异步电机的直接转矩控制.rar_异步电机_直接转矩控制

<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/6255d808b744eb386fea1da6/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/6255d808b744eb386fea1da6/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">目录<span class="ff2 ls1"></span></div><div class="t m0 x2 h3 y2 ff3 fs1 fc0 sc1 ls1 ws0">1<span class="ff4"><span class="_ _0"> </span><span class="ff1">绪论</span></span><span class="ls2">...........................................................................................................................<span class="_ _1"></span></span><span class="ff4"><span class="_ _2"></span><span class="ff3">1<span class="ff4 fs2"></span></span></span></div><div class="t m0 x2 h3 y3 ff3 fs1 fc0 sc1 ls1 ws0">2<span class="ff4"><span class="_ _0"> </span><span class="ff1">直接转矩控制基本原理</span></span><span class="ls2">...........................................................................................<span class="_ _1"></span></span><span class="ff4"><span class="_ _2"></span><span class="ff3">1<span class="ff4 fs2"></span></span></span></div><div class="t m0 x3 h3 y4 ff3 fs1 fc0 sc1 ls3 ws0">2.1<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls4">系统结构</span></span><span class="ls2">........................................................................................................<span class="_ _1"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">1<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x3 h3 y5 ff3 fs1 fc0 sc1 ls3 ws0">2.2<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls5">电压空间矢量控制</span></span><span class="ls2">........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">2<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x4 h3 y6 ff3 fs1 fc0 sc1 ls6 ws0">2.2.1<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls7">电压空间矢量</span></span><span class="ls2">.....................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">2<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x4 h3 y7 ff3 fs1 fc0 sc1 ls6 ws0">2.2.2<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls8">空间矢量对电动机电磁转矩的影响</span></span><span class="ls2">.................................................<span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">4<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x3 h3 y8 ff3 fs1 fc0 sc1 ls3 ws0">2.3<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls5">磁链、转矩的观测</span></span><span class="ls2">........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">4<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x2 h3 y9 ff3 fs1 fc0 sc1 ls1 ws0">3<span class="ff4"><span class="_ _0"> </span><span class="ff1">系统的<span class="_ _4"> </span></span></span>MA<span class="_ _5"></span>TLAB<span class="_ _4"> </span><span class="ff1">仿真实现<span class="ff4"><span class="_ _6"></span><span class="ff3 ls2">........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">5<span class="ff4 fs2"></span></span></span></span></span></span></div><div class="t m0 x3 h3 ya ff3 fs1 fc0 sc1 ls3 ws0">3.1<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls9">相电压、电流的检测和变换</span></span><span class="ls2">........................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">6<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x3 h3 yb ff3 fs1 fc0 sc1 ls3 ws0">3.2<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls5">磁链和转矩计算器</span></span><span class="ls2">........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">7<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x3 h3 yc ff3 fs1 fc0 sc1 ls3 ws0">3.3<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls5">磁链和转矩调节器</span></span><span class="ls2">........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">8<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x4 h3 yd ff3 fs1 fc0 sc1 ls6 ws0">3.3.1<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 lsa">磁链调节器</span></span><span class="ls2">.........