CN116865613A - Speed reducer output shaft end torque fluctuation suppression method based on harmonic current injection method - Google Patents
Speed reducer output shaft end torque fluctuation suppression method based on harmonic current injection method Download PDFInfo
- Publication number
- CN116865613A CN116865613A CN202310655136.5A CN202310655136A CN116865613A CN 116865613 A CN116865613 A CN 116865613A CN 202310655136 A CN202310655136 A CN 202310655136A CN 116865613 A CN116865613 A CN 116865613A
- Authority
- CN
- China
- Prior art keywords
- torque
- output shaft
- harmonic
- harmonic current
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000002347 injection Methods 0.000 title claims abstract description 15
- 239000007924 injection Substances 0.000 title claims abstract description 15
- 230000001629 suppression Effects 0.000 title description 5
- 230000008878 coupling Effects 0.000 claims abstract description 22
- 238000010168 coupling process Methods 0.000 claims abstract description 22
- 238000005859 coupling reaction Methods 0.000 claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims abstract description 5
- 230000004907 flux Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 2
- 238000009795 derivation Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 claims description 2
- 238000005457 optimization Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 230000001808 coupling effect Effects 0.000 abstract description 3
- 230000005284 excitation Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a method for suppressing torque fluctuation at the output shaft end of a speed reducer based on a harmonic current injection method, which comprises the following steps: establishing an electromagnetic submodel taking voltage as input and current as output in consideration of magnetic linkage harmonic and magnetic saturation characteristics; according to the electromechanical energy conversion principle, an instantaneous torque analytic type is established by decoupling magnetic co-energy into an armature magnetic field, an armature-magnetic steel coupling magnetic field and a magnetic steel magnetic field; and deducing a motor torque analysis formula containing harmonic current coupling terms, deducing the torque of a speed reducer output shaft containing the harmonic current coupling terms according to the motor output shaft torque containing the harmonic current coupling terms, and suppressing the torque fluctuation of the output shaft end by generating additional torque fluctuation through actively injecting harmonic current with specific amplitude and phase. The invention comprehensively considers the electromechanical coupling effect of the whole electric drive system, considers the speed reducer, and solves the problem of torque fluctuation at the output shaft end of the speed reducer of the electric drive system by actively injecting harmonic current with specific amplitude and phase to generate additional torque fluctuation.
Description
Technical Field
The invention belongs to the technical field of electric automobile control, relates to a vibration reduction control method of an electric drive system, and particularly relates to a speed reducer output shaft end torque fluctuation suppression method based on a harmonic current injection method.
Background
With the development of the drive motor in the directions of wide speed regulation range, high speed, light weight and the like, the integrated electric drive system also faces new problems and challenges, wherein the NVH problem is one of the important problems to be solved. In an electric drive system, a motor excitation source has a large number of periodic disturbances caused by a motor structure and electric elements, and mainly exists in a harmonic form in a PMSM electric drive system, and a speed reducer excitation source comprises gear time-varying meshing stiffness excitation, gear manufacturing/assembly error excitation, gear impact excitation, input shaft torque fluctuation, bearing stiffness excitation, friction excitation and the like. The combined action of the two will result in torque ripple of the electric drive system.
There are two main ideas for elimination from the control point of view at present. A method for compensating control link by specific control strategy includes proportional resonance controller, iterative learning control and repeated control. This approach aims to improve three-phase current sine by suppressing the current harmonics to zero, thereby reducing torque ripple caused by the current harmonics. However, torque ripple occurs even when the motor is energized with a perfectly sinusoidal three-phase alternating current due to the inherent interaction of flux linkage harmonics of the motor body and the three-phase stator winding currents. The other method does not depend on actual variables and disturbance when the system works, but adopts a mode of establishing a system model to estimate the disturbance value of the system at a certain stage. In the control of a permanent magnet synchronous motor, the method is mainly a harmonic injection method, harmonic current in an injection current fundamental wave can be expressed as additional torque at an output end, and adverse effects caused by harmonic waves generated in the current by periodic disturbance in a system are counteracted. However, the existing harmonic current injection method only carries out fluctuation suppression on the output torque of the motor, and the influence of a speed reducer is not considered.
