WO2022134772A1 - Procédé de commande pour moteur à réluctance synchrone auxiliaire à aimant permanent - Google Patents

Procédé de commande pour moteur à réluctance synchrone auxiliaire à aimant permanent Download PDF

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WO2022134772A1
WO2022134772A1 PCT/CN2021/124417 CN2021124417W WO2022134772A1 WO 2022134772 A1 WO2022134772 A1 WO 2022134772A1 CN 2021124417 W CN2021124417 W CN 2021124417W WO 2022134772 A1 WO2022134772 A1 WO 2022134772A1
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module
current
permanent magnet
motor
harmonic
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PCT/CN2021/124417
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Chinese (zh)
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柴璐军
张瑞峰
杨高兴
秦小霞
蔡晓
詹哲军
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中车永济电机有限公司
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Publication of WO2022134772A1 publication Critical patent/WO2022134772A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/098—Arrangements for reducing 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Definitions

  • the present disclosure belongs to a permanent magnet assisted synchronous reluctance motor, and relates to a control method of the motor, in particular to a control method of a permanent magnet assisted synchronous reluctance motor.
  • the permanent magnet assisted synchronous reluctance motor is a new type of motor with less rare earth consumption and high reluctance torque. Compared with the permanent magnet synchronous motor, the permanent magnet assisted synchronous reluctance motor can reduce the amount of permanent magnets and significantly reduce the speed of the motor during high-speed operation. Back EMF, make full use of reluctance torque, and run more safely and reliably; at the same time, permanent magnet-assisted synchronous reluctance motors have significant advantages such as high power density, high efficiency, wide speed regulation range, small size and light weight, etc. It is more suitable to replace the original asynchronous motor as a traction motor for diesel locomotives.
  • the obvious defect of the permanent magnet assisted synchronous reluctance motor is that the output torque ripple is large.
  • the suppression of the torque ripple must be considered to make the output torque of the motor as stable as possible; Influenced by the structural design of the motor rotor, the magnetic circuit is more prone to saturation of the magnetic circuit.
  • the inductance values L q and L d of the AC and DC axes are affected by the currents i q and id of the AC and DC axes, and L q and L d are also significantly affected by the temperature of the motor;
  • the rotor flux linkage ⁇ f is affected by temperature and current amplitude, and is not a constant value, and is usually set as a constant value in the existing control strategy, so the existing control strategy should consider the L d , L q , ⁇ f in real time. change to ensure the accuracy of the output torque.
  • the present disclosure aims to solve the technical problems that the output torque ripple of the permanent magnet assisted synchronous reluctance motor is large and the existing control strategy needs to consider the changes of L d , L q and ⁇ f in real time to ensure the accuracy of the output torque.
  • a control method of a permanent magnet assisted synchronous reluctance motor is provided.
  • the technical means adopted by the present disclosure to solve the technical problems are: a control method of a permanent magnet assisted synchronous reluctance motor, which adopts a temperature sensor, a current sensor, a resolver, a Clark transformation module, a Park transformation module, a torque command processing module, MTPA look-up module, AC-direct-axis flux linkage look-up module, voltage calculation module, harmonic current suppression module and pulse modulation module;
  • the temperature sensor is fixed on the stator of the permanent magnet auxiliary synchronous reluctance motor, and the temperature sensor collects the stator temperature T of the permanent magnet auxiliary synchronous reluctance motor in real time;
  • the current sensor is configured to collect two-phase currents i a and i b of the permanent magnet assisted synchronous reluctance motor;
  • the resolver is configured to collect the rotor position ⁇ of the permanent magnet assisted synchronous reluctance motor, and after the rotor position ⁇ is differentiated, the rotational speed we of the permanent magnet assisted synchronous reluctance motor is obtained;
  • the two-phase currents i a and i b of the permanent magnet assisted synchronous reluctance motor are processed by the Clark transformation module to obtain the stator currents i ⁇ and i ⁇
  • the stator currents i ⁇ and i ⁇ are processed by the Park transformation module to obtain the dq rotating coordinate system
  • the input of the torque command processing module is the target torque T e , which is derived from the vehicle control unit VCU , and the target torque T e is processed by the limit and torque ramp of the torque command processing module to obtain the given torque T e *;
  • the given torque T e * is input to the MTPA table look-up module, and after the MTPA table look-up module is processed according to the calibrated maximum torque-current ratio strategy, the direct-axis command current i * d and the quadrature-axis command current i * q are output;
  • the input of the direct-axis flux linkage look-up table module is the direct-axis command current i * d , the quadrature-axis command current i * q and the stator temperature T of the motor .
