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<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/625b278792dc900e62047ca4/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">Vol. 15 No. <span class="ls1 ws1">12 </span></div><div class="t m1 x2 h3 y1 ff2 fs1 fc0 sc0 ls2 ws2">系</div><div class="t m0 x3 h4 y1 ff3 fs1 fc0 sc0 ls3 ws3"> </div><div class="t m1 x4 h3 y1 ff2 fs1 fc0 sc0 ls2 ws2">统</div><div class="t m0 x5 h4 y1 ff3 fs1 fc0 sc0 ls3 ws3"> </div><div class="t m1 x6 h3 y1 ff2 fs1 fc0 sc0 ls2 ws2">仿</div><div class="t m0 x7 h4 y1 ff3 fs1 fc0 sc0 ls3 ws2"> </div><div class="t m1 x8 h3 y1 ff2 fs1 fc0 sc0 ls2 ws2">真</div><div class="t m0 x9 h4 y1 ff3 fs1 fc0 sc0 ls3 ws3"> </div><div class="t m1 xa h3 y1 ff2 fs1 fc0 sc0 ls2 ws2">学</div><div class="t m0 xb h4 y1 ff3 fs1 fc0 sc0 ls3 ws3"> </div><div class="t m1 xc h3 y1 ff2 fs1 fc0 sc0 ls2 ws2">报</div><div class="t m0 x1 h4 y2 ff1 fs0 fc0 sc0 ls4 ws2">Dec.<span class="ls3 ws4"> </span><span class="ls1">2003<span class="ls3 ws5"> <span class="_ _0"></span><span class="ff3 fs1 ws2">J<span class="ls5 ws6">OURNAL OF SYSTEM SIMULATION</span></span></span></span></div><div class="t m0 xd h2 y3 ff1 fs0 fc0 sc0 ls1 ws2">1745</div><div class="t m2 xe h5 y4 ff2 fs2 fc0 sc0 ls6 ws2">基于</div><div class="t m0 xf h6 y4 ff3 fs2 fc0 sc0 ls7 ws2">Matlab</div><div class="t m2 x10 h5 y4 ff2 fs2 fc0 sc0 ls8 ws2">无刷直流电机系统仿真建模的新方法</div><div class="t m0 x11 h3 y5 ff4 fs1 fc0 sc0 ls3 ws2">纪志成</div><div class="t m0 x4 h7 y6 ff1 fs3 fc0 sc0 ls9 ws2">1,2</div><div class="t m0 x12 h3 y5 ff4 fs1 fc0 sc0 ls3 ws2">沈艳霞</div><div class="t m0 x13 h7 y6 ff1 fs3 fc0 sc0 lsa ws2">1,2</div><div class="t m0 xb h3 y5 ff4 fs1 fc0 sc0 ls3 ws2">姜建国</div><div class="t m0 x14 h7 y6 ff1 fs3 fc0 sc0 ls3 ws2">1</div><div class="t m0 x15 h8 y7 ff1 fs4 fc0 sc0 lsb ws2">(</div><div class="t m0 x16 h9 y8 ff1 fs5 fc0 sc0 ls9 ws2">1</div><div class="t m0 x17 h8 y7 ff5 fs4 fc0 sc0 lsc ws2">中国矿业大学<span class="_ _0"></span><span class="ff1 ls3">, <span class="ff5 lsd">江苏徐州</span> <span class="_ _0"></span><span class="lse">221008</span></span></div><div class="t m0 x18 h9 y8 ff1 fs5 fc0 sc0 ls9 ws2">2</div><div class="t m0 x19 h8 y7 ff5 fs4 fc0 sc0 ls1 ws2">江南大学<span class="_ _1"></span><span class="ff1 ls3">, </span><span class="lsf">江苏无锡<span class="_ _1"></span><span class="ff1 ls3"> <span class="ls10">214036)</span></span></span></div><div class="t m3 x1a ha y9 ff2 fs0 fc0 sc0 ls11 ws2">摘</div><div class="t m0 x1b hb y9 ff3 fs0 fc0 sc0 ls3 ws7"> </div><div class="t m3 x1c ha y9 ff2 fs0 fc0 sc0 ls11 ws2">要</div><div class="t m0 x1d h2 y9 ff4 fs0 fc0 sc0 ls12 ws2">在分析无刷直流电机<span class="_"> </span><span class="ff1 ls13">BLDC<span class="_ _2"> </span></span><span class="ls14">数学模型的基础上<span class="_ _3"> </span><span class="ls15">提出了无刷直流电机系统仿真建模的</span></span></div><div class="t m0 x1a h2 ya ff4 fs0 fc0 sc0 ls3 ws2">新方法<span class="_"> </span>在<span class="_ _4"> </span><span class="ff1 ls16">Matlab/<span class="_ _0"></span><span class="ls17">Simulink<span class="_ _5"></span><span class="ff4 ls3">中<span class="_"> </span><span class="ls18">建立独立的功能模块<span class="_ _6"> </span></span>如<span class="_ _7"> </span></span><span class="ls13">BLDC<span class="_ _4"> </span><span class="ff4 ls3">本体模块<span class="_ _6"> </span><span class="ls19">电流滞环控制模块</span></span></span></span></span></div><div class="t m0 x1a ha yb ff4 fs0 fc0 sc0 ls1a ws2">速度控制模块等<span class="_ _3"> </span><span class="ls3">再进行功能模块的有机整合<span class="_ _3"> </span><span class="ls1b">搭建无刷直流电机系统的仿真模型<span class="_ _3"> </span><span class="ls1c">为保证仿真</span></span></span></div><div class="t m0 x1a ha yc ff4 fs0 fc0 sc0 ls1a ws2">快速性和有效性<span class="_ _3"> </span><span class="ls12">模型采用分段线性法生成梯形波反电动势<span class="_ _8"> </span><span class="ls3">系统采用双闭环控制<span class="_ _3"> </span><span class="ls1c">速度环采用</span></span></span></div><div class="t m0 x1a h2 yd ff1 fs0 fc0 sc0 ls1d ws2">PI<span class="_ _4"> </span><span class="ff4 ls3">控制<span class="_ _6"> </span><span class="ls1e">电流环采用滞环电流控制<span class="_ _6"> </span><span class="ls1f">仿真结果证明了该方法的有效性<span class="_ _3"> </span><span class="ls20">同时也适用于验证其他控</span></span></span></span></div><div class="t m0 x1a ha ye ff4 fs0 fc0 sc0 ls21 ws2">制算法的合理性<span class="_ _3"> </span><span class="ls22">为实际电机控制系统的设计和调试提供了新的思路</span></div><div class="t m3 x1a ha yf ff2 fs0 fc0 sc0 ls23 ws2">关键词</div><div class="t m0 x1e h2 yf ff4 fs0 fc0 sc0 lsa ws2">无刷直流电机<span class="_"> </span><span class="ff1 ls13">BLDC<span class="_ _9"> </span></span><span class="ls3">仿真建模<span class="_"> </span><span class="ff1 ls24">MATLAB<span class="_ _a"> </span></span>分段线性法</span></div><div class="t m3 x1a ha y10 ff2 fs0 fc0 sc0 ls25 ws2">文章编号</div><div class="t m0 x1f h2 y10 ff1 fs0 fc0 sc0 ls26 ws2">1004-731X<span class="_ _0"></span><span class="ls3 ws4"> <span class="ls27 ws8">(2003) <span class="_ _1"></span><span class="ls1 ws2">12<span class="ls27">-1745-<span class="ls3">05 <span class="_ _1"></span> </span></span></span></span></span></div><div class="t m3 x20 ha y10 ff2 fs0 fc0 sc0 ls28 ws2">中图分类号</div><div class="t m0 x21 h2 y10 ff1 fs0 fc0 sc0 ls29 ws2">TP391<span class="_ _0"></span><span class="ls3 ws4"> <span class="_ _0"></span><span class="ws9"> </span></span></div><div class="t m3 x22 ha y10 ff2 fs0 fc0 sc0 ls28 ws2">文献标识码</div><div class="t m0 x23 h2 y10 ff1 fs0 fc0 sc0 ls2a ws2">A</div><div class="t m0 x24 hc y11 ff3 fs6 fc0 sc0 ls2b wsa">A Novel Method for Modeling and Simulation of BLDC Syste<span class="ls2c ws2">m</span></div><div class="t m0 x25 hc y12 ff3 fs6 fc0 sc0 ls2d wsb">Based <span class="ls2e wsc">on <span class="ls2f ws2">Matlab</span></span></div><div class="t m0 x1f hd y13 ff6 fs1 fc0 sc0 ls30 wsd">JI Zhi-cheng</div><div class="t m0 x26 h7 y14 ff1 fs3 fc0 sc0 ls9 ws2">1,2</div><div class="t m0 x27 hd y13 ff6 fs1 fc0 sc0 ls31 wse">SHEN Yan-xia</div><div class="t m0 x28 h7 y14 ff1 fs3 fc0 sc0 lsa ws2">1,2</div><div class="t m0 x29 hd y13 ff6 fs1 fc0 sc0 ls32 wsf">JIANG Jian-guo</div><div class="t m0 x2a h7 y14 ff1 fs3 fc0 sc0 ls3 ws2">1</div><div class="t m0 x2b h8 y15 ff1 fs4 fc0 sc0 lsb ws2">(</div><div class="t m0 x2c h9 y16 ff1 fs5 fc0 sc0 ls9 ws2">1</div><div class="t m0 x2d h8 y15 ff1 fs4 fc0 sc0 ls33 ws10">China University of Mining Technology, <span class="ls34 ws11">Xuzhou <span class="_ _1"></span><span class="ls35 ws12">Jiangsu 221008, China; </span></span></div><div class="t m0 x2e h9 y16 ff1 fs5 fc0 sc0 ls9 ws2">2</div><div class="t m0 xa h8 y15 ff1 fs4 fc0 sc0 ls36 ws13">Southern Yangtze University<span class="_ _b"></span><span class="ls3 ws2">, <span class="ls37 ws14">Wuxi <span class="_ _1"></span><span class="ls38 ws15">Jiangsu 214036, China)</span></span></span></div><div class="t m0 x2f hb y17 ff3 fs0 fc0 sc0 ls39 ws2">Abstract:<span class="_ _0"></span><span class="ff1 ls3a ws16"> Based on the mathematical model of the<span class="ls3 ws17"> <span class="_ _c"> </span><span class="ls3b ws18">Brushless DC motor<span class="_ _0"></span><span class="ls3c ws19"> (BLDC)<span class="_ _0"></span><span class="ls3d ws2">,<span class="ls3e ws1a"> a<span class="_ _d"></span><span class="ls3 ws4"> <span class="_ _e"> </span><span class="ls3f ws2">novel<span class="_ _b"></span><span class="ls40 ws1b"> method for modeling and</span></span></span></span></span></span></span></span></span></div><div class="t m0 x2f h2 y18 ff1 fs0 fc0 sc0 ls41 ws1c">simulation of BLDC<span class="_ _1"></span><span class="ls42 ws1d"> system in<span class="ls3 ws17"> <span class="_"> </span><span class="ls43 ws1e">Matlab <span class="_ _e"> </span><span class="ls32 ws1f">has been proposed.</span></span><span class="ws4"> <span class="_ _5"></span><span class="ls44 ws20">In <span class="_"> </span><span class="ls45 ws2">Matlab/<span class="_ _0"></span><span class="ls46 ws21">Simulink, the isolate<span class="ls9 ws22">d <span class="_ _5"></span><span class="ls47 ws2">function<span class="_ _0"></span><span class="ls48">al<span class="_ _b"></span><span class="ls49 ws23"> blocks,<span class="_ _0"></span><span class="ls3 ws4"> <span class="_ _5"></span><span class="ls4a ws24">such as</span></span></span></span></span></span></span></span></span></span></span></span></div><div class="t m0 x2f h2 y19 ff1 fs0 fc0 sc0 ls4b ws25">BLDC block,<span class="_ _1"></span><span class="ls3 ws4"> <span class="_"> </span><span class="ls4c ws26">Hysteresis current</span><span class="ws17"> <span class="_ _7"> </span><span class="ls4d ws2">controller<span class="ls4e ws27"> block<span class="_ _0"></span><span class="ls3d ws2">,<span class="ls4f ws28"> Speed<span class="_ _1"></span><span class="ls4d ws29"> controller<span class="ls3 ws17"> <span class="_ _7"> </span><span class="ls50 ws2a">block, <span class="_"> </span></span></span></span></span><span class="ls2a">ect<span class="_ _0"></span><span class="ls3d">.