CN108667373A - DC bus-bar voltage oscillation compensation method based on Selective harmonic elimination pulsewidth modulation - Google Patents
DC bus-bar voltage oscillation compensation method based on Selective harmonic elimination pulsewidth modulation Download PDFInfo
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- CN108667373A CN108667373A CN201810362245.7A CN201810362245A CN108667373A CN 108667373 A CN108667373 A CN 108667373A CN 201810362245 A CN201810362245 A CN 201810362245A CN 108667373 A CN108667373 A CN 108667373A
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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
- H02P21/05—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
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses the DC bus-bar voltage oscillation compensation methods based on Selective harmonic elimination pulsewidth modulation, it particularly relates to the control of three phase alternating current motor drive system, method switchs angle distribution character according to SHEPWM when various different divider ratios first, determines synchronization process section；DC bus-bar voltage waveform in processing section is predicted；Demarcation interval is carried out according to prediction waveform, and carries out the accumulation of stator magnetic linkage error according to the corresponding switching time in section；The method proposed in the present invention can retain the excellent harmonic characterisitic of SHEPWM, while additional output voltage harmonic wave caused by DC bus-bar voltage is fluctuated minimizes, low-frequency harmonics electric current caused by busbar voltage fluctuation is greatly reduced and output torque fluctuates；And this method may be directly applied to common electric machine control system, need not increase additional hardware.
Description
Technical field
The present invention relates to the control technology fields of three phase alternating current motor, more specifically, it is related to disappearing based on selected harmonic
Except the DC bus-bar voltage oscillation compensation method of pulsewidth modulation.
Background technology
Selective harmonic elimination pulse modulation technology (SHEPWM), can be one as one kind in Synchronous fluorimetry modulation technique
The lower voltage harmonic ingredient of order is eliminated as much as under fixed each cycle umber of pulse, to reduce overall harmonic current loss.
Consider from another angle, may be implemented to drop as possible in the case that certain current harmonics total amount limits centainly using this technology
The umber of pulse of each phase in low each primitive period, to reduce inverter switching frequency, reduce switching loss.Therefore, this skill
Art is in the occasion that heavy-duty motor transmission etc. requires switching frequency low and loss is small with extensive.
In typical cross-straight-intersection motor-driven structure, DC bus-bar voltage often exist cyclic fluctuation (for example,
In the electric drive system of high ferro train, due to being single-phase ac power supply so that contain ripple components, wave in DC bus-bar voltage
Dynamic fundamental frequency is twice of input single-phase ac frequency).This voltage fluctuation causes traction motor current and torque at branch
Fluctuation, fluctuation exports fundamental frequency in inverter and when close busbar voltage fluctuation frequency significantly increases, generate additional loss with
And vibration and noise.Conventional treatment method includes increasing LC filters on DC bus, increasing busbar Support Capacitor, increase master
Dynamic electric-power filter (APF) etc..Above method can all introduce additional hardware device, dramatically increase system bulk weight and at
This.The present invention is not on the basis of increasing additional hardware, it is proposed that a kind of wave for the elimination DC bus-bar voltage that pure software is realized
The method for moving the additional harmonic wave of caused inverter output.
Mainly there are following three points using the difficulty of software realization compensation for SHEPWM：1, due to numerical control system spy
Property, the controlled quentity controlled variable of each controlling cycle start time load must just be calculated in a upper controlling cycle, and select humorous
Switching frequency is relatively low when wave eliminates pulse modulation technology application, and controlling cycle is also longer, in this way if using according to current period
It samples the pulse command that obtained DC bus-bar voltage is calculated to load within next period, it will introduce equivalent 1.5 controls
The delay in period processed seriously affects control performance, introduces harmonic wave, it is therefore necessary to know in advance in next period in previous cycle
Busbar voltage；2, the concept of carrier wave is not present during the realization of SHEPWM, duty ratio of the tradition based on carrier cycle is caused to be mended
Compensation method is difficult to carry out；3, the Phase synchronization of the generation of Selective harmonic elimination pulse-width modulation waveform and voltage vector, therefore electric current
The voltage vector phase of controlling unit output must be steady, otherwise can cause the confusion of pulse output timing, this gives feedback control
Bring very big difficulty.