  • the motor stator temperature T performs a look-up table interpolation algorithm in real time, and firstly obtains the direct-axis flux linkage that changes with i * d and i * q and quadrature flux linkage Secondly, the flux linkage value is obtained based on the real-time motor temperature and and That is, the output of the quadrature-axis flux linkage look-up table module;
  • the voltage calculation module consists of a feedforward voltage module and a current regulator module; the input of the feedforward voltage module is and w e ; the outputs of the feedforward voltage module are u dfw and u qfw ; ignoring the electronic resistance, the calculation formulas of u dfw and u qfw are shown in formula (1):
  • the input to the current regulator block is id and i q , the outputs of the current regulator module are ⁇ u d and ⁇ u q ;
  • Form a first closed-loop PI regulator with id and the output of the first closed-loop PI regulator is ⁇ ud
  • a second closed-loop PI regulator is formed with i q , and the output of the second closed-loop PI regulator is ⁇ u q ;
  • the output of the voltage calculation module is the direct-axis command voltage ud and the quadrature-axis command voltage u q , and the calculation formula is shown in the following formula (2):
  • the inputs of the harmonic current suppression module are i * d5th , i * q5th , i * d7th , i * q7th , i d5th , i q5th , i d7th , and i q7th ;
  • the outputs of the harmonic current suppression module are u a5-7th , u b5-7th , u c5-7th ;
  • the harmonic current suppression module includes a current extraction module, a current harmonic suppression adjustment module and a voltage conversion module;
  • the control method adopts feedforward decoupling control, injects corresponding harmonic voltage components into the three-phase voltage to offset the harmonics in the motor current, obtains high harmonic content of the 5th and 7th times through fast Fourier transform, and obtains high harmonic content through the current extraction module.
  • Clark and Park transformations are firstly performed under the 5th and 7th synchronous rotation coordinates, because the 5th and 7th harmonic currents can generate direct currents under the corresponding number of coordinate system transformations. Therefore, the low-pass filter can filter out the AC signal in the DC signal, and extract the i d5th , i q5th , i d7th , i q7th signals;
  • the i d5th , i q5th , i d7th , i q7th signals are input to the current harmonic suppression adjustment module as the feedback link, and the current harmonic suppression adjustment module outputs the corresponding harmonic voltage components u d5th , u q5th , u d7th , u q7th , because It is expected that the 5th and 7th harmonic currents are zero, so the given i * d5th , i * q5th , i * d7th , i * q7th of the current harmonic suppression regulator are 0, and the current harmonic suppression regulator is calculated by the following formula u d5th and u q5th , u d7th and u q7th respectively formula (3), formula (4) are as follows:
  • k pd5th , k pq5th , k id5th and k iq5th are the control parameters of the 5th harmonic current suppression module, respectively, and their values are adjusted based on engineering experience, where k pd7th , k pq5th , k id7th , and k iq7th are respectively 7
  • the control parameters of the sub-harmonic current suppression module are adjusted based on engineering experience
  • u d5th , u q5th and u d7th , u q7th are respectively superimposed to generate u a5-7th , u b5-7th , u c5-7th after performing inverse Clark transformation and inverse Park transformation through the voltage transformation module;
  • the input of the pulse modulation module is u a *, u b * and u c *, u a *, u b * and u c * are the outputs of ud and u q after inverse Park and inverse Clark transformation, u a , u b , uc is generated by superimposing the output u a5-7th, u b5-7th, u c5-7th of the harmonic current suppression module; the output of the pulse modulation module is the conduction time T a , T b of the three-phase inverter bridge IGBT and T c , the IGBT is turned on to drive the motor to run.
  • the present disclosure also considers the influence of motor temperature change and motor saturation effect on the parameters of the permanent magnet assisted synchronous reluctance motor, and improves the accuracy of the parameters of the motor at each operating point by querying the quadrature axis flux linkage ⁇ d and ⁇ q .
  • the method enables the permanent magnet-assisted synchronous reluctance motor to maintain high control accuracy under a wide range of environmental conditions; the control method described in the present disclosure can reduce the torque ripple of the motor output by suppressing the main harmonic content in the motor current , improve the stability of the torque output, and can solve the inherent defect of the permanent magnet-assisted synchronous reluctance motor with large torque ripple during operation; as an optimization control method of the permanent-magnet-assisted synchronous reluctance motor, the present disclosure can promote the permanent-magnet-assisted synchronous reluctance motor.
  • FIG. 1 is an overall control block diagram of a method for controlling a permanent magnet assisted synchronous reluctance motor described in the present disclosure.
