CN111162710A - Torque ripple suppression method for permanent magnet hub motor - Google Patents

Torque ripple suppression method for permanent magnet hub motor Download PDF

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Publication number
CN111162710A
CN111162710A CN201911356903.2A CN201911356903A CN111162710A CN 111162710 A CN111162710 A CN 111162710A CN 201911356903 A CN201911356903 A CN 201911356903A CN 111162710 A CN111162710 A CN 111162710A
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current
axis current
loop
permanent magnet
axis
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王勤
陈玮
孙章阳
周洋
林健
郭乐之
高健
杨帆
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Jiangsu Energy Tech Development Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Abstract

The method for suppressing the torque ripple of the permanent magnet hub motor is based on a double closed-loop PI regulator vector control method that the direct-axis component of stator current is zero, a speed loop PI controller is used as a system outer loop, receives a difference value between a rotating speed instruction and a feedback rotating speed, adjusts an output shaft current instruction through PI and sends the output shaft current instruction to a shaft current inner loop PI controller, the shaft current inner loop and the shaft current inner loop respectively output the voltage components of the direct axis and the quadrature axis through the PI controller, and 6 paths of high-frequency switching signals are obtained through inverse Park conversion and SVPWM algorithm and input to a three-phase inverter, the three-phase current of the motor and the real-time position of the rotor are obtained by a current sensor and an angle sensor, and the current components of the direct axis and the quadrature axis obtained by Clark conversion and Park conversion are fed back to the current loop PI controller to form closed loop control.

Description

Torque ripple suppression method for permanent magnet hub motor
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a torque ripple suppression method for a permanent magnet hub motor.
Background
In the distributed driving system directly driven by the permanent magnet hub motor, the hub motor integrates driving, braking and cooling, a complex mechanical transmission system is omitted, the space distribution of an automobile chassis is more free, meanwhile, as passive damping and vibration isolation parts such as a torsional vibration absorber and a flywheel are not arranged in the topological structure of the whole automobile, the vibration transmission rate of the distributed hub direct driving system in the whole frequency range is high, the damping attenuation of resonance is particularly insufficient, an obvious underdamping characteristic is presented, when the output torque or load is suddenly changed, the obvious longitudinal vibration of the whole automobile can be caused, and the driving comfort is greatly reduced. In fact, the vibration in the torque sudden change process is caused by the fact that step torque comprises torque pulsation of each order, and the longitudinal vibration is caused by the fact that the torque pulsation of a certain order is consistent with the resonance frequency of a transmission system, so that the longitudinal vibration of the whole vehicle is caused by the torque pulsation of the hub motor even if no load sudden change exists in certain low-speed starting working conditions.
In summary, the problem of overall vehicle longitudinal shaking in the distributed drive system can be summarized as torque ripple output by the permanent magnet hub motor, scholars at home and abroad have long-term research on the problem and provide various inhibition methods, and at present, the inhibition method for the permanent magnet motor output torque ripple is mainly considered from the perspective of motor body design, and the motor air gap magnetic field has better sine degree through the optimized design of a motor stator and rotor structure, an air gap magnetic field, a tooth socket and the like, so that the tooth socket torque ripple caused by the motor body factor is reduced. However, there is no technical breakthrough in Control, and although the model-free Control method based on the memory mechanism "self-learns" the periodic deviation signal in a memory manner through Iterative Learning Control (ILC) so that the deviation approaches 0 in a limited time, in an actual system, due to the complexity of the system operating condition, there is an aperiodic disturbance, and at this time, it is difficult for the Iterative Learning Control to provide an appropriate compensation signal under the aperiodic disturbance.
In view of the above problems, the present inventors have conducted extensive research and innovation based on practical experience and professional knowledge in engineering application of such products for many years, and together with the application of theory, to create a torque ripple suppression method for a permanent magnet hub motor, which is more practical.
Disclosure of Invention
The invention provides a torque ripple suppression method for a permanent magnet hub motor, which effectively solves the problems in the background technology by optimizing a control mode.
