BLDC0502.zip_无刷电机_电机模型_DSP编程_嵌入式/单片机/硬件编程下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6275489716f2c0769cda624a/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6275489716f2c0769cda624a/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">航! 天! 控! 制</div><div class="t m0 x2 h3 y2 ff2 fs0 fc0 sc0 ls0 ws0">"#$%&’()# *%+,$%-</div><div class="t m0 x3 h3 y1 ff2 fs0 fc0 sc0 ls0 ws0">! ! .#/0 1223</div><div class="t m0 x3 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">4%-0 15，</div><div class="t m1 x4 h4 y3 ff3 fs0 fc0 sc0 ls0 ws0">曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰曰</div><div class="t m0 x5 h3 y4 ff2 fs0 fc0 sc0 ls0 ws0">6%7 8</div><div class="t m0 x6 h5 y5 ff1 fs1 fc0 sc0 ls0 ws0">磁悬浮飞轮用 BLDC 系统的仿真方法与实验分析</div><div class="t m0 x7 h6 y6 ff3 fs2 fc0 sc0 ls0 ws0">＊</div><div class="t m0 x8 h7 y7 ff1 fs3 fc0 sc0 ls0 ws0">刘! 平! 刘! 刚! 张庆荣</div><div class="t m0 x9 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">北京航空航天大学仪器科学与光电工程学院，北京 82229:</div><div class="t m0 xa h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">摘! 要! 对以数字信号处理器（;<=）为控制器的磁悬浮飞轮用无刷直流电机</div><div class="t m0 xb h2 ya ff1 fs0 fc0 sc0 ls0 ws0">（>?;*）系统，提出了一种在 @(,-(/ A <BCD-B+E 中新的仿真方法，并通过实验，分析</div><div class="t m0 xa h2 yb ff1 fs0 fc0 sc0 ls0 ws0">了该方法的有效性和适用性。通过构建各种功能模块，如无刷直流电机模块、三</div><div class="t m0 xa h2 yc ff1 fs0 fc0 sc0 ls0 ws0">相逆变桥模块、逻辑换相模块和控制模块，实现了仿真方法；通过使用</div><div class="t m0 xc h3 yd ff2 fs0 fc0 sc0 ls0 ws0">* @FG <</div><div class="t m0 xd h2 ye ff2 fs0 fc0 sc0 ls0 ws0">H 函数和子系统封装等 <BCD-B+E 模型优化技术，提高了仿真精度和速度。最后</div><div class="t m0 xa h2 yf ff1 fs0 fc0 sc0 ls0 ws0">仿真和实验结果吻合较好，表明该仿真方法较为正确，对磁悬浮飞轮用 >?;* 系</div><div class="t m0 xa h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">统的分析和设计具有重要的实用价值。</div><div class="t m0 xa h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">关键词</div><div class="t m0 xe h2 y12 ff2 fs0 fc0 sc0 ls0 ws0">! 磁悬浮飞轮；无刷直流电机（>?;*）；仿真方法；数字信号处理器</div><div class="t m0 xa h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">中图分类号：I@::! ! ! 文献标识码："</div><div class="t m0 xa h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">文章编号：822JK:1L1（1223）28K225JK2J</div><div class="t m0 xf h8 y15 ff4 fs3 fc0 sc0 ls0 ws0">Simulation Method and Experiment Analysis of BLDC</div><div class="t m0 x10 h8 y16 ff4 fs3 fc0 sc0 ls0 ws0">Motor System for Magnetically Suspended Flywheel</div><div class="t m0 x11 h3 y17 ff2 fs0 fc0 sc0 ls0 ws0">?BD =B+M! ?BD