CN214281265U - Double-three closed-loop control circuit and control system - Google Patents
Double-three closed-loop control circuit and control system Download PDFInfo
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- CN214281265U CN214281265U CN202120593249.3U CN202120593249U CN214281265U CN 214281265 U CN214281265 U CN 214281265U CN 202120593249 U CN202120593249 U CN 202120593249U CN 214281265 U CN214281265 U CN 214281265U
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Abstract
The utility model discloses a two three closed-loop control circuit and control system, include: the photoelectric encoder comprises two symmetrical three-closed-loop control components with consistent structures and a photoelectric encoding circuit; the three closed-loop control assemblies respectively comprise an inverter circuit, a first PI controller, a second PI controller and a third PI controller; the inverter circuit is respectively connected with the output ends of the first PI controller and the second PI controller, the input ends of the first PI controller and the second PI controller are arranged at the first position, the input end of the second PI controller is connected with the third PI controller, the third PI controller is connected with the photoelectric coding circuit, and the photoelectric coding circuit is arranged at the second position. The symmetrical three-closed-loop control assemblies are adopted, one inverter circuit is adopted in each control assembly, the fault of one inverter circuit cannot influence the normal operation of the other inverter, the fault tolerance reliability is high, and the reliability of the system operation is improved.
Description
Technical Field
The utility model relates to a motor drive technical field especially relates to a two three closed-loop control circuit and control system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Compared with a traditional three-phase motor, a double three-phase permanent magnet motor (DT-PM for short) mainly has the following advantages:
(1) the torque ripple is low. The winding magnetomotive force harmonic and the positioning torque are main reasons for causing torque pulsation of the permanent magnet motor, and as the number of phases of the motor increases, low-order harmonics in the winding magnetomotive force are obviously reduced, the number of included harmonics is increased, and the amplitude is reduced.
(2) The torque density is high. The multi-phase motor adopting the concentrated integral pitch winding has the advantages that the counter electromotive force is generally non-sinusoidal, and under the condition that the effective values of the currents are the same, the output torque can be improved by injecting harmonic current, so that the torque density is improved.
(3) The fault-tolerant capability is strong. For a three-phase motor, if a neutral line is not provided, when one-phase winding has an open circuit fault, the motor can continue to operate as a single-phase motor, but the torque fluctuation is large, and the power reduction range is large (1/3 for reducing the original power).
The double three-phase permanent magnet motor is provided with two sets of three-phase Y-shaped windings ABC (corresponding to an outer motor) and UVW (corresponding to an inner motor), the neutral points of the two sets of windings are not connected, and the two circuits are mutually independent except for mutual inductance; when the motor normally works, the current phases in ABC and UVW are mutually different to fix the electrical angle, and the design of the double three-phase windings can increase the operation reliability of the motor (beneficial to fault-tolerant control), increase the torque density, improve the efficiency and reduce the torque pulsation.
In order to achieve the purpose of high-performance speed regulation by taking a double three-phase motor as a control object, a learner uses a multi-bridge arm inverter bridge control strategy in a double three-phase motor control system, but the scheme requires that a direct-current voltage source has higher output power, requires that an inverter bridge has higher electromagnetic interference resistance and heat dissipation, has higher design difficulty, is not widely produced in the market, and has higher processing and customizing costs; in addition, damage to one phase of bridge arm may cause damage to the entire inverter, reducing system reliability; moreover, a control algorithm based on the system is complex, and the development difficulty is increased. And for motors with different internal and external moments of inertia, the hardware is difficult to realize high-performance control.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a two three closed loop control circuit and control system adopts the three closed loop control assembly of symmetry, and adopts an inverter circuit among every control assembly, and an inverter circuit's trouble can not influence the normal operating of another dc-to-ac converter, and fault-tolerant reliability is high, increases the reliability of system operation.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
in a first aspect, the present invention provides a double-triple closed-loop control circuit, including: the photoelectric encoder comprises two symmetrical three-closed-loop control components with consistent structures and a photoelectric encoding circuit; the three closed-loop control assemblies respectively comprise an inverter circuit, a first PI controller, a second PI controller and a third PI controller;
the inverter circuit is respectively connected with the output ends of the first PI controller and the second PI controller, the input ends of the first PI controller and the second PI controller are arranged at the first position, the input end of the second PI controller is connected with the third PI controller, the third PI controller is connected with the photoelectric coding circuit, and the photoelectric coding circuit is arranged at the second position.
In a second aspect, the utility model provides a two three-phase permanent-magnet machine's two three closed-loop control system, include: the control circuit and the double three-phase permanent magnet motor of the first aspect; the first position is arranged at the current output end of the double three-phase permanent magnet motor, and the second position is arranged at the rotor of the double three-phase permanent magnet motor.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a two three closed loop control circuit and control system adopt two three-phase inverters to control inside and outside motor winding respectively, owing to use the three-phase inverter of volume production, the price is lower, and requires lowly to direct current power output, reduces the hardware cost of two three-phase motor electricity driving systems.
The utility model adopts two three-phase inverters, the fault of one inverter can not affect the normal operation of the other inverter, and the reliability of the system operation is increased; moreover, the development of the control system is based on a mature control algorithm of the three-phase permanent magnet motor, and the implementation difficulty is reduced.
The utility model discloses can realize the different two three-phase machine's of inside and outside inertia high performance control, make two three-phase permanent-magnet machine response fast, the overshoot is little, tracking performance is good.
The utility model provides a control circuit and control system, owing to adopt two mutually independent dc-to-ac converters, fault-tolerant reliability is high, is favorable to improving the reliability of two three-phase motor operations.
The control circuit and the control system provided by the utility model can be popularized to the control of any multi-three-phase motor; the method can be popularized to the high-performance control of the double three-phase motor with different internal and external rotational inertia.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a schematic structural diagram of a double-triple closed-loop control system of a double-three-phase permanent magnet motor according to embodiment 1 of the present invention;
fig. 2 is a topology structure diagram of a dual three-phase permanent magnet motor, which is provided in embodiment 1 of the present invention and takes a dual rotor flux switching motor as an example;
fig. 3(a) -3(b) are schematic diagrams of the current phase relationship between windings of the motor, which is provided by embodiment 1 of the present invention, and the internal and external motors are 90 ° apart from each other;
fig. 4(a) -4(f) are Simulink simulation diagrams of the motor control system provided in embodiment 1 of the present invention;
in the figure, 1, a double three-phase permanent magnet motor, 2, an outer motor direct current power supply, 3, an outer motor inverter bridge, 4, an outer motor ABC-dq transformation, 5, an outer motor second PI controller, 6, an outer motor first PI controller, 7, an outer motor dq-alpha beta transformation, 8, an outer motor SVPWM modulation, 9, an inner motor direct current power supply, 10, an inner motor inverter bridge, 11, an inner motor ABC-dq transformation, 12, an inner motor first PI controller, 13, an inner motor second PI controller, 14, an inner motor dq-alpha beta transformation, 15, an inner motor SVPWM modulation, 16, a photoelectric encoder, 17, angular velocity calculation, 18, electrical angle calculation, 19, an outer motor third PI controller, 20, an inner motor third PI controller, 21 and a PI master controller.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, the terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and are only the terms determined for convenience of describing the structural relationship of each component or element of the present invention, and are not specific to any component or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be a fixed connection, or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
Example 1
The present embodiment provides a double-triple closed-loop control circuit, including: the photoelectric encoder comprises two symmetrical three-closed-loop control components with consistent structures and a photoelectric encoding circuit; the three closed-loop control assemblies respectively comprise an inverter circuit, a first PI controller, a second PI controller and a third PI controller; specifically, the inverter circuit is respectively connected with the output ends of the first PI controller and the second PI controller, the input ends of the first PI controller and the second PI controller are respectively arranged at a first position, the input end of the second PI controller is connected with the third PI controller, the third PI controller is connected with the photoelectric coding circuit, and the photoelectric coding circuit is arranged at a second position.
As an alternative embodiment, the photoelectric coding circuit is connected to the third PI controller through an arithmetic circuit.
As an alternative embodiment, the third PI controller is connected to the second PI controller through an arithmetic circuit.
As an alternative embodiment, the first PI controller and the second PI controller are connected to the first location of the controlled device through an arithmetic circuit.
As an optional embodiment, the photoelectric encoding circuit is further connected to a PI master controller, and the PI master controller is connected to the first PI controller and the second PI controller through an operation circuit.
