WO2020098538A1 - 一种用于电励磁双凸极电机的转矩控制方法 - Google Patents

一种用于电励磁双凸极电机的转矩控制方法 Download PDF

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WO2020098538A1
WO2020098538A1 PCT/CN2019/115897 CN2019115897W WO2020098538A1 WO 2020098538 A1 WO2020098538 A1 WO 2020098538A1 CN 2019115897 W CN2019115897 W CN 2019115897W WO 2020098538 A1 WO2020098538 A1 WO 2020098538A1
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torque
control
phase
error
err
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English (en)
French (fr)
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张卓然
陈旭
于立
卞张铭
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Qinhuai Innovation Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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Qinhuai Innovation Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/30—Direct torque control [DTC] or field acceleration method [FAM]
    • 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

Definitions

  • the invention relates to the technical field of variable reluctance motor control, in particular to a torque control method for an electric excitation double salient pole motor.
  • the electric excitation double-salient pole motor is a more commonly used reluctance motor structure. There are no windings and magnetic steel on the motor rotor, so its structure is simple and strong, easy to maintain, and has high reliability. It has a good application prospect in the fields of aircraft start / power generation system, wind power generation system, new energy vehicles, etc.
  • a reluctance motor due to the structure of the double-salient pole of the fixed rotor of the electric excitation double-salient pole motor, it has the problems of large torque ripple, large noise and severe vibration, which limits its promotion and application to a certain extent.
  • the research direction of the optimization of the torque performance of the electric excitation double salient pole motor is mainly divided into two categories: one is to reduce the torque ripple by optimizing the design of the electric excitation double salient pole motor body; the other is to combine the electric excitation
  • the electromagnetic characteristics of the double-salient pole motor, a new motor angle control strategy is proposed, and to a certain extent, the torque ripple of the electric excitation double-salient pole motor is reduced, and the torque performance of the motor is improved.
  • Angle control strategy is based on the standard angle control strategy, according to a certain rule of each switch tube in advance or lag to open, turn off and reverse control strategy.
  • the existing angle control strategy is still a current closed-loop control strategy, that is, indirectly controlling the torque of the motor by controlling the waveform of the current.
  • the torque of the motor will still have a large torque ripple.
  • Embodiments of the present invention provide a torque control method for an electric excitation doubly salient pole motor, which can suppress torque ripple and improve the torque performance of the electric excitation doubly salient pole motor.
  • the control structure of double closed loop of speed and torque is adopted, and the speed and torque are used as the controlled variable, and the drive signal of the power converter is used as the controlled variable.
  • the control principle is roughly: the output of the speed outer ring is used as the given value of the motor torque, and the torque observer outputs the corresponding torque value according to the collected three-phase current signal and the rotor position signal as the torque feedback value, The feedback value of torque is fed back to perform closed-loop control of torque.
  • Figure 1 is a block diagram of a speed regulation system of an electric excitation double salient pole motor using a direct torque control method
  • Figure 2 is a block diagram of direct torque control of an electric excitation double salient pole motor
  • Figure 3 is an inductance characteristic diagram of an electric excitation double salient pole motor
  • Fig. 6 is the torque simulation result of the direct torque control method of the electric excitation double salient pole motor
  • FIG. 7 is a schematic diagram of a method flow provided by an embodiment of the present invention.
  • An embodiment of the present invention provides a torque control method for an electric excitation double-salient-pole motor.
  • the purpose of this embodiment is to control the operation of the power converter in real time to achieve closed-loop control of torque.
  • the control structure of double closed loop of speed and torque is adopted, and the speed and torque are used as the controlled variable, and the drive signal of the power converter is used as the controlled variable.
  • the control principle is: the output of the speed outer loop is used as the given value of the motor torque, and the torque observer outputs the corresponding torque value according to the collected three-phase current signal and the rotor position signal, as the torque feedback value, will Torque feedback value feedback, closed-loop control of torque.
  • the method includes:
  • Step 101 Obtain the analog signals i a , i b and i c collected by the current Hall sensor, and the rotor position signal ⁇ of the electric excitation doubly salient motor, and transmit them to the torque observer.
  • the current Hall sensor collects the analog signals i a , i b , and i c of the three-phase current, and the corresponding capital letters are usually used in the electrical field to indicate the mode.
  • electrical signal conversion such embodiments can I a, I B and I C correspond to an analog signal i a, i b and a digital signal i c respectively converted through a series of the present embodiment.
  • the current Hall sensor refers to the three circles at the starting points of the three lines i a , i b and i c of the input of the current detection link in FIG. 1. Generally, this circle can be used to represent the current Hall sensor.
  • the torque observer obtains the torque feedback value T e and outputs it.
  • the rotor position signal ⁇ of the electric excitation double salient pole motor is specifically collected by the resolver and its rotary decoder (usually referring to the decoder chip corresponding to the resolver), for example: the resolver obtains a correlation with the rotor position angle Analog signal (a sine and cosine signal with amplitude and position angle as a function), the decoding chip converts the analog signal into a digital signal of the rotor position angle that can be recognized by the DSP and other controllers, here the resolver and its rotary decoder
  • the existing originals can be used, and the installation and collection method can also use the existing collection scheme, which is not repeated in this embodiment.
  • the purpose of this embodiment here is only to use the collected rotor position signal ⁇ of the electrically excited doubly salient pole motor.
  • the torque observer link in this embodiment can be understood as: the torque observer is an offline three-dimensional look-up table T ( ⁇ , i p ) stored in the memory of the microprocessor (DSP2812), where ⁇ is the rotor position angle, i p For the phase winding current, p represents any phase of A, B, and C.
  • the torque observer is based on a large amount of finite element simulation data and a look-up table constructed by linear interpolation.