Therefore, the electromechanical coupling effect of the whole electric drive system needs to be comprehensively considered, the existing harmonic current injection method is improved, and a control scheme capable of taking the speed reducer into consideration and realizing the torque fluctuation suppression of the output shaft end of the speed reducer is sought.
Disclosure of Invention
In view of the above, the invention aims to provide a method for suppressing torque fluctuation at the output shaft end of a speed reducer based on a harmonic current injection method, which solves the problem of torque fluctuation at the output shaft end of the speed reducer of an electric drive system by actively injecting harmonic current with specific amplitude and phase to generate additional torque fluctuation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a method for suppressing torque fluctuation at the output shaft end of a speed reducer based on a harmonic current injection method comprises the following steps: under the premise of not considering the influence of the external part of a drive control system and the nonlinear factor of the temperature of a motor, an electromagnetic submodel taking the voltage as input and the current as output is established by considering the magnetic linkage harmonic wave and the magnetic saturation characteristic; according to the electromechanical energy conversion principle, the electromagnetic torque is the derivative of magnetic co-energy on the rotor angle, and the instantaneous torque analytic type is established by decoupling the magnetic co-energy into three parts of an armature magnetic field, an armature-magnetic steel coupling magnetic field and a magnetic steel magnetic field and further formula derivation; and deducing a motor torque analysis formula containing harmonic current coupling terms, deducing the torque of a speed reducer output shaft containing the harmonic current coupling terms according to the motor output shaft torque containing the harmonic current coupling terms, and suppressing the torque fluctuation of the output shaft end by generating additional torque fluctuation through actively injecting harmonic current with specific amplitude and phase.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the torque fluctuation of the output shaft end of the speed reducer is taken as a research object, the relation between the output shaft torque of the speed reducer and the injected harmonic current is deduced based on the motor output shaft torque containing the harmonic current coupling term, and the additional torque fluctuation is generated by actively injecting the harmonic current with specific amplitude and phase to directly inhibit the output shaft torque fluctuation, so that the electromechanical coupling effect of the whole electric drive system can be comprehensively considered.
2. The invention uses the improved quasi-resonant controller of the ideal resonant controller to be connected in parallel with the PI controller, directly integrates the AC input of the specific frequency by utilizing the characteristics that the resonant controller has zero phase offset and infinite gain for the AC signal of the specific frequency, suppresses the signals of other frequencies, has good tracking control performance for the injected AC signal of the specific frequency, and realizes the tracking control of 6 th and 12 th harmonics in the DC signal and the reference harmonic current instruction.
Drawings
FIG. 1 is a pure torsional dynamics model of a powertrain;
FIG. 2 is a block diagram of an electromagnetic model structure;
fig. 3 is a diagram showing the structure of a proportional-integral-resonant controller (Proportional integral resonance controller, PIR controller).
Detailed Description
The following further describes the technical scheme of the invention with reference to the accompanying drawings, but the technical scheme is not to be construed as limiting, and the adaptability improvement on the technical scheme belongs to the protection scope of the invention.
As shown in fig. 1-3, the motor output shaft outputs a torque T containing harmonic current coupling m The harmonic component passes through the two-stage gearReaching the output shaft end of the speed reducer, and deducing the torque T of the output shaft according to the dynamic equation of the transmission system s The relation between the harmonic current and the injected harmonic current can inhibit the torque fluctuation at the output shaft end by actively injecting the harmonic current with specific amplitude and phase to generate additional torque fluctuation.