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">8<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x4 h3 ye ff3 fs1 fc0 sc1 ls6 ws0">3.3.2<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 lsa">转矩调节器</span></span><span class="ls2">.........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">9<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x3 h3 yf ff3 fs1 fc0 sc1 ls3 ws0">3.4<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls7">区段判断单元</span></span><span class="ls2">................................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3">9<span class="ff4 fs2"></span></span></span></span></div><div class="t m0 x3 h3 y10 ff3 fs1 fc0 sc1 ls3 ws0">3.5<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 lsb">电压矢量选择器</span></span><span class="ls2">..........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3 lsc">11<span class="ff4 fs2 ls1"></span></span></span></span></div><div class="t m0 x3 h3 y11 ff3 fs1 fc0 sc1 ls3 ws0">3.6<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 lsb">速度闭环控制器</span></span><span class="ls2">..........................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3 lsc">13<span class="ff4 fs2 ls1"></span></span></span></span></div><div class="t m0 x2 h3 y12 ff3 fs1 fc0 sc1 ls1 ws0">4<span class="ff4"><span class="_ _0"> </span><span class="ff1">仿真结果及分析</span></span><span class="ls2">.....................................................................................................<span class="_ _3"></span></span><span class="ff4"><span class="_ _2"></span><span class="ff3 lsc">13<span class="ff4 fs2 ls1"></span></span></span></div><div class="t m0 x3 h3 y13 ff3 fs1 fc0 sc1 ls3 ws0">4.1<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 lsd">空载、给定转速的仿真</span></span><span class="ls2">..............................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3 lsc">13<span class="ff4 fs2 ls1"></span></span></span></span></div><div class="t m0 x3 h3 y14 ff3 fs1 fc0 sc1 ls3 ws0">4.2<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls9">给定负载、转速恒定的仿真</span></span><span class="ls2">......................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3 lsc">16<span class="ff4 fs2 ls1"></span></span></span></span></div><div class="t m0 x3 h3 y15 ff3 fs1 fc0 sc1 ls3 ws0">4.3<span class="ff4 ls1"><span class="_ _0"> </span><span class="ff1 ls5">空载、低转速的仿真</span></span><span class="ls2">..................................................................................<span class="_ _3"></span><span class="ff4 ls1"><span class="_ _2"></span><span class="ff3 lsc">18<span class="ff4 fs2 ls1"></span></span></span></span></div><div class="t m0 x2 h3 y16 ff3 fs1 fc0 sc1 ls1 ws0">5<span class="ff4"><span class="_ _0"> </span><span class="ff1">实验总结</span></span><span class="ls2">.................................................................................................................<span class="_ _3"></span></span><span class="ff4"><span class="_ _2"></span><span class="ff3 lsc">20<span class="ff4 fs2 ls1"></span></span></span></div><div class="t m0 x2 h3 y17 ff3 fs1 fc0 sc1 ls1 ws0">6<span class="ff4"><span class="_ _0"> </span><span class="ff1">参考文献</span></span><span class="ls2">.................................................................................................................