  • the torque observer When the direct torque control system of the electric excitation double salient pole motor is running, the torque observer will use the analog signals i a , i b and i c collected by the current Hall sensor and the rotor position signal output by the resolver and its decoder ⁇ , output the corresponding torque feedback value T e as the torque feedback value.
  • Step 102 the output of the speed outer ring is used as the torque setpoint of the electric excitation doubly salient motor T e * , and the torque setpoint T e * is subtracted from the torque feedback value T e ,
  • the torque control error of the electric excitation double salient pole motor is T e_err .
  • the speed outer loop in this embodiment can be understood as: the rotor position signal is collected by the resolver and its decoder, the speed feedback value n is obtained through the speed calculation link, the speed given value n * is different from the feedback value, and the speed is adjusted
  • the output value T e * of the converter is used as the given value of torque.
  • the rotation speed calculation link is also a section of program code stored in the DSP for calculating the rotation speed.
  • Step 103 the control error of the input torque T e_err control link to the hysteresis, the hysteresis control according to the link control error torque T e_err size, the lookup table outputs switch state control error signal ⁇ T.
  • the hysteresis control link in this embodiment can be understood as a control method executed by program code, for example, the hysteresis control link is a piece of code stored in a DSP (digital signal processor, digital signal processor).
  • the given value T e * of the torque is different from the feedback value T e , and the control error of the obtained torque is T e_err , which is used as the input of the hysteresis control link.
  • the switch state look-up table combines the error control signal ⁇ T and the rotor position signal ⁇ to output a drive signal PWM to the power converter.
  • the switch state look-up table in this embodiment is also a piece of program code stored in the DSP.
  • the logic process of the switch state look-up table link can be understood as: the switch state look-up table is based on the torque formula and inductance characteristics of the electrically excited doubly salient motor Designed. Among them, the torque formula is:
  • T p is the single-phase total torque output
  • T pr is the single-phase reluctance torque
  • T pe is the single-phase excitation torque
  • L p is the phase winding self-inductance
  • i f is the excitation current
  • L pf is the excitation
  • the winding and the phase winding have mutual inductance
  • ⁇ represents the rotor position angle
  • p is any one of the three phases A, B, and C of the electric excitation doubly salient pole motor.
  • the self-inductance of the phase winding of the electric excitation double salient pole motor and the mutual inductance of the excitation winding and the phase winding are a function of the rotor position angle, which is the inductance characteristic of the electric excitation double salient pole motor, as shown in FIG. 3.
  • the excitation current flows from the power supply to the excitation winding as the positive direction of the excitation current, and vice versa as the reverse direction of the excitation current.
  • the direction of the excitation current as a positive direction and the rotation direction of the rotor as a positive direction as an example, when 0 ⁇ 120 °, positive current flows through phase A, and negative current flows through phase B, and the motor generates positive torque; negative current flows through phase A. With positive current flowing through phase B, the motor will produce negative torque.
  • T band is the ring width of torque hysteresis control
  • the link keeps the error control signal output at the last moment
  • the switch state look-up table maintains the drive signal output at the previous moment.
  • the power converter in this embodiment can be understood as: the switch state look-up table combines the torque error control signal ⁇ T and the rotor position angle ⁇ to control the work of the power converter in real time by outputting the drive signal to realize the electric excitation of the double salient pole motor Closed-loop control of torque.
  • the research direction of the optimization of the torque performance of the electric excitation double salient pole motor is mainly divided into two categories: one is to reduce the torque ripple by optimizing the design of the electric excitation double salient pole motor body; the other is to combine the electric excitation
  • a new motor control strategy is proposed for the electromagnetic characteristics of double-salient pole motors to reduce torque ripple.
  • the control strategies of electric excitation double salient pole motors that have been proposed so far are: 1. Standard angle control strategy; 2. Advance angle control strategy; 3. Three-phase six-state control strategy; 4. Three-phase nine-state control strategy; 5. Asymmetric Current control strategy.
  • the standard angle control strategy is the simplest control method for the electric excitation double salient pole motor.
  • This method controls the opening and closing of each phase switch tube based on the inductive characteristics of the electric excitation double salient pole motor.
  • the standard angle control strategy can produce a large torque when the motor is running at low speed, but there is a large torque ripple when running at high speed.
  • the latter four control strategies all add angle control parameters, so they can be collectively referred to as angle control strategies.
  • the above angle control strategies have reduced the torque ripple of the electric excitation double salient pole motor to a certain extent and improved the torque performance of the motor.
  • the present invention aims to propose a direct torque control method for an electric excitation doubly salient motor, thereby improving the torque performance of the motor.
  • This embodiment specifically discloses a direct torque control method for an electric excitation double salient pole motor, which adopts a speed-torque double closed-loop control structure, which takes the speed and torque as the controlled variable, and the controlled variable is the drive signal of the power converter .
  • the control principle is: the output of the speed outer ring is used as the given value of the torque, and the torque observer outputs the corresponding torque value according to the collected three-phase current signal and the rotor position signal, as the torque feedback value, the torque The given value and feedback value are output through the hysteresis control and the switch state look-up table to output the corresponding power converter drive signal.
  • the invention avoids the torque ripple problem caused by directly controlling the phase current and indirectly controlling the torque in the current closed-loop control.
  • the invention directly controls the torque of the electric excitation double-salient pole motor, so the torque ripple can be effectively suppressed and the torque performance of the electric excitation double-salient pole motor can be improved.
  • the torque observer includes: an offline three-dimensional look-up table T ( ⁇ , i p ) stored in the memory of the microprocessor (DSP2812), where ⁇ is the rotor position angle and i p is the phase
  • the winding current, p represents any one of the three phases A, B, and C of the electrically excited doubly salient motor.
  • the torque observer is based on a large amount of finite element simulation data and a look-up table constructed by linear interpolation.
