CN108365791B - AC motor coordinate system correction method aiming at stator winding deviation - Google Patents
AC motor coordinate system correction method aiming at stator winding deviation Download PDFInfo
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- CN108365791B CN108365791B CN201810345998.7A CN201810345998A CN108365791B CN 108365791 B CN108365791 B CN 108365791B CN 201810345998 A CN201810345998 A CN 201810345998A CN 108365791 B CN108365791 B CN 108365791B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
A method for correcting the coordinate system of AC motor aiming at the deviation of stator winding includes such steps as standardizing the electric signals of AC motor, calculating the angular deviation between the ideal and actual stator winding coordinate systems of AC motor, and correcting the actual coordinate system of AC motor. The method is not easily influenced by temperature and working conditions, the correction result can provide reference for the determination and design of the alternating current motor control strategy and the control system, the alternating current motor mathematical model can be closer to an actual motor model, the control algorithm, the coordinate transformation and the vector transformation based on the mathematical model are more accurate, the control effect is improved, the performance of the alternating current motor is improved, and the stability and the reliability of the operation of the alternating current motor control system are improved.
Description
Technical Field
The invention belongs to the technical field of alternating current motors, and particularly relates to a method for correcting a coordinate system of an alternating current motor aiming at stator winding deviation.
Background
With the development of electromagnetic field theory and motor technology, various alternating current motors and alternating current motor control strategies are continuously generated and developed. During scientific research and engineering application, in order to pursue a control effect with high precision, strong robustness and fast dynamic response, a mathematical model of the alternating current motor needs to be established, a control algorithm is derived from the mathematical model, and finally a control strategy and a control system matched with the mechanical characteristics, the electrical characteristics and the specific working conditions of the alternating current motor are formed. In the process of establishing a mathematical model of an alternating current motor, necessary assumptions or simplifications are often needed, for example, it is assumed that the stator winding of the motor is strictly symmetrical, the magnetic circuit of the motor is linear, and the air gap magnetic field presents a sinusoidal distribution, which belong to ideal assumptions. Because of the precision limitation of the motor production process and the influence of motor vibration, the axes of the stator windings are not strictly symmetrical, which leads to the fact that the stator winding coordinate system of the alternating current motor is an asymmetric stator winding coordinate system, namely, an angle deviation exists between an ideal stator winding coordinate system and an actual stator winding coordinate system, which is referred to as coordinate axis angle deviation hereinafter.
With the improvement of the alternating current motor vector control theory, an alternating current motor control system based on coordinate transformation and vector transformation is continuously developed, and a good control effect is obtained in actual engineering; however, the key points of coordinate transformation and vector transformation are selection of a reference coordinate system and calculation of stator and rotor angles, and researches prove the influence of coordinate axis angle deviation on the vector control effect. The deviation of the coordinate axis angle can cause the space current vector and the space fundamental wave magnetomotive force vector of the alternating current motor not to present an ideal shape any more, and further cause the current, the loss, the rotation speed fluctuation and the torque fluctuation of the alternating current motor to increase, and the actual working performance of the alternating current motor is influenced. Under some special working conditions, such as a vacuum environment and a high-pressure high-temperature environment, the heat dissipation capacity of the alternating current motor is limited, if coordinate axis angle deviation exists, the loss and the heat productivity of the alternating current motor are increased, further, the overheating protection of the control system is frequently triggered, and the online running time and the robustness of the system are reduced.
Chinese patent discloses a system and method for correcting the magnetic field orientation angle of an asynchronous motor rotor in 2015 (publication number CN103326656A), which uses the theoretical value of d-axis voltage of an asynchronous motor as a basis, and calculates slip correction gain and slip by using an integral regulator, a polarity judgment unit and a sampling unit, thereby correcting the magnetic field orientation angle. The invention is only suitable for asynchronous motors, directly corrects the angle of magnetic field orientation, cannot be suitable for other types of alternating current motors or control systems which do not adopt magnetic field orientation, and simultaneously uses a pure integrator, and the parameters of the asynchronous motors are easily influenced by temperature and working conditions, so that the application of the patent in engineering is limited by parameter change or error accumulation caused by the pure integrator.
