CN114826073A - Current balance control method of dual-redundancy permanent magnet synchronous motor control system - Google Patents
Current balance control method of dual-redundancy permanent magnet synchronous motor control system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a current balance control method of a dual-redundancy permanent magnet synchronous motor control system, which comprises the following steps: detecting the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor, and obtaining a rotating speed outer ring output value based on the current actual rotating speed and a given rotating speed; detecting three-phase currents of the dual-redundancy permanent magnet synchronous motor, and obtaining d-axis currents and q-axis currents of two redundancies based on current actual three-phase current transformation; inputting the q-axis current and the current outer ring output value into a maximum current balancing module to obtain a q-axis given current; inputting the q-axis given current into a sliding mode controller to obtain a q-axis error compensation voltage difference; obtaining a q-axis output voltage based on the q-axis current and the q-axis error compensation voltage difference; obtaining a d-axis output voltage based on the d-axis current; the dual-redundancy permanent magnet synchronous motor is controlled based on the q-axis output voltage and the d-axis output voltage, so that the time required by the current balancing process is reduced, and the stability of the system is enhanced.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a current balance control method of a synchronous motor control system.
Background
The dual-redundancy permanent magnet synchronous motor is widely applied to the aerospace and military fields due to the simple structure, high efficiency and high reliability. Dual redundant motor windings are typically operated simultaneously. In this case, the torque ripple of the motor is smaller than that in the single winding operating condition. More importantly, when the current values in the two sets of windings are the same, the torque of the motor is about 2 times that in each winding. The dual redundancy work can simultaneously reduce the mechanical and electrical constants of the motor and improve the dynamic performance of the system. However, in view of the particular motor configuration, there are many factors, such as the unbalanced supply voltage, the internal resistance and the inductance difference of the two three-phase windings, which result in different currents in the two sets of windings. When the dual-redundancy motor is started, if the currents of the two groups of windings are different, heating is not uniform, and insulation in long-term operation can be damaged. Therefore, in order to suppress the adverse effect of the current imbalance and realize high-performance drive control, it is necessary to adopt an effective strategy for controlling the current balance of the dual-redundancy permanent magnet synchronous motor.
At present, scholars at home and abroad use different methods to research a dual-redundancy permanent magnet synchronous motor control system, and a traditional current balancing method generally uses an average current balancing method, which is simple and direct, but has a slow current balancing process and poor dynamic response. The paper "The Current Balance reaction of Dual-reduction PMSM based on The Sliding Mode Error Compensation" proposes a maximum Current balancing method, and The method improves The Current response speed and has better dynamic performance. However, in the method, the given current is constantly changed, so that the system stability is poor, and when disturbance exists, the output current is easy to generate large fluctuation to influence normal work.
Through the above analysis, the problems and defects of the prior art are as follows: the output of a speed loop in a traditional current balance control mode is divided into two parts which are respectively used as the given of q-axis current loops with two redundancies, the current balance process is slow, the dynamic response is poor, and a system with high requirement on rapidity cannot be met.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a current balance control method of a dual-redundancy permanent magnet synchronous motor control system, which comprises the following steps: detecting the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor, and obtaining a rotating speed outer ring output value based on the current actual rotating speed and a given rotating speed; detecting three-phase currents of the dual-redundancy permanent magnet synchronous motor, and obtaining d-axis currents and q-axis currents of two redundancies based on current actual three-phase current transformation; inputting the q-axis current and the current outer ring output value into a maximum current balancing module to obtain a q-axis given current; inputting the q-axis given current into a sliding mode controller to obtain a q-axis error compensation voltage difference; obtaining a q-axis output voltage based on the q-axis current and the q-axis error compensation voltage difference; obtaining a d-axis output voltage based on the d-axis current; the dual-redundancy permanent magnet synchronous motor is controlled based on the q-axis output voltage and the d-axis output voltage, so that the time required by the current balancing process is reduced, and the stability of the system is enhanced.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