<span class="_ _0"></span>,<span class="ls51 ws2b"> have been modeled<span class="_ _1"></span></span>. <span class="_"> </span><span class="ls52 ws2c">By the organic</span></span></span></span></span></span></span></span></div><div class="t m0 x2f h2 y1a ff1 fs0 fc0 sc0 ls53 ws2d">combination of these blocks, the <span class="_ _5"></span><span class="ls54 ws2e">model of <span class="_ _5"></span><span class="ls55 ws2">B<span class="_ _0"></span><span class="ls56">L<span class="_ _0"></span><span class="ls57 ws2f">DC <span class="_ _5"></span><span class="ls58 ws2">can<span class="ls59 ws30"> be established<span class="_ _1"></span><span class="ls5a ws31"> easily<span class="_ _1"></span><span class="ls5b ws32">. To guarantee the validity and speediness<span class="ls5c ws33"> in</span></span></span></span></span></span></span></span></span></div><div class="t m0 x2f h2 y1b ff1 fs0 fc0 sc0 ls5d ws2">simulation<span class="_ _0"></span><span class="ls3d">,<span class="ls5e ws34"> the back EMF is generated using<span class="ls5f ws35"> piecewise linear curves. <span class="ls60 ws36">In the<span class="ls61 ws37"> double loop<span class="ls62 ws38"> of<span class="_ _0"></span><span class="ls5d ws39"> control system<span class="ls3d ws2">,<span class="ls63 ws3a"> a PI controller is</span></span></span></span></span></span></span></span></span></div><div class="t m0 x2f h2 y1c ff1 fs0 fc0 sc0 ls64 ws3b">adopted in the speed loop<span class="_ _0"></span><span class="ls65 ws3c"> and <span class="_ _1"></span><span class="ls66 ws2">a<span class="ls3 ws4"> <span class="_ _f"></span></span><span class="ls1">hy<span class="ls67">s<span class="_ _1"></span><span class="ls68">teresis<span class="_ _f"></span><span class="ls69 ws3d"> current controller is adopted <span class="_ _1"></span><span class="ls6a ws3e">in the current loop. The reasonability and validity</span></span></span></span></span></span></span></div><div class="t m0 x2f h2 y1d ff1 fs0 fc0 sc0 ls6b ws3f">have been testified by the simulation results and this novel method offers a new <span class="_ _f"></span><span class="ls6c ws2">thoughtway<span class="_ _0"></span><span class="ls6d ws40"> for designing and debugging</span></span></div><div class="t m0 x2f h2 y1e ff1 fs0 fc0 sc0 ls6e ws41">actual motors.</div><div class="t m0 x2f hb y1f ff3 fs0 fc0 sc0 ls17 ws2">Keywords:<span class="_ _b"></span><span class="ff1 ls3 ws4"> <span class="ls6f ws42">Brushless DC <span class="ls70 ws2">motor<span class="_ _0"></span><span class="ls3c">(BLDC)<span class="_ _0"></span><span class="ls71">;<span class="ls72 ws43"> m<span class="_ _0"></span><span class="ls73 ws44">odeling and simulation; <span class="_ _1"></span><span class="ls74 ws2">M<span class="_ _0"></span><span class="ls4d">atlab<span class="_ _1"></span><span class="ls71 ws45">; <span class="_ _1"></span></span><span class="ls9">p<span class="ls75 ws46">iecewise linear curves</span></span></span></span></span></span></span></span></span></span></span></div><div class="t m4 x1 he y20 ff2 fs7 fc0 sc0 ls76 ws2">引</div><div class="t m0 x30 hf y20 ff3 fs7 fc0 sc0 ls3 ws47"> </div><div class="t m4 x31 he y20 ff2 fs7 fc0 sc0 ls76 ws2">言</div><div class="t m0 x32 h10 y21 ff3 fs8 fc1 sc0 ls9 ws2">1</div><div class="t m0 x33 ha y22 ff5 fs0 fc0 sc0 ls77 ws2">随着电力电子技术<span class="_ _3"> </span><span class="ls3">微电子技术<span class="_"> </span></span>新型电机控制理论</div><div class="t m0 x1 ha y23 ff5 fs0 fc0 sc0 ls78 ws2">和稀土永磁材料的快速发展<span class="_ _3"> </span><span class="ls79">永磁无刷直流电动机得以迅速</span></div><div class="t m0 x1 ha y24 ff5 fs0 fc0 sc0 ls3 ws2">推广<span class="_ _8"> </span>因其体积小<span class="_ _10"> </span><span class="ls7a">性能好<span class="_ _3"> </span><span class="ls1">结构简单<span class="_ _8"> </span>可靠性高<span class="_"> </span><span class="ls7b">输出转</span></span></span></div><div class="t m0 x1 ha y25 ff5 fs0 fc0 sc0 ls7c ws2">矩大等特点<span class="_ _6"> </span><span class="ls7d">永磁无刷直流电动机受到了广泛关注</span></div><div class="t m0 x34 h11 y26 ff1 fs9 fc0 sc0 ls7e ws2">[1]</div><div class="t m0 x5 ha y25 ff5 fs0 fc0 sc0 ls3 ws2">随着</div><div class="t m0 x1 ha y27 ff5 fs0 fc0 sc0 ls7f ws2">永磁无刷直流电机应用领域的不断拓宽<span class="_ _6"> </span><span class="ls80">对电机控制系统</span></div><div class="t m0 x1 ha y28 ff5 fs0 fc0 sc0 ls3d ws2">设计要求越来越高<span class="_ _3"> </span><span class="ls81">既要考虑成本低廉<span class="_ _6"> </span><span class="lsa">控制算法合理</span></span></div><div class="t m0 x1 ha y29 ff5 fs0 fc0 sc0 ls82 ws2">又需兼顾控制性能好<span class="_ _6"> </span><span class="ls1c">开发周期短<span class="_ _3"> </span><span class="ls3">因此<span class="_"> </span><span class="ls9">如何建立有效</span></span></span></div><div class="t m0 x1 ha y2a ff5 fs0 fc0 sc0 ls83 ws2">的永磁无刷直流电机控制系统的仿真模型成为电机控制算</div><div class="t m0 x1 ha y2b ff5 fs0 fc0 sc0 ls3d ws2">法设计人员迫切需要解决的关键问题<span class="_ _3"> </span><span class="ls3">从而<span class="_ _3"> </span><span class="ls84">对于建立电</span></span></div><div class="t m0 x1 ha y2c ff5 fs0 fc0 sc0 ls85 ws2">机控制系统仿真模型方法的研究具有十分重要的意义</div><div class="t m0 x35 h11 y2d ff1 fs9 fc0 sc0 ls86 ws2">[2<span class="ls87">-<span class="_ _0"></span><span class="ls86">3]</span></span></div><div class="t m0 x36 ha y2e ff5 fs0 fc0 sc0 ls88 ws2">永磁直流电动机根据永磁体在气隙中产生的磁场波形</div><div class="t m0 x1 h2 y2f ff5 fs0 fc0 sc0 ls3 ws2">不同<span class="_ _6"> </span>可分为<span class="ls89">正弦波永磁无刷直流电机<span class="_ _a"> </span><span class="ff1 ls8a">PMSM<span class="_ _6"> </span></span></span>和方波永</div><div class="t m0 x1 h2 y30 ff5 fs0 fc0 sc0 ls8b ws2">磁无刷直流电机<span class="_"> </span><span class="ff1 ls8c">BLDC</span></div><div class="t m0 x37 h11 y31 ff1 fs9 fc0 sc0 ls8d ws2">[4-5]</div><div class="t m0 x38 h2 y30 ff1 fs0 fc0 sc0 ls8a ws2">PMSM<span class="_"> </span><span class="ff5 ls8e">的气隙磁密为正弦波</span></div><div class="t m0 x1 ha y32 ff5 fs0 fc0 sc0 ls3 ws2">分布<span class="_ _8"> </span><span class="ls8f">反电动势和相电流波形皆为正弦波</span></div><div class="t m0 x39 h11 y33 ff1 fs9 fc0 sc0 ls90 ws2">[6]</div><div class="t m0 x3a h2 y32 ff5 fs0 fc0 sc0 ls3 ws2">而<span class="_ _11"> </span><span class="ff1 ls8c">BLDC<span class="_ _12"> </span></span>的气</div><div class="t m0 x1 ha y34 ff5 fs0 fc0 sc0 lsd ws2">隙磁密为方波分布<span class="_ _10"> </span><span class="ls8f">反电动势波形为梯形波<span class="_ _3"> </span><span class="lsc">相电流波形为</span></span></div><div class="t m0 x1 ha y35 ff5 fs0 fc0 sc0 ls91 ws2">方波</div><div class="t m0 x36 h11 y36 ff1 fs9 fc0 sc0 ls7e ws2">[7]</div><div class="t m0 x3b h2 y35 ff1 fs0 fc0 sc0 ls92 ws2">Matlab6.5<span class="_ _4"> </span><span class="ff5 ls9">针对电气传动<span class="_ _0"></span><span class="ls91">控制<span class="_ _0"></span><span class="ls93">领域所设计的工具箱</span></span></span></div><div class="t m0 x1 h2 y37 ff1 fs0 fc0 sc0 ls94 ws48">SimPowerSystem Toolbox2.3<span class="_ _f"></span><span class="ff5 ls1 ws2">已提供了<span class="_ _e"> </span><span class="ff1 ls8a">PMSM<span class="_ _f"></span></span><span class="ls95">的电机模型<span class="_ _a"> </span><span class="ls3">但</span></span></span></div><div class="t m0 x1 h12 y38 ff1 fs7 fc0 sc0 ls3 ws22"> </div><div class="t m5 x1 h13 y39 ff2 fs4 fc0 sc0 ls96 ws2">收稿日期</div><div class="t m0 x3c h14 y39 ff1 fs4 fc0 sc0 ls97 ws49">2003-06-26 <span class="ff3 ls3 ws2"> </span></div><div class="t m5 x3d h13 y39 ff2 fs4 fc0 sc0 ls98 ws2">修回日期</div><div class="t m0 x3e h8 y39 ff1 fs4 fc0 sc0 ls97 ws2">2003-08-02</div><div class="t m5 x1 h13 y3a ff2 fs4 fc0 sc0 ls96 ws2">作者简介<span class="_ _a"> </span><span class="ls99">纪志成</span></div><div class="t m0 x3f h8 y3a ff1 fs4 fc0 sc0 lsb ws2">(<span class="_ _1"></span><span class="ls3">1959</span>-<span class="_ _1"></span><span class="ls9a ws4a">), <span class="_ _f"></span></span><span class="ff5 ls3">男<span class="_ _1"></span><span class="ff1">, <span class="_ _f"></span></span><span class="ls7c">浙江杭州人</span><span class="ff1">, <span class="_ _f"></span></span><span class="ls9b">教授<span class="_ _f"></span></span><span class="ff1">, <span class="_ _f"></span></span>研究方向为电力与电</span></div><div class="t m0 x1 h8 y3b ff5 fs4 fc0 sc0 ls3 ws2">气传动<span class="ff1 ls9c ws4b">; </span></div><div class="t m5 x40 h13 y3b ff2 fs4 fc0 sc0 ls96 ws2">沈艳霞</div><div class="t m0 x41 h8 y3b ff1 fs4 fc0 sc0 lsb ws2">(<span class="ls3">1973<span class="ls9d ws4c">-), <span class="_ _f"></span></span><span class="ff5">女</span>, <span class="_ _f"></span><span class="ff5 ls8f">山东淄博人<span class="_ _1"></span></span>, <span class="_ _f"></span><span class="ff5">讲师<span class="_ _0"></span><span class="ff1">, <span class="_ _f"></span><span class="ff5 ls7a">博士生<span class="_ _1"></span></span>, <span class="_ _f"></span><span class="ff5 ls21">研究方向为电力</span></span></span></span></div><div class="t m0 x1 h8 y3c ff5 fs4 fc0 sc0 ls8b ws2">电子与电气传动<span class="_ _1"></span><span class="ff1 ls9c ws4b">; </span></div><div class="t m5 x42 h13 y3c ff2 fs4 fc0 sc0 ls9e ws2">姜建国</div><div class="t m0 x43 h8 y3c ff1 fs4 fc0 sc0 lsb ws2">(<span class="_ _1"></span><span class="ls3">1956<span class="ls9d ws4c">-), <span class="_ _f"></span></span><span class="ff5">男</span>, <span class="_ _f"></span><span class="ff5 ls7c">江苏盐城人</span>, <span class="_ _f"></span><span class="ff5">教授</span>, <span class="_ _f"></span><span class="ff5 ls9b">博导<span class="_ _1"></span></span>, <span class="_ _f"></span><span class="ff5 lsf">研究方向</span></span></div><div class="t m0 x1 h13 y3d ff5 fs4 fc0 sc0 lsd ws2">为数控调速系统与电气传动</div><div class="t m0 x44 h2 y3e ff5 fs0 fc0 sc0 lsf ws2">没有给出<span class="_ _13"> </span><span class="ff1 ls8c">BLDC<span class="_ _12"> </span></span><span class="ls9f">的电机模型</span></div><div class="t m0 x45 h11 y3f ff1 fs9 fc0 sc0 ls7e ws2">[8]</div><div class="t m0 x46 ha y3e ff5 fs0 fc0 sc0 ls3 ws2">因此<span class="_ _8"> </span><span class="lsa0">本文在分析无刷直流</span></div><div class="t m0 x44 h2 y40 ff5 fs0 fc0 sc0 lsa1 ws2">电机数学模型的基础上<span class="_"> </span><span class="lsa2">借助于<span class="_ _e"> </span><span class="ff1 lsa3">Matlab<span class="_ _c"> </span></span><span class="lsa4">强大的仿真建模能力</span></span></div><div class="t m0 x44 h2 y41 ff5 fs0 fc0 sc0 ls3 ws2">在<span class="_ _c"> </span><span class="ff1 ls45">Matlab/<span class="_ _0"></span><span class="ls17">Simulink<span class="_ _5"></span><span class="ff5 ls3">中建立了<span class="_ _c"> </span></span><span class="ls13">BLDC<span class="_ _c"> </span><span class="ff5 ls3">控制系统的<span class="_ _0"></span><span class="lsa5">仿真模型</span></span></span></span></span></div><div class="t m0 x20 h2 y42 ff5 fs0 fc0 sc0 ls3 ws2">对于在<span class="_ _4"> </span><span class="ff1 lsa6">Matlab<span class="_ _c"> </span></span>中进行<span class="_ _7"> </span><span class="ff1 ls13">BLDC<span class="_ _4"> </span></span><span class="lsa7">建模仿真方法的研究已受</span></div><div class="t m0 x44 ha y43 ff5 fs0 fc0 sc0 ls3 ws2">到广<span class="lse">泛关注<span class="_ _8"> </span></span>例如<span class="_ _6"> </span><span class="lsa8">已有提出采用节点电流法对电机控制系</span></div><div class="t m0 x44 h2 y44 ff5 fs0 fc0 sc0 ls9f ws2">统进行分析<span class="_ _8"> </span><span class="lsf">通过列写<span class="_ _4"> </span><span class="ff1 ls72">m<span class="_ _f"></span></span><span class="ls9b">文件<span class="_ _a"> </span><span class="ls3">建立<span class="_ _c"> </span><span class="ff1 ls8c">BLDC<span class="_ _4"> </span></span></span></span>仿真模型</span></div><div class="t m0 x47 h11 y45 ff1 fs9 fc0 sc0 lsa9 ws2">[9]-[11]</div><div class="t m0 x44 ha y46 ff5 fs0 fc0 sc0 lsaa ws2">这种方法实质上是一种整体分析法<span class="_ _a"> </span><span class="lsab">因而这一模型基础上修</span></div><div class="t m0 x44 ha y47 ff5 fs0 fc0 sc0 lsd ws2">改控制算法或添加<span class="_ _10"> </span><span class="lsac">删除闭环就显得很不方便<span class="_ _10"> </span><span class="ls3">为了克服这</span></span></div><div class="t m0 x44 h2 y48 ff5 fs0 fc0 sc0 ls7a ws2">一不足<span class="_ _a"> </span><span class="ls3">文献<span class="ff1 ls44">[12]<span class="_ _0"></span><span class="ff5 ls7b">提出在<span class="_ _7"> </span><span class="ff1 ls16">Matlab/<span class="_ _b"></span><span class="lsad">Simulink<span class="_ _7"> </span><span class="ff5 lsd">中构造独立的功能</span></span></span></span></span></span></div><div class="t m0 x44 h2 y49 ff5 fs0 fc0 sc0 ls3 ws2">模块<span class="_ _8"> </span><span class="ls1">通过模块组合进行<span class="_ _c"> </span><span class="ff1 ls13">BLDC<span class="_ _4"> </span></span><span class="ls9b">建模<span class="_ _a"> </span><span class="lsf">这一方法可观性好</span></span></span></div><div class="t m0 x44 ha y4a ff5 fs0 fc0 sc0 lsae ws2">在原有的建模基础上添加<span class="_ _8"> </span><span class="ls21">删除闭环或改变控制策略都十分</span></div><div class="t m0 x44 h2 y4b ff5 fs0 fc0 sc0 ls3 ws2">便捷<span class="_ _6"> </span><span class="lsaf">但该方法采用快速傅立叶变换<span class="_"> </span><span class="ff1 lsb0">FFT<span class="_ _a"> </span></span><span class="lsc">方法求取反电</span></span></div><div class="t m0 x44 ha y4c ff5 fs0 fc0 sc0 ls91 ws2">动势<span class="_"> </span><span class="lsb1">使得仿真速度很受限制<span class="_"> </span><span class="lsb2">本文提出了一种新型的</span></span></div><div class="t m0 x44 h2 y4d ff1 fs0 fc0 sc0 ls13 ws2">BLDC<span class="_ _c"> </span><span class="ff5 lsf">建模方法<span class="_ _a"> </span>将控制单元模块化<span class="_ _a"> </span><span class="ls3">在<span class="_ _12"> </span></span></span><span class="lsb3">Matlab/<span class="_ _b"></span><span class="lsb4">Simulink<span class="_ _4"> </span><span class="ff5 ls3">建</span></span></span></div><div class="t m0 x44 h2 y4e ff5 fs0 fc0 sc0 ls19 ws2">立独立的功能模块<span class="_ _6"> </span><span class="ff1 ls8c">BLDC<span class="_ _12"> </span></span><span class="ls1">本体模块<span class="_"> </span><span class="lsb5">电流滞环控制模块</span></span></div><div class="t m0 x44 ha y4f ff5 fs0 fc0 sc0 ls7b ws2">速度控制模块<span class="_"> </span><span class="ls9">参考电流模块<span class="_ _6"> </span><span class="lsb6">转矩计算模块和电压逆变</span></span></div><div class="t m0 x44 ha y50 ff5 fs0 fc0 sc0 ls3 ws2">模块<span class="_ _2"> </span><span class="lsb7">对这些功能模块<span class="_ _b"></span><span class="ls7b">进行有机整合<span class="_ _8"> </span><span class="lse">即可搭<span class="_ _f"></span><span class="lsb8">建出无刷直</span></span></span></span></div><div class="t m0 x44 ha y51 ff5 fs0 fc0 sc0 lsb9 ws2">流电机系统的仿真模型<span class="_"> </span><span class="ls9">在建模过程中<span class="_ _6"> </span><span class="ls80">梯形波反电动势</span></span></div><div class="t m0 x44 ha y52 ff5 fs0 fc0 sc0 lsba ws2">的求取方法一直是较难解决的问题</div><div class="t m0 x48 h11 y53 ff1 fs9 fc0 sc0 lsbb ws2">[13]</div><div class="t m0 x49 ha y52 ff5 fs0 fc0 sc0 ls81 ws2">本文采用分段线性</div><div class="t m0 x44 h2 y54 ff5 fs0 fc0 sc0 lsac ws2">法成功地化解了这一难点<span class="_ _3"> </span><span class="ls7c">克服了文献<span class="ff1 ls44">[12]</span><span class="ls21">建模方法存在的</span></span></div><div class="t m0 x44 ha y55 ff5 fs0 fc0 sc0 ls3 ws2">不足<span class="_ _3"> </span><span class="lsbc">仿真结果证明了该种新型建模方法的快速性和有效</span></div><div class="t m0 x44 ha y56 ff5 fs0 fc0 sc0 ls3 ws2">性<span class="_ _3"> </span><span class="ls3d">采用该方法不仅可以节省控制方案的设计周期<span class="_"> </span><span class="ls91">快速</span></span></div><div class="t m0 x44 ha y57 ff5 fs0 fc0 sc0 lsb9 ws2">验证所设计的控制算法<span class="_"> </span><span class="lsbd">更可以充分利用计算机仿真的优</span></div><div class="t m0 x4a h15 y58 ff7 fsa fc0 sc0 ls3 ws2"><span class="fc2 sc0">万方数据</span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
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<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/625b278792dc900e62047ca4/bg2.jpg"><div class="t m0 x4b h2 y59 ff1 fs0 fc0 sc0 ls0 ws0">Vol. 15 No. <span class="ls9 ws2">1<span class="_ _0"></span>2</span></div><div class="t m0 x25 h2 y5a ff5 fs0 fc0 sc0 ls3 ws2">系<span class="ff1 ws4"> <span class="_ _0"></span><span class="ff5 ws2">统<span class="ff1"> </span>仿<span class="_ _0"></span><span class="ff1 ws4"> <span class="_ _0"></span><span class="ff5 ws2">真<span class="ff1"> </span>学<span class="_ _0"></span><span class="ff1 ws4"> <span class="_ _0"></span><span class="ff5 ws2">报<span class="ff1 ws4d"> <span class="ws4e"> <span class="_ _1"></span><span class="ws4f"> <span class="ws50"> <span class="ws51"> <span class="_ _1"></span><span class="ls4 ws2">Dec.</span><span class="ws4"> <span class="_ _0"></span> <span class="ls1 ws2">2003</span></span></span></span></span></span></span></span></span></span></span></span></span></div><div class="t m0 x4c h2 y5b ff1 fs0 fc0 sc0 ls1 ws2">1746</div><div class="t m0 x1 ha y5c ff5 fs0 fc0 sc0 ls3 ws2">越性<span class="_ _3"> </span><span class="lsbc">通过修改系统参变量或人为加入不同扰动因素来考</span></div><div class="t m0 x1 ha y5d ff5 fs0 fc0 sc0 lsbe ws2">察不同实验条件下电机系统的动<span class="_"> </span><span class="ls3d">静态性能<span class="_"> </span><span class="ls84">也可以模拟</span></span></div><div class="t m0 x1 ha y5e ff5 fs0 fc0 sc0 lsbe ws2">相同的实验条件<span class="_ _3"> </span><span class="lsbf">比较不同控制策略的优劣<span class="_ _3"> </span><span class="ls84">为分析和设</span></span></div><div class="t m0 x1 h2 y5f ff5 fs0 fc0 sc0 ls3 ws2">计<span class="_ _c"> </span><span class="ff1 ls13">BLDC<span class="_ _c"> </span></span><span class="lsc0">控制系统提供了有效的手段和工具</span></div><div class="t m0 x1 hf y60 ff3 fs7 fc0 sc0 ls9 ws4">1 <span class="_ _0"></span><span class="ls3 ws22"> </span></div><div class="t m4 x4d he y60 ff2 fs7 fc0 sc0 lsc1 ws2">永磁无刷直流电动机</div><div class="t m0 x4e hf y60 ff3 fs7 fc0 sc0 lsc2 ws2">(<span class="_ _1"></span><span class="lsc3">BLDC<span class="_ _b"></span><span class="lsc2">)</span></span></div><div class="t m4 x4f he y60 ff2 fs7 fc0 sc0 lsc4 ws2">的数学模型</div><div class="t m0 x36 h2 y61 ff5 fs0 fc0 sc0 lsc5 ws2">以二相导通星形三相六状态为例<span class="_ _6"> </span><span class="ls3">分析<span class="_ _11"> </span><span class="ff1 ls13">BLDC<span class="_ _12"> </span></span><span class="ls93">的数学</span></span></div><div class="t m0 x1 ha y62 ff5 fs0 fc0 sc0 lsc6 ws2">模型及电磁转矩等特性<span class="_ _6"> </span><span class="lsc">为了便于分析<span class="_ _6"> </span><span class="ls3">假定</span></span></div><div class="t m0 x50 h2 y63 ff1 fs0 fc0 sc0 ls79 ws52">(1) <span class="_ _1"></span><span class="ff5 ls3 ws2">三相绕组完全对称<span class="_ _6"> </span><span class="ls1a">气隙磁场为方波<span class="_ _6"> </span><span class="ls1">定子电流</span></span></span></div><div class="t m0 x1 ha y64 ff5 fs0 fc0 sc0 ls18 ws2">转子磁场分布皆对称</div><div class="t m0 x50 h2 y65 ff1 fs0 fc0 sc0 ls79 ws52">(2) <span class="_ _1"></span><span class="ff5 ls3 ws2">忽略齿槽<span class="_"> </span><span class="lsaf">换相过程和电枢反应等的影响</span></span></div><div class="t m0 x50 h2 y66 ff1 fs0 fc0 sc0 ls79 ws52">(3) <span class="_ _1"></span><span class="ff5 ls14 ws2">电枢绕组在定子内表面均匀连续分布</span></div><div class="t m0 x50 h2 y67 ff1 fs0 fc0 sc0 ls79 ws52">(4) <span class="_ _1"></span><span class="ff5 ls3 ws2">磁路不饱和<span class="_"> </span><span class="ls8e">不计涡流和磁滞损耗</span></span></div><div class="t m0 x1 ha y68 ff5 fs0 fc0 sc0 lsc ws2">则三相绕组的电压平衡方程</div><div class="t m0 x51 h11 y69 ff1 fs9 fc0 sc0 lsc7 ws2">[5]</div><div class="t m0 x52 ha y68 ff5 fs0 fc0 sc0 ls1 ws2">可表示为</div><div class="t m0 x53 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x53 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x53 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x53 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x53 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x54 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x54 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x54 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x54 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x54 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x26 h16 y6f ff8 fsb fc0 sc0 lsc9 ws2">+</div><div class="t m0 x55 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x55 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x55 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x55 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x55 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x56 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x56 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x56 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x56 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x56 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x57 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x57 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x57 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x57 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x57 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x58 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x58 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x58 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x58 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x58 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x37 h16 y6f ff8 fsb fc0 sc0 lsc9 ws2">+</div><div class="t m0 x59 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x59 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x59 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x59 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x59 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5a h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5a h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5a h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5a h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5a h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5b h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5b h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5b h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5b h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5b h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x24 h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x24 h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x24 h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x24 h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x24 h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5c h16 y6f ff8 fsb fc0 sc0 lsc9 ws2">=</div><div class="t m0 x2c h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2c h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2c h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2c h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2c h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5d h16 y6a ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5d h16 y6b ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5d h16 y6c ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5d h16 y6d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5d h16 y6e ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x5e h17 y6d ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x5e h17 y16 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x5e h17 y70 ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x5f h17 y6d ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x5f h17 y16 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x5f h17 y70 ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x60 h17 y6d ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x1b h17 y16 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x60 h17 y70 ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x3b h17 y6d ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x3b h17 y16 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x3b h17 y70 ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x3 h18 y71 ff6 fsb fc0 sc0 lscb ws2">e</div><div class="t m0 x3 h18 y6f ff6 fsb fc0 sc0 lscb ws2">e</div><div class="t m0 x3 h18 y72 ff6 fsb fc0 sc0 lscb ws2">e</div><div class="t m0 x11 h18 y71 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x11 h18 y6f ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x11 h18 y72 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x61 h18 y6f ff6 fsb fc0 sc0 ls3 ws2">p</div><div class="t m0 x62 h18 y71 ff6 fsb fc0 sc0 lscd ws2">L<span class="_ _14"></span><span class="lsce">M<span class="_ _15"></span>M</span></div><div class="t m0 x63 h18 y6f ff6 fsb fc0 sc0 lsce ws2">M<span class="_ _16"></span><span class="lscd">L<span class="_ _14"></span><span class="lsce">M</span></span></div><div class="t m0 x63 h18 y72 ff6 fsb fc0 sc0 lsce ws2">M<span class="_ _15"></span>M<span class="_ _16"></span><span class="lscd">L</span></div><div class="t m0 x64 h18 y71 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x64 h18 y6f ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x64 h18 y72 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x65 h18 y71 ff6 fsb fc0 sc0 lscf ws2">r</div><div class="t m0 x66 h18 y6f ff6 fsb fc0 sc0 lscf ws2">r</div><div class="t m0 x67 h18 y72 ff6 fsb fc0 sc0 lscf ws2">r</div><div class="t m0 x68 h18 y71 ff6 fsb fc0 sc0 ls3 ws2">u</div><div class="t m0 x68 h18 y6f ff6 fsb fc0 sc0 ls3 ws2">u</div><div class="t m0 x68 h18 y72 ff6 fsb fc0 sc0 ls3 ws2">u</div><div class="t m0 x66 h19 y71 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _17"></span>0</div><div class="t m0 x65 h19 y6f ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _18"></span>0</div><div class="t m0 x65 h19 y72 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _19"></span>0</div><div class="t m0 x69 h2 y73 ff1 fs0 fc0 sc0 ls3 ws4"> <span class="ls79 ws53"> (1)</span></div><div class="t m0 x1 ha y74 ff5 fs0 fc0 sc0 ls3 ws2">式中</div><div class="t m0 x43 h1a y75 ff6 fs3 fc0 sc0 lsd0 ws2">c<span class="_ _1a"></span><span class="ls3">b<span class="_ _1b"></span>a</span></div><div class="c x42 y75 w2 h1b"><div class="t m0 x6a h1c y76 ff6 fs7 fc0 sc0 ls9 ws2">u</div></div><div class="c x3c y75 w3 h1b"><div class="t m0 x6a h1c y76 ff6 fs7 fc0 sc0 ls9 ws2">u</div></div><div class="c x5d y75 w4 h1b"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 ls9 ws2">u</div></div><div class="t m0 x1b h2 y74 ff5 fs0 fc0 sc0 ls3 ws2">定子相绕组电压<span class="_ _f"></span><span class="ff1 lsd1">(<span class="ls2a">V<span class="_ _0"></span><span class="lsd1">)</span></span></span></div><div class="t m0 x6c h1a y75 ff6 fs3 fc0 sc0 lsd0 ws2">c<span class="_ _1c"></span><span class="ls3">b<span class="_ _1d"></span>a</span></div><div class="c x27 y75 w5 h1b"><div class="t m0 x6d h1d y76 ff6 fsc fc0 sc0 lsd2 ws2">i</div></div><div class="c x6e y75 w6 h1b"><div class="t m0 x6d h1d y76 ff6 fsc fc0 sc0 lsd2 ws2">i</div></div><div class="c x6f y75 w7 h1b"><div class="t m0 x6b h1d y76 ff6 fsc fc0 sc0 lsd2 ws2">i</div></div><div class="t m0 x1 h2 y77 ff5 fs0 fc0 sc0 lsd3 ws2">定子相绕组电流<span class="_ _1"></span><span class="ff1 lsd1">(<span class="ls2a">A<span class="_ _0"></span><span class="lsd1">)</span></span></span></div><div class="t m0 x70 h1e y78 ff6 fsd fc0 sc0 lsd4 ws2">c<span class="_ _1e"></span><span class="ls9">b<span class="_ _1e"></span>a</span></div><div class="t m0 x15 h1d y79 ff6 fsc fc0 sc0 lsd5 ws2">e<span class="_ _14"></span>e<span class="_ _14"></span>e</div><div class="t m0 x71 ha y77 ff5 fs0 fc0 sc0 lsd6 ws2">定子相绕组电动势</div><div class="t m0 x1 h2 y7a ff1 fs0 fc0 sc0 lsd1 ws2">(<span class="ls2a">V<span class="_ _0"></span><span class="lsd1">)<span class="_ _2"> </span><span class="ff6 lsd7">L<span class="_ _2"> </span><span class="ff5 lsd8">每相绕组的自感</span></span>(<span class="ls2a">H<span class="_ _0"></span><span class="lsd1">)<span class="_ _2"> </span><span class="ff6 lsd9">M<span class="_ _1f"> </span><span class="ff5 lsda">每两相绕组间的互感</span></span></span></span></span></span></div><div class="t m0 x1 h2 y7b ff1 fs0 fc0 sc0 lsd1 ws2">(<span class="ls2a">H<span class="_ _0"></span><span class="lsd1">)<span class="_ _a"> </span><span class="ff6 ls9">p<span class="_ _3"> </span><span class="ff5 lsdb">微分算子</span></span></span></span></div><div class="t m0 x1c h1f y7c ff6 fse fc0 sc0 lsdc ws2">dt<span class="_ _20"></span><span class="ls3">d<span class="_ _1d"></span>p<span class="_ _4"> </span><span class="ff8 lsdd">=</span></span></div><div class="t m0 x4e ha y7b ff5 fs0 fc0 sc0 lsde ws2">一相方波电流和梯形波反电</div><div class="t m0 x1 h2 y7d ff5 fs0 fc0 sc0 ls3 ws2">动势如图<span class="_ _c"> </span><span class="ff1 ls9">1<span class="_ _5"></span></span><span class="ls9b">所示</span></div><div class="t m0 x66 h20 y7e ff9 fs3 fc0 sc0 lsdf ws2">120</div><div class="c x43 y7f w8 h21"><div class="t m0 x0 h22 y80 ff8 fsf fc0 sc0 lse0 ws2">ο</div></div><div class="t m0 x72 h23 y81 ffa fs3 fc0 sc0 lse1 ws2">E</div><div class="t m0 x73 h23 y82 ffa fs3 fc0 sc0 lse2 ws2">I</div><div class="t m0 x1c h23 y83 ffa fs3 fc0 sc0 lse3 ws2">i<span class="ff9 fs5 lscc">a</span></div><div class="t m0 x3d h23 y84 ffa fs3 fc0 sc0 lse4 ws2">e</div><div class="t m0 x58 h24 y85 ff9 fs5 fc0 sc0 lscc ws2">a</div><div class="t m0 x74 h23 y86 ff9 fs3 fc0 sc0 lse4 ws2">n<span class="_ _21"> </span><span class="lse5">2n<span class="_ _22"> </span><span class="ffa ls91">wt</span></span></div><div class="t m0 x5c h8 y87 ff5 fs4 fc0 sc0 ls3 ws2">图<span class="_ _e"> </span><span class="ff1">1 </span><span class="ls19">一相方波电流和梯形波反电动势波形</span></div><div class="t m0 x36 ha y88 ff5 fs0 fc0 sc0 ls18 ws2">三相绕组为星形连接<span class="_ _6"> </span><span class="ls9f">且没有中线<span class="_ _3"> </span><span class="ls3">则有</span></span></div><div class="t m0 x75 h1f y27 ff1 fse fc0 sc0 ls3 ws2">0<span class="_ _23"></span><span class="ff8 lsdd">=<span class="_ _16"></span>+<span class="_ _24"></span>+</span></div><div class="t m0 x65 h25 y89 ff6 fs10 fc0 sc0 lsb ws2">c<span class="_ _25"></span><span class="ls3">b<span class="_ _26"></span>a</span></div><div class="t m0 x76 h26 y27 ff6 fse fc0 sc0 lse6 ws2">i<span class="_ _27"></span>i<span class="_ _1c"></span>i</div><div class="t m0 x1c h2 y8a ff1 fs0 fc0 sc0 ls3 ws54"> <span class="_ _0"></span><span class="ws2"> <span class="ls79">(2)</span></span></div><div class="t m0 x1 ha y8b ff5 fs0 fc0 sc0 ls3 ws2">并且</div><div class="t m0 x77 h17 y8c ff6 fs9 fc0 sc0 ls9 ws2">a<span class="_ _28"></span><span class="lsca">c<span class="_ _1b"></span><span class="ls9">b</span></span></div><div class="t m0 x78 h27 y29 ff6 fs0 fc0 sc0 lse7 ws2">Mi<span class="_ _29"></span>Mi<span class="_ _2a"></span>Mi<span class="_ _2b"> </span><span class="ff8 lse8">−<span class="_ _2c"></span>=<span class="_ _2d"></span>+</span></div><div class="t m0 x58 h2 y8d ff1 fs0 fc0 sc0 ls3 ws55"> <span class="_ _1"></span><span class="ws4d"> <span class="_ _0"></span><span class="ws56"> <span class="ls79 ws2">(3)</span></span></span></div><div class="t m0 x1 h2 y8e ff5 fs0 fc0 sc0 ls3 ws2">将式<span class="_"> </span><span class="ff1 ls9">2<span class="_ _6"> </span></span>和式<span class="_"> </span><span class="ff1 ls9">3<span class="_ _6"> </span></span><span class="lse">代入式<span class="_"> </span><span class="ff1 ls9">1<span class="_ _2e"> </span></span><span class="ls1a">得到电压方程为</span></span></div><div class="t m0 x6c h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x6c h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x6c h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x6c h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x6c h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x69 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x69 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x69 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x69 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x69 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x34 h16 y93 ff8 fsb fc0 sc0 lsc9 ws2">+</div><div class="t m0 x79 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x79 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x79 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x79 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x79 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x2 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x3a h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x3a h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x3a h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x3a h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x3a h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 xf h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 xf h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 xf h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 xf h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 xf h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7a h16 y94 ff8 fsb fc0 sc0 lsc9 ws2">−</div><div class="t m0 x1f h16 y93 ff8 fsb fc0 sc0 lsc9 ws2">−</div><div class="t m0 x7b h16 y95 ff8 fsb fc0 sc0 lsc9 ws2">−</div><div class="t m0 x7c h16 y93 ff8 fsb fc0 sc0 lsc9 ws2">+</div><div class="t m0 x76 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x76 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x76 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x76 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x76 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x66 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x66 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x66 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x66 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x66 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7d h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7d h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7d h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7d h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7d h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7e h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7e h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7e h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7e h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7e h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x7f h16 y93 ff8 fsb fc0 sc0 lsc9 ws2">=</div><div class="t m0 x36 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x36 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x36 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x36 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x36 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x80 h16 y8f ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x80 h16 y90 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x80 h16 y2d ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x80 h16 y91 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x80 h16 y92 ff8 fsb fc0 sc0 lsc8 ws2"></div><div class="t m0 x81 h17 y91 ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x81 h17 y96 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x81 h17 y4a ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x54 h17 y91 ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x54 h17 y96 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x54 h17 y4a ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x73 h17 y91 ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x73 h17 y96 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x73 h17 y4a ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x82 h17 y91 ff6 fs9 fc0 sc0 lsca ws2">c</div><div class="t m0 x82 h17 y96 ff6 fs9 fc0 sc0 ls9 ws2">b</div><div class="t m0 x82 h17 y4a ff6 fs9 fc0 sc0 ls9 ws2">a</div><div class="t m0 x35 h18 y94 ff6 fsb fc0 sc0 lscb ws2">e</div><div class="t m0 x35 h18 y93 ff6 fsb fc0 sc0 lscb ws2">e</div><div class="t m0 x35 h18 y95 ff6 fsb fc0 sc0 lscb ws2">e</div><div class="t m0 x83 h18 y94 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x83 h18 y93 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x83 h18 y95 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x6f h18 y93 ff6 fsb fc0 sc0 ls3 ws2">p</div><div class="t m0 x84 h18 y94 ff6 fsb fc0 sc0 lsce ws2">M<span class="_ _1d"></span><span class="lscd">L</span></div><div class="t m0 x16 h18 y93 ff6 fsb fc0 sc0 lsce ws2">M<span class="_ _1d"></span><span class="lscd">L</span></div><div class="t m0 x77 h18 y95 ff6 fsb fc0 sc0 lsce ws2">M<span class="_ _2f"></span><span class="lscd">L</span></div><div class="t m0 x85 h18 y94 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x85 h18 y93 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x85 h18 y95 ff6 fsb fc0 sc0 lscc ws2">i</div><div class="t m0 x3f h18 y94 ff6 fsb fc0 sc0 lscf ws2">r</div><div class="t m0 x86 h18 y93 ff6 fsb fc0 sc0 lscf ws2">r</div><div class="t m0 x3b h18 y95 ff6 fsb fc0 sc0 lscf ws2">r</div><div class="t m0 x4c h18 y94 ff6 fsb fc0 sc0 ls3 ws2">u</div><div class="t m0 x4c h18 y93 ff6 fsb fc0 sc0 ls3 ws2">u</div><div class="t m0 x4c h18 y95 ff6 fsb fc0 sc0 ls3 ws2">u</div><div class="t m0 x87 h19 y94 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _30"></span>0</div><div class="t m0 x88 h19 y93 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _31"></span>0</div><div class="t m0 x88 h19 y95 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _30"></span>0</div><div class="t m0 x86 h19 y94 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _17"></span>0</div><div class="t m0 x3f h19 y93 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _18"></span>0</div><div class="t m0 x3f h19 y95 ff1 fsb fc0 sc0 ls3 ws2">0<span class="_ _19"></span>0</div><div class="t m0 x89 h2 y97 ff1 fs0 fc0 sc0 ls79 ws2">(4)</div><div class="t m0 x2f h2 y98 ff5 fs0 fc0 sc0 lse9 ws2">根据电压方程式<span class="_ _1"></span><span class="ff1 lsd1">(<span class="_ _0"></span><span class="ls9">4<span class="_ _b"></span><span class="lsd1">)<span class="_ _0"></span><span class="ff5 lsea">可得电机的等效电路图<span class="_ _8"> </span><span class="ls9b">如图<span class="_ _e"> </span><span class="ff1 ls9">2<span class="_ _1"></span></span>所示</span></span></span></span></span></div><div class="t m0 x7f h3 y99 ffb fs1 fc0 sc0 ls3 ws2">ｕ<span class="ff5 fs3">ａ</span></div><div class="t m0 x7f h3 y9a ffb fs1 fc0 sc0 ls3 ws2">ｕ<span class="ff5 fs3">ｂ</span></div><div class="t m0 x7f h3 y9b ffb fs1 fc0 sc0 ls3 ws2">ｕ<span class="ff5 fs3">ｃ</span></div><div class="t m0 x2c h3 y9c ffb fs1 fc0 sc0 ls3 ws2">ｉ<span class="ff5 fs3">ａ</span></div><div class="t m0 x2c h3 y9d ffb fs1 fc0 sc0 ls3 ws2">ｉ<span class="ff5 fs3">ｂ</span></div><div class="t m0 x2c h3 y9e ffb fs1 fc0 sc0 ls3 ws2">ｉ<span class="ff5 fs3">ｃ</span></div><div class="t m0 x67 h3 y4e ffb fs1 fc0 sc0 ls3 ws2">ｒ</div><div class="t m0 x67 h3 y9d ffb fs1 fc0 sc0 ls3 ws2">ｒ</div><div class="t m0 x67 h3 y9f ffb fs1 fc0 sc0 ls3 ws2">ｒ</div><div class="c x1a ya0 w9 h28"><div class="t m0 x6a h3 ya1 ffb fs1 fc0 sc0 ls3 ws2"><span class="fc2 sc0">Ｌ－Ｍ</span></div></div><div class="t m0 x7b h3 y50 ffb fs1 fc0 sc0 ls3 ws2">Ｌ－Ｍ</div><div class="t m0 x7b h3 y9e ffb fs1 fc0 sc0 ls3 ws2"><span class="fc2 sc0">Ｌ－</span>Ｍ</div><div class="t m0 x54 h3 ya2 ffb fs1 fc0 sc0 ls3 ws2">ｅ<span class="ff5 fs3">ａ</span></div><div class="t m0 x10 h3 ya3 ffb fs1 fc0 sc0 ls3 ws2">ｅ<span class="ff5 fs3">ｂ<span class="_ _32"> </span></span>ｅ<span class="ff5 fs3">ｃ</span></div><div class="t m0 x8a h8 ya4 ff5 fs4 fc0 sc0 ls3 ws2">图<span class="_ _e"> </span><span class="ff1">2 </span><span class="lseb">永磁无刷直流电机等效电路图</span></div><div class="t m0 x2f ha ya5 ff5 fs0 fc0 sc0 lsec ws2">永磁无刷直流电动机的电磁转矩是由定子绕组中的电</div><div class="t m0 x1 ha ya6 ff5 fs0 fc0 sc0 lsed ws2">流与转子磁钢产生的磁场相互作用而产生的<span class="_ _3"> </span><span class="ls84">定子绕组产</span></div><div class="t m0 x1 ha ya7 ff5 fs0 fc0 sc0 lsc6 ws2">生的电磁转矩表达式为</div><div class="t m0 x8b h29 ya8 ff1 fse fc0 sc0 lsee ws2">)<span class="_ _33"></span>(</div><div class="t m0 x14 h29 ya9 ff1 fse fc0 sc0 ls3 ws2">1</div><div class="t m0 x8c h25 yaa ff6 fs10 fc0 sc0 lsb ws2">c<span class="_ _34"></span>c<span class="_ _35"></span><span class="ls3">b<span class="_ _36"></span>b<span class="_ _15"></span>a<span class="_ _36"></span>a<span class="_ _37"></span><span class="lsb">e</span></span></div><div class="t m0 x8d h1f ya8 ff6 fse fc0 sc0 lse6 ws2">i<span class="_ _38"></span><span class="lsef">e<span class="_ _14"></span><span class="lse6">i<span class="_ _2c"></span><span class="lsef">e<span class="_ _14"></span><span class="lse6">i<span class="_ _2c"></span><span class="lsef">e<span class="_ _39"></span><span class="lsf0">T<span class="_ _3a"> </span><span class="ff8 lsdd">+<span class="_ _3b"></span>+<span class="_ _3c"></span>=</span></span></span></span></span></span></span></div><div class="t m0 x8e h2a yab ffc fse fc0 sc0 lsf1 ws2">ω</div><div class="t m0 x8f h2 yac ff1 fs0 fc0 sc0 ls3 ws4"> <span class="ws57"> <span class="_ _1"></span><span class="ws4e"> <span class="_ _1"></span><span class="ls79 ws2">(5)</span></span></span></div><div class="t m0 x20 h2 yad ff5 fs0 fc0 sc0 ls3 ws2">由<span class="ff1 lsd1">(<span class="ls9">5<span class="_ _0"></span><span class="lsd1">)<span class="ff5 lsdb">式可看出<span class="_ _6"> </span><span class="lsf2">无刷直流电动机的电磁转矩方程与普</span></span></span></span></span></div><div class="t m0 x44 ha yae ff5 fs0 fc0 sc0 ls3d ws2">通直流电动机相似<span class="_ _3"> </span><span class="lsf3">其电磁转矩大小与磁通和电流幅值成</span></div><div class="t m0 x44 ha yaf ff5 fs0 fc0 sc0 ls3 ws2">正比<span class="_ _3"> </span><span class="lsbc">所以控制逆变器输出方波电流的幅值即可控制无刷</span></div><div class="t m0 x44 ha yb0 ff5 fs0 fc0 sc0 ls3d ws2">直流电动机的转矩<span class="_ _3"> </span><span class="ls1c">为产生恒定的电磁转矩<span class="_ _3"> </span><span class="ls84">要求定子电</span></span></div><div class="t m0 x44 ha yb1 ff5 fs0 fc0 sc0 ls3d ws2">流为方波<span class="_ _3"> </span><span class="ls81">反电动势为梯形波<span class="_ _6"> </span></span>且在每半个周期内<span class="_"> </span><span class="ls91">方波</span></div><div class="t m0 x44 h2 yb2 ff5 fs0 fc0 sc0 ls3 ws2">电流的持续时间为<span class="_ _11"> </span><span class="ff1 ls9b">120°<span class="_ _1"></span></span><span class="ls7b">电角度<span class="_ _6"> </span><span class="lsbf">梯形波反电动势的平顶部</span></span></div><div class="t m0 x44 h2 yb3 ff5 fs0 fc0 sc0 ls3 ws2">分也为<span class="_ _11"> </span><span class="ff1 ls9b">120°<span class="_ _1"></span></span><span class="ls7b">电角度<span class="_ _6"> </span><span class="lsbe">两者应严格同步<span class="_ _8"> </span></span></span>由于在任何时刻</div><div class="t m0 x44 ha yb4 ff5 fs0 fc0 sc0 ls14 ws2">定子只有两相导通<span class="_"> </span><span class="ls3">则</span></div><div class="t m0 x20 ha yb5 ff5 fs0 fc0 sc0 ls14 ws2">电磁功率可表示为</div><div class="t m0 x8c h17 yb6 ff6 fs9 fc0 sc0 lsf4 ws2">s<span class="_ _3d"></span>s<span class="_ _3e"></span><span class="lsca">c<span class="_ _3f"></span>c<span class="_ _26"></span><span class="ls9">b<span class="_ _40"></span>b<span class="_ _1c"></span>a<span class="_ _3d"></span>a<span class="_ _1d"></span><span class="lsca">e</span></span></span></div><div class="t m0 x8d h27 y10 ff6 fs0 fc0 sc0 lsd1 ws2">I<span class="_ _2c"></span><span class="ls56">E<span class="_ _41"></span><span class="ls71">i<span class="_ _34"></span><span class="ls66">e<span class="_ _26"></span><span class="ls71">i<span class="_ _34"></span><span class="ls66">e<span class="_ _26"></span><span class="ls71">i<span class="_ _36"></span><span class="ls66">e<span class="_ _1e"></span><span class="ls56">P<span class="_ _3a"> </span><span class="ff1 ls9">2<span class="_ _2c"></span><span class="ff8 lse8">=<span class="_ _42"></span>+<span class="_ _42"></span>+<span class="_ _43"></span>=</span></span></span></span></span></span></span></span></span></span></div><div class="t m0 x90 h2 yb7 ff1 fs0 fc0 sc0 ls79 ws58"> (6)</div><div class="t m0 x20 ha yb8 ff5 fs0 fc0 sc0 ls18 ws2">电磁转矩又可表示为</div><div class="t m0 x45 h2b yb9 ffc fs0 fc0 sc0 lsf5 ws2">ω<span class="_ _44"></span>ω<span class="_ _45"> </span><span class="ff1 ls71">/<span class="_ _46"></span><span class="ls9">2<span class="_ _1a"></span><span class="ls71">/</span></span></span></div><div class="t m0 x91 h17 y69 ff6 fs9 fc0 sc0 lsf4 ws2">s<span class="_ _3d"></span>s<span class="_ _47"></span><span class="lsca">e<span class="_ _1d"></span>e</span></div><div class="t m0 x2a h27 yb9 ff6 fs0 fc0 sc0 lsd1 ws2">I<span class="_ _2c"></span><span class="ls56">E<span class="_ _48"></span>P<span class="_ _15"></span><span class="lsd7">T<span class="_ _49"> </span><span class="ff8 lse8">=<span class="_ _4a"></span>=</span></span></span></div><div class="t m0 x22 h2 yba ff1 fs0 fc0 sc0 ls3 ws4"> <span class="ws59"> <span class="_ _0"></span><span class="ws9"> <span class="ls79 ws2">(7)</span></span></span></div><div class="t m0 x20 ha ybb ff5 fs0 fc0 sc0 ls3 ws2">运动方程</div><div class="t m0 x8d h2c ybc ffd fse fc0 sc0 lsf6 ws2">ù</div><div class="c x92 ybd wa h2d"><div class="t m0 x93 h29 ybe ff1 fse fc0 sc0 lsdc ws2">dt</div></div><div class="t m0 x91 h2c ybf ff1 fse fc0 sc0 ls3 ws2">d<span class="ffd lsf6">ù</span></div><div class="t m0 x46 h26 ybc ff6 fse fc0 sc0 ls61 ws2">JP<span class="_ _37"></span><span class="lsef">J<span class="_ _43"></span><span class="lsf7">B<span class="_ _1b"></span><span class="lsf0">T<span class="_ _4b"></span>T</span></span></span></div><div class="t m0 x14 h25 y15 ff6 fs10 fc0 sc0 lsf8 ws2">L<span class="_ _24"></span><span class="lsb">e</span></div><div class="t m0 x94 h1f ybc ff8 fse fc0 sc0 lsdd ws2">=<span class="_ _4c"></span>=<span class="_ _18"></span>−<span class="_ _14"></span>−<span class="_ _4d"> </span><span class="ffc lsf1">ω</span></div><div class="t m0 x90 h2 y6f ff1 fs0 fc0 sc0 ls3 ws5a"> <span class="ws5b"> <span class="ws17"> <span class="_ _1"></span><span class="ls79 ws2">(8)</span></span></span></div><div class="t m0 x44 ha yc0 ff5 fs0 fc0 sc0 ls3 ws2">其中</div><div class="t m0 x95 h25 yc1 ff6 fs10 fc0 sc0 lsb ws2">e</div><div class="t m0 x96 h2e yc2 ff6 fs11 fc0 sc0 lsf9 ws2">T</div><div class="t m0 x8e ha yc0 ff5 fs0 fc0 sc0 ls3d ws2">电磁转矩</div><div class="t m0 x45 h25 yc1 ff6 fs10 fc0 sc0 lsf8 ws2">L</div><div class="t m0 x97 h2e yc2 ff6 fs11 fc0 sc0 lsf9 ws2">T</div><div class="t m0 x98 h2f yc0 ff5 fs0 fc0 sc0 ls9 ws2">负载转矩<span class="_ _8"> </span><span class="ff6 ls56">B<span class="_ _4e"> </span></span><span class="ls7b">阻尼系</span></div><div class="t m0 x44 ha yc3 ff5 fs0 fc0 sc0 ls3 ws2">数</div><div class="c x20 yc4 wb h28"><div class="t m0 x6b h30 yc5 ffc fs1 fc0 sc0 lsfa ws2">ω</div></div><div class="t m0 x99 h2f yc3 ff5 fs0 fc0 sc0 lsc ws2">电机机械转速<span class="_ _6"> </span><span class="ff6 ls66">J<span class="_ _4f"> </span></span><span class="ls8b">电机的转动惯量</span></div><div class="t m0 x44 hf yc6 ff3 fs7 fc0 sc0 ls9 ws2">2<span class="ls3 ws22"> </span></div><div class="t m4 x9a he yc6 ff2 fs7 fc0 sc0 ls76 ws2">基于</div><div class="t m0 x9b hf yc6 ff3 fs7 fc0 sc0 lsfb ws2">MATLAB</div><div class="t m4 x9c he yc6 ff2 fs7 fc0 sc0 ls76 ws2">的</div><div class="t m0 x9d hf yc6 ff3 fs7 fc0 sc0 lsfc ws2">BLDC</div><div class="t m4 x90 he yc6 ff2 fs7 fc0 sc0 lsfd ws2">系统模型的建立</div><div class="t m0 x20 h2 yc7 ff5 fs0 fc0 sc0 ls3 ws2">在<span class="_ _4"> </span><span class="ff1 ls92">Matlab6.5<span class="_ _5"></span></span>的<span class="_ _c"> </span><span class="ff1 lsad">Simulink<span class="_ _4"> </span></span><span class="ls7a">环境下<span class="_ _a"> </span><span class="ls9b">利用<span class="_ _7"> </span><span class="ff1 lsfe">SimPowe<span class="lsff">rSystem</span></span></span></span></div><div class="t m0 x44 h2 yc8 ff1 fs0 fc0 sc0 ls100 ws2">Toolbox2.3<span class="_ _4"> </span><span class="ff5 ls3">丰富的模块库<span class="_"> </span><span class="ls7a">在分析<span class="_ _13"> </span></span></span><span class="ls13">BLDC<span class="_ _11"> </span><span class="ff5 ls101">数学模型的基础</span></span></div><div class="t m0 x44 h2 yc9 ff5 fs0 fc0 sc0 ls3 ws2">上<span class="_"> </span><span class="ls9f">提出了建立<span class="_ _13"> </span><span class="ff1 ls13">BLDC<span class="_ _11"> </span></span><span class="ls20">控制系统仿真模型的方法<span class="_"> </span><span class="ls7b">系统设</span></span></span></div><div class="t m0 x44 h2 yca ff5 fs0 fc0 sc0 ls3 ws2">计框图如图<span class="_ _c"> </span><span class="ff1 ls9">3<span class="_ _f"></span></span>所示</div><div class="c x9e ycb wc h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls102 ws2"><span class="fc2 sc0">电压</span><span class="ls103"><span class="fc2 sc0">逆</span><span class="ls104"><span class="fc2 sc0">变器</span></span></span></div></div><div class="c xa0 ycd wd h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls105 ws2"><span class="fc2 sc0">无</span><span class="ls106"><span class="fc2 sc0">刷直</span></span></div></div><div class="c xa0 yce wd h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls105 ws2"><span class="fc2 sc0">流</span><span class="ls106"><span class="fc2 sc0">电动</span></span></div></div><div class="t m0 xa1 h32 ycf ff5 fs10 fc0 sc0 ls3 ws2"><span class="fc2 sc0">机</span></div><div class="c xa2 ycb we h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls105 ws2"><span class="fc2 sc0">电</span><span class="ls9b"><span class="fc2 sc0">流</span><span class="ls107"><span class="fc2 sc0">测量</span></span></span></div></div><div class="c xa3 yd0 wf h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls108 ws2"><span class="fc2 sc0">电流滞</span><span class="ls109"><span class="fc2 sc0">环</span><span class="ls10a"><span class="fc2 sc0">控</span><span class="ls10b"><span class="fc2 sc0">制</span>器</span></span></span></div></div><div class="c x99 yd1 w10 h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls10c ws2">开　关<span class="ls10d ws5c">　<span class="_ _50"></span>信<span class="ls10e ws2"><span class="fc2 sc0">　</span><span class="fc2 sc0">号</span></span></span></div></div><div class="c xa4 yd2 w11 h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls102 ws2"><span class="fc2 sc0">每相</span><span class="ls3"><span class="fc2 sc0">参</span><span class="ls10f"><span class="fc2 sc0">考</span><span class="ls110"><span class="fc2 sc0">电流</span></span></span></span></div></div><div class="c xa5 yd3 w12 h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls102 ws2"><span class="fc2 sc0">速度</span><span class="ls103"><span class="fc2 sc0">控</span><span class="ls104"><span class="fc2 sc0">制器</span></span></span></div></div><div class="c xa6 yd2 w13 h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls105 ws2"><span class="fc2 sc0">位</span><span class="ls9b"><span class="fc2 sc0">置</span><span class="ls107"><span class="fc2 sc0">计算</span></span></span></div></div><div class="t m0 xa7 h24 yd4 ff9 fs5 fc0 sc0 ls111 ws2">A</div><div class="t m0 xa5 h32 yd5 ff5 fs10 fc0 sc0 ls3 ws2">相</div><div class="t m0 xa8 h24 yd4 ff9 fs5 fc0 sc0 ls111 ws2">B</div><div class="t m0 xa9 h32 yd5 ff5 fs10 fc0 sc0 ls3 ws2">相</div><div class="t m0 xaa h24 yd4 ff9 fs5 fc0 sc0 ls112 ws2">C</div><div class="t m0 xab h32 yd5 ff5 fs10 fc0 sc0 ls3 ws2">相</div><div class="t m0 xa4 h33 y28 ffb fs8 fc0 sc0 lsa ws2">Ｉａｒ<span class="_ _1"></span>Ｉｂｒ<span class="_ _1"></span>Ｉｃｒ</div><div class="c x28 yd6 w14 h31"><div class="t m0 x9f h32 ycc ff5 fs10 fc0 sc0 ls105 ws2"><span class="fc2 sc0">参</span><span class="ls9b"><span class="fc2 sc0">考</span><span class="ls107"><span class="fc2 sc0">速度</span></span></span></div></div><div class="t m0 xa8 h34 yd7 ffa fs10 fc0 sc0 ls113 ws2">Is</div><div class="t m0 x49 h35 y8d ffa fs10 fc0 sc0 lsb ws2">W<span class="_ _51"></span><span class="ffb fsb ls3">θ</span></div><div class="t m0 x45 h34 yd8 ffa fs10 fc0 sc0 lsb ws2">W</div><div class="t m0 xa6 h34 yd9 ffa fs10 fc0 sc0 ls114 ws2">I<span class="lsf8">a</span></div><div class="t m0 xa6 h34 yda ffa fs10 fc0 sc0 ls115 ws2">Ib</div><div class="t m0 xa6 h34 ydb ffa fs10 fc0 sc0 ls113 ws2">Ic</div><div class="t m0 x18 h34 ydc ffa fs10 fc0 sc0 lscc ws2">V<span class="_ _b"></span><span class="fsf ls116">DC</span></div><div class="t m0 xac h8 ydd ff5 fs4 fc0 sc0 ls3 ws2">图<span class="_ _e"> </span><span class="ff1">3 <span class="ls117 ws5d"> BLDC<span class="_"> </span></span></span><span class="ls118">控制系统仿真建模组成框图</span></div><div class="t m0 x20 h2 yde ff5 fs0 fc0 sc0 ls3 ws2">如图<span class="_ _11"> </span><span class="ff1 ls9">3<span class="_ _4"> </span></span><span class="ls91">所示<span class="_ _6"> </span><span class="ff1 ls13">BLDC<span class="_ _12"> </span></span><span class="ls101">建模仿真系统采用双闭环控制方</span></span></div><div class="t m0 x44 h2 ydf ff5 fs0 fc0 sc0 ls3 ws2">案<span class="_"> </span>转速环由<span class="_ _7"> </span><span class="ff1 ls1d">PI<span class="_"> </span></span><span class="ls9f">调节器构成<span class="_ _3"> </span><span class="lse">电流环由电流滞环调节器构</span></span></div><div class="t m0 x44 h2 ye0 ff5 fs0 fc0 sc0 ls3 ws2">成<span class="_"> </span>根据模块化建模的思想<span class="_ _3"> </span><span class="ls9b">将图<span class="_ _13"> </span><span class="ff1 ls9">3<span class="_ _7"> </span></span><span class="ls12">所示的控制系统分割</span></span></div><div class="t m0 x44 h2 ye1 ff5 fs0 fc0 sc0 lsac ws2">为各个功能独立的子模块<span class="_ _3"> </span><span class="ls3">图<span class="_ _12"> </span><span class="ff1 ls9">4<span class="_ _e"> </span></span>即为<span class="_ _12"> </span><span class="ff1 ls13">BLDC<span class="_ _12"> </span></span><span class="lsc">建模的整体控</span></span></div><div class="t m0 x44 h2 ye2 ff5 fs0 fc0 sc0 ls93 ws2">制框图<span class="_ _a"> </span><span class="lsa">其中主要包括<span class="_ _3"> </span><span class="ff1 ls13">BLDC<span class="_ _12"> </span></span><span class="lsdb">本体模块<span class="_ _a"> </span></span>电流滞环控制</span></div><div class="t m0 x44 ha y37 ff5 fs0 fc0 sc0 ls3 ws2">模块<span class="_ _3"> </span><span class="ls9">速度控制模块<span class="_ _6"> </span><span class="lsa">参考电流模块<span class="_ _3"> </span><span class="ls81">转矩计算模块和电</span></span></span></div><div class="t m0 x44 ha y38 ff5 fs0 fc0 sc0 ls119 ws2">压逆变模块<span class="_ _a"> </span><span class="ls11a">通过这些功能模块的有机整合<span class="_ _52"> </span><span class="ls11b">就可在</span></span></div><div class="t m0 x44 h2 ye3 ff1 fs0 fc0 sc0 ls11c ws2">Matlab/<span class="_ _0"></span><span class="ls11d">Simulink<span class="_ _7"> </span><span class="ff5 ls3">中搭建出<span class="_ _11"> </span></span><span class="ls13">BLDC<span class="_ _12"> </span><span class="ff5 ls18">控制系统的仿真模型<span class="_"> </span><span class="ls3">并</span></span></span></span></div><div class="t m0 x44 h2 ye4 ff5 fs0 fc0 sc0 ls11e ws2">实现双闭环的控制算法<span class="_ _6"> </span><span class="ls91">如图<span class="_ _12"> </span><span class="ff1 ls9">4<span class="_"> </span></span><span class="ls3">所示<span class="_ _3"> </span><span class="ls77">图中各功能模块的</span></span></span></div><div class="t m0 x44 ha ye5 ff5 fs0 fc0 sc0 ls18 ws2">作用与结构简述如下</div><div class="t m0 xac h13 ye6 ff5 fs4 fc0 sc0 ls9f ws2">电压逆变器</div><div class="t m0 xad h13 ye7 ff5 fs4 fc0 sc0 ls3 ws2">电流滞环</div><div class="t m0 x8e h13 ye8 ff5 fs4 fc0 sc0 ls3 ws2">控制器</div><div class="t m0 x48 h13 ye9 ff5 fs4 fc0 sc0 ls3 ws2">电流</div><div class="t m0 x48 h13 yea ff5 fs4 fc0 sc0 ls3 ws2">测量</div><div class="c xac yeb w15 h36"><div class="t m0 xae h13 yec ff5 fs4 fc0 sc0 ls3 ws2">每相参考</div></div><div class="t m0 xa8 h13 yed ff5 fs4 fc0 sc0 ls3 ws2">电流</div><div class="t m0 xaf h13 y29 ff5 fs4 fc0 sc0 ls9b ws2">位置计算</div><div class="t m0 xb0 h37 yee ff5 fs3 fc0 sc0 ls9b ws2">无刷</div><div class="t m0 xb0 h37 yef ff5 fs3 fc0 sc0 ls9b ws2">直流</div><div class="t m0 xb1 h37 yf0 ff5 fs3 fc0 sc0 ls11f ws2">电动机</div><div class="t m0 xb2 h13 yf1 ff5 fs4 fc0 sc0 ls9b ws2">参考速度</div><div class="t m0 xac h13 yf2 ff5 fs4 fc0 sc0 ls9b ws2">速度控制器</div><div class="t m0 x59 h38 yf3 ff6 fs4 fc0 sc0 ls120 ws2">L<span class="_ _53"> </span><span class="lsb">M</span></div><div class="t m0 x59 h38 yf4 ff6 fs4 fc0 sc0 ls120 ws2">L<span class="_ _53"> </span><span class="lsb">M</span></div><div class="t m0 x78 h38 yf5 ff6 fs4 fc0 sc0 ls120 ws2">L<span class="_ _53"> </span><span class="lsb">M</span></div><div class="t m0 x4a h15 y58 ff7 fsa fc0 sc0 ls3 ws2"><span class="fc2 sc0">万方数据</span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625b278792dc900e62047ca4/bg3.jpg"><div class="t m0 x1 h2 y59 ff1 fs0 fc0 sc0 ls0 ws0">Vol. 15 No. <span class="ls1 ws2">12</span></div><div class="t m0 x1 h2 y5a ff1 fs0 fc0 sc0 ls121 ws2">De<span class="ls122 ws5e">c. <span class="ls3 ws4"> <span class="ls1 ws5f"> 2003 <span class="_ _1"></span></span><span class="ws60"> <span class="_ _0"></span><span class="ws4"> <span class="_ _0"></span><span class="ff5 ws2">纪志成<span class="ff1 lsf">, <span class="_ _1"></span></span>等<span class="_ _6"> </span>基于<span class="_ _c"> </span><span class="ff1 lsa6">Matlab<span class="_ _c"> </span></span><span class="ls123">无刷直流电机系统仿真建模的新方法</span></span></span></span></span></span></div><div class="t m0 xb3 h2 yf6 ff1 fs0 fc0 sc0 ls1 ws2">1747</div><div class="t m0 x71 h8 yf7 ff5 fs4 fc0 sc0 ls3 ws2">图<span class="_ _e"> </span><span class="ff1">4 <span class="ls124">Matlab/<span class="ls114">Simulink<span class="_"> </span></span></span></span>中<span class="_ _e"> </span><span class="ff1 ls125">BLDC<span class="_ _e"> </span></span><span class="ls7c">仿真建模整体控制框图</span></div><div class="t m0 x1 h4 yf8 ff3 fs1 fc0 sc0 ls126 ws61">2.1 BLDC</div><div class="t m1 xe h3 yf8 ff2 fs1 fc0 sc0 ls127 ws2">本体模块</div><div class="t m0 x36 h2 yf9 ff5 fs0 fc0 sc0 ls128 ws2">在整个控制系统的仿真模型中<span class="_"> </span><span class="ff1 ls13">BLDC<span class="_ _11"> </span></span><span class="ls9">本体模块是最</span></div><div class="t m0 x1 h2 yf1 ff5 fs0 fc0 sc0 ls3 ws2">重要的部分<span class="_ _6"> </span><span class="ls9f">该模块根据<span class="_ _12"> </span><span class="ff1 ls13">BLDC<span class="_ _12"> </span></span></span>电压方程式<span class="ff1 lsd1">(<span class="ls9">4<span class="_ _0"></span><span class="lsd1">)<span class="ff5 ls3">求取<span class="_ _12"> </span></span><span class="ls13">BLDC</span></span></span></span></div><div class="t m0 x1 h2 yfa ff5 fs0 fc0 sc0 lsb8 ws2">三相相电流<span class="_ _a"> </span><span class="ls129">控制框图如图<span class="_ _11"> </span><span class="ff1 ls9">5<span class="_ _7"> </span></span><span class="ls3">所示<span class="_ _2"> </span></span>由电压方程式<span class="ff1 ls79">(4)<span class="_ _1"></span></span><span class="ls3">可</span></span></div><div class="t m0 x1 ha y2e ff5 fs0 fc0 sc0 ls3 ws2">得<span class="_"> </span><span class="lsc6">要获得三相相电流信号</span></div><div class="t m0 xb4 h1a yfb ff6 fs3 fc0 sc0 ls3 ws2">a</div><div class="c x51 yfc w16 h39"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 ls12a ws2">i</div></div><div class="t m0 xb5 h1a yfb ff6 fs3 fc0 sc0 ls3 ws2">b</div><div class="c x1f yfc w17 h39"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 ls12a ws2">i</div></div><div class="t m0 xb6 h1a yfb ff6 fs3 fc0 sc0 lsd0 ws2">c</div><div class="c xb7 yfc w17 h39"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 ls12a ws2">i</div></div><div class="t m0 xb8 ha y2e ff5 fs0 fc0 sc0 ls101 ws2">必需首先求得三</div><div class="t m0 x1 ha yfd ff5 fs0 fc0 sc0 ls21 ws2">相反电动势信号</div><div class="t m0 xb9 h1a yfe ff6 fs3 fc0 sc0 ls3 ws2">a</div><div class="c x7d yff w18 h39"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 lsc6 ws2">e</div></div><div class="t m0 x64 h1a yfe ff6 fs3 fc0 sc0 ls3 ws2">b</div><div class="c x1a yff w19 h39"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 lsc6 ws2">e</div></div><div class="t m0 xb4 h1a yfe ff6 fs3 fc0 sc0 lsd0 ws2">c</div><div class="c x77 yff w19 h39"><div class="t m0 x6b h1c y76 ff6 fs7 fc0 sc0 lsc6 ws2">e</div></div><div class="t m0 x36 h2 y100 ff5 fs0 fc0 sc0 ls3 ws2">而<span class="_ _11"> </span><span class="ff1 ls13">BLDC<span class="_ _12"> </span></span>建模过程中<span class="_ _3"> </span>梯形波反电动势的求取方法一</div><div class="t m0 x1 ha y101 ff5 fs0 fc0 sc0 ls82 ws2">直是较难解决的问题<span class="_ _6"> </span><span class="ls7b">反电动势波形不理想会造成转矩脉</span></div><div class="t m0 x1 ha y102 ff5 fs0 fc0 sc0 ls93 ws2">动增大<span class="_ _a"> </span><span class="lsbf">相电流波形不理想等问题<span class="_ _3"> </span><span class="ls7b">严重时会导致换向失</span></span></div><div class="t m0 x1 h2 y103 ff5 fs0 fc0 sc0 ls3 ws2">败<span class="_"> </span><span class="lsdb">电机失控<span class="_ _6"> </span></span>因此<span class="_"> </span><span class="ls3d">获得理想的反电动势波形是<span class="_ _13"> </span><span class="ff1 ls13">BLDC</span></span></div><div class="t