  • the speed outer loop is essentially a logic calculation process, which includes: the rotor position signal ⁇ is output by the resolver and its decoder; the speed feedback value, the speed given value and the feedback value are obtained through the speed calculation link Make a difference; the output value T e * after the speed PI regulator is used as the given value of torque.
  • the speed calculation link outputs the feedback value of the speed; the given value of the speed can be set manually and stored in advance; the torque observer outputs the torque feedback value; the speed regulator outputs the torque Desired point.
  • the speed regulator is essentially the PI adjustment link of the speed; the output of the speed PI adjustment should be a physical quantity that can change the speed; from the mechanical motion equation: T e is the electromagnetic torque of the motor, T L is the load torque; T 0 is the no-load torque; J is the rotational inertia, ⁇ is the angular velocity, and ⁇ has a linear relationship with the rotation speed. It can be seen from this formula that the torque can directly change the speed, so the output value of the speed outer loop is the torque given value.
  • the step 103 according to the control error torque T e_err size of the lookup table outputs an error control signal to the switch ⁇ T state, comprising:
  • T band is the ring width of torque hysteresis control.
  • the hysteresis control link maintains the error control signal output at the previous moment among them, Is the error control signal output by the hysteresis control link at the current k time, It is the error control signal output by the hysteresis control link at the previous time.
  • the switch state look-up table is set based on the torque formula and inductance characteristics of the electric excitation doubly salient motor, and the torque formula includes:
  • T p is the single-phase total torque output
  • T pr is the single-phase reluctance torque
  • T pe is the single-phase excitation torque
  • L p is the phase winding self-inductance
  • i f is the excitation current
  • L pf is the excitation
  • the winding and the phase winding have mutual inductance
  • ⁇ represents the rotor position angle
  • p is any one of the three phases A, B, and C of the electric excitation doubly salient pole motor.
  • the self-inductance of the phase winding of the electric excitation double salient pole motor and the mutual inductance of the excitation winding and the phase winding are a function of the rotor position angle, which is the inductance characteristic of the electric excitation double salient pole motor.
  • the direction of the excitation current as the positive direction and the rotation direction of the rotor as the positive direction as an example
  • the positive current flows in the A phase and the negative current flows in the B phase, and the motor generates positive torque.
  • Negative current flows through phase A and positive current flows through phase B, and the motor generates negative torque.
  • the excitation current flows from the power supply to the excitation winding as the positive direction of the excitation current, and vice versa as the reverse direction of the excitation current
  • the counterclockwise rotation of the rotor is defined as the positive direction, and vice versa.
  • Figure 1 is a block diagram of the speed regulation system of an electric excitation double salient pole motor using a direct torque control method, in which:
  • a rotary transformer and its decoder are used to collect the rotor position signal ⁇ , the rotor position angle signal is sent to the microprocessor, and the motor speed is calculated by a pre-programmed microprocessor program;
  • Three current Hall sensors are used to collect three-phase current analog signals i a , i b , and i c respectively .
  • the three-phase current analog signal is converted into a voltage signal by a sampling resistor, after a second-order low pass
  • the source filter filters out high-frequency noise signals, and then sends them to the A / D conversion chip to convert the analog signals into digital signals I A , I B , and I C.
  • the sampling frequency of the current signal A / D conversion is f s , and then A
  • the digital signal output by the / D conversion chip is sent to the microprocessor;
  • the torque feedback value is output by the torque observer in combination with the three-phase current signal and the rotor position signal.
  • the torque observer is based on a large amount of finite element simulation data, constructed using linear interpolation, and stored in the microprocessor (DSP2812) memory offline three-dimensional lookup table T ( ⁇ , i p ).
  • ⁇ is the rotor position angle
  • i p is the phase winding current
  • p represents any phase of A, B, and C.
  • T band is the ring width of the torque hysteresis control
  • the error control signal output by the hysteresis control link is low, that is If T e_err ⁇ T band , the error control signal output by the hysteresis control link is high, that is If -T band ⁇ T e_err ⁇ T band , the hysteresis control link maintains the error control signal output at the previous moment among them, Is the error control signal output by the hysteresis control link at the current k time, It is the error control signal output by the hysteresis control link at the previous time;
  • Switching state lookup table define the excitation current flowing from the power supply to the excitation winding as the positive direction of the excitation current, otherwise the reverse direction of the excitation current, and define the counterclockwise rotation of the rotor as the positive direction and vice versa.
  • T band is the torque hysteresis loop Control loop width
  • each set of control logic contains six kinds of drive signals of the power converter.
  • the four sets of control logic are shown in Table 1.
  • Power converter uses a three-phase full-bridge inverter circuit, as shown in Figure 1.
  • Q1 ⁇ Q6 are metal-oxide field-effect transistors (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET), D1 ⁇ D6 are their parasitic anti-parallel diodes.
  • MOSFET Metal-Oxide-Semiconductor Field-Effect Transistor
  • D1 ⁇ D6 are their parasitic anti-parallel diodes.
  • the drive signal output from the switch state look-up table controls the conduction mode of the power converters Q1 to Q6, thereby realizing closed-loop control of torque.
  • Figure 2 is a block diagram of the direct torque control of an electric excitation double salient pole motor.
  • the control block diagram shown in Figure 2 mainly includes the following links: speed feedback link, speed adjustment link, torque feedback link, torque adjustment link, switch state look-up table, power converter and electric excitation double salient pole motor.
  • the speed feedback link includes the resolver and its decoder and the speed calculation link;
  • the speed adjustment link is the speed PI regulator;
  • the torque feedback link consists of a current Hall sensor that collects three-phase current signals, a rotary transformer that collects rotor position signals, and It consists of a decoder and a torque observer;
  • the torque regulation link is a torque hysteresis control link;
  • the power converter is a three-phase full-bridge inverter.