Disclosure of Invention
The invention provides a method for correcting a coordinate system of an alternating current motor aiming at stator winding deviation, aiming at the technical problems of the existing alternating current motor control strategy and control system, and providing a method for correcting the coordinate system of the alternating current motor aiming at the stator winding deviation to determine the coordinate axis angle deviation, further provide reference for the determination and design of the existing alternating current motor control strategy and control system, and overcome the influence of the coordinate axis angle deviation on the working performance, the energy-saving effect, the control precision and the control effect of the alternating current motor.
In order to achieve the above purpose, the invention adopts the following technical scheme, comprising an alternating current motor coordinate system correction process aiming at stator winding deviation and an alternating current motor coordinate axis angle deviation calculation process, a device or a workbench is utilized to carry out stable fixation and pretreatment on the alternating current motor with stator winding deviation, so that a moving part of the alternating current motor has certain magnetism and has relative motion with the alternating current motor stator winding according to certain constraint conditions, each phase of stator winding of the alternating current motor can generate an electric signal which has corresponding relation with the motion characteristic and the spatial relation of the moving part of the alternating current motor based on the relative motion, the electric signal is sampled, and performing pre-value filtering and phase locking, and electric signal standardization, calculating coordinate axis angle deviation and correcting the AC motor coordinate system with stator winding deviation according to the spatial position relationship between the AC motor ideal stator winding coordinate system and the actual stator winding coordinate system.
As a preferable scheme of the invention, a preprocessing means of injecting pre-exciting current into a stator winding or an exciting winding of the alternating current motor is adopted, so that a moving part of the alternating current motor, which does not have magnetism at the moving part, has certain magnetism and generates relative movement with the stator winding of the alternating current motor under the action of a dragging mechanism or electromagnetic force, and the direction of the relative movement is the direction generated by cutting the moving part at a certain angleDirection of magnetic force line, electric signal generated by each phase stator winding of AC motor
(i is the distinguishing mark of each phase stator winding of the AC motor) and the electrical signal in the ideal stator winding coordinate system
Are respectively standardized, and the basic processing rule is as follows: if it is
Then converted into
If it is
Then converted into
If it is
Then converted into
If it is
Then converted into
And (3) expressing the normalized electrical signals of each phase in the same reference coordinate system according to the position relation of the stator windings of each phase in the space, and calculating and determining the angular deviation value of the coordinate system according to the angular deviation of the coordinate axis.
In another preferred embodiment of the present invention, after the electrical signal of the ac motor is normalized, the one-phase signal is used as a referenceMultiplying the signals in the actual stator winding coordinate system of the rest phases with the signal points in the ideal stator winding coordinate system to represent the signals as the characteristic signals G of the corresponding phases, and calculating the angle value of the angle deviation of the coordinate axes of each phase based on the space position relation between the waveform of the reference signal and the waveform of the characteristic signal
In another preferred embodiment of the present invention, for an m-phase n-phase alternating current motor, the angular value of the angular deviation of the coordinate axes of each phase is determined
(1<i is less than or equal to m), the coordinate system of the alternating current motor with stator winding deviation can be corrected, and the ith (1) under the nth antipode is taken as a reference axis<i is less than or equal to m) the value of the spatial angle between the winding of the phase stator winding and the reference axis is equal to
Compared with the prior art, the invention has the beneficial effects.
The invention provides an alternating current motor coordinate system correction method aiming at stator winding deviation, which is not easily influenced by temperature and working conditions, realizes correction of the alternating current motor coordinate system with stator winding deviation, and the correction result can provide reference for determination and design of an alternating current motor control strategy and a control system, so that an alternating current motor mathematical model is closer to an actual motor model.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
Fig. 1 is a schematic flow chart of a method for correcting an ac motor coordinate system for stator winding deviation according to the present invention.
