CN109728756A - Double reference voltage single vectors open winding permanent magnet motor forecast Control Algorithm and equipment - Google Patents
Double reference voltage single vectors open winding permanent magnet motor forecast Control Algorithm and equipment Download PDFInfo
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Abstract
The invention discloses one kind to open winding permanent magnet motor forecast Control Algorithm and equipment based on double reference voltage single vectors.This method passes through the reference voltage vector that dead-beat current principle calculates motor first, it can determine the voltage vector of the first inverter according to the position of reference voltage vector, the reference voltage vector for acquiring the second inverter by the relationship between contravarianter voltage and electric moter voltage again determines the candidate vector range of the second inverter by the position of the second inverter reference voltage vector.The final voltage vector for determining the second inverter.Finally the voltage vector of the voltage vector of the first inverter and the second inverter is exported.Winding permanent magnet motor model predictive control method, which is opened, relative to tradition reduces vector enumerative technique bring computation burden.Timeliness is stronger, reduces testing cost.
Description
Technical field
The present invention relates to Motor Control Fields, particularly relate to one kind based on double reference voltage single vectors and open winding permanent magnet motor
Forecast Control Algorithm and equipment.
Background technique
It is bilateral controllably to open winding permanent magnet synchronous generator system (OW-PMSG) because its error resilience performance is good, control mode is clever
Living and Multilevel modulation effect receives more and more attention.But common DC bus topological structure provides zero-sequence current and leads to
Road makes the presence of zero-sequence current in system.Zero-sequence current will increase system loss and increase torque pulsation, reduce whole system
Efficiency.Therefore, it to eliminate zero-sequence current as much as possible, needs directly to inhibit zero-sequence current.
The adjusting of PI controller parameter is more and complicated in conventional vector control method, and the method for model prediction can be saved
Zero-sequence current ring avoids complicated parameter regulation.Usual current forecasting is passed through under mathematical model prediction by present current value
The electric current at one moment.For a two-level inverter, there are corresponding eight voltage vectors of eight kinds of switch states, including six non-zeros
Voltage vector and two Zero voltage vectors.Therefore, twin inverter shares 8x8=64 kind Switch State Combination in Power Systems, with tri-level inversion
The distribution of device voltage vector is identical.Since the voltage vector that some combinations are formed is identical, twin inverter shares 19 different voltages
Vector, wherein 18 non-zero vectors and 1 zero vector.If selecting optimal vector by enumerative technique from this 19 voltage vectors
The calculation amount of entire control algolithm in practical applications will be increased.
Summary of the invention
Deficiency present in winding permanent magnet motor model prediction is opened in view of aforementioned conventional.It is an object of the invention to propose
One kind opening winding permanent magnet motor forecast Control Algorithm and equipment based on double reference voltage single vectors.To reduce calculating data
Amount reduces PI controller parameter and adjusts complexity, reduces testing and control difficulty.
Based on above-mentioned purpose, the present invention provides one kind to open the pre- observing and controlling of winding permanent magnet motor based on double reference voltage single vectors
Method processed, comprising:
The motor reference voltage vector on synchronous rotating frame is calculated according to dead-beat current control principle；
The angle of the motor reference voltage vector is calculated according to the motor reference voltage vector, to obtain institute
The position for stating motor reference voltage vector determines that the voltage of the first inverter is sweared according to the position of the motor reference voltage vector
Amount；
The second inverter is calculated according to the voltage vector of first inverter and the motor reference voltage vector
Reference voltage vector；
It is formed by vector hexagon further according to the reference voltage vector of the second inverter in its own all vector
Position determines the candidate voltage vector range and quantity of second inverter；
The voltage vector of second inverter is chosen from the candidate voltage vector range of second inverter；
The voltage vector of the voltage vector of first inverter and second inverter is separately input to described
One inverter and second inverter.