  • FIG 3 is a doubly salient pole electric motor inductance characteristic diagram, FIG. L af, L bf, L cf respectively, the mutual inductance between the A, B, C-phase winding and a field winding, L a, L b, L c
  • ⁇ in the figure is the rotor position angle. Taking 0 °, 120 ° and 240 ° as the demarcation points, the change of inductance in an electrical cycle is divided into three intervals, namely the inductance rising area, the inductance falling area, and the inductance unchanged area.
  • the cut-off points are the positions where the three-phase stator poles of A, B, and C are aligned with the rotor poles. At this time, the inductance of the corresponding phase is the largest.
  • FIG. 4 is a simulation waveform diagram of the torque observer error proposed by the present invention. The error is obtained by subtracting the simulation result of the torque observer output value from the finite element simulation result of the output torque of the electric excitation doubly salient motor.
  • Figure 4 shows that the torque observer of the electric excitation double salient pole motor designed in this case has good accuracy.
  • Fig. 5 is a simulation verification diagram of the torque observer error proposed by the patent "Direct Sliding Mode Dual-Salient-Pole Motor Direct Torque Control Device and Method”.
  • the error is a finite element of the output torque of the electrically excited double-salient-pole motor
  • the simulation result is obtained by subtracting the simulation result of the torque observer output value.
  • Figure 5 shows that the torque observer of the electric excitation double-salient-pole motor proposed by the patent "Direct Torque Control Device and Method of Double-Salient-Pole Motor Based on Terminal Sliding Mode” has a large torque observation error.
  • Fig. 6 is a torque simulation result diagram of a direct torque control method of an electric excitation double salient pole motor.
  • the simulation result of the torque average value is 1.87 N ⁇ m, and the torque ripple rate is 80.14%.
  • the torque ripple of the electric excitation double salient pole motor has been significantly reduced, and the torque performance has been improved to a certain extent.
  • T ripple rate is the maximum torque in a single electrical cycle
  • T min is the minimum torque in a single electrical cycle
  • T avg is the average torque in a single electrical cycle.

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Abstract

一种用于电励磁双凸极电机的转矩控制方法，涉及变磁阻类电机控制技术领域，能够抑制转矩脉动，提升电励磁双凸极电机的转矩性能。转矩控制方法采用转速转矩双闭环的控制结构，将转速与转矩作为被控量，控制量为功率变换器的驱动信号，其控制原理为：转速外环的输出作为转矩的给定值，转矩观测器根据采集的三相电流信号与转子位置信号输出相应的转矩值，作为转矩的反馈值，转矩的给定值与反馈值经滞环控制及开关状态查询表，输出相应的功率变换器驱动信号。适用于针对电励磁双凸极电动机转矩性能的优化。

Description

一种用于电励磁双凸极电机的转矩控制方法 技术领域
本发明涉及变磁阻类电机控制技术领域，尤其涉及一种用于电励磁双凸极电机的转矩控制方法。
背景技术
