WO2013061808A1 - Unité de commande de moteur à induction de propulsion de véhicule - Google Patents

Unité de commande de moteur à induction de propulsion de véhicule Download PDF

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Publication number
WO2013061808A1
WO2013061808A1 PCT/JP2012/076567 JP2012076567W WO2013061808A1 WO 2013061808 A1 WO2013061808 A1 WO 2013061808A1 JP 2012076567 W JP2012076567 W JP 2012076567W WO 2013061808 A1 WO2013061808 A1 WO 2013061808A1
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WO
WIPO (PCT)
Prior art keywords
current value
torque
axis current
phase
unit
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PCT/JP2012/076567
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English (en)
Japanese (ja)
Inventor
翔 八重垣
山田　博之
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日立オートモティブシステムズ株式会社
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Publication of WO2013061808A1 publication Critical patent/WO2013061808A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
    • 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
    • H02P21/20—Estimation of torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/52—Drive Train control parameters related to converters
    • B60L2240/529—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Definitions

  • the present invention relates to a control device for an induction motor for driving a vehicle.
  • Hybrid motors and electric vehicles are equipped with a large number of electric motors, among which high output motors are used for driving.
  • a speed detector that detects the rotational speed of the induction motor is provided, and control is performed based on the speed by the speed detector.
  • a vector control method is adopted in which a three-phase alternating current is converted into a rotating coordinate system having two orthogonal axes (see, for example, Patent Document 1).
  • the torque Tm of the induction motor in the vector control method is expressed by the following equation (1) at a target operating point where the motor constant has no error and the secondary magnetic flux coincides with the d axis.
  • m is a conversion coefficient
  • Pp is the number of pole pairs
  • M is a mutual inductance
  • l2 is a secondary leakage inductance
  • ⁇ ′ is a secondary linkage flux
  • Iq is a q-axis current.
  • the torque Tm of the induction motor is estimated by Equation (1), and the primary frequency is corrected according to the difference between the estimated torque value and the torque command value. The error from the estimated torque value is corrected.
  • the present invention is a control device that outputs a control signal to an inverter that drives a vehicle drive induction motor at a high frequency based on a torque command and a magnetic flux command input from a host controller, and the drive frequency that sets the drive frequency of the inverter
  • a setting unit a current value detection unit that detects a three-phase current value of the induction motor, a conversion unit that converts the detected three-phase current value into a d-axis current value and a q-axis current value, and an output torque of the induction motor
  • a torque estimation unit for estimating, based on a phase compensation amount for correcting a current phase change from current detection by the current value detection unit to torque estimation, and a d-axis current value and a q-axis current value. Then, the output torque is estimated.
  • the accuracy of torque estimation can be improved.
  • FIG. 1 is an overall block diagram of a vehicle equipped with a motor control device according to an embodiment of the present invention.
  • 3 is a block diagram showing in detail a motor control calculation unit in a motor controller 109. It is a figure which shows the relationship between UVW phase stationary coordinate system, (alpha) (beta) axis
  • the block diagram which shows the structure of the torque estimation part 211 in the case of changing the value of C0 and C1 by power running and regeneration.
  • FIG. 1 is an overall block diagram of an electric vehicle equipped with a motor control device according to an embodiment of the present invention.
  • the electric vehicle includes a power supply unit 101 and a motor drive unit 102.
  • the power supply unit 101 includes a battery 103, a cell controller 104, a relay circuit 105, and a battery controller 106.
  • the relay circuit 105 can connect and disconnect the inverter 107 and the battery 103.
  • the cell controller 104 acquires battery information and monitors the state of the battery 103.
  • the battery information acquired by the cell controller 104 is transmitted to the battery controller 106 by communication means (not shown).
  • the battery controller 106 performs SOC calculation of the battery 103, calculation of a power limit value to the motor driving unit 102, and the like based on the received battery information, and controls power supply to and interruption of the motor driving unit 102.
  • the motor drive unit 102 includes at least one inverter and one motor.
  • the motor drive unit 102 is provided with an induction motor 108 for driving the vehicle, an inverter 107 for driving the induction motor 108, and a motor controller 109 for motor control.
  • the motor controller 109 generates a drive signal to the inverter 107 based on the torque target value or the rotational speed target value received from the host controller 110 that controls the entire vehicle by communication means or the like, and generates the generated torque or rotational speed of the motor. Control.
  • a converter or the like these devices may be included.
  • FIG. 2 is a block diagram showing in detail a motor control calculation unit in the motor controller 109 of FIG.
  • the motor control calculation unit 201 includes a DC voltage detection unit 204, a motor rotation number calculation unit 207, a motor current detection unit 209, a current command calculation unit 214, a slip frequency calculation unit 217, a primary frequency calculation unit 219, a coordinate conversion unit 223, a current An FB control calculation unit 225, a voltage FF control calculation unit 227, a coordinate conversion unit 231, and a PWM duty calculation unit 233 are provided.
  • the motor control calculation unit 201 controls the induction motor 108 by vector control, and the relationship of each coordinate system used in vector control is shown in FIG.
  • FIG. 3 shows the relationship between the output current and the UVW phase stationary coordinate system, the ⁇ axis stationary coordinate system and the dq axis rotational coordinate system.
  • the phase angle from the stationary coordinate system ⁇ -axis to the rotating coordinate system d-axis is ⁇ dq
  • the phase angle from the rotating coordinate system d-axis to the current vector I1 is ⁇ .
  • the dq-axis rotating coordinate system rotates at a primary frequency ⁇ 1, which will be described later, with respect to the ⁇ stationary coordinate system.
  • the three-phase current detection value is expressed as a primary current vector I1 having Id and Iq as components when coordinate transformation is performed based on vector control theory.
  • the target operating point for vector control is a state where the secondary magnetic flux vector coincides with the d-axis.
  • the current command calculation unit 214 controls the d (magnetic flux) axis current command Idref and q (torque) axis current command Iqref which are control current commands.
  • Is calculated. Idref is expressed by equation (2)
  • Iqref is expressed by equation (3).
  • M is a mutual inductance
  • L2 is a secondary side self-inductance
  • p is the number of pole pairs.
  • the optimum value of the secondary magnetic flux command ⁇ 2ref changes according to the battery voltage. Therefore, the correction value of the secondary magnetic flux command ⁇ 2ref corresponding to the DC voltage 203 output from the DC voltage detector 204 is calculated, and Idref and Iqref are calculated based on the correction values.
  • the motor current detection unit 209 detects the U-phase current Iu and the W-phase current Iw of the induction motor 108 based on the motor drive current data acquired by the current sensor 208.
  • the coordinate conversion unit 223 separately generates the d-axis (excitation) current Id and the q-axis (torque) current Iq based on the phase angle ⁇ dq (current phase) from the ⁇ axis to the d axis. A method for calculating the phase angle ⁇ dq will be described later.
  • Id is expressed by equation (4)
  • Iq is expressed by equation (5).