step 1: the dual-redundancy permanent magnet synchronous motor adopts a rotating speed ring and current ring dual-closed-loop control system, wherein the outer ring is a rotating speed ring, and the inner ring is a current ring;
detecting the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor, and obtaining a rotating speed outer ring output value iq based on the current actual rotating speed and a given rotating speed;
detecting three-phase current of the dual-redundancy permanent magnet synchronous motor, and obtaining d-axis current i of two redundancies based on current three-phase current transformation d1 、i d2 And q-axis current i q1 、i q2 ；
Step 2: the q-axis current i q1 、i q2 The sum current outer ring output value is input into a maximum current balancing module to obtain q-axis given current
The maximum current balancing module completes the following functions:
the q-axis current i q1 、i q2 Comparing and obtaining a larger value;
adding the larger value and the outer ring output value iq of the rotating speed to obtain a sum value;
will addValue minus q-axis current i, respectively q1 、i q2 Obtaining the q-axis given current
And step 3: the q-axis current i q1 、i q2 The q-axis error compensation voltage difference delta U is obtained by inputting the sliding mode controller q ；
And 4, step 4: current setting based on q axis
q-axis current i q1 、i q2 And q-axis error compensation voltage DeltaU q Obtain q-axis output voltage U q1 、U q2 ；
Based on d-axis current i d1 、i d2 Obtain d-axis output voltage U d1 、U d2 ；
And 5: output voltage U based on q axis q1 、U q2 And d-axis output voltage U d1 、U d2 Controlling a dual-redundancy permanent magnet synchronous motor;
preferably, the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor is detected by a displacement sensor or a speed sensor.
Preferably, the displacement sensor is a rotary transformer, and the rotary transformer obtains the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor according to the real-time displacement of the motor rotor.
Preferably, the three-phase currents of the dual-redundancy permanent magnet synchronous motor are detected, and the d-axis current i with two redundancies is obtained based on the current three-phase current transformation d1 、i d2 And q-axis current i q1 、i q2 The method comprises the following specific steps:
detecting the current three-phase current value of the dual-redundancy permanent magnet synchronous motor by adopting a current sensor;
the three-phase current value is subjected to Clark conversion to obtain the current of an alpha axis and the current of a beta axis;
acquiring the position of a rotor of the dual-redundancy permanent magnet synchronous motor, and acquiring the electrical angle of the rotor;
electric angle pair based on rotorThe alpha axis current and the beta axis current are subjected to Park conversion to obtain d axis current i with two redundancies d1 、i d2 And q-axis current i q1 、i q2 。
Preferably, the current sensor is a hall detection element.
Preferably, said step 3 applies q-axis current i q1 、i q2 The q-axis error compensation voltage difference delta U is obtained by inputting the sliding mode controller q The concrete implementation is as follows:
defining the difference value of q-axis current in a redundancy current loop and a redundancy current loop as gamma,
γ＝i q1 -i q2 (1)
the simultaneous derivation of the two sides of the above equation expresses the change law of the q-axis current difference equation as:
selecting a dual-redundancy q-axis current difference value as an input of a sliding mode controller, and setting the output of the sliding mode controller as a q-axis voltage compensation delta U q (ii) a The integral sliding mode surface is expressed as:
wherein c represents a stator resistance, and τ represents a time constant;
taking the derivatives of both sides of the above formula with respect to time, and combining the above formulas (1), (2) and (3) to obtain
Wherein L is q1 、L q2 Respectively representing the q-axis inductance, R, of two redundancy windings in a dual-redundancy PMSM s Representing stator resistance, ω s Indicating mechanical angular speed of rotor, # d1 Indicating a margin d-axis flux linkage size, psi d2 Representing the size of a two-redundancy d-axis flux linkage;
the above formula is further represented as:
wherein L is q ＝L q1 ＝L q2 The q-axis inductances of the two redundancy windings are kept consistent;
determining the approaching law of the sliding mode controller as an exponential approaching law:
wherein ε represents a variable constant greater than zero, k represents a variable constant greater than zero, sgn(s) is a sign function defined as:
when the system is stable,
q-axis error compensation voltage DeltaU q Expressed as:
preferably, the step 5 is as follows:
acquiring the position of a rotor of the dual-redundancy permanent magnet synchronous motor, and acquiring the electrical angle of the rotor;
d-axis output voltage U based on electrical angle d1 、U d2 And q-axis output voltage U q1 、U q2 Carrying out Park inverse transformation to obtain alpha axis output voltage and beta axis output voltage;
the alpha-axis output voltage and the beta-axis output voltage generate a motor control signal through an SVPWM algorithm;
and the inverter at the input side of the dual-redundancy permanent magnet synchronous motor controls the dual-redundancy permanent magnet synchronous motor according to the motor control signal.