m0 x1 ha y104 ff5 fs0 fc0 sc0 lsac ws2">仿真建模的关键问题之一<span class="_ _3"> </span><span class="lsaf">目前求取反电动势较常用的三</span></div><div class="t m0 x1 h2 y105 ff5 fs0 fc0 sc0 ls9 ws2">种方法为<span class="_ _6"> </span><span class="ff1 ls79">(1)<span class="_ _1"></span></span><span class="ls3d">有限元法</span></div><div class="t m0 x1b h11 y106 ff1 fs9 fc0 sc0 ls86 ws2">[14]</div><div class="t m0 xba ha y105 ff5 fs0 fc0 sc0 lsa ws2">这种方法以变分原理为基础</div><div class="t m0 x1 ha y107 ff5 fs0 fc0 sc0 ls3d ws2">将电磁场理论与磁路等效模型相结合<span class="_ _3"> </span><span class="ls81">根据微分方程及边</span></div><div class="t m0 x1 ha y108 ff5 fs0 fc0 sc0 ls93 ws2">界条件<span class="_ _a"> </span><span class="ls77">求解有限元方程组<span class="_ _3"> </span><span class="ls12b">得到节点上的位函数<span class="_"> </span><span class="ls91">建立</span></span></span></div><div class="t m0 x1 ha y109 ff5 fs0 fc0 sc0 lsbe ws2">反电动势的波形<span class="_ _3"> </span><span class="lsf2">应用有限元法求得的反电动势脉动小</span></div><div class="t m0 x1 h2 y57 ff5 fs0 fc0 sc0 ls3 ws2">精度高<span class="_ _3"> </span><span class="ls84">但方法复杂<span class="_ _8"> </span><span class="ls3d">专业性强<span class="_"> </span><span class="lsd">不易推广<span class="_ _2"> </span><span class="ff1 ls79">(2)</span><span class="lsdb">傅立叶变</span></span></span></span></div><div class="t m0 x21 h2 y10a ff5 fs0 fc0 sc0 ls3 ws2">换<span class="ff1 lsd1">(<span class="ls12c">FFT<span class="_ _1"></span></span>)<span class="_ _1"></span></span>法</div><div class="t m0 x45 h11 y10b ff1 fs9 fc0 sc0 lsbb ws2">[15]</div><div class="t m0 xa2 h2 y10a ff1 fs0 fc0 sc0 ls13 ws2">BLDC<span class="_ _11"> </span><span class="ff5 lsdb">理想的梯形波反电</span></div><div class="t m0 x21 ha y10c ff5 fs0 fc0 sc0 ls123 ws2">动势波形中含有大量的高次谐波分量<span class="_"> </span><span class="ls3">采</span></div><div class="t m0 x21 h2 y10d ff5 fs0 fc0 sc0 ls3 ws2">用<span class="_ _11"> </span><span class="ff1 ls12d">FFT<span class="_ _7"> </span></span>方法<span class="_ _2"> </span><span class="lsb6">通过各次谐波叠加可得到</span></div><div class="t m0 x21 h2 y10e ff5 fs0 fc0 sc0 ls12e ws2">近似的梯形波反电动势<span class="_"> </span><span class="ff1 ls12d">FFT<span class="_ _7"> </span></span><span class="ls91">法应用简</span></div><div class="t m0 x21 ha y7c ff5 fs0 fc0 sc0 ls3 ws2">单<span class="_"> </span><span class="ls7c">但需要进行大量三角函数值的计算</span></div><div class="t m0 x21 h2 y10f ff5 fs0 fc0 sc0 ls12f ws2">对仿真速度影响较大<span class="_"> </span><span class="ff1 ls79">(3)<span class="_ _1"></span></span><span class="ls130">分段线性法</span></div><div class="t m0 x21 h2 y110 ff5 fs0 fc0 sc0 ls3 ws2">如图<span class="_ _12"> </span><span class="ff1 ls9">6<span class="_"> </span></span>所示<span class="_ _6"> </span><span class="ls1a">将一个运行周期<span class="_ _11"> </span><span class="ff1 ls131">0-360<span class="_ _a"> </span></span></span>分</div><div class="t m0 x21 h2 y111 ff5 fs0 fc0 sc0 ls3 ws2">为<span class="_ _11"> </span><span class="ff1 ls9">6<span class="_ _4"> </span></span><span class="ls93">个阶段<span class="_ _8"> </span></span>每<span class="_ _11"> </span><span class="ff1 ls1">60<span class="_ _3"> </span></span>为一个换向阶段</div><div class="t m0 x21 ha y112 ff5 fs0 fc0 sc0 lsc ws2">每一相的每一个运行阶段都可用一段直线</div><div class="t m0 x21 ha y113 ff5 fs0 fc0 sc0 ls3 ws2">进行表示<span class="_"> </span><span class="lsaf">根据某一时刻的转子位置和转</span></div><div class="t m0 x21 ha y114 ff5 fs0 fc0 sc0 ls91 ws2">速信号<span class="_"> </span><span class="ls132">确定该时刻各相所处的运行状</span></div><div class="t m0 x21 ha y115 ff5 fs0 fc0 sc0 ls3 ws2">态<span class="_ _2"> </span><span class="ls133">通过直线方程即可求得反<span class="_ _f"></span><span class="ls134">电动势波</span></span></div><div class="t m0 x21 ha y116 ff5 fs0 fc0 sc0 ls3 ws2">形<span class="_"> </span><span class="lse">分段线性法简单易行<span class="_ _3"> </span><span class="ls7c">且精度较高</span></span></div><div class="t m0 x21 ha y117 ff5 fs0 fc0 sc0 ls123 ws2">能够较好的满足建模仿真的设计要求<span class="_"> </span><span class="ls3">因</span></div><div class="t m0 x21 ha ye7 ff5 fs0 fc0 sc0 ls3 ws2">而<span class="_ _3"> </span>本文<span class="_ _1"></span><span class="ls8b">采用分段线性法建立梯形波反电</span></div><div class="t m0 x21 ha y118 ff5 fs0 fc0 sc0 ls9b ws2">动势波形</div><div class="t m0 xbb ha y119 ff5 fs0 fc0 sc0 ls3 ws2">理想情况下<span class="_ _6"> </span>二相导通星形三相六状</div><div class="t m0 x44 h2 yeb ff5 fs0 fc0 sc0 ls3 ws2">态的<span class="_ _c"> </span><span class="ff1 ls13">BLDC<span class="_ _c"> </span></span><span class="ls135">定子三相反电动势的波形如图<span class="_ _c"> </span><span class="ff1 ls9">6<span class="_ _f"></span></span></span>所示</div><div class="t m6 xa3 h3a y11a ffa fs12 fc0 sc0 ls136 ws2">ea</div><div class="t m6 xa3 h3b y11b ffa fs13 fc0 sc0 ls137 ws2">eb</div><div class="t m6 xa3 h3b y11c ffa fs13 fc0 sc0 ls138 ws2">ec</div><div class="t m7 x9c h8 y11d ff1 fs4 fc0 sc0 ls3d ws2">3<span class="_ _54"></span><span class="ls139">/<span class="_ _34"></span><span class="ls3d">2</span></span></div><div class="t m8 xbc h3c y11d ffc fs4 fc0 sc0 ls13a ws2"></div><div class="t m9 x97 h2b y11d ffc fs0 fc0 sc0 ls13b ws2"></div><div class="t m7 xbd h8 y11e ff1 fs4 fc0 sc0 ls3d ws2">3<span class="_ _55"></span><span class="ls139">/<span class="_ _3d"></span><span class="ls3d">4</span></span></div><div class="t m8 xbe h3c y11e ffc fs4 fc0 sc0 ls13a ws2"></div><div class="t m7 xbf h8 y11d ff1 fs4 fc0 sc0 ls3d ws2">3<span class="_ _56"></span><span class="ls139">/<span class="_ _34"></span><span class="ls3d">5</span></span></div><div class="t m8 x90 h3c y11d ffc fs4 fc0 sc0 ls13a ws2"><span class="_ _6"> </span></div><div class="t m7 xc0 h8 y11d ff1 fs4 fc0 sc0 ls3d ws2">2</div><div class="t m6 xc1 h3b y11f ffa fs13 fc0 sc0 ls13c ws2">pos</div><div class="t m6 xc1 h3b y120 ffa fs13 fc0 sc0 ls13c ws2">pos</div><div class="t m6 xc1 h3b y121 ffa fs13 fc0 sc0 ls13c ws2">pos</div><div class="t m6 x9b h3d y122 ff9 fs13 fc0 sc0 ls13d ws2">Em</div><div class="t m6 xc h3d y123 ff9 fs13 fc0 sc0 ls13e ws2">-Em</div><div class="t m6 x9b h3d y91 ff9 fs13 fc0 sc0 ls13d ws2">Em</div><div class="t m6 xc2 h3d yf3 ff9 fs13 fc0 sc0 ls13e ws2">-Em</div><div class="t m6 x9b h3d y124 ff9 fs13 fc0 sc0 ls13d ws2">Em</div><div class="t m6 xc h3d y125 ff9 fs13 fc0 sc0 ls13e ws2">-Em</div><div class="t m7 xc3 h8 y11e ff1 fs4 fc0 sc0 ls3d ws2">3<span class="_ _56"></span><span class="ls139">/</span></div><div class="t m8 xa9 h3c y11e ffc fs4 fc0 sc0 ls13a ws2"></div><div class="t m0 xc4 h8 y126 ff5 fs4 fc0 sc0 ls3 ws2">图<span class="_ _e"> </span><span class="ff1">6 </span><span class="lse">三相反电动势的波形</span></div><div class="t m0 x20 h2 y127 ff5 fs0 fc0 sc0 ls9b ws2">图中<span class="_"> </span>根据转子位置将运行周期分为<span class="_ _c"> </span><span class="ff1 ls9">6<span class="_ _e"> </span></span>个阶段<span class="_"> </span><span class="ff1 ls13f">0-</span></div><div class="t m0 xc5 h2b y128 ff1 fs0 fc0 sc0 ls9 ws2">3<span class="_ _57"></span><span class="ffc lse8">π</span></div><div class="t m0 x28 h2b y129 ff1 fs0 fc0 sc0 ls9 ws2">3<span class="_ _57"></span><span class="ffc lse8">π</span></div><div class="t m0 x9a h2 y55 ff1 fs0 fc0 sc0 lsd1 ws2">-</div><div class="c xc6 y12a w1a h28"><div class="t m0 x6b h19 ybe ff1 fsb fc0 sc0 ls140 ws2">23</div></div><div class="t ma xb h3e y129 ffc fsb fc0 sc0 ls141 ws2">π</div><div class="c xac y108 w1b h2d"><div class="t m0 x6b h2 yc5 ff1 fs0 fc0 sc0 ls142 ws2">23</div></div><div class="t m0 xc7 h2b y129 ffc fs0 fc0 sc0 lse8 ws2">π</div><div class="t m0 xc4 h2 y55 ff1 fs0 fc0 sc0 lsd1 ws2">-</div><div class="c xaa y3a w17 h28"><div class="t m0 x6b h3f yc5 ffc fsc fc0 sc0 ls143 ws2">π</div></div><div class="c x92 y3a w1c h2d"><div class="t mb x6b h40 yc5 ffc fs14 fc0 sc0 ls144 ws2">π</div></div><div class="t m0 xc8 h2 y55 ff1 fs0 fc0 sc0 lsd1 ws2">-</div><div class="c x9d y108 w1d h2d"><div class="t m0 x6b h2 yc5 ff1 fs0 fc0 sc0 ls145 ws2">43</div></div><div class="t m0 xc9 h2b y129 ffc fs0 fc0 sc0 lse8 ws2">π<span class="_ _58"> </span><span class="ff1 ls9">3<span class="_ _1c"></span>4<span class="_ _0"></span><span class="ffc lse8">π</span></span></div><div class="t m0 xca h2 y55 ff1 fs0 fc0 sc0 lsd1 ws2">-</div><div class="t m0 xc1 h19 y129 ff1 fsb fc0 sc0 ls3 ws2">3<span class="_ _1d"></span>5</div><div class="t ma xcb h3e y129 ffc fsb fc0 sc0 ls141 ws2">π</div><div class="t m0 xc5 h19 y129 ff1 fsb fc0 sc0 ls3 ws2">3<span class="_ _1d"></span>5</div><div class="t ma x47 h3e y129 ffc fsb fc0 sc0 ls141 ws2">π</div><div class="t m0 xcc h2 y55 ff1 fs0 fc0 sc0 lsd1 ws2">-</div><div class="c x44 y12b w1e h2d"><div class="t m0 x9f h2b ybe ffc fs0 fc0 sc0 lse8 ws2">π</div></div><div class="t m0 x18 h2 y12c ff1 fs0 fc0 sc0 ls9 ws2">2</div><div class="t m0 xcd h2 y109 ff5 fs0 fc0 sc0 ls3 ws2">以第一阶段<span class="_ _11"> </span><span class="ff1 ls44">0-</span></div><div class="c xce y12d w1e h41"><div class="t m0 xcf h19 y12e ff1 fsb fc0 sc0 ls3 ws2">3</div></div><div class="c xce y12d w1e h42"><div class="t ma x0 h3e y12e ffc fsb fc0 sc0 ls141 ws2">π</div></div><div class="t m0 x92 h2 y109 ff5 fs0 fc0 sc0 ls3 ws2">为例<span class="_"> </span><span class="ff1 ls2a">A<span class="_ _4"> </span></span><span class="ls1e">相反电动势处于正向最大</span></div><div class="t m0 x44 h2 y12f ff5 fs0 fc0 sc0 ls3 ws2">值<span class="_ _11"> </span><span class="ff1 ls146">Em<span class="_ _a"> </span><span class="ls55">B<span class="_ _4"> </span></span></span><span class="ls147">相反电动势处于负向最大值<span class="ff1 ls148">-Em<span class="_ _a"> </span><span class="ls55">C<span class="_ _7"> </span></span></span><span class="ls7c">相反电动势</span></span></div><div class="t m0 xd0 h8 y130 ff5 fs4 fc0 sc0 ls3 ws2">图<span class="_ _e"> </span><span class="ff1 ls149 ws62">5 BLDCM<span class="_ _f"></span></span><span class="lsd">本体模块结构框图</span></div><div class="t m0 x4a h15 y58 ff7 fsa fc0 sc0 ls3 ws2"><span class="fc2 sc0">万方数据</span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