电励磁双凸极电机是一种较为常用的磁阻类电机结构，其电机转子的上不存在绕组和磁钢，因此其结构简单牢固、易于维护、可靠性高。在飞机起动/发电系统、风力发电系统、新能源汽车等领域有很好的应用前景。但是，作为磁阻类电机，由于电励磁双凸极电机定转子双边凸极的结构，导致其存在转矩脉动大、噪声大和振动剧烈的问题，在一定程度上制约了其推广应用。
目前针对电励磁双凸极电动机转矩性能的优化研究方向主要分为两大类：一类是通过优化电励磁双凸极电动机本体的设计，减小转矩脉动；另一类是结合电励磁双凸极电动机的电磁特性，提出新的电机角度控制策略，并在一定程度上减小了电励磁双凸极电动机的转矩脉动、提升了电机的转矩性能。
角度控制策略是在标准角控制策略的基础上，将各开关管按照一定的规则提前或滞后开通、关断和反向的控制策略。现有的角度控制策略本质上仍是电流闭环的控制策略，即通过控制电流的波形，间接的控制电机的转矩。但由于电励磁双凸极电机内部电磁量具有非线性与强耦合性，即使相电流的幅值恒定，电机的转矩仍会存在较大的转矩脉动。
发明内容
本发明的实施例提供一种用于电励磁双凸极电机的转矩控制方法，能够抑制转矩脉动，提升电励磁双凸极电机的转矩性能。
为达到上述目的，本发明的实施例采用如下技术方案：
采用转速转矩双闭环的控制结构，将转速与转矩作为被控量，功率变换器的驱动信号则作为控制量。其控制原理大致为：转速外环的输出作为电机转矩的给定值，转矩观测器根据采集的三相电流信号与转子位置信号，输出相应的转矩值，作为转矩的反馈值，将转矩的反馈值反馈，对转矩进行闭环控制。
由于对电励磁双凸极电动机采用直接转矩控制方法，直接对电机的转矩闭环控制，有效地避免了电流闭环控制中直接控制相电流，间接控制转矩而导致的转矩脉动问题。因而该方法能有效地抑制电励磁双凸极电动机的转矩脉动，为电励磁双凸极电动机的推广应用奠定了一定的基础。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附 图。
图1为采用直接转矩控制方法的电励磁双凸极电动机的调速系统框图；
图2为电励磁双凸极电动机直接转矩控制框图；
图3为电励磁双凸极电动机的电感特性图；
图4为本发明所提出的转矩观测器误差仿真波形图；
图5为现有技术中所提出的转矩观测器误差仿真验证图；
图6为电励磁双凸极电动机直接转矩控制方法的转矩仿真结果；
图7为本发明实施例提供的方法流程的示意图。
具体实施方式
为使本领域技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明作进一步详细描述。下文中将详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的任一单元和全部组合。本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
本发明实施例提供一种用于电励磁双凸极电机的转矩控制方法，本实施例的目的在于实时控制所述功率变换器的工作，实现转矩的闭环控制。采用转速转矩双闭环的控制结构，将转速与转矩作为被控量，功率变换器的驱动信号则作为控制量。其控制原理为：转速外环的输出作为电机转矩的给定值，转矩观测器根据采集的三相电流信号与转子位置信号，输出相应的转矩值，作为转矩的反馈值，将转矩的反馈值反馈，对转矩进行闭环控制。
如图7所示，该方法包括：
步骤101，获取电流霍尔传感器采集的模拟信号i a、i b和i c，和所述电励磁双凸极电机的转子位置信号θ，向所述转矩观测器传输。
需要说明的是，在本实施例的实际应用中，电流霍尔传感器采集到的是三相电流的模拟信号i a、i b、i c，而电学领域中通常采用对应的大写的字母表示模电转换后的信号，比如本实施例中可以通过I A、I B和I C分别对应表示模拟信号i a、i b和i c经过一系列转换得到的数字信号。例如：可以在将模数转换的环节设置在霍尔和转矩观测器之间设置电流检测环节将i a、i b和i c转换成I A、I B和I C。
其中，电流霍尔传感器指的是如图1中的电流检测环节的输入的i a、i b和i c三条线 的起点的三个圆圈，通常本领域内可以用这种圆圈表示电流霍尔传感器。所述转矩观测器得到转矩反馈值T e并输出。
所述电励磁双凸极电机的转子位置信号θ具体是由旋转变压器及其旋转解码器(通常指的是与旋转变压器相应的解码芯片)采集的，例如：旋转变压器获取一个和转子位置角相关的模拟信号(幅值与位置角呈函数关系的正余弦信号)，解码芯片将该模拟信号转换成DSP等控制器可以识别的转子位置角的数字信号，此处的旋转变压器及其旋转解码器可以采用目前已有的原件，其安装采集方式也可以采用现有的采集方案，本实施例中并不赘述。本实施例在此处的目的仅在于使用所采集的电励磁双凸极电机的转子位置信号θ。
本实施例中的转矩观测器环节可以理解为：转矩观测器是存储于微处理器(DSP2812)内存中的离线三维查找表T(θ,i p)，θ为转子位置角，i p为相绕组电流，p代表A、B、C中的任一相。转矩观测器是基于大量有限元仿真数据，采用线性插值的方法构建的查找表。电励磁双凸极电机直接转矩控制系统运行时，转矩观测器会根据电流霍尔传感器采集的的模拟信号i a、i b和i c，以及旋转变压器及其解码器输出的转子位置信号θ，输出相应的转矩反馈值T e，作为转矩反馈值。
步骤102，转速外环的输出作为所述电励磁双凸极电机的转矩给定值为T e *，用所述转矩给定值T e *减去所述转矩反馈值T e，得到所述电励磁双凸极电机的转矩的控制误差为T e_err。
本实施例中的转速外环可以理解为：由旋转变压器及其解码器采集转子位置信号，经转速计算环节获取转速的反馈值n，转速给定值n *与反馈值作差，经过转速调节器的输出值T e *，作为转矩的给定值。其中，转速计算环节具体也是存储于DSP内的一段用于计算转速的程序代码。
步骤103，将所述转矩的控制误差T e_err输入至滞环控制环节，滞环控制环节根据所述转矩的控制误差T e_err大小，向开关状态查询表输出误差控制信号ε T。
本实施例中的滞环控制环节可以理解为一种由程序代码执行的控制方式，比如滞环控制环节是存储于DSP(digital signal processor,数字信号处理器)内的一段代码。转矩的给定值T e *与反馈值T e作差，得到转矩的控制误差为T e_err，作为滞环控制环节的输入。假定当前为k时刻，若T e_err≤-T band(T band为转矩滞环控制的环宽)，则滞环控制环节输出的误差控制信号为低电平，即
Figure PCTCN2019115897-appb-000001
若T e_err≥T band，则滞环控制环节输出的误差控制信号为高电平，即