N(+M! OP(+M QB+M$%+M</div><div class="t m0 x10 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0"><)P%%- %R S+&,$DC#+,(,B%+ <)B#+)# (+T U’,%KF-#),$B)& F+MB+##$B+M，>#BVB+M</div><div class="t m0 x12 h3 y19 ff2 fs0 fc0 sc0 ls0 ws0">W+BX#$&B,Y %R "#$%+(D,B)& (+T "&,$%+(D,B)&</div><div class="t m0 x13 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">，>#BVB+M 82229:，*PB+(</div><div class="t m0 x14 h2 y1b ff4 fs0 fc0 sc0 ls0 ws0">Abstract! ! "#$%& ’()*&+,(#" )%,-#. #/ 01*’-&%’’ ;*（>?;*）)#,#1 ’2’,%) /#1 )+3"%,(4+&&2 ’*’5%".%.</div><div class="t m0 x14 h9 y1c ff5 fs0 fc0 sc0 ls0 ws0">/&26-%%& ("</div><div class="t m0 x15 h2 y1d ff2 fs0 fc0 sc0 ls0 ws0">@(,-(/ A <BCD-B+E 0+’%. #" .(3(,+& 4#",1#&&%1 *’("3 .(3(,+& ’(3"+& 51#4%’’#1（;<=）-+’ 0%%" 51%’7</div><div class="t m0 x14 h2 y1e ff5 fs0 fc0 sc0 ls0 ws0">%",%.，+". ,-% 1%+’#"+0(&(,2 +". +55&(4+0(&(,2 #/ ,-% 51#5#’%. )%,-#. +1% +"+&28%. ,-1#*3- %95%1()%",+& 1%7</div><div class="t m0 x14 h2 y1f ff5 fs0 fc0 sc0 ls0 ws0">’*&,’: ;-% ’2’,%) ’()*&+,(#" )%,-#. (’ 1%+&(8%. 02 4#"’,1*4,("3 .(//%1%", /*"4,(#"+& )#.*&%’，’*4- +’ >?;*</div><div class="t m0 x14 h2 y20 ff5 fs0 fc0 sc0 ls0 ws0">)#.*&%，,-1%%75-+’% .1($% 01(.3% )#.*&%，&#3(4 4#))*,+,(#" )#.*&% +". 4#",1#& )#.*&%: <%$%1+& <()*&("=</div><div class="t m0 x14 h2 y21 ff5 fs0 fc0 sc0 ls0 ws0">#5,()(8+,(#"+& ,%4-"#&#3(%’，’*4- +’ * @FG <7/*"4,(#" +". <*0’2’,%) >+’=，+1% +55&(%. ,# ()51#$% ,-%</div><div class="t m0 x14 h9 y22 ff5 fs0 fc0 sc0 ls0 ws0">’()*&+,(#" ’5%%. +". 51%4(’(#" #/ ’2’,%) )#.%&: ;-% +31%%)%", #/ ,-% /("+& ’()*&+,(#" 1%’*&,’ 6(,- %95%1(7</div><div class="t m0 x14 h9 y23 ff5 fs0 fc0 sc0 ls0 ws0">)%",+& 1%’*&,’ (".(4+,%’ ,-+, ,-% 51#5#’%. ’()*&+,(#" )%,-#. (’ +0&% ,# .%’41(0% ,-% ’2’,%) 6#1=("3 4#".(,(#"’</div><div class="t m0 x14 h9 y24 ff5 fs0 fc0 sc0 ls0 ws0">%9+4,&2</div><div class="t m0 x16 h2 y25 ff1 fs0 fc0 sc0 ls0 ws0">，+". ’-#6’ ()5#1,+", 51+4,(4+& %//%4,($%"%’’ /#1 +"+&2’(’ +". .%’(3" #/ >?;* )#,#1 ’2’,%) /#1 )+37</div><div class="t m0 x14 h9 y26 ff5 fs0 fc0 sc0 ls0 ws0">"%,(4+&&2 ’*’5%".%. /&26-%%&:</div><div class="t m0 x14 h2 y27 ff4 fs0 fc0 sc0 ls0 ws0">Key words! >+3"%,(4+&&2 ’*’5%".%. /&26-%%&；? 1*’-&%’’ ;*（>?;*）)#,#1；<()*&+,(#" )%,-#.；</div><div class="t m0 x17 h3 y28 ff2 fs0 fc0 sc0 ls0 ws0">;<=</div><div class="t m0 x4 ha y29 ff2 fs4 fc0 sc0 ls0 ws0">! !</div><div class="t m0 x18 hb y2a ff3 fs4 fc0 sc0 ls0 ws0">＊</div><div class="t m0 x19 hc y29 ff1 fs4 fc0 sc0 ls0 ws0">国防科工委民用航天预研项目（科工计［1228］9ZL 号）</div><div class="t m0 x4 hc y2b ff2 fs4 fc0 sc0 ls0 ws0">! ! 