In order to achieve the purpose, the invention adopts the technical scheme that: the method comprises the following steps:
a torque ripple suppression method for a permanent magnet hub motor comprises the following steps:
s1: a mathematical model of the permanent magnet hub motor is established based on a synchronous rotation coordinate system as follows:
Figure BDA0002336176820000021
in the above formula, ud、uqRespectively representing a direct-axis component and a quadrature-axis component of the stator voltage of the permanent magnet hub motor in a rotating coordinate system; i.e. id、iqRespectively the direct component and quadrature component of the stator current; r is the stator resistance; psid、ψqRespectively a direct axis flux linkage and a quadrature axis flux linkage of the permanent magnet; omegaeIs the electrical angular velocity of the rotor;
s2: another id0, input i of d-axis current inner loopdrefIs 0;
s3: speed measuring deviceThe degree ring PI controller is used as a system outer ring, receives a difference value between a rotating speed instruction and a motor feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefGiving q-axis current to an inner loop;
s4: the d-axis current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uq；
S5: obtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, and outputting symmetrical three-phase sinusoidal alternating-current voltage to a three-phase outlet end of a permanent magnet hub motor after inverting the input direct-current voltage by the three-phase inverter;
s6: collecting three-phase current of a motor by a current sensor;
s7: acquiring the real-time position of a motor rotor by an angle sensor;
s8: obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
Further, the method also comprises the step of compensating the q-axis current loop PI controller: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To a q-axis current loop PI controller.
Further, the mathematical model of the current error iterative learning controller is as follows:
Figure BDA0002336176820000031
wherein the content of the first and second substances,
Figure BDA0002336176820000032
represents a compensation value representing the q-axis current of the (i +1) th iteration cycle,
Figure BDA0002336176820000033
a compensation value, e, representing the q-axis current of the i-th iteration cycleiRepresenting the error of the q-axis current command and feedback in the ith iteration loop, α is a filter coefficient, and β is a learning law.
Further, the method also comprises the step of compensating the q-axis current loop PI controller: receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Figure BDA0002336176820000041
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
Further, the mathematical model of the load torque observer is as follows:
Figure BDA0002336176820000042
wherein ω ismIs the mechanical angular velocity of the motor; j is moment of inertia; t iseIs an electromagnetic torque; t islIs the load torque; and B is a damping coefficient.
Further, the sampling frequency is increased, and the load torque T in one sampling period is setlIs a constant value, i.e.:
Figure BDA0002336176820000043
setting the output rotation speed omega of the motor according to the q-axis currentmFor input variables, to observe the rotational speed
Figure BDA0002336176820000044
Load torque TlAs an output variable.
Go toThe method further comprises the step of compensating the q-axis current loop PI controller: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To q-axis current loop PI controller;
receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Figure BDA0002336176820000051
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
Through the technical scheme, the invention has the beneficial effects that:
the basic method in this application is based on idThe vector control method of the double closed-loop PI regulator is characterized in that a speed loop PI controller is used as a system outer loop, receives a difference value between a rotating speed instruction and a feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefInput i to q-axis current inner loop PI controller, d-axis current inner loopdrefIs a non-volatile organic compound (I) with a value of 0,
the d-axis current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uqObtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, inverting the input direct-current voltage, outputting symmetrical three-phase sine alternating-current voltage to a three-phase outlet end of the permanent magnet hub motor, obtaining three-phase current of the motor and the real-time position of a rotor through a current sensor and an angle sensor, and obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for suppressing torque ripple of a permanent magnet hub motor;
FIG. 2 is a block diagram of a current error iterative learning control architecture;
FIG. 3 is a graph comparing observed torque and real time feedback torque;
fig. 4 is a frame diagram of the structure of the load torque observer;
FIG. 5 is a block diagram of a system for applying the torque ripple suppression method for a permanent magnet hub motor;
FIG. 6 is a graph comparing torque ripple before and after the permanent magnet in-wheel motor torque ripple suppression method of the present invention;
reference numerals: the device comprises a speed loop PI controller 1, a d-axis current PI controller 2, a q-axis current PI controller 3, a current error iterative learning controller 4, a load 5, a permanent magnet hub motor 6 and a load torque observer 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
A torque ripple suppression method for a permanent magnet hub motor is shown in FIG. 1, and comprises the following steps:
s1: a mathematical model of the permanent magnet hub motor is established based on a synchronous rotation coordinate system as follows:
Figure BDA0002336176820000071
in the above formula (1), ud、uqRespectively representing a direct-axis component and a quadrature-axis component of the stator voltage of the permanent magnet hub motor in a rotating coordinate system; i.e. id、iqRespectively the direct component and quadrature component of the stator current; r is the stator resistance; psid、ψqRespectively a direct axis flux linkage and a quadrature axis flux linkage of the permanent magnet; omegaeIs the electrical angular velocity of the rotor;