Invention content
The present invention overcomes the deficiencies in the prior art, provide a kind of DC bus-bar voltage oscillation compensation side based on SHEPWM
Method, to weaken the harmonic wave and its caused loss and torque pulsation that DC bus wave zone comes.
Technical scheme is as follows：
DC bus-bar voltage oscillation compensation method based on Selective harmonic elimination pulsewidth modulation, includes the following steps：
101) voltage vector switch process：By normal vector control generate given voltage vector median filters be polar coordinates under,
Obtain voltage vector under polar coordinates；
102) prediction steps are sampled：It predicts to be formed by voltage vector under polar coordinates, certain execution is delayed from current time
The waveform of the given voltage vector of cycle time obtains prediction waveform；
103) stator magnetic linkage error accumulation step：Demarcation interval is carried out according to prediction waveform, and is opened according to section is corresponding
Close the accumulation of moment progress stator magnetic linkage errorIt is as follows to accumulate formula：
WhereinTo predict DC bus-bar voltage,For mean direct busbar voltage, level=
High indicates that it is the section that this section exports high level, that is, DC bus-bar voltage to integrate corresponding time range；
104) switch motion step is adjusted：According to stator magnetic linkage error accumulation, prediction DC bus-bar voltage, when adjustment switchs
It carves, is adjusted difference integral constantly, which, which adjusts difference integral, will be equal to section stator magnetic linkage error accumulation, if through toning
Switching time reaches interval border to straightening or former and later two switching times are equal, but still not up to equal situation to occurring, then
Remaining non-compensation rate is recorded, and a part for the accumulation of the stator magnetic linkage error as next section.
Further, step 103) is as follows according to the corresponding switching time in section：It is sweared according to current voltage
Phase is measured, determines corresponding switch form in the section divided, meanwhile, it is average according to voltage vector magnitude and DC bus-bar voltage
It is worth modulation depth, and angled key angle value is corresponded to by corresponding table search of inquiring, then determines the specific location of switching time.
Further, according to switch specific location, DC bus-bar voltage waveform is predicted.
Advantage is the present invention compared with prior art：
Present invention utilizes the characteristics that SHEPWM under different frequency dividing digital modelings switchs angular distribution, are drawn respectively to different mode
Divide the processing section at equal intervals of different length so that each phase switch form and section number one in each processing section are a pair of
It answers, and has in each section and only there is two-phase switch motion, section to number then by the phase decision of voltage vector, be each
The original switch moment offer facility quickly determined in next process cycle is provided.
Using the method for feedforward on the basis of interval division, compensation is realized under conditions of not changing primary voltage vector：
Stator magnetic linkage error is estimated in conjunction with the DC bus-bar voltage waveform of prediction according to the original switch moment in processing section, it
The DC bus-bar voltage waveform adjustment for recombining prediction afterwards has the switching time compensation stator magnetic linkage of the two-phase of switch motion to miss
Difference.
Allow the present invention under conditions of additionally not increasing hardware cost, retain the excellent harmonic characterisitic of SHEPWM,
Additional output voltage harmonic wave caused by DC bus-bar voltage is fluctuated simultaneously is minimized, is greatly reduced due to busbar voltage fluctuation
Low-frequency harmonics electric current when caused electric machine frequency is close to busbar voltage fluctuation frequency and output torque fluctuation.
Description of the drawings
Fig. 1 is the structural representation of the control system overall situation of the present invention；
Fig. 2 is the operation principle signal for repeating fallout predictor slip heavy loads window；
Fig. 3 is the division schematic diagram between different frequency dividing digital modeling lower treatment plots；
Fig. 4 is estimation and the compensation schematic diagram of stator magnetic linkage error.
Specific implementation mode
The present invention is further described with reference to the accompanying drawings and detailed description.