FIG. 2 is a schematic diagram of a process for calculating an angular deviation of coordinate axes of an AC motor according to the present invention.
FIG. 3 is a schematic diagram of the coordinate axis angle deviation of the three-phase two-pole AC motor of the present invention.
FIG. 4 is a schematic diagram of a coordinate axis angle deviation calculation method of a three-phase two-pole AC motor according to the present invention.
Fig. 5 is an embodiment of the invention based on an ac motor coordinate system correction method for stator winding deviation.
Fig. 6 is a comparison diagram of experimental data of coordinate axis angle deviation by implementing the method for correcting the coordinate system of the alternating current motor aiming at the stator winding deviation.
In fig. 3 and 5, 1 is an ac motor rotor, 2 is an ac motor stator, 3 is an ac motor coordinate system correction module of stator winding deviation, 4 is an ac motor test bench, 5 is a power supply, 6 is a controller, 7 is a lead or signal line, 8 is an ac motor, 9 is a motor fixing device, 10 is a workbench, 11 is a motor coupler, 12 is a dragging motor, and 13 is a motor speed sensor.
Detailed Description
As shown in fig. 1-6, the present invention is a method for correcting the coordinate system of an ac motor for stator winding deviation, which is characterized in that the collected electrical signals of the ac motor are standardized, and the coordinate system of the ac motor for calculating the coordinate axis angle deviation and correcting the stator winding deviation is calculated according to the spatial relationship between the ideal stator winding coordinate system and the actual stator winding coordinate system of the ac motor. Furthermore, a practical AC motor coordinate system correcting device aiming at the stator winding deviation is designed by utilizing the AC motor coordinate system correcting method aiming at the stator winding deviation.
As shown in fig. 1, after the ac motor is fixed, it is determined whether the rotor of the ac motor has certain magnetism, and if the rotor of the ac motor does not have certain magnetism or the rotor is provided with an excitation winding, the rotor of the ac motor may have certain magnetism after being magnetized; for the rotor embedded with permanent magnetsOr other magnetic material, the rotor of which already has a certain magnetic property. Then dragging the rotor of the AC motor to rotate, wherein the angular speed of the rotor rotation is omegarThe rotor of the alternating current motor in the rotating process is equivalent to an equivalent magnet, the equivalent magnet and a stator winding of the alternating current motor have relative motion of cutting a magnetic induction line, induced voltage can be dynamically generated on the stator winding, and the amplitude and the frequency of the induced voltage are in direct proportion to the magnetic field intensity of the equivalent magnet of the rotor and the rotating speed of the alternating current motor. By properly processing the induced voltage on the stator winding, the angular deviation of the coordinate axis can be calculated and the coordinate system of the alternating current motor with the deviation of the stator winding can be corrected. And finally, determining and correcting results and outputting the results to the outside for actual engineering personnel and control systems.
As shown in fig. 2, the ac motor coordinate axis angle deviation calculation process mainly includes electric signal input, electric signal sampling, previous value filtering and phase locking, electric signal standardization processing, coordinate axis angle deviation calculation and determination, result output, and the like. For the electrical signal sampling process, the input signal is the voltage signal generated by the stator side after the rotor is dragged to rotate at the rotating speed in fig. 1
The value of i is related to the number of phases of the stator winding of the ac machine, e.g. the number of phases of the stator winding is three, then the input signal can be expressed as
According to the Shannon sampling law in the control principle, the sampling period of the electricity taking signal is T, and then the sampling frequency f s1/T, sampling angular frequency ωs＝2πfsThe output signal after the electric signal sampling process is
The output signal of the electric signal sampling process is used as the input signal of the pre-filtering and phase-locking process; because the noise or unknown harmonic will inevitably appear in the input signal of the pre-filtering and phase-locking process, the pre-filtering and phase-locking method is usedThe method can eliminate noise or unknown harmonic in the signal, the pre-filtering can be realized by a voltage keeper or a digital filter, the digital filter adopts a bandwidth filtering mode, and the maximum value of the bandwidth angular frequency is omegarThe Phase-Locked Loop can be realized by a Phase-Locked Loop or a Phase-Locked Loop device PLL (Phase-Locked Loop), and the process can also be realized by a Specific harmonic elimination Phase-Locked method SHE-PLL (Specific harmonic elimination Phase-Locked Loop) and a device and output signals; the electrical signal standardization processing flow is used for carrying out standardization processing on signals output by the previous flow, and the basic method is as follows: if the previous flow input signal
Then the output signal after the electric signal standardization processing flow
If the previous flow input signal
Then the output signal after the electric signal standardization processing flow
The output signal after the electric signal standardization processing flow is used as an input signal of a next flow, namely a coordinate axis angle deviation calculation and determination flow, and the coordinate axis angle deviation calculation and determination flow calculates the coordinate axis angle deviation and inputs the coordinate axis angle deviation to the next flow; the result output process outputs the calculation result of the previous process to the outside, and the coordinate axis angle deviation calculation method will be further described in detail with reference to the drawings and the embodiments of the specification.