  • FIG. 2 is a synchronously rotating coordinate system according to the present disclosure.
  • FIG. 3 is a flow chart of the orthogonal-direct-axis flux linkage look-up table according to the present disclosure.
  • FIG. 4 is a control diagram of the current extraction module of the present disclosure.
  • FIG. 5 is a control block diagram of the fifth-order current harmonic suppression adjustment module according to the present disclosure.
  • FIG. 6 is a control block diagram of the seventh-order current harmonic suppression adjustment module according to the present disclosure.
  • FIG. 7 is a block diagram of a multi-mode modulation strategy of the pulse modulation module of the present disclosure.
  • a control method of a permanent magnet assisted synchronous reluctance motor adopts a temperature sensor, a current sensor, a resolver, a Clark transformation module, a Park transformation module, a torque command processing module, an MTPA look-up table module, an AC-DC Shaft flux linkage look-up table module, voltage calculation module, harmonic current suppression module and pulse modulation module;
  • the temperature sensor is fixed on the stator of the permanent magnet assisted synchronous reluctance motor, and the temperature sensor collects the stator temperature T of the permanent magnet assisted synchronous reluctance motor in real time;
  • the acquisition method of the stator temperature T of the permanent magnet assisted synchronous reluctance motor is as follows: In the drag test environment, make the permanent magnet auxiliary synchronous reluctance motor run at the rated speed, load the motor under test, and test the temperature of the motor winding or iron core with the temperature sensor, as the inductance ambient temperature, at [-20°C, 160°C] The interval motor is tested once every 10°C rise. When the motor temperature value is stable, the temperature recorded at this moment is the temperature T of the stator of the permanent magnet assisted synchronous reluctance motor. In the interval [-20°C, 160°C], a total of nineteen test temperature point;
  • the current sensor is configured to collect two-phase currents i a and i b of the permanent magnet assisted synchronous reluctance motor;
  • the resolver is configured to collect the rotor position ⁇ of the permanent magnet assisted synchronous reluctance motor, and after the rotor position ⁇ is differentiated, the rotational speed we of the permanent magnet assisted synchronous reluctance motor is obtained;
  • the two-phase currents i a and i b of the permanent magnet assisted synchronous reluctance motor are processed by the Clark transformation module to obtain the stator currents i ⁇ and i ⁇
  • the stator currents i ⁇ and i ⁇ are processed by the Park transformation module to obtain the dq rotating coordinate system
  • the input of the torque command processing module is the target torque T e , which is derived from the vehicle control unit VCU , and the target torque T e is processed by the limit and torque ramp of the torque command processing module to obtain the given torque T e *;
  • the given torque T e * is input to the MTPA table look-up module.
  • the direct-axis command current i * d and the quadrature-axis command current i * q are output; specifically, MTPA
  • the MTPA table in the table look-up module is implemented by a calibration method, which includes, for each current amplitude is, setting the interval of is to [0, imax ], where imax is the maximum phase current of the motor, and the current vector
  • the interval of angle ⁇ is [90°, 180°]
  • the step size of is set to 0.25 times of i max
  • the step size of current vector angle ⁇ is set to 1°, for each is according to formula ( 5 ) Calculate i * d and i * q :
  • the host computer gives different d and q axis currents i * d and i * q , and adjusts the PI parameters of the first closed-loop PI regulator and the second closed-loop PI regulator respectively.
  • the d and q axis currents achieve good follow-up, record T e and the output values ud and u q of the voltage calculation module; find the different combinations under each is s
  • the one-dimensional table of the MTPA module is written in the program in the form of a one-dimensional array as the table lookup basis of the MTPA module;
  • the input of the direct-axis flux linkage look-up table module is the direct-axis command current i * d , the quadrature-axis command current i * q and the stator temperature T of the motor .
  • the motor stator temperature T performs a look-up table interpolation algorithm in real time, and firstly obtains the direct-axis flux linkage that changes with i * d and i * q and quadrature flux linkage Secondly, the flux linkage value is obtained based on the real-time motor temperature and and It is the output of the quadrature-axis flux linkage look-up module; the quadrature-axis flux linkage table can be obtained through the bench experiment.