收稿日期：122JK29K23</div><div class="t m0 x18 hc y2c ff1 fs4 fc0 sc0 ls0 ws0">作者简介：刘! 平（8Z91 H ），男，江西南昌人，硕士研究生，研究方向为电机控制、仪器测试计量；刘! 刚（8Z32 H ），</div><div class="t m0 x18 hc y2d ff1 fs4 fc0 sc0 ls0 ws0">男，山东济南人，副教授，主要从事电磁轴承、电机控制方面研究；张庆荣（</div><div class="t m0 x1a hc y2e ff2 fs4 fc0 sc0 ls0 ws0">8Z52 H ），男，山东济南人，副教授，主要从</div><div class="t m0 x18 hc y2f ff1 fs4 fc0 sc0 ls0 ws0">事测试计量技术与仪器方面研究。</div><div class="t m0 x1b h2 y30 ff1 fs0 fc0 sc0 ls0 ws0">·J5·</div></div><div class="pi" data-data='{"ctm":[1.820011,0.000000,0.000000,1.820011,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6275489716f2c0769cda624a/bg2.jpg"><div class="t m0 x4 hc y31 ff1 fs4 fc0 sc0 ls0 ws0">第 !" 卷# 第 $ 期 刘# 平等：磁悬浮飞轮用 %&’( 系统的仿真方法与实验分析</div><div class="t m0 x4 h2 y32 ff6 fs0 fc0 sc0 ls0 ws0"># # 飞轮是在高速旋转体中存储能量和角动量的一</div><div class="t m0 x4 h2 y33 ff1 fs0 fc0 sc0 ls0 ws0">种装置，通过控制转子的转速，改变输出角动量，产</div><div class="t m0 x4 h2 y34 ff1 fs0 fc0 sc0 ls0 ws0">生控制力矩，从而精确控制空间飞行器（各类卫星、</div><div class="t m0 x4 h2 y35 ff1 fs0 fc0 sc0 ls0 ws0">飞船、空间站）的姿态，是空间飞行器中必不可少的</div><div class="t m0 x4 h2 y36 ff1 fs0 fc0 sc0 ls0 ws0">执行机构。采用磁悬浮技术，可以大大提高飞轮系</div><div class="t m0 x4 h2 y37 ff1 fs0 fc0 sc0 ls0 ws0">统的寿命，使之具有体积小、重量轻、功耗低等优点，</div><div class="t m0 x4 h2 y38 ff1 fs0 fc0 sc0 ls0 ws0">以法国 )*+, 卫星为代表的许多卫星已采用磁悬浮</div><div class="t m0 x4 h2 y39 ff1 fs0 fc0 sc0 ls0 ws0">飞轮系统。磁悬浮飞轮是由电机驱动的，目前飞轮</div><div class="t m0 x4 h2 y3a ff1 fs0 fc0 sc0 ls0 ws0">驱动一般采用稀土永磁无刷直流电机（%&’(），其</div><div class="t m0 x4 h2 y3b ff1 fs0 fc0 sc0 ls0 ws0">具有结构简单、可靠性高、运行效率高和便于控制等</div><div class="t m0 x4 h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">优点。</div><div class="t m0 x14 h2 y3d ff1 fs0 fc0 sc0 ls0 ws0">磁悬浮飞轮用 %&’( 应具有以下基本性能要</div><div class="t m0 x4 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">求：额定功率时具有很高的效率；空载时具有很低的</div><div class="t m0 x4 h2 y3f ff1 fs0 fc0 sc0 ls0 ws0">损耗；较大的调速范围；对磁悬浮轴承系统的运行影</div><div class="t m0 x4 h2 y40 ff1 fs0 fc0 sc0 ls0 ws0">响很小；电机采用空心杯无齿槽定子结构</div><div class="t m0 x1c hd y41 ff1 fs5 fc0 sc0 ls0 ws0">［$］</div><div class="t m0 x1d h2 y40 ff1 fs0 fc0 sc0 ls0 ws0">。由于</div><div class="t m0 x4 h2 y42 ff1 fs0 fc0 sc0 ls0 ws0">绕组的匝数很少，相电感和电阻都十分微小。</div><div class="t m0 x14 h2 y43 ff1 fs0 fc0 sc0 ls0 ws0">在 )-./0-12 中对无刷直流电机仿真建模，国内</div><div class="t m0 x4 h2 y44 ff1 fs0 fc0 sc0 ls0 ws0">外已进行了广泛的研究。文献［!