Embodiment one
DC bus-bar voltage oscillation compensation method based on Selective harmonic elimination pulsewidth modulation, includes the following steps：
101) voltage vector switch process：By normal vector control generate given voltage vector median filters be polar coordinates under,
Obtain voltage vector under polar coordinates.Wherein on the one hand the phase of given voltage vector generates synchronous triggering signal, every for starting
Secondary controlling cycle, acquisition startup vector controlled and DC bus-bar voltage fluctuation sampling；On the other hand it is used as phase foundation, in conjunction with
Specific table obtains angled key angle value, forms the original pulse sequence for generating each phase.
102) prediction steps are sampled：It predicts to be formed by voltage vector under polar coordinates, certain execution is delayed from current time
The waveform of the given voltage vector of cycle time obtains prediction waveform.Wherein predicting waveform, it predicts to need busbar electric each time
Press information will be ready in the start time in execution period, and implementing result will wait until that next execution period could load, under
Effect could embody completely when one execution end cycle, and the period is executed so be equivalent to information and to put forward the first two.Therefore, if
Execution period longest probable value is Tmax, then the lead needed is at least 2Tmax.Therefore information will be delayed from current time
At least two execution cycle times.It is wherein sampled, i.e., is adopted by multiple spot using the mean predicted value method for repeating fallout predictor
Collection compensates analysis to prejudge by average value, wherein acquisition is analyzed in advance by the entire compensation that a carrier cycle carries out
Sentence, i.e., Utopian formation switching time and be compared by the result that average value is prejudged, to press a carrier cycle
Phase carries out entire compensation, wherein the section divided is a carrier cycle, therefore defines in each section and only includes three kinds of states,
Wherein have and only two states have switch motion, another state to be switched on or off for holding；There is the state of switch motion to need
Section error compensation is carried out, state is to keep being switched on or off, and does not need section error compensation.
103) stator magnetic linkage error accumulation step：According to switch specific location, DC bus-bar voltage waveform is predicted.To each phase
Prediction DC bus-bar voltage and the difference of average busbar voltage in high level time are integrated, and integrated value is under estimating
The stator magnetic linkage error of each state cumulative in one process cycle.Demarcation interval is carried out according to prediction waveform, and according to section pair
The switching time answered carries out the accumulation of stator magnetic linkage errorIt is as follows to accumulate formula：
WhereinTo predict DC bus-bar voltage,For mean direct busbar voltage, level=
High indicates that it is the section that this section exports high level, that is, DC bus-bar voltage to integrate corresponding time range.
It is wherein the place corresponding to 10 ° to 30 ° of voltage vector angle under 11 pattern per primitive period umber of pulse with every phase
For managing section, shown in corresponding each phase switch form such as Fig. 4 (a).It is followed successively by a, b, c three-phases from top to bottom.Shade in figure
Region indicates integral of the bus voltage value predicted with the difference of average busbar voltage in each phase high level region, that is, accumulates magnetic
Chain error.Three-phase error is converted according to Clarke later：
It is transformed into orthogonal coordinate system, obtains d-axis, quadrature axis stator magnetic linkage error deltaλαWith △λβLast, by △λaWith △λβ
Respective negative value maps, which return in processing section, to be had in two phase coordinates of switch motion, and the two-phase stator magnetic linkage compensation rate is obtained(appointing two-phase in x a, b, c)：
Wherein each row indicates that corresponding a, b, a, c, b, c states have the table of the whole circumstances of switch motion respectively from top to bottom
Show.
104) switch motion step is adjusted：According to stator magnetic linkage error accumulation, prediction DC bus-bar voltage, when adjustment switchs
It carves, is adjusted difference integral constantly, which, which adjusts difference integral, will be equal to section stator magnetic linkage error accumulation, if through toning
Switching time reaches interval border to straightening or former and later two switching times are equal, but still not up to equal situation to occurring, then
Remaining non-compensation rate is recorded, and a part for the accumulation of the stator magnetic linkage error as next section.
It is specific as shown in figure 4, the estimation of (a) stator magnetic linkage error in figure three kinds of states, be followed successively by guarantor from top to bottom
Hold the state of being switched on or off, there are one switch motion state, there are two switch motion state.From upper in specific compensation way
It is followed successively by holding down and is switched on or off state without compensation.There are one the states of switch motion, are directly adjusted switch
Moment.There are two the states of switch motion, from the equidistant adjustment in both sides.If being adjusted section is reached until there is switching time
The case where boundary or former and later two switching times are equal, but compensation is not yet completed then records remaining non-compensation rate, next
It is added in second step in the calculating in section, the accumulation as error.