  • the method of obtaining the table in the bench experiment is as follows: At each test temperature point, different d-axis are given by the host computer. Current id and q-axis current i q , respectively adjust the PI parameters of the first closed-loop PI regulator and the second closed-loop PI regulator, when the d -axis current id and q-axis current i q achieve good follow-up, record Te and The output values ud and u q of the voltage calculation module, and then R s , ⁇ d , and ⁇ q are calculated by formula (6), and formula (6) is specifically:
  • Two-dimensional table Two-dimensional table; several two-dimensional tables of ⁇ d and ⁇ q are written in the program in the form of two-dimensional arrays for table look-up; the method of looking up the table of orthogonal axis flux linkage parameters is as follows, see Figure 3 for details: real-time acquisition of temperature sensors
  • the temperature T of the stator, each real-time acquisition temperature T corresponds to two look-up table temperatures T s and T s+10 , T s and T s+10 are two phases in the interval [-20°C, 160°C].
  • the voltage calculation module consists of a feedforward voltage module and a current regulator module; the input of the feedforward voltage module is and w e ; the outputs of the feedforward voltage module are u dfw and u qfw ; ignoring the electronic resistance, the calculation formulas of u dfw and u qfw are shown in formula (1):
  • the input to the current regulator block is id and i q , the outputs of the current regulator module are ⁇ u d and ⁇ u q ;
  • Form a first closed-loop PI regulator with id and the output of the first closed-loop PI regulator is ⁇ ud
  • a second closed-loop PI regulator is formed with i q , and the output of the second closed-loop PI regulator is ⁇ u q ;
  • the output of the voltage calculation module is the direct-axis command voltage ud and the quadrature-axis command voltage u q , and the calculation formula is shown in the following formula (2):
  • the inputs of the harmonic current suppression module are i * d5th , i * q5th , i * d7th , i * q7th , i d5th , i q5th , i d7th , and i q7th ;
  • the outputs of the harmonic current suppression module are u a5-7th , u b5-7th , u c5-7th ;
  • the harmonic current suppression module includes a current extraction module, a current harmonic suppression adjustment module and a voltage conversion module;
  • the control method adopts feedforward decoupling control, injects corresponding harmonic voltage components into the three-phase voltage to offset the harmonics in the motor current, and obtains high harmonic content of the 5th and 7th order through fast Fourier transform, and rotates the coordinate system synchronously.
  • the rotation direction of the 5th harmonic voltage is opposite to the rotation direction of the fundamental wave vector, and the angular velocity is 5 times that of the fundamental wave.
  • the permanent magnet-assisted synchronous reluctance motors of different powers may contain different harmonic contents of different frequencies. Therefore, the harmonic orders that can be suppressed by the harmonic current suppression module in the present disclosure can be extended to 5, 7, 11, 13 order; therefore, the three-phase current expression including the 5th and 7th harmonics is shown in equation (8):
  • i 1 is the amplitude of the fundamental wave
  • i 5 is the amplitude of the 5th current harmonic
  • i 7 is the amplitude of the 7th current harmonic
  • the rotating coordinate system of the 5th harmonic component and the 7th harmonic component is established. According to the principle of Clark and Park transformation, equal-amplitude transformation is adopted. The flow rate is DC in this coordinate system. Therefore, the 5th harmonic current component is a DC amount in the 5th harmonic d-q synchronous rotating coordinate system, and the 7th harmonic current component is in the 7th harmonic d-q synchronous rotating coordinate system. is the direct current;
  • u d5th and u q5th are the d and q-axis voltage values of the 5th harmonic voltage in the 5th synchronous coordinate, respectively, where i d5th and i q5th are the 5th harmonic current in the 5th synchronous coordinate, respectively.
  • u d7th and u q7th are the d and q-axis voltage values of the 7th harmonic voltage at the 7th synchronous coordinate, respectively, where i d7th and i q7th are the 7th harmonic current at the 7th synchronous coordinate, respectively.
  • the three-phase current of the permanent magnet-assisted synchronous reluctance motor during operation is obtained through the current extraction module.
  • Clark and Park transformations are performed under the 5th and 7th synchronous rotation coordinates.