］，［3 ］提出采用</div><div class="t m0 x4 h2 y45 ff6 fs0 fc0 sc0 ls0 ws0">44, 法和有限元法实现电机绕组反电动势波形，尽</div><div class="t m0 x4 h2 y46 ff1 fs0 fc0 sc0 ls0 ws0">管建模精确，但如结合控制系统仿真时会极大影响</div><div class="t m0 x4 h2 y47 ff1 fs0 fc0 sc0 ls0 ws0">仿真速度。文献［5］提出了一个根据转子位置变化</div><div class="t m0 x4 h2 y48 ff1 fs0 fc0 sc0 ls0 ws0">的绕组电感模块，但由于飞轮电机相电感极小，转子</div><div class="t m0 x4 h2 y49 ff1 fs0 fc0 sc0 ls0 ws0">位置变化引起的电感变化量可忽略，因此该方法对</div><div class="t m0 x4 h2 y4a ff1 fs0 fc0 sc0 ls0 ws0">飞轮电机的建模并不适用。在文献［"］，［6］中提出</div><div class="t m0 x4 h2 y4b ff1 fs0 fc0 sc0 ls0 ws0">使用分段线性法实现梯形波反电动势，并采取一些</div><div class="t m0 x4 h2 y4c ff1 fs0 fc0 sc0 ls0 ws0">改进的仿真方法实现电机系统模型。但在这些文献</div><div class="t m0 x4 h2 y4d ff1 fs0 fc0 sc0 ls0 ws0">中，%&’( 的换相是基于电流滞环控制，需要 3 个电</div><div class="t m0 x4 h2 y4e ff1 fs0 fc0 sc0 ls0 ws0">流互感器测量三相电流，具体实现时成本较高，开关</div><div class="t m0 x4 h2 y4f ff1 fs0 fc0 sc0 ls0 ws0">噪声较大。另外，这些文献虽然涉及到数字控制，但</div><div class="t m0 x4 h2 y50 ff1 fs0 fc0 sc0 ls0 ws0">并没有体现出脉宽调制（*78）的作用，从仿真结果</div><div class="t m0 x4 h2 y51 ff1 fs0 fc0 sc0 ls0 ws0">来看，模型基本上还是属于模拟控制系统。以上这</div><div class="t m0 x4 h2 y52 ff1 fs0 fc0 sc0 ls0 ws0">些模型与目前 %&’( 系统普遍采用的基于 ’)* 的</div><div class="t m0 x4 h2 y53 ff1 fs0 fc0 sc0 ls0 ws0">数字控制系统</div><div class="t m0 x1e hd y54 ff1 fs5 fc0 sc0 ls0 ws0">［9］</div><div class="t m0 x1f h2 y55 ff1 fs0 fc0 sc0 ls0 ws0">不相符合。</div><div class="t m0 x14 h2 y56 ff1 fs0 fc0 sc0 ls0 ws0">本文基于三相星型绕组 %&’( 转速、电流双闭</div><div class="t m0 x4 h2 y57 ff1 fs0 fc0 sc0 ls0 ws0">环控制结构</div><div class="t m0 x20 hd y58 ff1 fs5 fc0 sc0 ls0 ws0">［:］</div><div class="t m0 x21 h2 y59 ff1 fs0 fc0 sc0 ls0 ws0">，在 )-./0-12 中构建了磁悬浮飞轮用</div><div class="t m0 x4 h2 y5a ff6 fs0 fc0 sc0 ls0 ws0">%&’( 系统的仿真模型。通过和实验结果进行比</div><div class="t m0 x4 h2 y5b ff1 fs0 fc0 sc0 ls0 ws0">较，验证了仿真模型的正确性和有效性。</div><div class="t m0 x22 h7 y5c ff7 fs3 fc0 sc0 ls0 ws0">1 BLDC 数学模型</div><div class="t m0 x14 h2 y5d ff1 fs0 fc0 sc0 ls0 ws0">由无刷直流电机绕组感应电动势公式：</div><div class="t m0 x23 h9 y5e ff8 fs0 fc0 sc0 ls0 ws0">E =</div><div class="t m0 x24 h3 y5f ff6 fs0 fc0 sc0 ls0 ws0">!p</div><div class="t m0 x25 h3 y60 ff6 fs0 fc0 sc0 ls0 ws0">$"</div><div class="t m0 x26 he y61 ff9 fs0 fc0 sc0 ls0 ws0">!</div><div class="t m0 x27 h9 y5e ff8 fs0 fc0 sc0 ls0 ws0">W</div><div class="t m0 x28 he y62 ff9 fs0 fc0 sc0 ls0 ws0">"</div><div class="t m0 x29 h2 y5e ff8 fs0 fc0 sc0 ls0 ws0">I （$）</div><div class="t m0 x4 h2 y63 ff6 fs0 fc0 sc0 ls0 ws0"># # 其中，E 为无刷直流电机电枢感应线电动势</div><div class="t m0 x2a h2 y64 ff1 fs0 fc0 sc0 ls0 ws0">（</div><div class="t m0 x2b h2 y32 ff6 fs0 fc0 sc0 ls0 ws0">;），p 为电机的极对数，</div><div class="t m0 x2c he y65 ff9 fs0 fc0 sc0 ls0 ws0">!