Preferably, the inverter is a six-phase inverter.
Preferably, the inverter is an insulated gate bipolar transistor.
The invention has the following beneficial effects:
the method reduces the time required by the current balancing process, can achieve a better current balancing effect more quickly, enhances the stability of the system, and reduces the loss of the dual-redundancy motor in the process of precise control.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is an example of a maximum current balancing module of an embodiment of the present invention.
Fig. 3 is an example of a sliding mode controller of an embodiment of the present invention.
Fig. 4 is a schematic diagram of a dual-redundancy permanent magnet synchronous motor control system according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a current balancing control method of a dual-redundancy permanent magnet synchronous motor control system includes the following steps:
step 1: the dual-redundancy permanent magnet synchronous motor adopts a rotating speed ring and current ring dual-closed-loop control system, wherein the outer ring is a rotating speed ring, and the inner ring is a current ring;
detecting the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor, and obtaining a rotating speed outer ring output value iq based on the current actual rotating speed and a given rotating speed;
detecting three-phase current of the dual-redundancy permanent magnet synchronous motor, and obtaining d-axis current i of two redundancies based on current three-phase current transformation d1 、i d2 And q-axis current i q1 、i q2 ；
Step 2: the q-axis current i q1 、i q2 Inputting the output value iq of the outer ring of the sum rotating speed into a maximum current balancing module to obtain the given current of the q axis
As shown in fig. 2, the maximum current balancing module performs the following functions:
the q-axis current i q1 、i q2 Comparing and obtaining a larger value;
adding the larger value and the current outer ring output value to obtain a sum value;
subtracting the q-axis current i from the added values respectively q1 、i q2 Obtaining the q-axis given current
And step 3: the q-axis current i q1 、i q2 The q-axis error compensation voltage difference delta U is obtained by inputting a sliding mode controller q ；
And 4, step 4: current setting based on q axis
q-axis current i q1 、i q2 And q-axis error compensation voltage DeltaU q Obtain q-axis output voltage U q1 、U q2 ；
Based on d-axis current i d1 、i d2 Obtain d-axis output voltage U d1 、U d2 ；
And 5: output voltage U based on q axis q1 、U q2 And d-axis output voltage U d1 、U d2 Controlling a dual-redundancy permanent magnet synchronous motor;
preferably, the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor is detected by a displacement sensor or a speed sensor.
Preferably, the displacement sensor is a rotary transformer, and the rotary transformer obtains the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor according to the real-time displacement of the motor rotor.
Preferably, the three-phase currents of the dual-redundancy permanent magnet synchronous motor are detected, and the d-axis current i with two redundancies is obtained based on the current three-phase current transformation d1 、i d2 And q-axis current i q1 、i q2 The method comprises the following specific steps:
detecting the current three-phase current value of the dual-redundancy permanent magnet synchronous motor by adopting a current sensor;
the three-phase current value is subjected to Clark transformation to obtain the current of an alpha axis and the current of a beta axis;
acquiring the position of a rotor of the dual-redundancy permanent magnet synchronous motor, and acquiring the electrical angle of the rotor;
performing Park conversion on the current of the alpha axis and the current of the beta axis based on the electrical angle of the rotor to obtain d-axis current i with two redundancies d1 、i d2 And q-axis current i q1 、i q2 。
Preferably, the current sensor is a hall detection element.