  • the DC quantity can be generated under the condition, and the other sub-harmonic components are still the AC quantity after transformation, so the AC signal in the DC signal can be filtered out through a low-pass filter, and the id5th , i q5th , id7th , and i q7th signals can be extracted, such as As shown in Figure 4;
  • the i d5th , i q5th , i d7th , i q7th signals are input to the current harmonic suppression adjustment module as the feedback link, and the current harmonic suppression adjustment module outputs the corresponding harmonic voltage components u d5th , u q5th , u d7th , u q7th , because It is expected that the 5th and 7th harmonic currents are zero, so the given i * d5th , i * q5th , i * d7th , i * q7th of the current harmonic suppression regulator are 0, and the current harmonic suppression regulator is calculated by the following formula u d5th and u q5th , u d7th and u q7th respectively formula (3), formula (4) are as follows, as shown in Figure 5 and Figure 6:
  • k pd5th , k pq5th , k id5th and k iq5th are the control parameters of the 5th harmonic current suppression module, respectively, and their values are adjusted based on engineering experience, where k pd7th , k pq5th , k id7th , and k iq7th are respectively 7
  • the control parameters of the sub-harmonic current suppression module are adjusted based on engineering experience; when the current harmonic suppression adjustment module calculates the harmonic voltage components u d5th and u q5th , first adjust k pd5th and k pq5th , and then adjust k id5th , The initial values of k iq5th , k pd5th and k pq5th are set to 1.0, and the initial values of k id5th and k iq5th are set to 10; when the current harmonic suppression adjustment module calculates the harmonic voltage components u
  • u d5th , u q5th and u d7th , u q7th respectively perform inverse Clark transformation and inverse Park transformation through the voltage transformation module to generate u a5-7th , u b5-7th and u c5-7th ;
  • the angle used by Park transform is -5 ⁇ , and the angle used by the inverse Park transform of the 7th harmonic voltage component is 7 ⁇ ;
  • the input of the pulse modulation module is u a *, u b * and u c *, u a *, u b * and u c * are the outputs of ud and u q after inverse Park and inverse Clark transformation, u a , u b and uc are generated by superimposing the outputs u a5-7th , u b5-7th and u c5-7th of the harmonic current suppression module; the calculation formulas of u a , ub and uc are formula ( 11 ) :
  • the output of the pulse modulation module is the conduction time T a , T b and T c of the three-phase inverter bridge IGBT.
  • the IGBT is turned on to drive the motor to run.
  • the diesel locomotive traction system belongs to a high-power electric drive system. High current, the peak power of the motor reaches 700kW. Due to the limitation of heat dissipation conditions, the maximum switching frequency of IGBT is only 750Hz, but the output frequency of the inverter can be as high as 200Hz.
  • the traditional svpwm modulation algorithm cannot meet the demand, and the modulation algorithm adopts multi-mode
  • the modulation strategy is to use asynchronous modulation when the motor frequency is [0 ⁇ 30Hz), synchronous modulation when the motor frequency is [30 ⁇ 62Hz), and intermediate when the motor frequency is [62 ⁇ 90Hz). 60 degree modulation, when the motor frequency is in [90Hz ⁇ 200Hz], square wave control is adopted.

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Abstract

L'invention concerne un procédé de commande pour un moteur, et en particulier un procédé de commande pour un moteur à réluctance synchrone auxiliaire à aimant permanent, qui résout les problèmes techniques dans lesquels la pulsation du couple délivrée par un moteur à réluctance synchrone auxiliaire à aimant permanent est importante et des stratégies de commande existantes doivent prendre en considération des changements en temps réel dans Ld, Lq et ψf pour pouvoir assurer la précision du couple délivré. L'effet de changement de température de moteur et l'effet de saturation de moteur sur des paramètres du moteur à réluctance synchrone auxiliaire à aimant permanent sont considérés en même temps, et la précision des paramètres du moteur à chaque point de fonctionnement est améliorée par l'interrogation de liaisons de flux de l'axe de quadrature et de l'axe direct ψd et ψq. Le présent procédé de commande permet au moteur à réluctance synchrone auxiliaire à aimant permanent de maintenir une précision de commande élevée dans une condition de large environnement. Dans le présent procédé de commande, la pulsation de couple délivrée par un moteur peut être réduite par l'inhibition du contenu sous-harmonique principal dans un courant de moteur, améliorant la stabilité du couple délivré, et le défaut inhérent dans lequel une pulsation de couple est importante lorsqu'un moteur à réluctance synchrone auxiliaire à aimant permanent fonctionne peut être résolu.
PCT/CN2021/124417 2020-12-25 2021-10-18 Procédé de commande pour moteur à réluctance synchrone auxiliaire à aimant permanent WO2022134772A1 (fr)

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EP4167468A4 (fr) * 2021-08-26 2023-04-19 Contemporary Amperex Technology Co., Limited Procédé et appareil de commande pour moteur électrique synchrone à aimant permanent, et système de commande de moteur électrique synchrone à aimant permanent
CN117081448A (zh) * 2023-08-31 2023-11-17 重庆理工大学 一种内置式永磁同步电机高精度动态建模方法
CN117767845A (zh) * 2023-10-25 2024-03-26 四川大学 一种基于复合谐波电压前馈补偿的谐波抑制方法

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CN113708684B (zh) * 2021-08-31 2022-09-30 哈尔滨理工大学 基于扩展电势观测器的永磁同步电机控制方法及装置

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