</div><div class="t m0 x2d h2 y32 ff1 fs0 fc0 sc0 ls0 ws0">为极弧系数，W 为电枢绕</div><div class="t m0 x2e h2 y66 ff1 fs0 fc0 sc0 ls0 ws0">组每相串联的匝数，</div><div class="t m0 x2f he y67 ff9 fs0 fc0 sc0 ls0 ws0">"</div><div class="t m0 x30 h2 y66 ff1 fs0 fc0 sc0 ls0 ws0">为每极磁通（7<），I 为转速</div><div class="t m0 x2a h2 y68 ff1 fs0 fc0 sc0 ls0 ws0">（= > .-1）。在反电动势 E 和极对数 p 已经确定的情</div><div class="t m0 x2e h2 y69 ff1 fs0 fc0 sc0 ls0 ws0">况下，为使电机具有较大的调速范围，就须限制电枢</div><div class="t m0 x2e h2 y6a ff1 fs0 fc0 sc0 ls0 ws0">绕组的匝数</div><div class="t m0 x31 h2 y6b ff8 fs0 fc0 sc0 ls0 ws0">W。因此，磁悬浮飞轮电机绕组电感和</div><div class="t m0 x2e h2 y6c ff1 fs0 fc0 sc0 ls0 ws0">电阻都非常小，使得电机在运行过程中，相电流必然</div><div class="t m0 x2e h2 y6d ff1 fs0 fc0 sc0 ls0 ws0">存在不连续状态。</div><div class="t m0 x32 h2 y6e ff1 fs0 fc0 sc0 ls0 ws0">以下假定电机定子三相完全对称，空间上互差</div><div class="t m0 x33 h2 y6f ff6 fs0 fc0 sc0 ls0 ws0">$!?@电角度；三相绕组电阻、电感参数完全相同；转</div><div class="t m0 x2e h2 y70 ff1 fs0 fc0 sc0 ls0 ws0">子永磁体产生的气隙磁场为方波，三相绕组反电动</div><div class="t m0 x2e h2 y71 ff1 fs0 fc0 sc0 ls0 ws0">势为梯形波；忽略定子绕组电枢反应的影响；电机气</div><div class="t m0 x2e h2 y72 ff1 fs0 fc0 sc0 ls0 ws0">隙磁导均匀，磁路不饱和，不计涡流损耗；电枢绕组</div><div class="t m0 x2e h2 y73 ff1 fs0 fc0 sc0 ls0 ws0">间互感忽略。无刷直流电机数学模型方程如公式</div><div class="t m0 x2a h2 y74 ff1 fs0 fc0 sc0 ls0 ws0">（!）所示。公式中，V</div><div class="t m0 x34 hf y75 ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x35 h2 y74 ff1 fs0 fc0 sc0 ls0 ws0">，V</div><div class="t m0 x36 hf y75 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x37 h2 y74 ff1 fs0 fc0 sc0 ls0 ws0">，V</div><div class="t m0 x38 hf y75 ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x39 h2 y74 ff1 fs0 fc0 sc0 ls0 ws0">和 V</div><div class="t m0 x3a hf y75 ff8 fs5 fc0 sc0 ls0 ws0">I</div><div class="t m0 x3b h2 y74 ff1 fs0 fc0 sc0 ls0 ws0">分别为三相端电</div><div class="t m0 x2e h2 y76 ff1 fs0 fc0 sc0 ls0 ws0">压和中点电压（;），R 和 L 为三相电枢绕组电阻</div><div class="t m0 x2a h2 y77 ff1 fs0 fc0 sc0 ls0 ws0">（</div><div class="t m0 x2b h10 y78 ffa fs0 fc0 sc0 ls0 ws0">!</div><div class="t m0 x3c h2 y79 ff1 fs0 fc0 sc0 ls0 ws0">）和电感（A），i</div><div class="t m0 x3d hf y7a ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x3e h2 y79 ff1 fs0 fc0 sc0 ls0 ws0">，i</div><div class="t m0 x35 hf y7a ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x3f h2 y79 ff1 fs0 fc0 sc0 ls0 ws0">和 i</div><div class="t m0 x40 hf y7a ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x41 h2 y79 ff1 fs0 fc0 sc0 ls0 ws0">为三相绕组电流（ B）。