Allow the present invention under conditions of additionally not increasing hardware cost, retain the excellent harmonic characterisitic of SHEPWM,
Additional output voltage harmonic wave caused by DC bus-bar voltage is fluctuated simultaneously is minimized, is greatly reduced due to busbar voltage fluctuation
Low-frequency harmonics electric current when caused electric machine frequency is close to busbar voltage fluctuation frequency and output torque fluctuation.
Embodiment two
It is system structure overall situation schematic diagram as shown in Figure 1.In the dotted line frame of right side process is controlled for normal vector.Vector controlled
Under the given voltage vector median filters to polar coordinates finally generated.On the one hand the phase of given voltage vector generates synchronous triggering letter
Number, for starting each controlling cycle, starting vector controlled calculating and DC bus-bar voltage oscillation compensation；On the other hand make
For phase foundation, in conjunction with the angled key angle value tabled look-up, the original pulse sequence for generating each phase.DC bus-bar voltage wave
The dynamic obtained angle adjusted value that compensates acts on original pulse sequence, the final pulse train generated after compensation.Above-mentioned each synchronization
The phase of trigger signal is consistent with the synchronization process interval border that will subsequently illustrate, can ensure each control in this way
As a result it is suitable for the execution in next section.
As shown in Figures 2 to 4, it based on rotating speed adaptive kernel time-frequency distribution without sensor sample method, including walks as follows
Suddenly：
101) voltage vector switch process：By normal vector control generate given voltage vector median filters be polar coordinates under,
Obtain voltage vector under polar coordinates.Wherein on the one hand the phase of given voltage vector generates synchronous triggering signal, every for starting
Secondary controlling cycle, acquisition startup vector controlled and DC bus-bar voltage fluctuation sampling；On the other hand it is used as phase foundation, in conjunction with
Specific table obtains angled key angle value, forms the original pulse sequence for generating each phase.
102) prediction steps are sampled：It predicts to be formed by voltage vector under polar coordinates, certain execution is delayed from current time
The waveform of the given voltage vector of cycle time obtains prediction waveform, and certain sample frequency acquisition prediction waveform is arranged, and obtains
Handle section.
Wherein predicting waveform, it predicts to need busbar voltage information will be ready in the start time in execution period each time,
And implementing result will wait until that next execution period could load, effect could embody completely when next execution end cycle,
The period is executed so be equivalent to information and to put forward the first two.Therefore, it if execution period longest probable value is Tmax, needs
Lead is at least 2Tmax.Therefore information will delay at least two execution cycle times from current time.
Wherein sample frequency is set as 100kHz or higher, for ensureing the high bandwidth and subsequent prediction window of sampling
The high-resolution of interior waveform.It predicts a length of 2Tmax, sampling period Ts when waveform, then predicts that the forecast interval number of waveform is set
For 2Tmax/Ts, retardation 2Tmax/Ts,2Tmax/Ts- 1 ..., 3,2,1, delay cell output each in this way is followed successively by future
2Tmax/Ts-2Tmax/Ts,2Tmax/Ts-(2Tmax/Ts-1),...,2Tmax/Ts-3,2Tmax/Ts-2,2Tmax/Ts- 1 moment, i.e., 0,
1,2,...,2Tmax/Ts-3,2Tmax/Ts-2,2Tmax/TsThe predicted value at -1 each moment, form obtain at any time from this when
It carves and starts until 2T in futuremax/TsThe prediction waveform of busbar voltage between -1 moment.
Such as assume t1For current time, repeats prediction and predict (t at the moment1+2Tmax) moment bus voltage value.