A method for suppressing torque fluctuation at the output shaft end of a speed reducer based on a harmonic current injection method comprises the following specific steps:
1. establishing a permanent magnet synchronous motor torque model accurately reflecting torque response characteristics by considering flux linkage harmonic wave and magnetic saturation characteristics
(1) Under the premise of not considering the influence of the external part of a drive control system and the nonlinear factors of the temperature of a motor, an electromagnetic sub-model taking voltage as input and current as output is established by considering the magnetic linkage harmonic wave and the magnetic saturation characteristic, as shown in figure 2; the model input is dq axis voltage, and three-phase voltage output by the inverter is obtained through coordinate transformation; calculating to obtain dq axis flux linkage, looking up table according to the dq axis current and the reverse MAP of the dq axis flux linkage and rotor position angle to obtain dq axis current, and finally calculating the dq axis flux linkage by using the dq axis current as feedback;
in the psi- d ，ψ q Respectively represent dq axis flux linkage; v d ，v q Respectively representing dq-axis voltages; r is R s The resistance of the stator winding; i.e d ，i q Is dq axis current; omega e Is the electrical angular velocity of the rotor;
(2) according to the electromechanical energy conversion principle, the electromagnetic torque is the derivative of magnetic co-energy on the rotor angle, and the instantaneous torque analytic expression is established by decoupling the magnetic co-energy into three parts of an armature magnetic field, an armature-magnetic steel coupling magnetic field and a magnetic steel magnetic field and further formula deduction:
wherein P is n The pole pair number of the permanent magnet synchronous motor is; θ e Rotor position angle expressed in electrical angle; lambda (lambda) dq ＝[λ d ,λ q ] T Is dq axis permanent magnet flux linkage; t (T) cog Is cogging torque;
2. solving reference harmonic current instructions
(1) When the harmonic current is injected, the dq-axis current is the sum of the fundamental wave and the harmonic wave at any electric angle; the torque resolution is further developed as a form containing harmonic current coupling terms:
wherein i is db ,i qb Representing the dq-axis current fundamental component; i.e dh ，i qh Representing dq-axis harmonic currents; t (T) mb T mh Respectively representing the dq axis torque fundamental component and harmonic component;
(2) establishing a kinetic equation from the motor output shaft to the speed reducer output shaft:
wherein T is m Representing electromagnetic torque; θ 1 ，θ 2 ，θ 3 ，θ 4 Sequentially representing the equivalent rotation angles of a motor shaft, a primary gear pair driven wheel, a secondary gear pair driven wheel and a wheel;the motor shaft, the primary gear pair driven wheel, the secondary gear pair driven wheel and the wheel equivalent angular velocity are sequentially expressed; i.e 1 ，i 2 Showing the primary and secondary gear ratios of the reducer; k (k) 12 ，k 23 ，k 34 The torsional rigidity of the motor shaft, the intermediate shaft and the output shaft are sequentially represented; c 12 ，c 23 ，c 34 The torsional damping of the motor shaft, intermediate shaft and output shaft are shown in sequence; t (T) L Representing the running resistance moment of the whole vehicle;
(3) let state variablesInput variable u= [ T ] m T L ]Output variableThe kinetic equation is further expressed as a standard state space equation:
in the method, in the process of the invention,
C＝[0 1 1 0 0 1 1 0]，D＝[0]
(4) design state observer implementation vs. θ 2 、θ 3 、Is estimated by (a):
let |λi- (a-LC) |=0 to find the observer gain L
(5) According to motor output shaft torque T containing harmonic current coupling term m ＝T mh +T mb Deriving speed reducer output shaft torque T containing harmonic current coupling term s
Let state variablesInput variable u= [ T ] mh T mb ]Output variable y= [ T ] sh T sb ]
y＝Ex+Fu
In the method, in the process of the invention,
F＝[i 1 i 2 i 1 i 2 ]
(6) solving dq axis reference harmonic current value based on Lagrangian optimization
min f＝i dh 2 +i qh 2
Wherein i is dh ，i qh Representing dq-axis harmonic currents; t (T) s Representing the output shaft torque of the speed reducer; t (T) sh Representing the torque harmonic component of the output shaft of the speed reducer; t (T) mreq Representing a required torque; i.e 1 ，i 2 Representing the first-stage and second-stage gear ratios of the speed reducer;
3. designing harmonic current injection controllers
A modified quasi-resonant controller using an ideal resonant controller is connected in parallel with the PI controller as shown in fig. 3; and a plurality of resonance controllers are adopted in the d-axis current loop and the q-axis current loop and are connected with the PI controller in parallel, so that tracking control of 6 th harmonic and 12 th harmonic in direct current signals and reference harmonic current instructions is realized.