<span class="_ _3"></span></span><span class="ff4"><span class="_ _2"></span><span class="ff3 lsc">21<span class="ff4 fs2 ls1"></span></span></span></div><div class="t m0 x2 h4 y18 ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x2 h4 y19 ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x2 h4 y1a ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x2 h4 y1b ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x2 h4 y1c ff4 fs1 fc0 sc1 ls1 ws0"></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></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/6255d808b744eb386fea1da6/bg2.jpg"><div class="t m0 x5 h5 y1d ff1 fs3 fc0 sc1 ls1 ws0">异步电机的直接转矩控制<span class="ff4"></span></div><div class="t m0 x6 h6 y1e ff3 fs3 fc0 sc1 ls1 ws0">1<span class="ff4"></span></div><div class="t m0 x7 h7 y1f ff5 fs4 fc0 sc1 lse ws1">1 <span class="ff6 ls1 ws0"> <span class="ff1 sc0 lsf">绪论</span><span class="ff5"> </span></span></div><div class="t m0 x8 h3 y20 ff1 fs1 fc0 sc1 ls10 ws0">直接转矩控制从一诞生开始，就以新颖的控制<span class="ls11">思想，简洁明了的系统结构，</span></div><div class="t m0 x2 h3 y21 ff1 fs1 fc0 sc1 ls1 ws0">优良的动、<span class="_ _7"></span>静态性能受到了人们的普遍关注。<span class="_ _7"></span>直接转矩控制不同于矢量控制技术，</div><div class="t m0 x2 h3 y22 ff1 fs1 fc0 sc1 ls1 ws0">它无需将交流电动机与直流电动机做比较、<span class="_ _6"></span>等效、<span class="_ _8"></span>转化，<span class="_ _8"></span>不需要模仿直流电机的</div><div class="t m0 x2 h3 y23 ff1 fs1 fc0 sc1 ls1 ws0">数学模型，<span class="_ _9"></span>也不需要为解耦而简化交流电动机的数学模型。<span class="_ _9"></span>它只是在定子坐标系</div><div class="t m0 x2 h3 y24 ff1 fs1 fc0 sc1 ls1 ws0">下分析交流电动机的数学模型，<span class="_ _9"></span>强调对电动机的转矩进行直接控制，<span class="_ _9"></span>省掉了电子</div><div class="t m0 x2 h3 y25 ff1 fs1 fc0 sc1 ls1 ws0">电压和电流，<span class="_ _8"></span>决定定子磁场方向，<span class="_ _6"></span>直接控制电动机的磁链和转矩，<span class="_ _8"></span>着眼于转矩的</div><div class="t m0 x2 h3 y26 ff1 fs1 fc0 sc1 ls1 ws0">快速响应，<span class="_ _9"></span>以获得高效的控制性能，<span class="_ _9"></span>大大减小了矢量控制技术中控制性能易受参</div><div class="t m0 x2 h3 y27 ff1 fs1 fc0 sc1 ls1 ws0">数变化影响的问题，很大程度上克服了矢量控制的缺点。<span class="ff4"></span></div><div class="t m0 x8 h3 y28 ff1 fs1 fc0 sc1 ls1 ws0">目前在直接转矩控制技术中有两种常用的控制方案，<span class="_ _8"></span>一种是六边形磁链控制</div><div class="t m0 x2 h3 y29 ff1 fs1 fc0 sc1 ls1 ws0">方案，<span class="_ _8"></span>另一种是圆形磁链控制方案。<span class="_ _6"></span>从控制效果来看，<span class="_ _8"></span>六边形方案在每六分之一</div><div class="t m0 x2 h3 y2a ff1 fs1 fc0 sc1 ls1 ws0">周期仅使用一种非零电压矢量，<span class="_ _9"></span>这相当于六阶梯波形逆变器供电的情况，<span class="_ _9"></span>转矩脉</div><div class="t m0 x2 h3 y2b ff1 fs1 fc0 sc1 ls1 ws0">动和噪声都比较大，<span class="_ _9"></span>与气隙磁场为圆形的理想情况相差甚远。<span class="_ _9"></span>近似圆形方案比较</div><div class="t m0 x2 h3 y2c ff1 fs1 fc0 sc1 ls1 ws0">接近理想情况，<span class="_ _6"></span>电动机损耗、<span class="_ _5"></span>转矩脉动及噪声均比较小。<span class="_ _6"></span>但从另一方面来看，<span class="_ _5"></span>六</div><div class="t m0 x2 h3 y2d ff1 fs1 fc0 sc1 ls1 ws0">边形方案有利于减小功率元器件的开关频率，<span class="_ _9"></span>适用于大功率领域，<span class="_ _9"></span>而近似圆形方</div><div class="t m0 x2 h3 y2e ff1 fs1 fc0 sc1 ls1 ws0">案比较接近理想情况，一般用于中小功率高性能场合。<span class="ff4"></span></div><div class="t m0 x9 h7 y2f ff5 fs4 fc0 sc1 lse ws1">2 <span class="ff6 ls1 ws0"> <span class="ff1 sc0 ls12">直接转矩控制基本原理</span><span class="ff5"> </span></span></div><div class="t m0 xa h8 y30 ff5 fs5 fc0 sc1 ls13 ws0">2.1<span class="ff6 ls1"> <span class="ff1 sc0 ls14">系统结构</span><span class="ff5"> </span></span></div><div class="t m0 x8 h3 y31 ff1 fs1 fc0 sc1 ls1 ws0">直接转矩控制是直接在定子坐标系下分析交流电动机的数学模型，<span class="_ _8"></span>控制电动</div><div class="t m0 x2 h3 y32 ff1 fs1 fc0 sc1 ls1 ws0">机的磁链和转矩。<span class="_ _9"></span>用空间矢量的分析方法，<span class="_ _9"></span>直接在定子坐标系下计算与控制交流</div><div class="t m0 x2 h3 y33 ff1 fs1 fc0 sc1 ls1 ws0">电动机的转矩。采用定子磁场定向，借助于离散的两点式调节产生<span class="_ _a"> </span><span class="ff3 ls15">PWM<span class="_ _a"> </span></span>信号，</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/6255d808b744eb386fea1da6/bg3.jpg"><div class="t m0 x5 h5 y1d ff1 fs3 fc0 sc1 ls1 ws0">异步电机的直接转矩控制<span class="ff4"></span></div><div class="t m0 x2 h6 y1e ff3 fs3 fc0 sc1 ls1 ws0">2<span class="ff4"></span></div><div class="t m0 x2 h3 y34 ff1 fs1 fc0 sc1 ls1 ws0">直接对逆变器的开关状态进行最佳控制，以获得转矩的高动态性能。<span class="ff4"></span></div><div class="t m0 x8 h3 y35 ff1 fs1 fc0 sc1 ls1 ws0">在此选取近似圆形磁链的闭环转矩控制，<span class="_ _b"></span>即只使用一个转矩的<span class="_ _4"> </span><span class="ff3 ls16">PI<span class="_ _4"> </span></span><span class="lsa">控制器得到</span></div><div class="t m0 x2 h3 y36 ff1 fs1 fc0 sc1 ls17 ws0">转差角频率后用来确定定子磁链角，再加上给定的磁链幅值得到参考定子磁链。