(the t of prediction1+2Tmax) moment value after plus delay string, the note sampling period be Ts, then the delay cell number for postponing string will
Obtain 2T as described abovemax/Ts.In specific such as Fig. 2, t1Moment corresponding dotted line and one group of intersection point of delay string indicate t1Moment
Prediction window in predicted value, from top to bottom successively from current time t1 to farthest 2T in futuremax-1/fsampling, fsampling
For sample frequency.For example, it is assumed that TmaxFor 2ms, then maximum time lead is 2Tmax-1/fsampling≈2Tmax=4ms,
The corresponding first prime number of delay string is 400 under 100kHz sample frequencys, as long as the maximal possible length in processing section is no more than 2ms,
It can ensure obtain the prediction busbar voltage waveform in two processing sections in the future at any time.
103) synchronization process step：Per primitive period umber of pulse per phase of different pulse digital modelings is chosen, and is drawn respectively
It is directly unique related to the phase of voltage vector to form each section position for by stages.It wherein can specifically choose typical
Per the four kinds of patterns (also extending to other pulse digital modelings) for per primitive period umber of pulse being respectively mutually 15,11,7,3, and
As described on the left of Fig. 3, by this 4 kinds of pattern angles ranges successively according to 15 °, 20 °, 30 °, 60 ° are respectively divided into 4,3, and 2
A, 1 section will be to determine then under arbitrary modulation depth per the angle number in section.And each section position then with
The phase of voltage vector is directly unique related.Therefore, respectively according to 15 °, 20 °, 30 ° under 4 kinds, 60 ° by voltage vector angle
Being divided within one week 24 equal portions, 18 equal portions, 12 equal portions and 6 equal portions, then the switch form of each phase will uniquely determine in each section,
Only position of the switching time in section changes as modulation depth is different.
104) section compensation judgment step：Three kinds of states are only included in each section, wherein having and only two states have
Switch motion, another state are to keep being switched on or off；There is the state of switch motion to need to carry out section error compensation, state
To keep being switched on or off, section error compensation is not needed.To offer convenience for subsequent compensation.
DC bus-bar voltage oscillation compensation method, mainly includes the following steps：
201) confirm switch specific location step：According to current voltage vector phase, determine corresponding in the section divided
Switch form judges the corresponding processing section number of next controlling cycle, determines the switch shape in its corresponding each state
Formula.Meanwhile modulation depth is obtained according to voltage vector magnitude and DC bus-bar voltage average value, and inquire table search by corresponding
Corresponding angled key angle value, then determines the specific location of switching time.Corresponding critical angle is searched shown in i.e. on the left of specific Fig. 3
Value then determines the specific location of each phase switching time.
202) stator magnetic linkage error accumulation step：According to switch specific location, DC bus-bar voltage waveform is predicted.To each phase
Prediction DC bus-bar voltage and the difference of average busbar voltage in high level time are integrated, and integrated value is under estimating
The stator magnetic linkage error of each state cumulative in one process cycle.The demarcation interval above-mentioned according to prediction waveform, carries out stator magnet
The accumulation of chain errorIt is as follows to accumulate formula：
WhereinTo predict DC bus-bar voltage,For mean direct busbar voltage, level=
High indicates that it is the section that this section exports high level, that is, DC bus-bar voltage to integrate corresponding time range.
It is wherein the place corresponding to 10 ° to 30 ° of voltage vector angle under 11 pattern per primitive period umber of pulse with every phase
For managing section, shown in corresponding each phase switch form such as Fig. 4 (a).It is followed successively by a, b, c three-phases from top to bottom.Shade in figure
Region indicates integral of the bus voltage value predicted with the difference of average busbar voltage in each phase high level region, that is, accumulates magnetic
Chain error.Three-phase error is converted according to Clarke later：
It is transformed into orthogonal coordinate system, obtains d-axis, quadrature axis stator magnetic linkage error deltaλαWith △λβLast, by △λαWith △λβ
Respective negative value maps, which return in processing section, to be had in two phase coordinates of switch motion, and the two-phase stator magnetic linkage compensation rate is obtained(appointing two-phase in x a, b, c)：
Wherein each row indicates that corresponding a, b, a, c, b, c states have the table of the whole circumstances of switch motion respectively from top to bottom
Show.