The equation of the motor reference voltage vector of d axis, q axis and 0 axis on the synchronous rotating frame are as follows:
Wherein, udref,uqrefAnd u0refRespectively indicate reference of the motor on synchronous rotating frame on d axis, q axis and 0 axis
Voltage vector；id,iqAnd i0Respectively indicate current component of the motor on synchronous rotating frame on d axis, q axis and 0 axis；id *,
iq *And i0 *Respectively indicate the reference current component being arranged on d axis on synchronous rotating frame, q axis and 0 axis；R, L and M difference
Indicate stator winding resistance, self-induction and mutual inductance；Ld,LqD axis under rotating coordinate system, the inductive component on q axis are respectively represented, for
For salient-pole machine, Ld=Lq=L；L0=L-2M represents zero sequence inductance；ω, θ, Ψf1, Ψf3, k is respectively angular rate, rotor
Position angle, fundamental wave rotor flux, rotor flux third-harmonic component and time point；TsIndicate the sampling time.
Reference voltage vector of the motor on d axis and q axis is through Clarke transform at the reference of two-phase stationary coordinate system
The equation of voltage vector are as follows:
Wherein, uαrefAnd uβrefIt respectively indicates motor and fastens the reference voltage vector on α axis and β axis in static coordinate；udref
And uqrefRespectively indicate reference voltage vector of the motor on synchronous rotating frame on d axis and q axis；θ is rotor position angle.
Fasten the reference voltage vector of α axis and β axis in static coordinate according to the motor, then motor reference voltage vector
The calculation formula of position angle are as follows:
Wherein, θ1For the position angle of the motor reference voltage vector；uαrefAnd uβrefMotor is respectively indicated in static seat
Mark fastens the reference voltage vector on α axis and β axis.
The entire plane that twin inverter voltage vector is distributed is divided into six sectors, is sweared according to the motor reference voltage
The position angle θ of amount1Sector where determining；Further according to the motor reference voltage vector urefThe nearest non-null vector of distance
Amount, determines the voltage vector u of the first inverter1。
The parameter of the reference voltage vector of the second inverter is obtained according to the equation of the motor reference voltage vector
uref2；In conjunction with the voltage vector u of the first inverter1, according to formula uref2=u1-uref, obtain the ginseng of second inverter
Examine voltage vector.
According to the reference voltage vector u of the second inverterref2Position, determine the candidate voltage arrow of the second inverter
Amount, including a non-zero vector and two zero vectors.
Each candidate voltage vector is correspondingly made available a predicted current by the calculating of following formula,
idq0(k+1)=F (k) idq0(k)+G[udq0-1(k)-udq0-2(k)]+H(k)
In formula
udq0-1(k) 8 voltage vectors that the first inverter generates at the k moment are indicated；udq0-2(k) the second inverter is indicated
In 8 voltage vectors that the k moment generates；TsIndicate the sampling time.
The d axis and q shaft current and zero-sequence current predicted on synchronous rotating frame, design following objective function:
Wherein, id, iqAnd i0Respectively indicate d axis under rotating coordinate system, the current component on q axis and 0 axis；id *, iq *And i0 *
Respectively indicate d axis under rotating coordinate system, the reference current component of q axis and the setting on 0 axis；The k+1 moment indicates subsequent time.
When the value of objective function is minimum, voltage vector corresponding to predicted current used is chosen as the electricity of the second inverter
Press vector.
A kind of equipment for opening winding permanent magnet motor PREDICTIVE CONTROL based on double reference voltage single vectors, comprising:
Motor reference voltage vector module calculates the electricity on synchronous rotating frame according to dead-beat current control principle
Machine reference voltage vector；
The voltage vector module of first inverter is calculated the motor according to the motor reference voltage vector and refers to
The angle of voltage vector, so that the position of the motor reference voltage vector is obtained, according to the motor reference voltage vector
Position determines the voltage vector of the first inverter；
The reference voltage vector module of second inverter is joined according to the voltage vector of first inverter and the motor
Examine the reference voltage vector that the second inverter is calculated in voltage vector；
The candidate voltage vector module of second inverter, it is inverse second further according to the reference voltage vector of the second inverter
Become the position in the hexagon that all voltage vectors of device are formed, determines the candidate voltage vector range sum number of second inverter
Amount；
The voltage vector module of second inverter, from the candidate voltage vector range of second inverter described in selection
The voltage vector of second inverter；
Output module inputs the voltage vector of the voltage vector of first inverter and second inverter respectively
To first inverter and second inverter.
From the above it can be seen that a kind of pair reference voltage single vectors that are based on provided by the invention open winding permanent magnet motor
Forecast Control Algorithm and equipment.Winding permanent magnet motor model predictive control method, which is opened, relative to tradition reduces vector enumerative technique band
The computation burden come.Timeliness is stronger, reduces testing cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that the double reference voltage single vectors of the present invention open the signal of winding permanent magnet motor forecast Control Algorithm embodiment process
Figure；
Fig. 2 is contravarianter voltage of embodiment of the present invention vector space distribution schematic diagram；
Fig. 3 is twin inverter of embodiment of the present invention voltage vector distribution schematic diagram；
Fig. 4 is the voltage vector distribution schematic diagram of the second inverter of the embodiment of the present invention；
Fig. 5 is dc voltage measurements, revolving speed, phase current and the zero-sequence current schematic diagram of the embodiment of the present invention；
Fig. 6 is dq of embodiment of the present invention shaft current schematic diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
Current forecasting is the electric current for passing through mathematical model prediction subsequent time by present current value.The present embodiment is a kind of
Winding permanent magnet motor forecast Control Algorithm is opened based on double reference voltage single vectors, as shown in Fig. 2, for two level inverse conversions
Device has corresponding eight voltage vectors of eight kinds of switch states, including six nonzero voltage space vectors and two Zero voltage vectors.Therefore,
Twin inverter shares 8 × 8=64 kind Switch State Combination in Power Systems, identical as three-level inverter voltage vector distribution.Two level inverse conversions
Device: the first inverter (INV1) is identical with the voltage vector spatial distribution that the second inverter (INV2) generates.Due to some combinations
The voltage vector of formation is identical, and twin inverter shares 19 different voltage vectors, wherein 18 non-zero vectors and 1 null vector
Amount.Zero vector is located at origin O, other 18 non-zero vectors are located at three hexagons ABCDEF, HJLNQS and GIKMPR
Vertex, as shown in figure 3, vector magnitude is respectively 2Udc/3, And 4Udc/3.Specific method flow as shown in Figure 1,
It is as follows in detail:
Step 101, the motor reference voltage on synchronous rotating frame is calculated according to dead-beat current control principle to swear
Amount, synchronously rotating reference frame is the coordinate system of nonstatic, so the electricity of d axis, q axis and 0 axis on the synchronous rotating frame
The equation of machine reference voltage vector are as follows:
Wherein, udref,uqrefAnd u0refRespectively indicate reference of the motor on synchronous rotating frame on d axis, q axis and 0 axis
Voltage vector；id,iqAnd i0Respectively indicate current component of the motor on synchronous rotating frame on d axis, q axis and 0 axis；id *,
iq *And i0 *Respectively indicate the reference current component being arranged on d axis on synchronous rotating frame, q axis and 0 axis；R, L and M difference
Indicate stator winding resistance, self-induction and mutual inductance；Ld,LqD axis under rotating coordinate system, the inductive component on q axis are respectively represented, for
For salient-pole machine, Ld=Lq=L；L0=L-2M represents zero sequence inductance；ω, θ, Ψf1, Ψf3, k is respectively angular rate, rotor
Position angle, fundamental wave rotor flux, rotor flux third-harmonic component and time point；TsIndicate the sampling time.
Step 102, according to above-mentioned reference voltage vector, reference voltage vector of the motor on d axis and q axis is through carat
Gram (clark) is transformed into the equation of the reference voltage vector of two-phase stationary coordinate system are as follows:
Wherein, uαrefAnd uβrefIt respectively indicates motor and fastens the reference voltage vector on α axis and β axis in static coordinate；udref
And uqrefRespectively indicate reference voltage vector of the motor on synchronous rotating frame on d axis and q axis；θ is rotor position angle.
Motor is calculated in the reference voltage of α axis and β axis according to 2 formula above, then the position of motor reference voltage vector
The formula of angle setting are as follows:
Wherein, θ1For the position angle of the motor reference voltage vector；uαrefAnd uβrefMotor is respectively indicated in static seat
Mark fastens the reference voltage vector on α axis and β axis.
The angle of the motor reference voltage vector is calculated according to above-mentioned formula, the motor is obtained in such as Fig. 3
The position of reference voltage vector determines the voltage vector of the first inverter according to the position of the motor reference voltage vector.Example
Such as, as the reference voltage vector u of motorrefPositioned at sector I, as shown in Figure 3, it is evident that including all voltage vectors of INV1
In hexagon ABCDEF, non-zero vector u1Distance reference vector is closer, and therefore, the first inverter selects u1(100).When motor is joined
It examines voltage vector and is located at sector II, in III ... VI, the first inverter selects voltage vector u respectively2(100), u3(010),
u4(011), u5(001), u6(101).It follows that determining the voltage vector u of the first inverter1。
Step 103, the reference voltage vector u of the second inverter (INV2) is obtained by first formularef2, the second inversion
The reference voltage vector of device is according to uref2=u1-urefIt obtains, u1Indicate the voltage vector for the first inverter having determined that.
Step 104, according to the reference voltage vector u of INV2ref2Position, determine second inverter candidate's voltage vector.
For example, working as uref2When position shown in Fig. 3, hexagon GHBOFS contains all voltage vectors of INV2, by hexagon
GHBOFS is divided into six sectors, as shown in figure 4, working as uref2Position sector shown in Fig. 4 in when, non-zero vector AF and position
In two zero vectors 000 and 111 of hexagon GHBOFS origin, totally three voltage vectors, as the candidate voltage vector of INV2,
The optimal vector of INV2 is selected from these three voltage vectors.And work as uref2Position when other sectors, there is one in Fig. 4
Non-zero vector and two zero vectors are as its candidate vector.
Step 105, by the candidate voltage vector of each of candidate voltage vector range of second inverter according to
A predicted current is calculated in following formula,
idq0(k+1)=F (k) idq0(k)+G[udq0-1(k)-udq0-2(k)]+H(k)
In formula
udq0-1(k) 8 voltage vectors that the first inverter generates at the k moment are indicated；udq0-2(k) the second inverter is indicated
In 8 voltage vectors that the k moment generates；TsIndicate the sampling time.
The d axis and q shaft current and zero-sequence current predicted on synchronous rotating frame, design following objective function:
Wherein, id, iqAnd i0Respectively indicate d axis under rotating coordinate system, the current component on q axis and 0 axis；id *, iq *And i0 *
Respectively indicate d axis under rotating coordinate system, the reference current component of q axis and the setting on 0 axis；The k+1 moment indicates subsequent time.
When the value of objective function is minimum, voltage vector corresponding to predicted current used is chosen as the electricity of the second inverter
Press vector.
Step 106, the voltage vector of the voltage vector of first inverter and second inverter is inputted respectively
To first inverter and second inverter.
A kind of equipment for opening winding permanent magnet motor PREDICTIVE CONTROL based on double reference voltage single vectors, comprising:
Motor reference voltage vector module is calculated according to formula and is sat in synchronous rotary according to dead-beat current control principle
Mark the motor reference voltage vector fastened；
The motor reference voltage vector is introduced static coordinate system by the voltage vector module of the first inverter, further according to
The angle of the motor reference voltage vector is calculated in formula, according to the angle of the reference voltage vector in 6 fan sections
The position of the motor reference voltage vector is determined in domain, and then determines the voltage vector of the first inverter；
The reference voltage vector module of second inverter is joined according to the voltage vector that first formula obtains the second inverter
Number, then the difference of the voltage vector of first inverter and the motor reference voltage vector parameter obtains the second inverter
Reference voltage vector；
The candidate voltage vector module of second inverter, it is inverse second further according to the reference voltage vector of the second inverter
Become all voltage vectors of device and be formed by the position in hexagon, determines the model of the candidate voltage vector of second inverter
It encloses, including 2 zero vectors and a non-zero vector；
The voltage vector module of second inverter, from the candidate voltage vector range of second inverter described in selection
The voltage vector of second inverter；Predicted current is calculated according to candidate voltage vector and formula；Objective function is introduced, mesh is made
The value of scalar functions is minimum, and voltage vector corresponding to predicted current used is chosen as the voltage vector of the second inverter；
Output module inputs the voltage vector of the voltage vector of first inverter and second inverter respectively
To first inverter and second inverter.
In one embodiment, the OW-PMSG system experimental platform of 1.25KW power grade, OW-PMSG parameter have been built
As shown in table 1,
Wherein, system sampling frequency is set as 10KHz.Experiment condition is given DC bus-bar voltage u* dc=90V, motor
Revolving speed is n=500r/min.As shown in figure 5, dc voltage measurements, revolving speed, phase current and zero under the method for the invention
Sequence electric current.As shown in fig. 6, the dq shaft current under method of the present invention.
The device of above-described embodiment for realizing method corresponding in previous embodiment there is corresponding method to implement
The beneficial effect of example, details are not described herein.
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (10)
1. one kind opens winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors characterized by comprising
The motor reference voltage vector on synchronous rotating frame is calculated according to dead-beat current control principle；
The angle of the motor reference voltage vector is calculated according to the motor reference voltage vector, to obtain the electricity
The position of machine reference voltage vector determines the voltage vector of the first inverter according to the position of the motor reference voltage vector；
The ginseng of the second inverter is calculated according to the voltage vector of first inverter and the motor reference voltage vector
Examine voltage vector；
It is formed by hexagon further according to the reference voltage vector of the second inverter in all voltage vectors of the second inverter
Position determines the candidate voltage vector range and quantity of second inverter；
The voltage vector of second inverter is chosen from the candidate voltage vector range of second inverter；
It is inverse that the voltage vector of the voltage vector of first inverter and second inverter is separately input to described first
Become device and second inverter.
2. according to claim 1 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is, the equation of the motor reference voltage vector of d axis, q axis and 0 axis on the synchronous rotating frame are as follows:
Wherein, udref,uqrefAnd u0refRespectively indicate reference voltage of the motor on synchronous rotating frame on d axis, q axis and 0 axis
Vector；id,iqAnd i0Respectively indicate current component of the motor on synchronous rotating frame on d axis, q axis and 0 axis；id *,iq *With
i0 *Respectively indicate the reference current component being arranged on d axis on synchronous rotating frame, q axis and 0 axis；R, L and M respectively indicate fixed
Sub- winding resistance, self-induction and mutual inductance；Ld,LqD axis under rotating coordinate system, the inductive component on q axis are respectively represented, for salient pole electricity
For machine, Ld=Lq=L；L0=L-2M represents zero sequence inductance；ω, θ, Ψf1, Ψf3, k is respectively angular rate, rotor-position
Angle, fundamental wave rotor flux, rotor flux third-harmonic component and time point；TsIndicate the sampling time.
3. according to claim 2 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is that reference voltage vector of the motor on d axis and q axis is through Clarke transform at the reference electricity of two-phase stationary coordinate system
Press the equation of vector are as follows:
Wherein, uαrefAnd uβrefIt respectively indicates motor and fastens the reference voltage vector on α axis and β axis in static coordinate；udrefWith
uqrefRespectively indicate reference voltage vector of the motor on synchronous rotating frame on d axis and q axis；θ is rotor position angle.
4. according to claim 3 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is, fasten the reference voltage vector of α axis and β axis in static coordinate according to the motor, then motor reference voltage vector
The calculation formula of position angle are as follows:
Wherein, θ1For the position angle of the motor reference voltage vector；uαrefAnd uβrefMotor is respectively indicated in rest frame
Reference voltage vector on upper α axis and β axis.
5. according to claim 4 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is that the entire plane for being distributed twin inverter voltage vector is divided into six sectors, is sweared according to the motor reference voltage
The position angle θ of amount1Sector where determining；Further according to the reference voltage vector u of the motorrefThe nearest non-null vector of distance
Amount, determines the voltage vector u of the first inverter1。
6. according to claim 5 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is, the parameter u of the reference voltage vector of motor is obtained according to the equation of the motor reference voltage vectorref；In conjunction with
The voltage vector u of first inverter1, according to formula uref2=u1-uref, obtain the reference voltage vector of second inverter.
7. according to claim 6 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is, according to the reference voltage vector u of the second inverterref2Position, determine the candidate voltage arrow of the second inverter
Amount, including a non-zero vector and two zero vectors.
8. according to claim 7 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is, each candidate voltage vector is correspondingly made available a predicted current by the calculating of following formula,
idq0(k+1)=F (k) idq0(k)+G[udq0-1(k)-udq0-2(k)]+H(k)
In formula
udq0-1(k) 8 voltage vectors that the first inverter generates at the k moment are indicated；udq0-2(k) indicate the second inverter in k
Carve 8 voltage vectors generated；TsIndicate the sampling time.
9. according to claim 8 open winding permanent magnet motor forecast Control Algorithm based on double reference voltage single vectors, special
Sign is that the d axis and q shaft current and zero-sequence current predicted on synchronous rotating frame design following objective function:
Wherein, id, iqAnd i0Respectively indicate d axis under rotating coordinate system, the current component on q axis and 0 axis；id *, iq *And i0 *Respectively
Indicate d axis under rotating coordinate system, the reference current component of q axis and the setting on 0 axis；The k+1 moment indicates subsequent time.
When the value of objective function is minimum, voltage vector corresponding to predicted current used is chosen as the voltage arrow of the second inverter
Amount.
10. a kind of equipment for opening winding permanent magnet motor PREDICTIVE CONTROL based on double reference voltage single vectors, comprising:
Motor reference voltage vector module calculates the motor on synchronous rotating frame according to dead-beat current control principle and joins
Examine voltage vector；
The motor reference voltage is calculated according to the motor reference voltage vector in the voltage vector module of first inverter
The angle of vector, so that the position of the motor reference voltage vector is obtained, according to the position of the motor reference voltage vector
Determine the voltage vector of the first inverter；
The reference voltage vector module of second inverter, according to the voltage vector of first inverter and the motor with reference to electricity
The reference voltage vector of the second inverter is calculated in pressure vector；
The candidate voltage vector module of second inverter, further according to the reference voltage vector of the second inverter, in the second inverter
All voltage vectors are formed by the position in hexagon, determine the candidate voltage vector range sum number of second inverter
Amount；
The voltage vector module of second inverter chooses described second from the candidate voltage vector range of second inverter
The voltage vector of inverter；
The voltage vector of the voltage vector of first inverter and second inverter is separately input to institute by output module
State the first inverter and second inverter.
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| CN111464095A (en) * | 2020-05-14 | 2020-07-28 | 长沙丹芬瑞电气技术有限公司 | Permanent magnet synchronous motor control method and system |
| CN111464095B (en) * | 2020-05-14 | 2022-03-18 | 长沙丹芬瑞电气技术有限公司 | Permanent magnet synchronous motor control method and system |
| CN111711397A (en) * | 2020-05-27 | 2020-09-25 | 东南大学 | Predictive current control method based on semi-centralized open winding permanent magnet synchronous motor system |
| CN112117941A (en) * | 2020-08-01 | 2020-12-22 | 南通长江电器实业有限公司 | Fault-tolerant control method of open-winding permanent magnet synchronous motor based on model prediction current control |
| CN113422558A (en) * | 2021-06-30 | 2021-09-21 | 北京理工大学 | Variable open winding motor topology driving circuit and control method thereof |
| CN113422558B (en) * | 2021-06-30 | 2022-12-02 | 北京理工大学 | Variable open winding motor topology driving circuit and control method thereof |
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