As shown in FIG. 3, step 3 couples q-axis current i q1 、i q2 The q-axis error compensation voltage difference delta U is obtained by inputting the sliding mode controller q The concrete implementation is as follows:
defining the difference value of q-axis current in a redundancy current loop and a redundancy current loop as gamma,
γ＝i q1 -i q2
the simultaneous derivation of the two sides of the above equation expresses the change law of the q-axis current difference equation as:
selecting a dual-redundancy q-axis current difference value as an input of a sliding mode controller, and setting the output of the sliding mode controller as a q-axis voltage compensation delta U q (ii) a The integral sliding mode surface is expressed as:
taking the derivatives of both sides of the above formula with respect to time, and combining the above formulas (1), (2) and (3) to obtain
Wherein L is q1 、L q2 Respectively representing q-axis inductances of two redundancy windings in the dual-redundancy permanent magnet synchronous motor;
the above formula is further represented as:
wherein L is q ＝L q1 ＝L q2 The q-axis inductances of the two redundancy windings are kept consistent;
determining the approaching law of the sliding mode controller as an exponential approaching law:
wherein sgn(s) is a sign function defined as:
when the system is stable,
q-axis error compensation voltage DeltaU q Expressed as:
preferably, the step 5 is as follows:
acquiring the position of a rotor of the dual-redundancy permanent magnet synchronous motor, and acquiring the electrical angle of the rotor;
d-axis output voltage U based on electrical angle d1 、U d2 And q-axis output voltage U q1 、U q2 Carrying out Park inverse transformation to obtain alpha axis output voltage and beta axis output voltage;
the alpha-axis output voltage and the beta-axis output voltage generate a motor control signal through an SVPWM algorithm;
and the inverter at the input side of the dual-redundancy permanent magnet synchronous motor controls the dual-redundancy permanent magnet synchronous motor according to the motor control signal.
Referring to fig. 4, fig. 4 shows a schematic diagram of a control system of a dual-redundancy permanent magnet synchronous machine according to an embodiment of the invention. The inverter is connected with the direct current power supply and inverts the direct current bus voltage into a driving alternating current voltage; the dual-redundancy permanent magnet synchronous motor is connected with the inverter and works based on the driving alternating voltage; the control system of the dual-redundancy permanent magnet synchronous motor comprises: a speed outer loop and a current inner loop.
Wherein the speed outer ring comprises: and detecting the real-time displacement and/or the current actual rotating speed of the rotor of the dual-redundancy permanent magnet synchronous motor through a sensor. The speed outer ring takes the current actual rotating speed omega of the dual-redundancy permanent magnet synchronous motor as a speed feedback value of the speed outer ring, and the current actual rotating speed n and the given rotating speed n * The input is a proportional integral controller.
At the same time, the d-axis output voltage U in the current inner loop d1 、U d2 And q-axis output voltage U q1 、U q2 Carrying out Park inverse transformation to obtain alpha axis output voltage U α And beta axis output voltage U β ；
The alpha axis output voltage U α And the beta axis output voltage U β Generating a motor control signal through an SVPWM algorithm to drive a dual-redundancy permanent magnet synchronous motor;
in summary, according to the control method and the system for the dual-redundancy permanent magnet synchronous motor of the embodiment of the invention, the dual-redundancy permanent magnet synchronous motor is used as a control object, the method reduces the time required by the current balancing process, and enhances the stability of the system.
Claims (9)
1. A current balance control method of a dual-redundancy permanent magnet synchronous motor control system is characterized by comprising the following steps:
step 1: the dual-redundancy permanent magnet synchronous motor adopts a rotating speed ring and current ring dual-closed-loop control system, wherein the outer ring is a rotating speed ring, and the inner ring is a current ring;
detecting the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor, and obtaining a rotating speed outer ring output value iq based on the current actual rotating speed and a given rotating speed;
detecting three-phase current of the dual-redundancy permanent magnet synchronous motor, and obtaining d-axis current i of two redundancies based on current three-phase current transformation d1 、i d2 And q-axis current i q1 、i q2 ；
Step 2: the q-axis current i q1 、i q2 The sum current outer ring output value is input into a maximum current balancing module to obtain q-axis given current
The maximum current balancing module completes the following functions:
the q-axis current i q1 、i q2 Comparing and obtaining a larger value;
adding the larger value and the outer ring output value iq of the rotating speed to obtain a sum value;
subtracting the q-axis current i from the added values respectively q1 、i q2 Obtaining the q-axis given current
And step 3: the q-axis current i q1 、i q2 The q-axis error compensation voltage difference delta U is obtained by inputting the sliding mode controller q ；
And 4, step 4: current setting based on q axis
q-axis current i q1 、i q2 And q-axis error compensation voltage Δ U q Obtain q-axis output voltage U q1 、U q2 ；
Based on d-axis current i d1 、i d2 Obtain d-axis output voltage U d1 、U d2 ；
And 5: output voltage U based on q axis q1 、U q2 And d-axis output voltage U d1 、U d2 And controlling the dual-redundancy permanent magnet synchronous motor.