</div><div class="t m0 x2 h3 y37 ff1 fs1 fc0 sc1 ls1 ws0">由输出的定子磁链和参考值之间的误差来确定输出电压矢量。<span class="_ _b"></span>此时控制系统的性</div><div class="t m0 x2 h3 y38 ff1 fs1 fc0 sc1 ls1 ws0">能主要用依赖于<span class="_ _4"> </span><span class="ff3 ls16">PI<span class="_ _4"> </span></span><span class="ls5">转矩控制其的设计。</span><span class="ff4"></span></div><div class="t m0 x8 h3 y39 ff1 fs1 fc0 sc1 ls18 ws0">根据以上原理可以设计出近似圆形磁链的直接转矩控制系统的基本结构框</div><div class="t m0 x2 h3 y3a ff1 fs1 fc0 sc1 ls1 ws0">图，如图<span class="ff4"><span class="_ _0"> </span><span class="ff3">2</span>‐<span class="ff3">1<span class="_ _4"> </span></span></span>所示。<span class="ff4"></span></div><div class="t m0 xb h9 y3b ff7 fs6 fc0 sc1 ls1 ws0">T</div><div class="t m0 xc ha y3c ff8 fs7 fc0 sc1 ls1 ws0"></div><div class="c xd y3d w2 hb"><div class="t m1 x0 hc y3e ff8 fs8 fc0 sc1 ls1 ws0"></div></div><div class="c xe y3f w3 hd"><div class="t m2 x0 he y3e ff8 fs9 fc0 sc1 ls1 ws0"></div></div><div class="c xf y40 w4 hf"><div class="t m3 x0 h10 y41 ff8 fsa fc0 sc1 ls1 ws0"></div></div><div class="c x10 y42 w5 h11"><div class="t m0 x0 h12 y43 ff8 fsb fc0 sc1 ls1 ws0"></div></div><div class="c x11 y44 w6 h13"><div class="t m4 x0 h14 y43 ff8 fsc fc0 sc1 ls1 ws0"></div></div><div class="t m5 x12 h15 y45 ff7 fsd fc0 sc1 ls1 ws0">T</div><div class="t m6 x13 h12 y46 ff8 fsb fc0 sc1 ls1 ws0"></div><div class="t m4 x14 h14 y47 ff8 fsc fc0 sc1 ls1 ws0"></div><div class="t m7 xc h16 y48 ff8 fse fc0 sc1 ls1 ws0"></div><div class="t m8 x15 h17 y49 ff8 fsf fc0 sc1 ls1 ws0"></div><div class="t m9 x13 h18 y4a ff8 fs10 fc0 sc1 ls1 ws0"></div><div class="t ma xc h19 y4b ff8 fs11 fc0 sc1 ls1 ws0"></div><div class="t mb x16 h1a y4c ff8 fs12 fc0 sc1 ls1 ws0"></div><div class="t mc x17 h1b y4d ff7 fs13 fc0 sc1 ls1 ws0">T</div><div class="c x9 y4e w7 h1c"><div class="t md x0 h1d y4f ff7 fs14 fc0 sc1 ls1 ws0">F</div></div><div class="c x18 y50 w8 h1c"><div class="t me x0 h1d y4f ff7 fs14 fc0 sc1 ls1 ws0">F</div></div><div class="t mf xc h1e y51 ff8 fs13 fc0 sc1 ls1 ws0"></div><div class="c x19 y52 w9 h1f"><div class="t m10 x0 h20 y3e ff8 fs15 fc0 sc1 ls1 ws0"></div></div><div class="c x1a y53 wa hf"><div class="t mc x0 h1e y54 ff8 fs13 fc0 sc1 ls1 ws0"></div></div><div class="t m0 x1b h4 y55 ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x9 h21 y56 ff1 fs2 fc0 sc1 ls1 ws0">图<span class="ff9 ls19 ws2"> 2-1 </span>直接转矩控制系统基本结构框图<span class="ff9"> </span></div><div class="t m0 xa h8 y57 ff5 fs5 fc0 sc1 ls13 ws0">2.2<span class="ff6 ls1"> <span class="ff1 sc0 ls14">电压空间矢量控制</span><span class="ff5"> </span></span></div><div class="t m0 x8 h3 y58 ff1 fs1 fc0 sc1 ls18 ws0">近似圆形磁链直接转矩的基本思想是在准确观测定子磁链的空间位置和大</div><div class="t m0 x2 h3 y59 ff1 fs1 fc0 sc1 ls1 ws0">小，<span class="_ _8"></span>保持其幅值基本恒定，<span class="_ _6"></span>准确计算负载转矩的条件下，<span class="_ _8"></span>通过控制电动机的瞬时</div><div class="t m0 x2 h3 y5a ff1 fs1 fc0 sc1 ls1 ws0">输入电压来控制电动机定子磁链的瞬时旋转速度，<span class="_ _b"></span>来改变它对转子的瞬时转差率，</div><div class="t m0 x2 h3 y5b ff1 fs1 fc0 sc1 ls1 ws0">达到直接控制电动机输出的目的。<span class="ff4"></span></div><div class="t m0 x1c h22 y5c ff5 fs16 fc0 sc1 ls1a ws0">2.2.1<span class="ff6 ls1"> <span class="ff1 sc0 ls1b">电压空间矢量</span><span class="ff5"> </span></span></div><div class="t m0 x8 h3 y5d ff1 fs1 fc0 sc1 ls1 ws0">直接转矩控制系统中所采用的理想电压型逆变器如图<span class="ff4"><span class="_ _0"> </span><span class="ff3">2</span>‐<span class="ff3">2<span class="_ _4"> </span></span></span>所示，<span class="_ _9"></span>由三组开关</div><div class="t m0 x2 h3 y5e ff1 fs1 fc0 sc1 ls1 ws0">元器件组成，<span class="_ _c"></span>共有<span class="_ _4"> </span><span class="ff3">6<span class="_ _4"> </span></span>种有效开关状态，<span class="_ _c"></span><span class="ff3">2<span class="_ _4"> </span><span class="ff1">种无效开关状态，<span class="_ _5"></span>如表<span class="ff4"><span class="_ _d"> </span><span class="ff3">2</span>‐<span class="ff3">1<span class="_ _4"> </span></span></span>所示。<span class="_ _c"></span>利用</span></span></div><div class="t m0 x2 h3 y5f ff1 fs1 fc0 sc1 ls1 ws0">空间矢量的思想，<span class="_ _b"></span>可以看出每一种有效的开关状态对应一个有效的电压空间矢量，</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>