Figure PCTCN2019115897-appb-000002
若-T band≤T e_err≤T band，则滞环控制环节保持上一时刻输出的误差控制信号
Figure PCTCN2019115897-appb-000003
其中，
Figure PCTCN2019115897-appb-000004
为当前k时刻滞环控制环节输出的误差控制信号，
Figure PCTCN2019115897-appb-000005
为上一时刻滞环控制环节输出的误差控制信号。步骤104，所述开关状态查询表结合误差控制信号ε T和所述转子位置信号θ，向功率变换器输出驱动信号PWM。
本实施例中的开关状态查询表也是存储于DSP内的一段程序代码，开关状态查询表环节的逻辑过程可以理解为：开关状态查询表是基于电励磁双凸极电动机的转矩公式与电感特性设计的。其中，转矩公式为:
Figure PCTCN2019115897-appb-000006
其中，T p是单相的总转矩输出，T pr表示单相磁阻转矩，T pe表示单相励磁转矩，L p表 示相绕组自感，i f表示励磁电流，L pf表示励磁绕组与相绕组互感，θ表示转子位置角，p所述电励磁双凸极电机的A、B、C三相中的任一相。电励磁双凸极电机相绕组的自感及励磁绕组与相绕组的互感是关于转子位置角的函数，即为电励磁双凸极电动机的电感特性，如附图3所示。
定义励磁电流从电源流向励磁绕组为励磁电流的正方向，反之为励磁电流的反方向，定义转子逆时针方向旋转为正方向，反之为反方向。以励磁电流的方向为正方向，转子的旋转方向为正方向为例，当0<θ≤120°时，A相通正电流，B相通负电流，电机会产生正转矩；A相通负电流，B相通正电流，电机会产生负转矩。若T e_err＝T e *-T e≤-T band(T band为转矩滞环控制的环宽)，则滞环控制环节输出的误差控制信号
Figure PCTCN2019115897-appb-000007
开关状态查询表输出的驱动信号应使转矩减小，即A相上管Q1与B相下管Q6关断；若T e_err＝T e *-T e≥T band，则滞环控制环节输出的误差控制信号
Figure PCTCN2019115897-appb-000008
开关状态查询表输出的驱动信号应使转矩增加，即A相上管Q1与B相下管Q6开通；若-T band≤T e_err＝T e *-T e≤T band，则滞环控制环节保持上一时刻输出的误差控制信号
Figure PCTCN2019115897-appb-000009
开关状态查询表保持上一时刻输出的驱动信号。本实施例中的功率变换器可以理解为：开关状态查询表结合转矩误差控制信号ε T和转子位置角θ，通过输出驱动信号实时控制功率变换器的工作，实现对电励磁双凸极电动机转矩的闭环控制。
目前针对电励磁双凸极电动机转矩性能的优化研究方向主要分为两大类：一类是通过优化电励磁双凸极电动机本体的设计，减小转矩脉动；另一类是结合电励磁双凸极电动机的电磁特性，提出新的电机控制策略，以此来减小转矩脉动。当前已经提出的电励磁双凸极电动机控制策略有：1、标准角控制策略；2、提前角控制策略；3、三相六状态控制策略；4、三相九状态控制策略；5、不对称电流控制策略。标准角控制策略是电励磁双凸极电动机最简单的控制方法，该方法基于电励磁双凸极电动机的电感特性来控制各相开关管的开通和关断。标准角控制策略在电机低速运行时，可以产生较大的转矩，但在高速运行时存在较大的转矩脉动。所述的后四种控制策略均加入了角度控制参数，因此可统称为角度控制策略。上述角度控制策略都从一定程度上减小了电励磁双凸极电动机的转矩脉动、提升了电机的转矩性能。
基于目前的业内现状，本发明旨在提出一种电励磁双凸极电动机的直接转矩控制方法，从而提升电机的转矩性能。
本实施例中具体公开了一种电励磁双凸极电动机直接转矩控制方法，采用转速转矩双闭环的控制结构，将转速与转矩作为被控量，控制量为功率变换器的驱动信号。其控制原理为：转速外环的输出作为转矩的给定值，转矩观测器根据采集的三相电流信号与转子位置信号输出相应的转矩值，作为转矩的反馈值，转矩的给定值与反馈值经滞环控制及开关状态查询表，输出相应的功率变换器驱动信号。本发明避免了电流闭环控制中直接控制相电流，间接控制转矩而导致的转矩脉动问题。本发明由于直接控制电励磁双凸极电机的转矩，因此能够有效地抑制转矩脉动，提升电励磁双凸极电机的转矩性能。
在本实施例中，所述转矩观测器包括：存储于微处理器(DSP2812)的内存中的离线三维查找表T(θ,i p)，其中，θ为转子位置角，i p为相绕组电流，p代表所述电励磁双凸极电机的A、B、C三相中的任一相。转矩观测器是基于大量有限元仿真数据，采用线性插值的方法构建的查找表。
具体的，所述转速外环本质上时一种逻辑计算过程，其中包括：由旋转变压器及其解码器输出转子位置信号θ；经转速计算环节获取转速的反馈值，转速给定值与反馈值作差；经过转速PI调节器的输出值T e *，作为转矩的给定值。
其中，转速计算环节输出的是转速的反馈值；转速的给定值可以是人为设定并预先存储的；转矩观测器输出的是转矩的反馈值；转速调节器输出的是转矩的给定值。转速调节器本质上是转速的PI调节环节；转速PI调节的输出应当是一个可以改变转速的物理量；由机械运动方程：
Figure PCTCN2019115897-appb-000010
T e为电机的电磁转矩，T L为负载转矩；T 0为空载转矩；J是转动惯量，ω为角速度，ω和转速有线性关系。由这个公式可见，转矩可以直接改变转速，因此转速外环输出值为转矩给定值。
具体的，所述步骤103中根据所述转矩的控制误差T e_err大小，向开关状态查询表输出误差控制信号ε T，包括：
记录当前为k时刻，若T e_err≤-T band则所述滞环控制环节输出的误差控制信号为低电平，即
Figure PCTCN2019115897-appb-000011
其中，T band为转矩滞环控制的环宽。
若T e_err≥T band，则所述滞环控制环节输出的误差控制信号为高电平，即
Figure PCTCN2019115897-appb-000012
若-T band≤T e_err≤T band，则所述滞环控制环节保持上一时刻输出的误差控制信号
Figure PCTCN2019115897-appb-000013
其中，
Figure PCTCN2019115897-appb-000014
为当前k时刻滞环控制环节输出的误差控制信号，
Figure PCTCN2019115897-appb-000015
为上一时刻滞环控制环节输出的误差控制信号。