Fig. 3 is a schematic diagram showing the coordinate axis angle deviation of a three-phase two-pole ac motor. In fig. 3, the ac motor rotor 1 and the ac motor stator 2 form basic elements of the mechanical structure of the ac motor, and other elements that cooperate with the ac motor rotor 1 and the ac motor stator 2 to complete the function of the ac motor are not specifically shown in fig. 3, and the axis a, the axis B, and the axis C in fig. 3 and the spatial relationship thereof together form the ac motorIdeal stator winding coordinate system, axis
Axial line
Axial line
The spatial relationship of the three phases jointly forms the actual stator winding coordinate system of the alternating current motor. The axis A in the AC motor ideal stator winding coordinate system can always be equivalent to the axis A in the AC motor ideal stator winding coordinate system
Coincide with each other when
Is the central axis B of the ideal stator winding coordinate system and the central axis of the actual stator winding coordinate system of the AC motor
The angle of,
is the central axis B of the ideal stator winding coordinate system and the central axis of the actual stator winding coordinate system of the AC motor
The included angle of (a). Without loss of generality, can be considered
Are all greater than 0. In the ideal stator winding coordinate system of the alternating current motor, the axis A and the axis B are spatially different by 120 degrees of spatial angle, namely thetaAB120 °; the axes A and C are spatially separated by a spatial angle of 240 deg., thetaAC120 deg.. In the actual ideal stator winding coordinate system, the axis
And axis
Spatially differ from each other
Angle of space, i.e.
Axial line
And axis
Spatially differ from each other
Angle of space, i.e.
One of the objectives of the invention is to realize
And
and further realizing the determination and correction of the actual stator winding coordinate system.
Fig. 4 is a schematic diagram of a method for calculating the coordinate axis angle deviation of a three-phase two-pole ac motor. Due to the axes A, B, C and C
Axial line
Axial line
Is the centralized treatment of the stator winding of the alternating current motorThe latter equivalent behavior, therefore, the spatial position of the axis also determines the space vector relationship of the stator-side three-phase voltages when the magnetic rotor is rotating. Stator-side voltages on six axes are respectively represented as
And
wherein
And
is a signal that can be measured directly on the stator side of the ac machine,
and
the method is based on a signal derived from an ideal stator winding coordinate system, and aims to more intuitively explain the basis and the principle of coordinate axis angle deviation when the signal is introduced. Is easy to deduce
Hysteresis
The electrical angle of the electric wire is set to be,
hysteresis
Electrical angle;
hysteresis
The electrical angle of the electric wire is set to be,
hysteresis
Electrical angle. The electric signal standardization processing flow pair shown in FIG. 2 and described above
And
normalizing the signals and correspondingly representing the normalized signals as
The basic method of normalization processing is: if
Then
If it is not
Then
② if
Then
If it is not
Then
③ if
Then
If it is not
Then
Fourthly if
Then
If it is not
Then
Fifthly, if
Then
If it is not
Then
Sixthly, if
Then
If it is not
Then
Defining a B-phase signature G having a value equal to
And
is dot multiplied by
And G are shown in fig. 4. As can be seen in fig. 4: if so, to
Is a reference signal waveform, and
the positive half cycle time of the waveform is DeltatAWhen is coming into contact with
Positive half cycle of the waveform G the negative half cycle of the waveform is Δ tGThen, then
Using similar calculation methods, it is also possible to calculate
The value of (c). Since the sampling period of the electrical signal is T, Δ TAAnd Δ tGThe value of (d) is easily obtained by counting the number of samples.