</div><div class="t m0 x2e h2 y7b ff1 fs0 fc0 sc0 ls0 ws0">由式（$）E</div><div class="t m0 x42 hf y7c ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x1a h2 y7b ff1 fs0 fc0 sc0 ls0 ws0">，E</div><div class="t m0 x43 hf y7c ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x44 h2 y7b ff1 fs0 fc0 sc0 ls0 ws0">和 E</div><div class="t m0 x3e hf y7c ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x34 h2 y7b ff1 fs0 fc0 sc0 ls0 ws0">为三相反电动势（;）。</div><div class="t m0 x31 h9 y7d ff8 fs0 fc0 sc0 ls0 ws0">V</div><div class="t m0 x43 hf y7e ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x45 h9 y7d ff8 fs0 fc0 sc0 ls0 ws0">= Ri</div><div class="t m0 x2f hf y7e ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x46 h9 y7d ff8 fs0 fc0 sc0 ls0 ws0">+ L</div><div class="t m0 x47 h3 y7f ff6 fs0 fc0 sc0 ls0 ws0">Ci</div><div class="t m0 x48 hf y80 ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x49 h3 y81 ff6 fs0 fc0 sc0 ls0 ws0">Ct</div><div class="t m0 x4a h9 y7d ff8 fs0 fc0 sc0 ls0 ws0">+ E</div><div class="t m0 x4b hf y7e ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x3b h9 y7d ff8 fs0 fc0 sc0 ls0 ws0">+ V</div><div class="t m0 x4c hf y7e ff8 fs5 fc0 sc0 ls0 ws0">I</div><div class="t m0 x31 h9 y82 ff8 fs0 fc0 sc0 ls0 ws0">V</div><div class="t m0 x43 hf y83 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x45 h9 y82 ff8 fs0 fc0 sc0 ls0 ws0">= Ri</div><div class="t m0 x4d hf y83 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x4e h9 y82 ff8 fs0 fc0 sc0 ls0 ws0">+ L</div><div class="t m0 x4f h3 y84 ff6 fs0 fc0 sc0 ls0 ws0">Ci</div><div class="t m0 x38 hf y85 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x50 h3 y86 ff6 fs0 fc0 sc0 ls0 ws0">Ct</div><div class="t m0 x51 h9 y82 ff8 fs0 fc0 sc0 ls0 ws0">+ E</div><div class="t m0 x52 hf y83 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x53 h9 y82 ff8 fs0 fc0 sc0 ls0 ws0">+ V</div><div class="t m0 x54 hf y83 ff8 fs5 fc0 sc0 ls0 ws0">I</div><div class="t m0 x31 h9 y87 ff8 fs0 fc0 sc0 ls0 ws0">V</div><div class="t m0 x43 hf y88 ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x55 h9 y87 ff8 fs0 fc0 sc0 ls0 ws0">= Ri</div><div class="t m0 x4d hf y88 ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x35 h9 y87 