Claims (2)
1. The method for suppressing torque fluctuation at the output shaft end of the speed reducer based on the harmonic current injection method comprises the following steps: under the premise of not considering the influence of the external part of a drive control system and the nonlinear factor of the temperature of a motor, an electromagnetic submodel taking the voltage as input and the current as output is established by considering the magnetic linkage harmonic wave and the magnetic saturation characteristic; according to the electromechanical energy conversion principle, the electromagnetic torque is the derivative of magnetic co-energy on the rotor angle, and the instantaneous torque analytic type is established by decoupling the magnetic co-energy into three parts of an armature magnetic field, an armature-magnetic steel coupling magnetic field and a magnetic steel magnetic field and further formula derivation; and deducing a motor torque analysis formula containing harmonic current coupling terms, deducing the torque of a speed reducer output shaft containing the harmonic current coupling terms according to the motor output shaft torque containing the harmonic current coupling terms, and suppressing the torque fluctuation of the output shaft end by generating additional torque fluctuation through actively injecting harmonic current with specific amplitude and phase.
2. The method for suppressing torque fluctuation at the output shaft end of a speed reducer based on the harmonic current injection method according to claim 1, comprising the following specific steps:
1. establishing a permanent magnet synchronous motor torque model accurately reflecting torque response characteristics by considering flux linkage harmonic wave and magnetic saturation characteristics
(1) Under the premise of not considering the influence of the external part of a drive control system and the nonlinear factor of the temperature of a motor, an electromagnetic submodel taking the voltage as input and the current as output is established by considering the magnetic linkage harmonic wave and the magnetic saturation characteristic; the model input is dq axis voltage, and three-phase voltage output by the inverter is obtained through coordinate transformation; calculating to obtain dq axis flux linkage, looking up table according to the dq axis current and the reverse MAP of the dq axis flux linkage and rotor position angle to obtain dq axis current, and finally calculating the dq axis flux linkage by using the dq axis current as feedback;
in the psi- d ，ψ q Respectively represent dq axis flux linkage; v d ，v q Respectively representing dq-axis voltages; r is R s The resistance of the stator winding; i.e d ，i q Is dq axis current; omega e Is the electrical angular velocity of the rotor;
(2) according to the electromechanical energy conversion principle, the electromagnetic torque is the derivative of magnetic co-energy on the rotor angle, and the instantaneous torque analytic expression is established by decoupling the magnetic co-energy into three parts of an armature magnetic field, an armature-magnetic steel coupling magnetic field and a magnetic steel magnetic field and further formula deduction:
wherein P is n The pole pair number of the permanent magnet synchronous motor is; θ e Rotor position angle expressed in electrical angle; lambda (lambda) dq ＝[λ d ,λ q ] T Is dq axis permanent magnet flux linkage; t (T) cog Is cogging torque;
2. solving reference harmonic current instructions
(1) When the harmonic current is injected, the dq-axis current is the sum of the fundamental wave and the harmonic wave at any electric angle; the torque resolution is further developed as a form containing harmonic current coupling terms:
wherein i is db ,i qb Representing the dq-axis current fundamental component; i.e dh ，i qh Representing dq-axis harmonic currents; t (T) mb T mh Respectively represent the dq axis torque fundamental component,Harmonic components;
(2) establishing a kinetic equation from the motor output shaft to the speed reducer output shaft:
wherein T is m Representing electromagnetic torque; θ 1 ，θ 2 ，θ 3 ，θ 4 Sequentially representing the equivalent rotation angles of a motor shaft, a primary gear pair driven wheel, a secondary gear pair driven wheel and a wheel;the motor shaft, the primary gear pair driven wheel, the secondary gear pair driven wheel and the wheel equivalent angular velocity are sequentially expressed; i.e 1 ，i 2 Showing the primary and secondary gear ratios of the reducer; k (k) 12 ，k 23 ，k 34 The torsional rigidity of the motor shaft, the intermediate shaft and the output shaft are sequentially represented; c 12 ，c 23 ，c 34 The torsional damping of the motor shaft, intermediate shaft and output shaft are shown in sequence; t (T) L Representing the running resistance moment of the whole vehicle;
(3) let state variablesInput variable u= [ T ] m T L ]Output variableThe kinetic equation is further expressed as a standard state space equation:
in the method, in the process of the invention,
C＝[0 1 1 0 0 1 1 0]，D＝[0]
(4) design state observer implementation vs. θ 2 、θ 3 、Is estimated by (a):