s2: another id0, input i of d-axis current inner loopdrefIs 0;
s3: the speed loop PI controller 1 is used as a system outer loop, receives a difference value between a rotating speed instruction and a rotating speed fed back by the motor 6, and outputs a g-axis current instruction i through PI regulationqrefGiving q-axis current to an inner loop;
s4: the d-axis current inner ring and the q-axis current inner ring respectively regulate and output voltage components u of a direct axis and a quadrature axis by a d-axis current PI controller 2 and a q-axis current PI controller 3d、uq；
S5: obtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, and outputting symmetrical three-phase sinusoidal alternating-current voltage to a three-phase outlet terminal of a motor 6 after inverting the input direct-current voltage by the three-phase inverter;
s6: collecting three-phase current of the motor 6 by a current sensor;
s7: acquiring the real-time position of the rotor of the motor 6 by an angle sensor;
s8: obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
The basic method in this application is based on idThe vector control method of the double closed-loop PI regulator is that a speed loop PI controller 1 is used as a system outer loop, receives a difference value between a rotating speed instruction and a feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefInput i to q-axis current inner loop PI controller, d-axis current inner loopqrefIs 0, d-axis electricityThe current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uqObtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, inverting the input direct-current voltage, outputting symmetrical three-phase sine alternating-current voltage to a three-phase wire outlet end of a motor 6, obtaining the three-phase current of the motor 6 and the real-time position of a rotor through a current sensor and an angle sensor, and obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
Preferably, as a preferred embodiment of the above embodiment, the method for suppressing torque ripple of a permanent magnet hub motor further includes the step of compensating for the q-axis current loop PI controller: the current error iterative learning controller 4 receives a q-axis current instruction and a current difference value signal fed back by a q-axis current output by the motor 6, and outputs a current error compensation signal i after iterative learning control operationqcomp1To a q-axis current loop PI controller.
The q-axis current instruction output by the speed loop PI controller 1 is differed with the q-axis feedback current, a difference signal is input into a q-axis current error iterative learning controller 4, a q-axis current error compensation signal is output by the error iterative learning controller and is simultaneously input to the input end of the q-axis current loop PI controller together with the compensation quantity output by the load torque observer 7, so that the q-axis current error closed-loop control can be realized, the control precision of the q-axis current is improved, and the output torque pulsation of the motor 6 in the steady-state operation is restrained.
The mathematical model of the current error iterative learning controller 4 is as follows:
Figure BDA0002336176820000091
in the formula (2), the reaction mixture is,
Figure BDA0002336176820000092
represents a compensation value representing the q-axis current of the (i +1) th iteration cycle,
Figure BDA0002336176820000093
a compensation value, e, representing the q-axis current of the i-th iteration cycleiRepresenting the error between the q-axis current instruction and feedback in the ith iteration loop, α being a filter coefficient, β being a learning law, and a frame diagram of a current error iterative learning control structure is shown in FIG. 2.
Preferably, as a preferred embodiment of the above embodiment, the method for suppressing torque ripple of a permanent magnet hub motor further includes the step of compensating for the q-axis current loop PI controller: receiving a q-axis current command and a speed feedback value output by a motor through a load torque observer 7, and outputting an observed rotating speed and an observed torque through state observation, wherein a comparison graph between the observed torque and a real-time feedback torque is shown in fig. 3, and according to the relation between the load torque and the q-axis current:
Figure BDA0002336176820000094
in the formula (3), TobsLoad torque, p, observed for the system at steady statenIs the pole pair number, psi, of the motor 6fIs a permanent magnet flux linkage;
the load torque observer 7 obtains a compensation current i after the output observation torque passes through the formula gainqcomp2The output is sent to a q-axis current loop PI controller, and a frame diagram of the structure of the load torque observer is shown in fig. 4.
In the above embodiment, based on a state space method, a dimension-reduced Luenberger torque observer is set, the load torque and the output rotation speed are tracked and estimated, and the observed load torque is compensated to the input end of the q-axis current loop PI controller, so that when a load step is suddenly changed, the q-axis current is compensated in time to reduce the rotation speed fluctuation caused by the disturbance of the load 5.
The mathematical model of the load torque observer 7 is as follows:
Figure BDA0002336176820000101
in the formula (4) < omega >mIs the mechanical angular velocity of the motor 6; j is moment of inertia;Teis an electromagnetic torque; t islIs the load torque; and B is a damping coefficient.
Wherein, when the sampling frequency is high, the load torque T in one sampling period can be approximately consideredlFor customization, therefore, in the preferred embodiment, the sampling frequency is increased and the load torque T is set for one sampling periodlIs a constant value, i.e.:
Figure BDA0002336176820000102
given by q-axis current and output speed omega of motor 6mFor input variables, to observe the rotational speed
Figure BDA0002336176820000103
Load torque TlAs an output variable.
In the present invention, the method for suppressing torque ripple of a permanent magnet hub motor may further include adding a load torque observer 7 and a q-axis current error iterative learning controller 4, so as to achieve a better technical effect, as shown in fig. 5, which is a frame diagram of a system to which the method for suppressing torque ripple of a permanent magnet hub motor is applied, and the beneficial effects obtained by the method are specifically as follows:
1) the method for inhibiting the torque ripple of the permanent magnet hub motor can effectively inhibit the rotation speed fluctuation of the permanent magnet hub motor under the condition of load torque step mutation, and the rotation speed fluctuation can be reduced by about 20% through verification;
2) in the steady-state operation process of the permanent magnet hub motor, the method can effectively reduce the pulsation degree of the output torque of the motor, a comparison graph of the torque pulsation before and after the method for inhibiting the torque pulsation of the permanent magnet hub motor is adopted is shown in fig. 6, and the torque pulsation degree in the steady-state operation process is greatly reduced compared with that before the algorithm is added.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. A torque ripple suppression method of a permanent magnet hub motor is characterized by comprising the following steps:
s1: a mathematical model of the permanent magnet hub motor is established based on a synchronous rotation coordinate system as follows:
Figure FDA0002336176810000011
in the above formula, ud、uqRespectively representing a direct-axis component and a quadrature-axis component of the stator voltage of the permanent magnet hub motor in a rotating coordinate system; i.e. id、iqRespectively the direct component and quadrature component of the stator current; r is the stator resistance; psid、ψqRespectively a direct axis flux linkage and a quadrature axis flux linkage of the permanent magnet; omegaeIs the electrical angular velocity of the rotor;
s2: another id0, input i of d-axis current inner loopdrefIs 0;
s3: the speed loop PI controller is used as a system outer loop, receives a difference value between a rotating speed instruction and a motor feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefGiving q-axis current to an inner loop;
s4: the d-axis current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uq；
S5: obtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, and outputting symmetrical three-phase sinusoidal alternating-current voltage to a three-phase outlet end of a permanent magnet hub motor after inverting the input direct-current voltage by the three-phase inverter;
s6: collecting three-phase current of a motor by a current sensor;
s7: acquiring the real-time position of a motor rotor by an angle sensor;
s8: obtained by Clark conversion and Park conversion in sequenceDirect and quadrature current components idfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
2. The method for suppressing torque ripple of a permanent magnet in-wheel motor according to claim 1, further comprising the step of compensating a q-axis current loop PI controller: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To a q-axis current loop PI controller.
3. The method for suppressing torque ripple of a permanent magnet hub motor according to claim 2, wherein the mathematical model of the current error iterative learning controller is as follows:
Figure FDA0002336176810000021
wherein the content of the first and second substances,
Figure FDA0002336176810000022
represents a compensation value representing the q-axis current of the (i +1) th iteration cycle,
Figure FDA0002336176810000023
a compensation value, e, representing the q-axis current of the i-th iteration cycleiRepresenting the error of the q-axis current command and feedback in the ith iteration loop, α is a filter coefficient, and β is a learning law.
4. The method for suppressing torque ripple of a permanent magnet in-wheel motor according to claim 1, further comprising the step of compensating a q-axis current loop PI controller: receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Figure FDA0002336176810000024
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
5. The permanent magnet in-wheel motor torque ripple suppression method of claim 4, wherein the mathematical model of the load torque observer is as follows:
Figure FDA0002336176810000031
wherein ω ismIs the mechanical angular velocity of the motor; j is moment of inertia; t iseIs an electromagnetic torque; t islIs the load torque; and B is a damping coefficient.
6. The method for suppressing torque ripple of permanent magnet hub motor according to claim 5, wherein the sampling frequency is increased and the load torque T in one sampling period is setlIs a constant value, i.e.:
Figure FDA0002336176810000032
setting the output rotation speed omega of the motor according to the q-axis currentmFor input variables, to observe the rotational speed
Figure FDA0002336176810000033
Load torque TlAs an output variable.
7. The method for suppressing torque ripple of a permanent magnet in-wheel motor according to claim 1, further comprising performing a q-axis current loop PI controllerAnd (3) compensation: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To q-axis current loop PI controller;
receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Figure FDA0002336176810000034
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
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CN112468049B (en) * 2020-10-29 2022-05-27 珠海格力电器股份有限公司 Method and device for suppressing rotation speed fluctuation of variable frequency compressor and air conditioner
CN112583321A (en) * 2020-12-16 2021-03-30 航天科工智能机器人有限责任公司 Double-motor propulsion system and control method
CN112977085A (en) * 2021-03-02 2021-06-18 北京航天发射技术研究所 Running control method for heavy-duty rail electric drive system

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