ff8 fs0 fc0 sc0 ls0 ws0">+ L</div><div class="t m0 x56 h3 y89 ff6 fs0 fc0 sc0 ls0 ws0">Ci</div><div class="t m0 x38 hf y8a ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x47 h3 y8b ff6 fs0 fc0 sc0 ls0 ws0">Ct</div><div class="t m0 x57 h9 y87 ff8 fs0 fc0 sc0 ls0 ws0">+ E</div><div class="t m0 x58 hf y88 ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x59 h9 y87 ff8 fs0 fc0 sc0 ls0 ws0">+ V</div><div class="t m0 xc hf y88 ff8 fs5 fc0 sc0 ls0 ws0">I</div><div class="t m0 x5a h2 y8c ff1 fs0 fc0 sc0 ls0 ws0">（!）</div><div class="t m0 x2e h2 y8d ff6 fs0 fc0 sc0 ls0 ws0"># # 无刷直流电机绕组采用三相星形结构，在电机</div><div class="t m0 x2e h2 y8e ff1 fs0 fc0 sc0 ls0 ws0">运行过程中，电磁转矩的表达式为：</div><div class="t m0 x5b h9 y8f ff8 fs0 fc0 sc0 ls0 ws0">T</div><div class="t m0 x5c hf y90 ff8 fs5 fc0 sc0 ls0 ws0">e</div><div class="t m0 x5d h2 y8f ff8 fs0 fc0 sc0 ls0 ws0">=（E</div><div class="t m0 x5e hf y90 ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x5f h9 y8f ff8 fs0 fc0 sc0 ls0 ws0">i</div><div class="t m0 x35 hf y90 ff8 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x60 h9 y8f ff8 fs0 fc0 sc0 ls0 ws0">+ E</div><div class="t m0 x40 hf y90 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x38 h9 y8f ff8 fs0 fc0 sc0 ls0 ws0">i</div><div class="t m0 x41 hf y90 ff8 fs5 fc0 sc0 ls0 ws0">6</div><div class="t m0 x61 h9 y8f ff8 fs0 fc0 sc0 ls0 ws0">+ E</div><div class="t m0 x62 hf y90 ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x63 h9 y8f ff8 fs0 fc0 sc0 ls0 ws0">i</div><div class="t m0 x64 hf y90 ff8 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x65 h2 y8f ff1 fs0 fc0 sc0 ls0 ws0">）/</div><div class="t m0 x4c he y91 ff9 fs0 fc0 sc0 ls0 ws0">#</div><div class="t m0 x5a h2 y8f ff1 fs0 fc0 sc0 ls0 ws0">（3）</div><div class="t m0 x2e h2 y92 ff1 fs0 fc0 sc0 ls0 ws0">其中</div><div class="t m0 x66 he y93 ff9 fs0 fc0 sc0 ls0 ws0">#</div><div class="t m0 x67 h2 y94 ff1 fs0 fc0 sc0 ls0 ws0">为转子角速度（=DC > E）。</div><div class="t m0 x32 h2 y95 ff1 fs0 fc0 sc0 ls0 ws0">电机的机械运动方程为：</div><div class="t m0 x55 h9 y96 ff8 fs0 fc0 sc0 ls0 ws0">T</div><div class="t m0 x68 hf y97 ff8 fs5 fc0 sc0 ls0 ws0">e</div><div class="t m0 x69 h9 y96 ff8 fs0 fc0 sc0 ls0 ws0">- T</div><div class="t m0 x4e hf y97 ff8 fs5 fc0 sc0 ls0 ws0">L</div><div class="t m0 x6a h9 y96 ff8 fs0 fc0 sc0 ls0 ws0">- f</div><div class="t m0 x49 he y98 ff9 fs0 fc0 sc0 ls0 ws0">#</div><div class="t m0 x57 h9 y96 ff8 fs0 fc0 sc0 ls0 