<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6255d808b744eb386fea1da6/bg4.jpg"><div class="t m11 x5 h5 y1d ff1 fs3 fc0 sc1 ls8 ws0">异步电机的直接转矩控制<span class="ff4 ls1"></span></div><div class="t m11 x6 h6 y1e ff3 fs3 fc0 sc1 ls1 ws0">3<span class="ff4"></span></div><div class="t m12 x2 h3 y60 ff1 fs1 fc0 sc1 ls9 ws0">表示为</div><div class="t m13 x1d h23 y61 ff9 fs17 fc0 sc1 ls1c ws0">,1<span class="_ _e"></span>,<span class="_ _f"></span>,<span class="_ _10"></span>6</div><div class="t m14 x1e h24 y62 ff7 fs18 fc0 sc1 ls1d ws0">Si</div><div class="t m13 x1f h25 y61 ff7 fs17 fc0 sc1 ls1e ws0">Ui<span class="_ _11"></span><span class="ff8 ls1"><span class="_ _12"> </span><span class="ffa"></span></span></div><div class="t m12 xb h3 y60 ff1 fs1 fc0 sc1 ls9 ws0">。由于电压矢量与磁链矢量具有一定的关系</div><div class="t m15 x20 h26 y63 ff7 fs19 fc0 sc1 ls1 ws0">s</div><div class="t m15 x21 h26 y64 ff7 fs19 fc0 sc1 ls1 ws0">s</div><div class="t m16 x22 h27 y65 ff7 fs1a fc0 sc1 ls1 ws0">d</div><div class="t m16 x23 h27 y66 ff7 fs1a fc0 sc1 ls1 ws0">u</div><div class="t m16 x24 h27 y67 ff7 fs1a fc0 sc1 ls1f ws0">dt</div><div class="t m16 x25 h28 y65 ff8 fs1a fc0 sc1 ls1 ws0"></div><div class="t m16 x26 h28 y66 ff8 fs1a fc0 sc1 ls1 ws0"></div><div class="t m16 x27 h3 y60 ff1 fs1 fc0 sc1 ls20 ws0">，如</div><div class="t m16 x2 h3 y68 ff1 fs1 fc0 sc1 ls1 ws0">图<span class="ff4"><span class="_ _0"> </span><span class="ff3">2</span>‐<span class="ff3">3<span class="_ _0"> </span></span></span><span class="ls5">所示。因此在一定的时刻采用不用的电压矢量可以控制定子磁场的变化，</span></div><div class="t m16 x2 h3 y69 ff1 fs1 fc0 sc1 ls9 ws0">使得定子磁链成近似圆形轨迹。<span class="ff4 ls1"></span></div><div class="t m16 x28 h4 y6a ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m14 x29 h21 y6b ff1 fs2 fc0 sc1 ls1 ws0">图<span class="ff9 ls21 ws2"> 2-2 </span><span class="ls22">理想电压型逆变器</span><span class="ff9"> </span></div><div class="t m14 x2a h21 y6c ff1 fs2 fc0 sc1 ls1 ws0">表<span class="ff9 ls21 ws2"> 2-1 </span><span class="ls22">开关状态表</span><span class="ff9"> </span></div><div class="t m12 x2b h4 y6d ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m12 x2c h4 y6e ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m14 x2d h21 y6f ff1 fs2 fc0 sc1 ls1 ws0">图<span class="ff9 ls21 ws2"> 2-3 </span><span class="ls22">电压矢量与磁链矢量的关系</span><span class="ff9"> </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="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6255d808b744eb386fea1da6/bg5.jpg"><div class="t m0 x5 h5 y1d ff1 fs3 fc0 sc1 ls1 ws0">异步电机的直接转矩控制<span class="ff4"></span></div><div class="t m0 x2 h6 y1e ff3 fs3 fc0 sc1 ls1 ws0">4<span class="ff4"></span></div><div class="t m0 x1c h22 y70 ff5 fs16 fc0 sc1 ls1a ws0">2.2.2<span class="ff6 ls1"> <span class="ff1 sc0 ls23">空间矢量对电动机电磁转矩的影响</span><span class="ff5"> </span></span></div><div class="t m0 x8 h3 y71 ff1 fs1 fc0 sc1 ls24 ws0">在直接转矩控制技术中，通过电压空间矢量</div><div class="c x2e y72 wb h29"><div class="t m17 x0 h2a y73 ff8 fs1b fc0 sc1 ls1 ws0"></div></div><div class="t m17 x2f h2a y74 ff8 fs1b fc0 sc1 ls1 ws0"></div><div class="t m0 x30 h2b y75 ff7 fs1c fc0 sc1 ls1 ws0">S</div><div class="t m0 x31 h2c y76 ff7 fs1d fc0 sc1 ls25 ws0">Ut</div><div class="t m0 x32 h3 y71 ff1 fs1 fc0 sc1 ls26 ws0">来控制定子磁链的行走速</div><div class="t m0 x2 h3 y77 ff1 fs1 fc0 sc1 ls24 ws0">度，从而改变定、转子磁链矢量之间的夹角</div><div class="t m0 x33 h2d y78 ff9 fs1e fc0 sc1 ls27 ws0">()<span class="_ _13"></span><span class="ff7 ls1">t</span></div><div class="c xd y79 wc h2e"><div class="t m18 x0 h2f y7a ff8 fs1f fc0 sc1 ls1 ws0"></div></div><div class="t m0 x34 h3 y77 ff1 fs1 fc0 sc1 ls24 ws0">，达到控制电动机转矩的目的。