Fig. 5 shows an embodiment of a method for correcting the coordinate system of an ac motor according to the present invention. AC motor coordinate system mainly composed of stator winding deviationThe device comprises a correction module 3, an alternating current motor test bench 4, a power supply 5, a controller 6, a lead or signal line 7, an alternating current motor 8, a motor fixing device 9, a workbench 10, a motor coupler 11, a dragging motor 12 and a motor speed sensor 13. The alternating current motor 8 is fixed on the workbench 10 through the motor fixing device 9, and the alternating current motor 8 and the dragging motor 12 can be ensured to be coaxially connected through the motor coupler 11. For an alternating current motor 8 with a rotor without magnetism or with an excitation winding on the rotor, a controller 6 controls a power supply 5 to inject pre-excitation current I for a certain time to a three-phase stator winding of the alternating current motor 8i(i-A, B, C), wherein
Wherein L isrIs rotor inductance, LmFor mutual inductance, T, of AC machineseIs rated torque, npThe number of pole pairs of the stator winding of the alternating current motor is shown. After the rotor is magnetized, the rotor can have certain magnetism; for an alternating current motor with a permanent magnet or other magnetic material embedded on the rotor, the rotor itself has magnetism. Then the controller 6 controls the power supply 5 to be disconnected from the alternating current motor 8, voltage is injected into the dragging motor 12 according to the rated voltage of the dragging motor 12, the dragging motor 12 is gradually started under the action of the power supply 5, the rotating speed of the dragging motor 12 is determined through a rotating speed feedback signal of the motor speed sensor 13, when the rotating speed is stable, the alternating current motor coordinate system correction module 3 of stator winding deviation processes the voltage at the stator side according to the process and the method, and the stator side voltage is calculated
And
value of (1), then axis
And the axis line
At a spatial angle of
Axial line
And the axis line
At a spatial angle of
Using axes
Axial line
Axial line
And the spatial position angle relationship of the alternating current motor, and a corrected alternating current motor coordinate system is obtained.
The method for correcting the coordinate system of the alternating current motor aiming at the stator winding deviation realizes the calculation and the determination of the coordinate axis angle deviation and determines and corrects the asymmetric stator winding coordinate system of the alternating current motor. Establishing a two-dimensional model of the alternating current motor of the asymmetric stator winding by using Maxwell 14.0 finite element simulation software, setting different coordinate axis angle deviation values and defining the set coordinate axis angle deviation values as actual angles, and implementing the method for correcting the coordinate system of the alternating current motor aiming at the stator winding deviation to calculate the coordinate axis angle deviation.
As shown in fig. 6, in order to implement the present invention to determine and correct the experimental data comparison diagram of the asymmetric stator winding coordinate system, it can be seen that the estimated angle value of the coordinate axis angle deviation is closer to the actual angle value.
In the above embodiment, in order to facilitate the coaxial connection and the accurate butt joint of the ac motor 8 and the traction motor 12, the motor fixing device 9 should have degrees of freedom in three XYZ directions, and the spatial placement manner and the shape structure thereof are not limited to the representation form in fig. 4, and the shaft diameter of the motor coupling 11 should match the shaft diameters of the ac motor 8 and the traction motor 12.
The ac motor in each of the above embodiments is a three-phase two-pole ac motor, but is also applicable to a multi-phase multi-pole case.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention, such as changing the rotor structure in the ac motor in the present embodiment to an outer rotor structure, or to a disk structure, or to a linear structure, implementing the function and effect of the motor speed sensor 13 by using a control strategy or device without a speed sensor, a multi-phase multi-pole ac motor, or using the residual voltage and back electromotive force of the ac motor stator as the input signals in the flow chart of calculating the angle deviation of the coordinate axes of the ac motor in fig. 2, etc., should be included in the protection scope of the present invention.
It is further noted that, herein, terms such as workflow diagrams or computational flow diagrams, previous and next flows, breaks, and injections are merely used to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any such actual relationship or order between such entities or operations. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on and focuses on the differences from the other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (1)
1. A method for correcting the coordinate system of AC motor aiming at the deviation of stator winding includes such steps as fixing the AC motor with deviation of stator winding firmly by a device or bench, pretreating to make the moving part of AC motor have certain magnetism and move relatively to the stator winding of AC motor under certain constraint condition, generating electric signals relative to the moving part of AC motor, sampling, filtering, phase-locking and standardizing electric signals according to the space position relation between ideal stator winding coordinate system and actual stator winding coordinate system, calculating the angle deviation of coordinate axes and correcting the coordinate system of the alternating current motor with the deviation of the stator winding;
the method comprises injecting pre-exciting current into stator winding or exciting winding of AC motor to make the moving part of AC motor without magnetism have certain magnetism, and making the moving part move relative to the stator winding of AC motor under the action of dragging mechanism or electromagnetic force, wherein the direction of the relative movement is the direction of magnetic force line generated by cutting the moving part at a certain angle, and the electric signal generated by each phase of stator winding of AC motor
And electrical signals in an ideal stator winding coordinate system
The method is respectively standardized, i is a distinguishing mark of each phase of stator winding of the alternating current motor, and the basic processing rule is as follows: if it is
Then converted into
If it is
Then converted into
If it is
Then converted into
If it is
Then converted into
Expressing each phase of electric signals after standardization treatment in the same reference coordinate system according to the position relation of each phase of stator winding in the space, and calculating and determining a flow to calculate the angle deviation value of the coordinate system according to the angle deviation of the coordinate axis;
after the electric signal of AC motor is standardized, one phase signal is used as reference signal to determine the signals in the coordinate system of actual stator winding of other phasesMultiplying signal points in the sub-winding coordinate system to represent the characteristic signal G of the corresponding phase, and calculating the angle value of the angle deviation of the coordinate axes of each phase based on the space position relation between the waveform of the reference signal and the waveform of the characteristic signal
For m-phase n-antipodal alternating current motor, the angle value of the angular deviation of each phase coordinate axis
After the calculation is finished, the coordinate system of the alternating current motor with the stator winding deviation can be corrected, and the spatial angle value of the winding of the ith phase stator winding under the nth antipode and the reference axis is equal to that under the condition that the axis of the first phase stator winding under the nth antipode is taken as the reference axis
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010116815A1 (en) * | 2009-03-30 | 2010-10-14 | 株式会社日立製作所 | Ac motor control device and ac motor driving system |
| CN105245151A (en) * | 2015-11-04 | 2016-01-13 | 南京航空航天大学 | Method for detecting position of surface-mounted permanent magnet synchronous motor rotor |
| CN107179442A (en) * | 2017-04-06 | 2017-09-19 | 安徽大学 | A kind of diagnostic method of permanent-magnetic synchronous motor stator winding resistance unbalanced fault |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010116815A1 (en) * | 2009-03-30 | 2010-10-14 | 株式会社日立製作所 | Ac motor control device and ac motor driving system |
| CN105245151A (en) * | 2015-11-04 | 2016-01-13 | 南京航空航天大学 | Method for detecting position of surface-mounted permanent magnet synchronous motor rotor |
| CN107179442A (en) * | 2017-04-06 | 2017-09-19 | 安徽大学 | A kind of diagnostic method of permanent-magnetic synchronous motor stator winding resistance unbalanced fault |
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