  • the current FB control calculation unit 225 corrects the d-axis voltage command VdRef so that the d-axis current command IdRef and the d-axis current Id match. Similarly, the current FB control calculation unit 225 corrects the q-axis voltage command VqRef so that the q-axis current command IqRef and the q-axis current Iq match. These voltage command values are output as the FB voltage command 226. Further, the voltage FF control calculation unit 227 performs feedforward control that compensates for the voltage drop and induced voltage of the primary resistance, and outputs the FF voltage command 228.
  • the voltage command applied to the motor is the sum of the FB voltage command and the FF voltage command, and is expressed as Equation (6) and Equation (7).
  • L1 is the primary self-inductance
  • ⁇ L1 is the primary leakage inductance
  • Kp is the proportional gain
  • Ki is the integral gain.
  • VdRef and VqRef are converted into three-phase voltage commands VuRef, VvRef and VwRef by the coordinate conversion unit 231 and output as the voltage command 230.
  • Vuref is expressed by equation (8)
  • Vvref is expressed by equation (9)
  • Vwref is expressed by equation (10).
  • the PWM duty calculator 233 generates a gate command 234 for the switching element in the inverter 107 based on the three-phase voltage commands VuRef, VvRef, and VwRef, and outputs it to the inverter 107. Since this PWM control is a well-known technique, its detailed description is omitted here.
  • the induction motor 108 is provided with a motor rotation sensor 205.
  • the motor rotation number calculation unit 207 calculates the motor rotation number ⁇ r based on the data acquired by the motor rotation sensor 205.
  • the slip frequency calculation unit 217 calculates the slip frequency reference ⁇ s * based on the d-axis (excitation) current command IdRef and the q-axis (torque) current command IqRef. ⁇ s * is expressed by equation (11).
  • R2 is a secondary resistance
  • L2 is a secondary self-inductance.
  • the primary frequency calculation unit 219 calculates ⁇ 1 which is the output frequency of the inverter 107 and is the motor primary frequency. ⁇ 1 is expressed by the following equation (12). That is, the output frequency of the inverter 107 is set to ⁇ 1 calculated by the equation (12). Then, by integrating the primary frequency ⁇ 1 by the integration calculation unit 220, the phase angle ⁇ dq (current phase) from the stationary coordinate system ⁇ -axis to the d-axis of the rotating coordinate system shown in FIG. 3 is calculated.
  • the torque Tm of the induction motor 108 is expressed by the equation (1) at the target operating point where the motor constant has no error and the secondary flux linkage coincides with the d-axis.
  • m is a conversion coefficient
  • Pp is the number of pole pairs
  • M is a mutual inductance
  • l2 is a secondary leakage inductance
  • ⁇ ' is a secondary linkage flux
  • Iq is a q-axis current.
  • Id ⁇ Iq is calculated by taking the three-phase current value detected by the current detector 208 into the motor controller 108 and converting the three-phase current value based on the phase information (phase angle ⁇ dq).
  • FIG. 4 is a diagram showing a relationship when the current phase changes by ⁇ during the time lag from the current detection to the calculation of Id ⁇ Iq (that is, the calculation of the estimated torque value).
  • the three-phase current detection value is expressed as a primary current vector I1 having Id and Iq as components when coordinate transformation is performed based on the vector control theory.
  • the primary current vector I1 has a phase angle ⁇ with respect to the rotating coordinate system d-axis, and the relationships shown in the following equations (15) and (16) are established between I1 and Id and Iq.
  • phase shift ⁇ can be expressed as the following equation (22).
  • the coefficients C0 and C1 included in the equation (22) are constants specific to the motor drive system, and are determined by actual measurement, for example, and stored in advance in the torque estimation unit 211 of FIG.
  • the torque estimation unit 211 calculates a phase shift ⁇ from the primary frequency ⁇ 1 calculated by the primary frequency calculation unit 219 and the equation (22), and based on the calculated ⁇ and Id and Iq from the coordinate conversion unit 223.
  • the corrected torque estimated value Tm shown in equation (21) is calculated.
  • the calculated estimated torque value Tm is output to the host controller 110.
  • the phase shift ⁇ is calculated based on predetermined C0 and C1 regardless of the driving state of the induction motor 108 (power running drive, regenerative drive), but whether the induction motor 108 is power running drive or regenerative drive.
  • the values of C0 and C1 may differ depending on whether or not. Therefore, as shown in FIG. 7, a torque command Tmref is input to the torque estimation unit 211, and torque estimation according to power running and regeneration is performed.
  • the switching control unit 304 connects the switching unit 303 to the storage unit 301 when the input torque command Tmref is positive (powering driving), and switches the switching unit 303 when the torque command Tmref is negative (regenerative driving).
  • ⁇ may be calculated using the same C0 and C1 regardless of whether it is power running drive or regenerative drive.
  • the current phase shift ⁇ may be a constant instead of changing according to the primary frequency ⁇ 1.
  • an average value of the primary frequency ⁇ 1 is adopted as a constant.
  • the input of ⁇ 1 to the torque estimation unit 211 as shown in FIG. 1 is not necessary.
  • FIG. 5 and 6 are comparisons between the actual measured motor torque value and the estimated torque value calculated by the motor control calculation unit 201.
  • FIG. FIG. 5 shows a case of a conventional torque estimated value (torque estimated value calculated by Expression (14)), and FIG. 6 shows a case of the torque estimated value of the present embodiment.
  • the motor rotation speed ⁇ r is kept constant, and the motor torque command value is increased in a ramp shape.
  • the output frequency of the inverter 107 (the primary frequency ⁇ 1), which is the drive frequency, is set by the primary frequency calculation unit 219.
  • the torque estimator 211 includes a phase compensation amount (for example, a phase shift ⁇ calculated by the equation (22)) for correcting a current phase change from current detection by the motor current detector 209 to torque estimation, a d-axis current value, and q Based on the shaft current value, the output torque Tm of the induction motor 108 is estimated. As a result, the influence of the time lag from the current detection to the torque estimation value calculation on the torque estimation is reduced, and the torque estimation accuracy can be improved.
  • the host controller 110 inputs an appropriate torque command Tmref and secondary magnetic flux command ⁇ 2ref to the motor controller 109 based on the estimated torque value calculated by the motor controller 109. Therefore, by improving the accuracy of the estimated torque value input from the motor controller 109, an appropriate torque command Tmref and secondary magnetic flux command ⁇ 2ref corresponding to the driving status of the induction motor 108 can be given to the motor controller 109.
  • phase compensation amount may be a constant as described above.
  • the switching control unit 304 determines power running and regeneration of the induction motor 108 based on the input torque command Tmref.
  • the calculation unit 305 of the torque estimation unit 211 calculates the power running phase compensation amount ⁇ using the values C01 and C11 of the storage unit 301, and sets the power running phase compensation amount ⁇ to the power running phase compensation amount ⁇ . Based on this, an estimated torque value is calculated.
  • the calculation unit 305 of the torque estimation unit 211 calculates the regeneration phase compensation amount ⁇ using the values C02 and C12 of the storage unit 301, and the regeneration phase compensation amount. An estimated torque value is calculated based on ⁇ .
  • phase compensation amount is a constant
  • the values of C0 and C1 are changed between power running and regeneration.
  • a constant value for power running and a constant value for regeneration are obtained.
  • 101 power supply unit
  • 102 motor drive unit
  • 107 inverter
  • 108 induction motor
  • 109 motor controller
  • 110 host controller
  • 209 motor current detection unit
  • 211 torque estimation unit
  • 214 current command calculation unit
  • 219 primary frequency calculation unit
  • 223, 230 coordinate conversion unit
  • 301, 302 storage unit