203) switch motion step is adjusted：According to stator magnetic linkage error accumulation, prediction DC bus-bar voltage, when adjustment switchs
It carves, is adjusted difference integral constantly, which, which adjusts difference integral, will be equal to section stator magnetic linkage error accumulation, if through toning
Switching time reaches interval border to straightening or former and later two switching times are equal, but still not up to equal situation to occurring, then
Remaining non-compensation rate is recorded, and a part for the accumulation of the stator magnetic linkage error as next section.Specific such as Fig. 4
It is shown, three kinds of states of the estimation of (a) stator magnetic linkage error in figure, be followed successively by from top to bottom holding be switched on or off state,
There are one the state of switch motion, there are two the states of switch motion.Holding is followed successively by from top to bottom in specific compensation way to open
Logical or off state is without compensation.There are one the states of switch motion, are directly adjusted switching time.It is dynamic that there are two switches
The state of work, from the equidistant adjustment in both sides.If being adjusted, until occurring, switching time reaches interval border or former and later two are opened
Remaining non-compensation rate is then recorded, is added in the calculating in next section by the case where pass moment is equal, but compensation is not yet completed
Into second step, the accumulation as error.
Wherein, because and there is no the modulation methods of this kind of offline optimizations of corresponding SHEPWM in existing feedforward compensation method
Formula, therefore explicit carrier cycle concept is not present in this method itself, therefore, it is difficult to the think ofs according to common adjustment duty ratio
Road compensates.But equally by the way of synchronization process section, existing subsequent compensation is directly using the flat of repetition fallout predictor
Equal predicted value method, i.e., compensate analysis by average value by multipoint acquisition and compare because existing interval division be by
The entire compensation that one carrier cycle carries out, the inevitable effect for not having the accurate tiny division compensation of this method progress are good.Especially
When umber of pulse is very low, the holistic approach advantage of the application is more obvious.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, without departing from the inventive concept of the premise, can also make several improvements and modifications, these improvements and modifications also should be regarded as
In the scope of the present invention.
Claims (3)
1. the DC bus-bar voltage oscillation compensation method based on Selective harmonic elimination pulsewidth modulation, which is characterized in that including as follows
Step：
101) voltage vector switch process：It is to be obtained under polar coordinates by the given voltage vector median filters that normal vector control generates
Voltage vector under polar coordinates；
102) prediction steps are sampled：It predicts to be formed by voltage vector under polar coordinates, certain execution period is delayed from current time
The waveform of the given voltage vector of time obtains prediction waveform；
103) stator magnetic linkage error accumulation step：Demarcation interval is carried out according to prediction waveform, and when switch corresponding according to section
Carve the accumulation for carrying out stator magnetic linkage errorIt is as follows to accumulate formula：
WhereinTo predict DC bus-bar voltage,For mean direct busbar voltage,
Level=high indicates that it is the area that this section exports high level, that is, DC bus-bar voltage to integrate corresponding time range
Between；
104) switch motion step is adjusted：According to stator magnetic linkage error accumulation, prediction DC bus-bar voltage, switching time is adjusted,
Difference integral is adjusted constantly, which, which adjusts difference integral, will be equal to section stator magnetic linkage error accumulation, if being adjusted
It is equal until there is switching time arrival interval border or former and later two switching times, but still not up to equal situation, then will
Remaining non-compensation rate is recorded, and a part for the accumulation of the stator magnetic linkage error as next section.
2. the DC bus-bar voltage oscillation compensation method according to claim 1 based on Selective harmonic elimination pulsewidth modulation,
It is characterized in that：Step 103) is as follows according to the corresponding switching time in section：Foundation current voltage vector phase,
Determine corresponding switch form in the section divided, meanwhile, it is obtained according to voltage vector magnitude and DC bus-bar voltage average value
Modulation depth, and angled key angle value is corresponded to by corresponding table search of inquiring, then determine the specific location of switching time.
3. the DC bus-bar voltage oscillation compensation method according to claim 2 based on Selective harmonic elimination pulsewidth modulation,
It is characterized in that：According to switch specific location, DC bus-bar voltage waveform is predicted.
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| CN109713950A (en) * | 2019-02-20 | 2019-05-03 | 浙江大学 | The inhibition system and method for permanent magnet synchronous motor torque pulsation |
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