let |λi- (a-LC) |=0 to find the observer gain L
(5) According to motor output shaft torque T containing harmonic current coupling term m ＝T mh +T mb Deriving speed reducer output shaft torque T containing harmonic current coupling term s
Let state variablesInput variable u= [ T ] mh T mb ]Output variable y= [ T ] sh T sb ]
y＝Ex+Fu
In the method, in the process of the invention,
F＝[i 1 i 2 i 1 i 2 ]
(6) solving dq axis reference harmonic current value based on Lagrangian optimization
min
Wherein i is dh ，i qh Representing dq-axis harmonic currents; t (T) s Representing the output shaft torque of the speed reducer; t (T) sh Representing the torque harmonic component of the output shaft of the speed reducer; t (T) mreq Representing a required torque; i.e 1 ，i 2 Representing the first-stage and second-stage gear ratios of the speed reducer;
3. designing harmonic current injection controllers
A modified quasi-resonant controller using an ideal resonant controller is connected in parallel with the PI controller; and a plurality of resonance controllers are adopted in the d-axis current loop and the q-axis current loop and are connected with the PI controller in parallel, so that tracking control of 6 th harmonic and 12 th harmonic in direct current signals and reference harmonic current instructions is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310655136.5A CN116865613A (en) | 2023-06-05 | 2023-06-05 | Speed reducer output shaft end torque fluctuation suppression method based on harmonic current injection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310655136.5A CN116865613A (en) | 2023-06-05 | 2023-06-05 | Speed reducer output shaft end torque fluctuation suppression method based on harmonic current injection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116865613A true CN116865613A (en) | 2023-10-10 |
Family
ID=88229409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310655136.5A Pending CN116865613A (en) | 2023-06-05 | 2023-06-05 | Speed reducer output shaft end torque fluctuation suppression method based on harmonic current injection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116865613A (en) |
-
2023
- 2023-06-05 CN CN202310655136.5A patent/CN116865613A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103490692B (en) | A kind of multiphase permanent magnet synchronous motor motor current waveform optimal control method | |
| CN110995076A (en) | Permanent magnet synchronous motor model prediction current control method | |
| Houari et al. | An effective compensation technique for speed smoothness at low-speed operation of PMSM drives | |
| CN103490694B (en) | A kind of multiphase induction motor specifies primary current waveform controlling method | |
| CN110995102A (en) | Direct torque control method and system for permanent magnet synchronous motor | |
| CN111293946B (en) | Method for suppressing harmonic current of motor | |
| Feng et al. | Advanced torque sharing function strategy with sliding mode control for switched reluctance motors | |
| CN111431450A (en) | Torque ripple suppression control system and control method for flux switching motor | |
| CN116865613A (en) | Speed reducer output shaft end torque fluctuation suppression method based on harmonic current injection method | |
| CN114157193B (en) | Optimization interpolation type synchronous motor torque pulsation suppression control method and system | |
| Wu et al. | Research on Direct Torque Control Based on RZVSVPWM of PMSM | |
| Song et al. | An adaptive torque ripple suppression algorithm for permanent magnet synchronous motor considering the influence of a transmission system | |
| CN114499307A (en) | Current loop decoupling control method for permanent magnet synchronous motor | |
| Gu et al. | Minimization the torque ripple of flux-switching permanent magnet motor based on iterative learning control | |
| Wei et al. | A Model-Free Predictive Current Control for PMSM Driving System of EV with Adjustable Low Inertia | |
| Yang et al. | Improved Multi-step FCS-MPCC with Disturbance Compensation for PMSM Drives | |
| Liu et al. | Control of Permanent-Magnet Synchronous Motor Based on Linear Hall Device | |
| Chen | Alternating Current Asynchronous Motor Control System based on Vector Control | |
| Liu et al. | Closed-loop correction strategy for commutation deviation of BLDC motor based on internal power factor angle detection | |
| Yang et al. | Improved Multi-step FCS-MPCC with Disturbance Compensation for PMSM Drives--Methods and Experimental Validation | |
| CN111245327B (en) | Current control method for double three-phase permanent magnet synchronous motor | |
| CN109687796B (en) | Closed-loop phase compensation control method and device of multiphase permanent magnet synchronous motor | |
| Wei et al. | Adaptive Inertia Observer-based Model-free Predictive Current Control for PMSM Driving System of Electrical Vehicle | |
| Xie et al. | Optimization of Model Prediction Control for Permanent Magnet Synchronous Motor | |
| Liu et al. | PMSM DTC predictive control system using SVPWM based on the subdivision of space voltage vectors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |