1、 nCEetiLRIEUaaaddmaTMCI2mmeaaCUC CTnRR22meameC C UTRC C n VD1 VD2 VT1 VT2 Us tttOOOb)TEiGtontoffioi1i2I10I20t1uoOOOtttTEEc)iGiGtontoffiotxi1i2I20t1t2uoEMEV+-MRLVDa)ioEMuoiGtttOOOb)TEiGtontoffioi1i2I10I20t1uoOOOtttTEEc)iGiGtontoffiotxi1i2I20t1t2uoEMEV+-MRLVDa)ioEMuoiGttUEEEttTononoonoff恒转矩区恒转矩区恒功率区恒功
2、率区转速转速转矩转矩nCEemaTMCIetftteeE=C nU=E+IRT=C I=kIC EIEP=Tn=C I=C CEfIIEVRLVDa)Cioi1iGuob)iGioI1OOttEtTEtttUoffoffoffonoEVRLVDa)Cioi1iGuob)iGioI1OOttEMttTEiOOb)tOTOEtc)V DLVa)EMuoi1i2I1 0I2 0I1 0to nto f fuoioi1i2t1t2txto nto f fI2 0uonCEeELR+-V1VD1uoV3EMV2VD2ioV4VD3VD4MBilFBlve00nnnspfn600Am0Bm0Bmsinsi
3、n120sin120iItiItiIt111144.4NfEU-ViVoVi电机电机传感器传感器数字控制器数字控制器电力电子逆变器电力电子逆变器变速箱变速箱电池电池dqFACifiaic励磁绕组电枢绕组补偿绕组dqFACifiaic励磁绕组电枢绕组补偿绕组ABCABCiAiBiCFsABCABCiAiBiCFsFiis两两相相交交流流绕绕组组Fiis两两相相交交流流绕绕组组sFdqidiqdqAN2iN3iAN3iCN3iBN2i60o60oBAN2iN3iAN3iCN3iBN2i60o60oB)2121(60cos60cosCBA3C3B3A32iiiNiNiNiNiN)(2360sin60
4、sinCB3C3B32iiNiNiNiNCBA232323021211iiiNNii3223NN2323021211322/3C2/3102133221322CBA221023iiii两相静止和旋转坐标系与磁动势（电流）空间矢量两相静止和旋转坐标系与磁动势（电流）空间矢量 iqsiniFssidcosididsiniqcosiiqdqiqsiniFssidcosididsiniqcosiiqdqdqcossiniiidqsincosiiidd2r/2sqqcossinsincosiiiCiiicossinsincoss2/r2C1dqcossincossinsincossincosiiiiii
5、cossinsincosr2/s2Cis(Fs)ssidiqdqis(Fs)ssidiqdqK K/P PK K/P P变变换换空空间间矢矢量量变变换换空空间间矢矢量量22sdqiiiqsdarctaniisssqsssssssdsinsin(2cos)sin222tan21coscoscos(2cos)222iiiqssd2arctaniiiABCFsdqssdqs0ss sr0rr rss sm rrm sr rpjRpjRLLLLuiuiiiiiss0mm0sdsds0ssm0msqsqmmslrrrslrdmslmrslrrrq00sRL pLL pLiuLRL pLL piuL pLRL pLiLL pLRL pisdsdsmsqsqsmrdrdmrrqrqmr00000000iLLiLLiLLiLLafaMIIICTcosMmrrTCIrrMICTr3/2VR等效直流等效直流电机模型电机模型ABC iAiBiCitimii异步电动机异步电动机60ssnfnnp TiidLd(,)122