</div><div class="t m0 x2 h3 y38 ff1 fs1 fc0 sc1 ls1 ws0">电动机的电磁转矩可以用定、转子磁链矢量的矢量积来表示，即：<span class="ff4"></span></div><div class="t m19 x35 h30 y7b ff8 fs20 fc0 sc1 ls28 ws0"></div><div class="t m0 x36 h31 y7c ff9 fs1d fc0 sc1 ls29 ws0">()<span class="_ _14"> </span>()<span class="_ _15"> </span>()</div><div class="t m0 x9 h32 y7d ff7 fs21 fc0 sc1 ls2a ws0">es<span class="_ _16"></span>r<span class="_ _17"> </span>s<span class="_ _18"></span>r</div><div class="t m0 x37 h2c y7c ff7 fs1d fc0 sc1 ls2b ws0">TK<span class="_ _19"> </span>t<span class="_ _17"> </span>t<span class="_ _1a"> </span>K<span class="_ _1b"> </span>s<span class="_ _1c"></span>i<span class="_ _1c"></span>n<span class="_ _7"></span>t</div><div class="t m1a x38 h33 y7c ff8 fs22 fc0 sc1 ls2c ws0"><span class="_ _1d"> </span><span class="_ _1e"></span></div><div class="c x39 y7e wd h34"><div class="t m1a x0 h33 y7a ff8 fs22 fc0 sc1 ls1 ws0"></div></div><div class="t m0 x3a h35 y7c ff8 fs1d fc0 sc1 ls2d ws0"><span class="_ _1f"></span></div><div class="t m0 x3b h4 y7f ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x8 h3 y80 ff1 fs1 fc0 sc1 ls1 ws0">式中，</div><div class="c x3c y81 we h36"><div class="t m0 x0 h2b y43 ff7 fs1c fc0 sc1 ls1 ws0">s</div></div><div class="c x3d y82 wf h34"><div class="t m1a x0 h33 y7a ff8 fs22 fc0 sc1 ls1 ws0"></div></div><div class="t m0 x3e h3 y80 ff1 fs1 fc0 sc1 ls1 ws0">、</div><div class="t m0 x3f h2b y83 ff7 fs1c fc0 sc1 ls1 ws0">r</div><div class="c x40 y82 wf h34"><div class="t m1a x0 h33 y7a ff8 fs22 fc0 sc1 ls1 ws0"></div></div><div class="t m0 x41 h3 y80 ff1 fs1 fc0 sc1 ls1 ws0">分别为定、<span class="_ _8"></span>转子磁链矢量的幅值，</div><div class="c x42 y84 w10 h29"><div class="t m1b x0 h2a y73 ff8 fs1b fc0 sc1 ls1 ws0"></div></div><div class="t m1b x43 h2a y85 ff8 fs1b fc0 sc1 ls1 ws0"></div><div class="t m0 x44 h2c y86 ff7 fs1d fc0 sc1 ls1 ws0">t</div><div class="t m1a x32 h33 y86 ff8 fs22 fc0 sc1 ls1 ws0"></div><div class="t m0 x45 h3 y80 ff1 fs1 fc0 sc1 ls1 ws0">为两者之间的夹角，</div><div class="t m0 x2 h3 y87 ff1 fs1 fc0 sc1 ls1 ws0">称为磁通角。</div><div class="c x46 y88 w11 h37"><div class="t m0 x0 h38 y89 ff7 fs23 fc0 sc1 ls1 ws0">K</div></div><div class="t m0 x47 h3 y87 ff1 fs1 fc0 sc1 ls1 ws0">为由电动机结构参数决定的转矩系数。<span class="_ _20"></span>在实际运行中为了充分利</div><div class="t m0 x2 h3 y8a ff1 fs1 fc0 sc1 ls1 ws0">用电动机铁芯，<span class="_ _9"></span>定子磁链矢量幅值和转子磁链幅值希望保持不变；<span class="_ _9"></span>要改变电磁转</div><div class="t m0 x2 h3 y8b ff1 fs1 fc0 sc1 ls1 ws0">矩，只有通过改变磁通角</div><div class="t m1b x48 h2a y8c ff8 fs1b fc0 sc1 ls2e ws0"></div><div class="t m0 x49 h2c y8d ff7 fs1d fc0 sc1 ls1 ws0">t</div><div class="t m1a x16 h33 y8d ff8 fs22 fc0 sc1 ls1 ws0"></div><div class="t m0 x4a h3 y8b ff1 fs1 fc0 sc1 ls1 ws0">实现。<span class="ff4"></span></div><div class="t m0 xa h8 y8e ff5 fs5 fc0 sc1 ls13 ws0">2.3<span class="ff6 ls1"> <span class="ff1 sc0 ls14">磁链、转矩的观测</span><span class="ff5"> </span></span></div><div class="t m0 x8 h3 y8f ff1 fs1 fc0 sc1 ls1 ws0">在直接转矩控制系统中，<span class="_ _5"></span>实时测量逆变器输出的电动机定子电压</div><div class="t m0 x22 h39 y90 ff7 fs24 fc0 sc1 ls2f ws0">abc</div><div class="t m0 x4b h3a y91 ff7 fs25 fc0 sc1 ls1 ws0">U</div><div class="t m0 x4c h3 y8f ff1 fs1 fc0 sc1 ls1 ws0">和电流</div><div class="t m0 x2 h3 y92 ff1 fs1 fc0 sc1 ls1 ws0">信号</div><div class="t m0 x4d h39 y93 ff7 fs24 fc0 sc1 ls2f ws0">abc</div><div class="c x4e y94 w12 h3b"><div class="t m0 x0 h3a y95 ff7 fs25 fc0 sc1 ls1 ws0">I</div></div><div class="t m0 x4f h3 y92 ff1 fs1 fc0 sc1 ls1 ws0">，<span class="_ _9"></span>根据式<span class="ff3 ls30">(2</span><span class="ff4">‐<span class="ff3 lsc">1)</span></span>的<span class="_ _4"> </span><span class="ff3 ls31">3s/2s<span class="_ _4"> </span></span><span class="lsd">变换转换为电动机定子</span></div><div class="c x2f y96 w13 h2e"><div class="t m18 x0 h2f y7a ff8 fs1f fc0 sc1 ls1 ws0"></div></div><div class="t m18 x44 h2f y97 ff8 fs1f fc0 sc1 ls1 ws0"></div><div class="c x50 y96 w14 h2e"><div class="t m0 x0 h3c y7a ff8 fs1e fc0 sc1 ls1 ws0"></div></div><div class="t m0 x45 h3 y92 ff1 fs1 fc0 sc1 ls1 ws0">坐标系下的定子电压</div><div class="t m0 x51 h3d y98 ff7 fs26 fc0 sc1 ls1 ws0">U</div><div class="c x52 y99 w15 h3e"><div class="t m1c x0 h3f y9a ff8 fs27 fc0 sc1 ls1 ws0"></div></div><div class="t m1c x53 h3f y9b ff8 fs27 fc0 sc1 ls1 ws0"></div><div class="t m0 x8 h3 y9c ff1 fs1 fc0 sc1 ls1 ws0">和电流</div><div class="c x54 y9d w16 h40"><div class="t m0 x0 h3d y95 ff7 fs26 fc0 sc1 ls1 ws0">I</div></div><div class="c x55 y99 w17 h3e"><div class="t m1c x0 h3f y9a ff8 fs27 fc0 sc1 ls1 ws0"></div></div><div class="t m1c x56 h3f y9b ff8 fs27 fc0 sc1 ls1 ws0"></div><div class="t m0 x3e h3 y9c ff1 fs1 fc0 sc1 ls1 ws0">。并利用式和式计算出实时磁链信号</div><div class="c x2f y9e w18 h41"><div class="t m0 x0 h42 y43 ff7 fs28 fc0 sc1 ls1 ws0">s</div></div><div class="c x57 y99 w19 h43"><div class="t m1d x0 h44 y9a ff8 fs29 fc0 sc1 ls1 ws0"></div></div><div class="c x2e y9d w1a h45"><div class="t m1e x0 h46 y9f ff8 fs2a fc0 sc1 ls1 ws0"></div></div><div class="t m0 x58 h3 y9c ff1 fs1 fc0 sc1 ls1 ws0">、</div><div class="c x59 y9e w18 h47"><div class="t m0 x0 h48 y43 ff7 fs2b fc0 sc1 ls1 ws0">s</div></div><div class="c x5a y99 w1b h3e"><div class="t m1d x0 h44 y9a ff8 fs29 fc0 sc1 ls1 ws0"></div></div><div class="c x5b ya0 w1a h45"><div class="t m1f x0 h49 y9f ff8 fs2c fc0 sc1 ls1 ws0"></div></div><div class="t m0 x5c h3 y9c ff1 fs1 fc0 sc1 ls1 ws0">和转矩信号</div><div class="t m0 x5d h48 y9b ff7 fs2b fc0 sc1 ls1 ws0">e</div><div class="t m0 x5e h4a ya1 ff7 fs2d fc0 sc1 ls1 ws0">T</div><div class="t m0 x27 h3 y9c ff1 fs1 fc0 sc1 ls1 ws0">。<span class="ff4"></span></div><div class="t m0 x2 h4 ya2 ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x5f h4b ya3 ff9 fs2e fc0 sc1 ls32 ws0">11</div><div class="t m0 x60 h4b ya4 ff9 fs2e fc0 sc1 ls1 ws0">1</div><div class="t m0 x61 h4b ya5 ff9 fs2e fc0 sc1 ls1 ws0">2</div><div class="t m0 x5f h4b ya6 ff9 fs2e fc0 sc1 ls32 ws0">22</div><div class="t m0 x61 h4b ya7 ff9 fs2e fc0 sc1 ls1 ws0">3</div><div class="t m0 x5f h4b ya8 ff9 fs2e fc0 sc1 ls33 ws0">33</div><div class="t m0 x60 h4b ya9 ff9 fs2e fc0 sc1 ls1 ws0">0</div><div class="t m0 x62 h4b yaa ff9 fs2e fc0 sc1 ls33 ws0">22</div><div class="t m0 x63 h4c yab ff7 fs2f fc0 sc1 ls1 ws0">a</div><div class="t m0 x63 h4c yac ff7 fs2f fc0 sc1 ls1 ws0">b</div><div class="t m0 x63 h4c yad ff7 fs2f fc0 sc1 ls1 ws0">c</div><div class="t m0 x64 h4d yae ff7 fs2e fc0 sc1 ls1 ws0">u</div><div class="t m0 x65 h4d yaf ff7 fs2e fc0 sc1 ls1 ws0">u</div><div class="t m0 x64 h4d yb0 ff7 fs2e fc0 sc1 ls1 ws0">u</div><div class="t m0 x65 h4d yb1 ff7 fs2e fc0 sc1 ls1 ws0">u</div><div class="t m0 x64 h4d yb2 ff7 fs2e fc0 sc1 ls1 ws0">u</div><div class="t m18 x66 h4e yb3 ff8 fs30 fc0 sc1 ls1 ws0"></div><div class="t m18 x66 h4e yb4 ff8 fs30 fc0 sc1 ls1 ws0"></div><div class="t m0 x67 h4f yb5 ff8 fs2e fc0 sc1 ls34 ws0"></div><div class="c x68 yb6 w1c h50"><div class="t m0 x0 h4f y9f ff8 fs2e fc0 sc1 ls1 ws0"></div></div><div class="t m0 x69 h4f yb7 ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="t m0 x6a h4f yb8 ff8 fs2e fc0 sc1 ls35 ws0"></div><div class="t m0 x67 h4f yb9 ff8 fs2e fc0 sc1 ls34 ws0"></div><div class="t m0 x6b h4f yba ff8 fs2e fc0 sc1 ls36 ws0"></div><div class="c x68 ybb w1c h50"><div class="t m0 x0 h4f ybc ff8 fs2e fc0 sc1 ls1 ws0"></div></div><div class="t m0 x69 h4f ybd ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="t m0 x67 h4f ybe ff8 fs2e fc0 sc1 ls34 ws0"></div><div class="t m0 x6c h4f ybf ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="t m0 x6b h4f yc0 ff8 fs2e fc0 sc1 ls36 ws0"></div><div class="c x68 yc1 w1c h50"><div class="t m0 x0 h4f y9f ff8 fs2e fc0 sc1 ls1 ws0"></div></div><div class="t m0 x69 h4f yc2 ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="t m0 x67 h4f yc3 ff8 fs2e fc0 sc1 ls34 ws0"></div><div class="t m0 x6b h4f yc4 ff8 fs2e fc0 sc1 ls36 ws0"></div><div class="c x68 yc5 w1c h50"><div class="t m0 x0 h4f ybc ff8 fs2e fc0 sc1 ls1 ws0"></div></div><div class="t m0 x69 h4f yc6 ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="t m0 x6d h4f yc7 ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="c x68 yc8 w1c h50"><div class="t m0 x0 h4f ybc ff8 fs2e fc0 sc1 ls1 ws0"></div></div><div class="t m0 x69 h4f yc9 ff8 fs2e fc0 sc1 ls1 ws0"></div><div class="t m0 x67 h4f yca ff8 fs2e fc0 sc1 ls34 ws0"></div><div class="t m0 x67 h4f ycb ff8 fs2e fc0 sc1 ls34 ws0"></div><div class="t m0 x50 h51 ya2 ff4 fs1 fc0 sc1 ls1 ws0"><span class="_ _21"> </span><span class="ff3 ls30">(2</span>‐<span class="ff3 lsc">1)</span></div><div class="t m0 x2 h4 ycc ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m20 x6e h52 ycd ff8 fs31 fc0 sc1 ls37 ws0"></div><div class="t m21 x6e h53 yce ff8 fs32 fc0 sc1 ls38 ws0"></div><div class="t m0 x6f h54 ycf ff9 fs33 fc0 sc1 ls1 ws0">d</div><div class="t m0 x6f h54 yd0 ff9 fs33 fc0 sc1 ls1 ws0">d</div><div class="t m0 x70 h55 yd1 ff7 fs34 fc0 sc1 ls39 ws0">ss<span class="_ _f"></span>s<span class="_ _22"></span>s</div><div class="t m0 x70 h55 yd2 ff7 fs34 fc0 sc1 ls3a ws0">ss<span class="_ _f"></span>s<span class="_ _22"></span>s</div><div class="t m0 x71 h56 ycf ff7 fs33 fc0 sc1 ls3b ws0">uR<span class="_ _1e"></span>i<span class="_ _3"></span>t</div><div class="t m0 x71 h56 yd0 ff7 fs33 fc0 sc1 ls3c ws0">uR<span class="_ _23"></span>i<span class="_ _3"></span>t</div><div class="t m22 x72 h57 yd1 ff8 fs35 fc0 sc1 ls3d ws0"><span class="_ _7"></span></div><div class="t m22 x72 h57 yd2 ff8 fs35 fc0 sc1 ls3e ws0"><span class="_ _7"></span></div><div class="t m23 x4a h58 ycf ff8 fs36 fc0 sc1 ls1 ws0"></div><div class="t m23 x4a h58 yd0 ff8 fs36 fc0 sc1 ls1 ws0"></div><div class="t m0 x73 h59 yd3 ff8 fs33 fc0 sc1 ls1 ws0"></div><div class="t m0 x74 h59 yd4 ff8 fs33 fc0 sc1 ls3f ws0"></div><div class="t m0 x73 h59 yd5 ff8 fs33 fc0 sc1 ls1 ws0"></div><div class="t m0 x73 h59 yd6 ff8 fs33 fc0 sc1 ls1 ws0"></div><div class="t m0 x74 h59 yd7 ff8 fs33 fc0 sc1 ls40 ws0"></div><div class="t m0 x73 h59 yd8 ff8 fs33 fc0 sc1 ls1 ws0"></div><div class="t m0 x73 h59 yd9 ff8 fs33 fc0 sc1 ls1 ws0"></div><div class="t m0 x1 h5a yda ff8 fs37 fc0 sc1 ls1 ws0"></div><div class="t m0 x1 h5a ydb ff8 fs37 fc0 sc1 ls1 ws0"></div><div class="t m0 x75 h51 ycc ff4 fs1 fc0 sc1 ls1 ws0"><span class="_ _24"> </span><span class="ff3 ls30">(2</span>‐<span class="ff3 lsc">2)</span></div><div class="t m0 x2 h4 y5b ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m24 x76 h5b ydc ff8 fs38 fc0 sc1 ls41 ws0"></div><div class="t m0 x77 h5c ydd ff9 fs1a fc0 sc1 ls1 ws0">3</div><div class="t m0 x77 h5c yde ff9 fs1a fc0 sc1 ls1 ws0">2</div><div class="t m0 x19 h26 ydf ff7 fs19 fc0 sc1 ls42 ws0">es<span class="_ _25"></span>s<span class="_ _26"></span>s<span class="_ _25"></span>s</div><div class="t m0 x78 h27 ye0 ff7 fs1a fc0 sc1 ls43 ws0">Tp<span class="_ _27"></span>i<span class="_ _28"> </span>i</div><div class="c x6a ye1 w1d h5d"><div class="t m1a x0 h5e ye2 ff8 fs39 fc0 sc1 ls44 ws0"><span class="_ _29"> </span></div></div><div class="t m1a x79 h5e ydf ff8 fs39 fc0 sc1 ls1 ws0"></div><div class="t m1a x7a h5f ye0 ff8 fs3a fc0 sc1 ls45 ws0"></div><div class="t m0 x7b h28 ye0 ff8 fs1a fc0 sc1 ls46 ws0"></div><div class="t m0 x2e h51 y5b ff4 fs1 fc0 sc1 ls1 ws0"><span class="_ _2a"> </span><span class="ff3 ls30">(2</span>‐<span class="ff3 lsc">3)</span></div><div class="t m0 x2 h4 ye3 ff4 fs1 fc0 sc1 ls1 ws0"></div><div class="t m0 x2 h4 ye4 ff4 fs1 fc0 sc1 ls1 ws0"></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>