ws0">= ]</div><div class="t m0 x4b h3 y99 ff6 fs0 fc0 sc0 ls0 ws0">C</div><div class="t m0 x59 he y9a ff9 fs0 fc0 sc0 ls0 ws0">#</div><div class="t m0 x6b h3 y9b ff6 fs0 fc0 sc0 ls0 ws0">Ct</div><div class="t m0 x5a h2 y96 ff1 fs0 fc0 sc0 ls0 ws0">（5）</div><div class="t m0 x2e h2 y9c ff6 fs0 fc0 sc0 ls0 ws0"># # 其中 T</div><div class="t m0 x6c hf y9d ff8 fs5 fc0 sc0 ls0 ws0">e</div><div class="t m0 x6d h2 y9c ff1 fs0 fc0 sc0 ls0 ws0">和 T</div><div class="t m0 x6e hf y9d ff8 fs5 fc0 sc0 ls0 ws0">L</div><div class="t m0 x6f h2 y9c ff1 fs0 fc0 sc0 ls0 ws0">分别为电磁转矩和负载转矩（F·</div><div class="t m0 x2e h2 y9e ff6 fs0 fc0 sc0 ls0 ws0">.）。] 为转子的转动惯量（2G·.</div><div class="t m0 x59 h11 y9f ff6 fs5 fc0 sc0 ls0 ws0">!</div><div class="t m0 x64 h2 y9e ff1 fs0 fc0 sc0 ls0 ws0">），f 为阻尼系数</div><div class="t m0 x2a h2 ya0 ff1 fs0 fc0 sc0 ls0 ws0">（</div><div class="t m0 x2b h2 ya1 ff6 fs0 fc0 sc0 ls0 ws0">F·.·E）。电机设计反电动势为梯形波，其平顶</div><div class="t m0 x2e h2 ya2 ff1 fs0 fc0 sc0 ls0 ws0">宽度为</div><div class="t m0 x67 h2 ya3 ff6 fs0 fc0 sc0 ls0 ws0">$!?@电角度，梯形波的幅值与电机的转速成</div><div class="t m0 x2e h2 ya4 ff1 fs0 fc0 sc0 ls0 ws0">正比。其中反电动势系数 </div><div class="t m0 x70 hf ya5 ff8 fs5 fc0 sc0 ls0 ws0">e</div><div class="t m0 x71 h2 ya4 ff1 fs0 fc0 sc0 ls0 ws0">由公式（"）计算：</div><div class="t m0 x3e h9 ya6 ff8 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x34 hf ya7 ff8 fs5 fc0 sc0 ls0 ws0">e</div><div class="t m0 x30 h9 ya6 ff8 fs0 fc0 sc0 ls0 ws0">=</div><div class="t m0 x56 h3 ya8 ff6 fs0 fc0 sc0 ls0 ws0">!p</div><div class="t m0 x2c h3 ya9 ff6 fs0 fc0 sc0 ls0 ws0">$"</div><div class="t m0 x72 he yaa ff9 fs0 fc0 sc0 ls0 ws0">!</div><div class="t m0 x73 h9 ya6 ff8 fs0 fc0 sc0 ls0 ws0">W</div><div class="t m0 x74 he yab ff9 fs0 fc0 sc0 ls0 ws0">"</div><div class="t m0 x5a h2 ya6 ff1 fs0 fc0 sc0 ls0 ws0">（"）</div><div class="t m0 x2e h2 yac ff1 fs0 fc0 sc0 ls0 ws0">电机转子每运行</div><div class="t m0 x68 h2 yad ff6 fs0 fc0 sc0 ls0 ws0">6?@电角度进行一次换相。因此在</div><div class="t m0 x2e h2 yae ff1 fs0 fc0 sc0 ls0 ws0">每个电角度周期中，三相绕组反电动势有 6 个状</div><div class="t m0 x2e h2 yaf ff1 fs0 fc0 sc0 ls0 ws0">态。#</div><div class="t m0 x33 h7 yb0 ff7 fs3 fc0 sc0 ls0 ws0">2 BLDC Simulink 模型</div><div class="t m0 x2e h2 yb1 ff6 fs0 fc0 sc0 ls0 ws0"># # 电机系统模型根据实际的 ’)* 数字控制系统</div><div class="t m0 x75 h2 yb2 ff1 fs0 fc0 sc0 ls0 ws0">·9"·</div></div><div class="pi" data-data='{"ctm":[1.820011,0.000000,0.000000,1.820011,0.000000,0.000000]}'></div></div>