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'invention porte sur une unité de commande pour un moteur à induction de propulsion de véhicule qui est apte à améliorer la précision de l'estimation du couple. Une unité de commande de moteur (109) destinée à transmettre un signal de commande, sur la base d'un ordre de flux magnétique secondaire (φ2ref) et d'un ordre de commande (Tmref) entré en provenance d'une unité de commande hôte (110), à un onduleur (107) pour alimenter un moteur à induction de propulsion de véhicule (108) à une haute fréquence, est équipée d'une unité de calcul de la fréquence principale (219) servant à fixer une fréquence d'alimentation (ω1) de l'onduleur (107), d'une unité de détection de la valeur du courant du moteur (209) destinée à détecter une valeur du courant triphasé du moteur à induction (108), d'une unité de conversion de coordonnées (223) servant à convertir la valeur du courant triphasé détectée en une valeur de courant d'axe d (Id) et une valeur de courant d'axe q (Iq), et d'une unité d'estimation de couple (211) destinée à estimer un couple de sortie du moteur à induction (108). L'unité d'estimation de couple (211) estime un couple de sortie (Tm) sur la base d'une quantité de compensation de phase qui corrige le changement de phase actuel entre le courant détecté par l'unité de détection de la valeur du courant du moteur (209) et l'estimation de couple, la valeur du courant d'axe a et la valeur du courant d'axe q.
PCT/JP2012/076567 2011-10-27 2012-10-15 Unité de commande de moteur à induction de propulsion de véhicule WO2013061808A1 (fr)

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JP2011-236127 2011-10-27
JP2011236127A JP5731355B2 (ja) 2011-10-27 2011-10-27 車両駆動用誘導電動機の制御装置

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3208138A1 (fr) * 2016-02-17 2017-08-23 ALSTOM Transport Technologies Procédé pour estimer le couple d'une machine électrique asynchrone, unité de commande de couple et véhicule électrique
CN114244228A (zh) * 2021-12-14 2022-03-25 北京国家新能源汽车技术创新中心有限公司 基于电机控制器母线电流估算优化方法、系统、存储介质以及计算机

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6295183B2 (ja) * 2014-11-06 2018-03-14 日立オートモティブシステムズ株式会社 モータ制御装置
JPWO2017122490A1 (ja) * 2016-01-12 2018-08-30 日立オートモティブシステムズ株式会社 モータ制御システム
JP7318470B2 (ja) * 2019-10-03 2023-08-01 株式会社豊田自動織機 モデル特性算出装置、モデル特性算出方法、及びプログラム

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Publication number Priority date Publication date Assignee Title
JPH07298698A (ja) * 1994-04-21 1995-11-10 Hitachi Ltd 誘導モータの制御装置
JP2002291298A (ja) * 2002-03-25 2002-10-04 Hitachi Ltd モータ制御装置及び電気車用制御装置
JP2003219697A (ja) * 2002-01-22 2003-07-31 Railway Technical Res Inst 誘導電動機制御装置
JP2004112898A (ja) * 2002-09-18 2004-04-08 Hitachi Ltd 位置センサレスモータ制御方法および装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002095105A (ja) * 2001-07-23 2002-03-29 Hitachi Ltd 電気自動車の回生制動制御方法および制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07298698A (ja) * 1994-04-21 1995-11-10 Hitachi Ltd 誘導モータの制御装置
JP2003219697A (ja) * 2002-01-22 2003-07-31 Railway Technical Res Inst 誘導電動機制御装置
JP2002291298A (ja) * 2002-03-25 2002-10-04 Hitachi Ltd モータ制御装置及び電気車用制御装置
JP2004112898A (ja) * 2002-09-18 2004-04-08 Hitachi Ltd 位置センサレスモータ制御方法および装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3208138A1 (fr) * 2016-02-17 2017-08-23 ALSTOM Transport Technologies Procédé pour estimer le couple d'une machine électrique asynchrone, unité de commande de couple et véhicule électrique
CN114244228A (zh) * 2021-12-14 2022-03-25 北京国家新能源汽车技术创新中心有限公司 基于电机控制器母线电流估算优化方法、系统、存储介质以及计算机

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