergency brake control method of permanent-magnet brushless DC electric machine
CN110356251A (en) * 2019-08-01 2019-10-22 无锡华宸控制技术有限公司 A kind of pure electric automobile stabilization control system
CN111342731A (en) * 2020-04-10 2020-06-26 华中科技大学 Electrolytic capacitor-free variable frequency driving system resonance suppression method and system
CN112737457A (en) * 2020-12-25 2021-04-30 中车永济电机有限公司 Stability control method of permanent magnet auxiliary synchronous reluctance motor

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