进一步的，所述开关状态查询表是基于所述电励磁双凸极电动机的转矩公式与电感特性设置的，所述转矩公式包括：
Figure PCTCN2019115897-appb-000016
其中，T p是单相的总转矩输出，T pr表示单相磁阻转矩，T pe表示单相励磁转矩，L p表示相绕组自感，i f表示励磁电流，L pf表示励磁绕组与相绕组互感，θ表示转子位置角，p所述电励磁双凸极电机的A、B、C三相中的任一相。电励磁双凸极电机相绕组的自感及励磁绕组与相绕组的互感是关于转子位置角的函数，即为电励磁双凸极电动机的电感特性。
以励磁电流的方向为正方向，转子的旋转方向为正方向为例，当0<θ≤120°时，A相通正电流，B相通负电流，电机会产生正转矩。A相通负电流，B相通正电流，电机会产生负转矩。定义励磁电流从电源流向励磁绕组为励磁电流的正方向，反之为励磁电流的反方向，定义转子逆时针方向旋转为正方向，反之为反方向。
在本实施例的具体应用中，当T e_err＝T e *-T e≤-T band，所述滞环控制环节输出的误差控制信号
Figure PCTCN2019115897-appb-000017
所述开关状态查询表输出的驱动信号使转矩减小，即A相上管Q1与B相下管Q6关断。
当T e_err＝T e *-T e≥T band，所述滞环控制环节输出的误差控制信号
Figure PCTCN2019115897-appb-000018
所述开关状态查询表输出的驱动信号应使转矩增加，即A相上管Q1与B相下管Q6开通。
当-T band≤T e_err＝T e *-T e≤T band，所述滞环控制环节保持上一时刻输出的误差控制信号
Figure PCTCN2019115897-appb-000019
则开关状态查询表保持上一时刻输出的驱动信号。
举例来说：
图1为采用直接转矩控制方法的电励磁双凸极电动机的调速系统框图，其中：
(1)采集位置和转速信号：采用旋转变压器及其解码器采集转子位置信号θ，将转子位置角信号送入微处理器，通过预编写的微处理器程序计算电机转速；
(2)采集电流信号：用三个电流霍尔传感器分别采集三相电流的模拟信号i a、i b、i c，三相电流模拟信号经采样电阻转化为电压信号，经过二阶低通有源滤波器滤除高频噪声信号，然后送入A/D转换芯片将模拟信号转换为数字信号I A、I B、I C，电流信号A/D转换的采样频率为f s，然后将A/D转换芯片输出的数字信号送入微处理器；
(3)计算转速环：转速给定值n *与反馈值n作差，经过转速PI调节器的输出值T e *，作为转矩的给定值。其中，转速给定值是人为在微处理器中设定的，以上计算过程在微处理器中进行；
(4)计算转矩的反馈值：转矩的反馈值由转矩观测器结合三相电流信号和转子位置信号输出。转矩观测器是基于大量有限元仿真数据，采用线性插值的方法构建的，存储于微处理器(DSP2812)内存中的离线三维查找表T(θ,i p)。其中，θ为转子位置角，i p为相绕组电流，p代表A、B、C中的任一相。电励磁双凸极电动机直接转矩控制系统运行时，会根据电流霍尔传感器采集的的模拟信号i a、i b和i c，以及旋转变压器及其解码器输出的转子位置信号θ，输出相应的转矩反馈值T e，作为转矩反馈值；
(5)计算误差控制信号ε T：转矩的给定值T e *与反馈值T e作差，得到转矩的控制误差为T e_err，作为滞环控制环节的输入。假定当前为k时刻，若
T e_err≤-T band(T band为转矩滞环控制的环宽)，则滞环控制环节输出的误差控制信号为低电平，即
Figure PCTCN2019115897-appb-000020
若T e_err≥T band，则滞环控制环节输出的误差控制信号为高电平，即
Figure PCTCN2019115897-appb-000021
若-T band≤T e_err≤T band，则滞环控制环节保持上一时刻输出的误差控制信号
Figure PCTCN2019115897-appb-000022
其中，
Figure PCTCN2019115897-appb-000023
为当前k时刻滞环控制环节输出的误差控制信号，
Figure PCTCN2019115897-appb-000024
为上一时刻滞环控制环节输出的误差控制信号；
(6)开关状态查询表：定义励磁电流从电源流向励磁绕组为励磁电流的正方向，反之为励磁电流的反方向，定义转子逆时针方向旋转为正方向，反之为反方向。以励磁电流的方向为正方向,转子的旋转方向为正方向为例，当0<θ≤120°时，若T e_err＝T e *-T e≤-T band(T band为转矩滞环控制的环宽)，则滞环控制环节输出的误差控制信号
Figure PCTCN2019115897-appb-000025
开关状态查询表输出的驱动信号应使转矩减小，即A相上管Q1与B相下管Q6关断；若T e_err＝T e *-T e≥T band，则滞环控制环节输出的误差控制信号
Figure PCTCN2019115897-appb-000026
开关状态查询表输出的驱动信号应使转矩增加，即A相上管Q1与B相下管Q6开通；若-T band≤T e_err＝T e *-T e≤T band，则滞环控制环节保持上一时刻输出的误差控制信号
Figure PCTCN2019115897-appb-000027
开关状态查询表保持上一时刻输出的驱动信号；
改变励磁电流方向，改变转子旋转方向，可以得到四组控制逻辑，每组控制逻辑包含六种功率变换器的驱动信号。四组控制逻辑如表1所示，使用直接转矩控制方法时，根据实际情况进行选择。
表1
Figure PCTCN2019115897-appb-000028
    开通 关断 开通 关断 开通 关断
(7)功率变换器：功率变换器采用三相全桥逆变电路，如附图1所示。其中，Q1～Q6为金氧半场效晶体管(Metal-Oxide-Semiconductor Field-Effect Transistor，MOSFET)，D1～D6分别为其寄生的反并二极管。开关状态查询表输出的驱动信号控制功率变换器Q1～Q6的导通模态，从而实现转矩的闭环控制。
图2为电励磁双凸极电动机直接转矩控制框图。图2所示的控制框图主要包括以下环节：转速反馈环节、转速调节环节、转矩反馈环节、转矩调节环节、开关状态查询表、功率变换器以及电励磁双凸极电动机。其中，转速反馈环节包括旋转变压器及其解码器和转速计算环节；转速调节环节为转速PI调节器；转矩反馈环节由采集三相电流信号的电流霍尔传感器、采集转子位置信号的旋转变压器及其解码器和转矩观测器组成；转矩调节环节为转矩滞环控制环节；功率变换器为三相全桥逆变器。
图3为电励磁双凸极电动机的电感特性图，图中L af、L bf、L cf分别为A、B、C三相绕组与励磁绕组之间的互感，L a、L b、L c分别为A、B、C三相绕组的自感，图中θ为转子位置角。以0°、120°、240°为分界点，将一个电周期内的电感变化划分为三个区间，即电感上升区、电感下降区、电感不变区。分界点分别是A、B、C三相定子极与转子极对齐的位置，此时对应相的电感值最大。
为了验证权利要求2所述转矩观测器的准确性，对一台电励磁双凸极电动机进行仿真。图4为本发明所提出的转矩观测器误差仿真波形图，该误差是由电励磁双凸极电动机输出转矩的有限元仿真结果减去转矩观测器输出值的仿真结果得到的。附图4可以看出本案所设计的电励磁双凸极电动机转矩观测器具有良好的准确性。
为了验证专利“基于终端滑模的双凸极电动机直接转矩控制装置及方法”所提出的转矩观测器的准确性，对一台电励磁双凸极电动机进行仿真。图5为专利“基于终端滑模的双凸极电动机直接转矩控制装置及方法”所提出的转矩观测器误差仿真验证图，该误差是由电励磁双凸极电动机输出转矩的有限元仿真结果减去转矩观测器输出值的仿真结果得到的。附图5可以看出专利“基于终端滑模的双凸极电动机直接转矩控制装置及方法”所提出的电励磁双凸极电机转矩观测器存在较大的转矩观测误差。
为了验证本案所述电励磁双凸极电动机直接转矩方法的有效性，对一台电励磁双凸极电动机进行仿真。图6为电励磁双凸极电动机直接转矩控制方法的转矩仿真结果图。转矩平均值的仿真结果为1.87N·m，转矩脉动率为80.14％。电励磁双凸极电动机的转矩脉动得到了显著的降低，转矩性能得到了一定程度的提升。(转矩脉动率
Figure PCTCN2019115897-appb-000029
其中，T max为单个电周期内的转矩最大值，T min为单个电周期内的转矩最小值，T avg为单个电周期内的转矩平均值。)
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于设备实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。

Claims (8)

  1. 一种用于电励磁双凸极电机的转矩控制方法，其特征在于，包括：
    步骤101，获取电流霍尔传感器采集的三相电流的模拟信号i a、i b和i c，所述电励磁双凸极电机的转子位置信号θ向所述转矩观测器传输，所述转矩观测器得到转矩反馈值T e并输出；
    步骤102，将转速外环的输出作为所述电励磁双凸极电机的转矩给定值为T e *，用所述转矩给定值T e *减去所述转矩反馈值T e得到所述电励磁双凸极电机的转矩的控制误差为T e_err；
    步骤103，将所述转矩的控制误差T e_err输入至滞环控制环节，滞环控制环节根据所述转矩的控制误差T e_err大小，向开关状态查询表输出误差控制信号ε T；
    步骤104，所述开关状态查询表结合误差控制信号ε T和所述转子位置信号θ，向功率变换器输出驱动信号PWM。
  2. 根据权利要求1所述的方法，其特征在于，所述转矩观测器包括：存储于微处理器(DSP2812)的内存中的离线三维查找表T(θ,i p)，其中，θ为转子位置角，i p为相绕组电流，p代表所述电励磁双凸极电机的A、B、C三相中的任一相。
  3. 根据权利要求1所述的方法，其特征在于，所述转速外环，包括：
    获取所述转子位置信号θ，和转速的反馈值，转速给定值与反馈值作差，经过转速调节器的输出值T e *，作为转矩的给定值。
  4. 根据权利要求1所述的方法，其特征在于，所述步骤103中根据所述转矩的控制误差T e_err大小，向开关状态查询表输出误差控制信号ε T，包括：
    记录当前为k时刻，若T e_err≤-T band则所述滞环控制环节输出的误差控制信号为低电平，即
    Figure PCTCN2019115897-appb-100001
    其中，T band为转矩滞环控制的环宽。
  5. 根据权利要求4所述的方法，其特征在于，还包括：
    若T e_err≥T band，则所述滞环控制环节输出的误差控制信号为高电平，即
    Figure PCTCN2019115897-appb-100002
  6. 根据权利要求5所述的方法，其特征在于，还包括：
    若-T band≤T e_err≤T band，则所述滞环控制环节保持上一时刻输出的误差控制信号
    Figure PCTCN2019115897-appb-100003
    其中，
    Figure PCTCN2019115897-appb-100004
    为当前k时刻滞环控制环节输出的误差控制信号，
    Figure PCTCN2019115897-appb-100005
    为上一时刻滞环控制环节输出的误差控制信号。
  7. 根据权利要求1或6所述的方法，其特征在于，所述开关状态查询表是基于所述电励磁双凸极电动机的转矩公式与电感特性设置的，所述转矩公式包括：
    Figure PCTCN2019115897-appb-100006
    其中，T p是单相的总转矩输出，T pr表示单相磁阻转矩，T pe表示单相励磁转矩，L p表示相绕组自感，i f表示励磁电流，L pf表示励磁绕组与相绕组互感，θ表示转子位置角，p所述电励磁双凸极电机的A、B、C三相中的任一相。
    当0<θ≤120°时，A相通正电流，B相通负电流，电机会产生正转矩；A相通负电流，B相通正电流，电机会产生负转矩。
  8. 根据权利要求7所述的方法，其特征在于，
    当T e_err＝T e *-T e≤-T band，所述滞环控制环节输出的误差控制信号
    Figure PCTCN2019115897-appb-100007
    所述开关状 态查询表输出的驱动信号使转矩减小，即A相上管Q1与B相下管Q6关断；
    当T e_err＝T e *-T e≥T band，所述滞环控制环节输出的误差控制信号
    Figure PCTCN2019115897-appb-100008
    所述开关状态查询表输出的驱动信号应使转矩增加，即A相上管Q1与B相下管Q6开通；
    当-T band≤T e_err＝T e *-T e≤T band，所述滞环控制环节保持上一时刻输出的误差控制信号
    Figure PCTCN2019115897-appb-100009
    则开关状态查询表保持上一时刻输出的驱动信号。
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