2. The current balance control method of the dual-redundancy permanent magnet synchronous motor control system according to claim 1, wherein the current actual rotating speed of the dual-redundancy permanent magnet synchronous motor is detected by a displacement sensor or a speed sensor.
3. The method as claimed in claim 1, wherein the displacement sensor is a rotary transformer, and the rotary transformer obtains the current actual rotation speed of the dual-redundancy PMSM according to the real-time displacement of the rotor of the motor.
4. The current balance control method of the dual-redundancy permanent magnet synchronous motor control system according to claim 1, wherein three-phase currents of the dual-redundancy permanent magnet synchronous motor are detected, and d-axis currents i with two redundancies are obtained based on current three-phase current transformation d1 、i d2 And q-axis current i q1 、i q2 The method comprises the following specific steps:
detecting the current three-phase current value of the dual-redundancy permanent magnet synchronous motor by adopting a current sensor;
the three-phase current value is subjected to Clark conversion to obtain the current of an alpha axis and the current of a beta axis;
acquiring the position of a rotor of the dual-redundancy permanent magnet synchronous motor, and acquiring the electrical angle of the rotor;
performing Park conversion on the current of the alpha axis and the current of the beta axis based on the electrical angle of the rotor to obtain d-axis current i with two redundancies d1 、i d2 And q-axis current i q1 、i q2 。
5. The current balancing control method of the dual-redundancy permanent magnet synchronous motor control system according to claim 1, wherein the current sensor is a hall detection element.
6. The current balancing control method of a dual-redundancy permanent magnet synchronous motor control system according to claim 1,wherein said step 3 is to apply q-axis current i q1 、i q2 The q-axis error compensation voltage difference delta U is obtained by inputting the sliding mode controller q The concrete implementation is as follows:
defining the difference value of q-axis current in a redundancy current loop and a redundancy current loop as gamma,
γ＝i q1 -i q2 (1)
the simultaneous derivation of the two sides of the above equation expresses the change law of the q-axis current difference equation as:
selecting a dual-redundancy q-axis current difference value as an input of a sliding mode controller, and setting the output of the sliding mode controller as a q-axis voltage compensation delta U q (ii) a The integral sliding mode surface is expressed as:
wherein c represents a stator resistance, and τ represents a time constant;
taking the derivatives of both sides of the above formula with respect to time, and combining the above formulas (1), (2) and (3) to obtain
Wherein L is q1 、L q2 Respectively representing the q-axis inductance, R, of two redundancy windings in a dual-redundancy PMSM s Representing stator resistance, ω s Indicating mechanical angular speed of rotor, # d1 Indicating a margin d-axis flux linkage size, psi d2 Representing the size of a two-redundancy d-axis flux linkage;
the above formula is further represented as:
wherein L is q ＝L q1 ＝L q2 The q-axis inductances of the two redundancy windings are kept consistent;
determining the approaching law of the sliding mode controller as an exponential approaching law:
wherein ε represents a variable constant greater than zero, k represents a variable constant greater than zero, sgn(s) is a sign function defined as:
when the system is stable, the system can be used,
q-axis error compensation voltage delta U q Expressed as:
7. the current balance control method of the dual-redundancy permanent magnet synchronous motor control system according to claim 6, wherein the step 5 is as follows:
acquiring the position of a rotor of the dual-redundancy permanent magnet synchronous motor, and acquiring the electrical angle of the rotor;
d-axis output voltage U based on electrical angle d1 、U d2 And q-axis output voltage U q1 、U q2 Carrying out Park inverse transformation to obtain alpha axis output voltage and beta axis output voltage;
the alpha-axis output voltage and the beta-axis output voltage generate a motor control signal through an SVPWM algorithm;
and the inverter at the input side of the dual-redundancy permanent magnet synchronous motor controls the dual-redundancy permanent magnet synchronous motor according to the motor control signal.
8. The method of claim 7, wherein the inverter is a six-phase inverter.
9. The method of claim 7, wherein the inverter is an insulated gate bipolar transistor.
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| CN115276489B (en) * | 2022-08-04 | 2024-04-02 | 西北工业大学 | Current balance control system of dual-redundancy permanent magnet synchronous motor |
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