Furthermore, the output of the first PI controller and the output of the second PI controller and the output of the PI master controller are connected to the inverter circuit through the operation circuit.
Furthermore, the arithmetic circuit adopts a subtracter and an adder; and the PI master controller is respectively connected with the first PI controller and the second PI controller through adders, and subtractors are adopted in the other PI master controllers.
As an alternative embodiment, one end of the inverter circuit is connected to a power supply, and the other end of the inverter circuit is connected to a controlled device.
Furthermore, the power supply adopts a direct current power supply.
In further embodiments, taking the control of a dual three-phase permanent magnet motor as an example, a dual three-closed loop control system for a dual three-phase permanent magnet motor is provided, including: the control circuit and the double three-phase permanent magnet motor 1; the first position is set at the current output end of the dual three-phase permanent magnet motor 1, and the second position is set at the rotor of the dual three-phase permanent magnet motor 1, as shown in fig. 1.
As an alternative embodiment, the photoelectric coding circuit includes a photoelectric encoder 16, and the photoelectric encoder 16 is mounted on the rotor shaft of the dual three-phase permanent magnet motor 1 and is used for acquiring the motor rotor position angle θm；
Preferably, the dual three-phase permanent magnet motor 1 is divided into two motors according to the winding correspondence, namely an outer motor and an inner motor, the motor topology is as shown in fig. 2, if the winding phase of the outer motor is 90 ° ahead of that of the inner motor, the winding phase relationship of the motor is as shown in fig. 3(a) -3(b), and the electrical angle θ of the inner motor and the outer motor can be seene_oAnd thetae_iThe difference is 90 deg..
As an alternative embodiment, a three-closed loop control assembly is arranged at the outer motor, and a three-closed loop control assembly with a consistent structure is arranged at the inner motor;
furthermore, the photoelectric coding circuit is connected with the third PI controllers at the inner and outer motors through the operation circuit, that is, the output data is transmitted to the third PI controller 19 of the outer motor and the third PI controller 20 of the inner motor through the operation circuit.
As an alternative embodiment, a current transformer is connected to the current output end of the dual three-phase permanent magnet motor 1, and the current transformer includes an outer motor current transformer and an inner motor current transformer, and is used for respectively collecting three-phase currents of the outer motor and the inner motor;
preferably, the external motor current transformer is connected with the external motor first PI controller 6 and the external motor second PI controller 5 through an operation circuit; meanwhile, the operation circuit is also connected with a third PI controller 19 of the outer motor and a second PI controller 5 of the outer motor;
preferably, the inner motor current transformer is connected with the inner motor first PI controller 12 and the inner motor second PI controller 13 through an operation circuit; and the simultaneous operation circuit is also connected with a third PI controller 20 of the inner motor and a second PI controller 13 of the inner motor.
As an optional embodiment, the photoelectric encoding circuit is further connected to a PI master controller 21, and the PI master controller 21 is connected to the first external motor PI controller 6 and the second external motor PI controller 5 through an operation circuit.
Further, the outputs of the first PI controller 6 and the second PI controller 5 of the external motor and the output of the PI overall controller 21 are connected to an inverter circuit through an arithmetic circuit.
As an optional embodiment, the photoelectric encoding circuit is further connected to a PI master controller 21, and the PI master controller 21 is connected to the first internal motor PI controller 12 and the second internal motor PI controller 13 through an operation circuit.
Further, the outputs of the internal motor first PI controller 12 and the internal motor second PI controller 13 and the output of the PI overall controller 21 are connected to an inverter circuit through an arithmetic circuit.
As an optional embodiment, the inverter circuit includes an inverter bridge, specifically, the outer motor inverter bridge 2 connects the outer motor dc power supply 2 and the outer motor windings of the dual three-phase permanent magnet motor, and the inner motor inverter bridge 10 connects the inner motor dc power supply 9 and the inner motor windings of the dual three-phase permanent magnet motor.
It will be appreciated that in further embodiments, there is also provided a method of double three closed loop control of a double three-phase permanent magnet machine, comprising:
s1: rotor position angle theta is obtained by adopting photoelectric encoder arranged on rotor shaft of double three-phase permanent magnet motorm；
It can be understood that the photoelectric encoder is a sensor for converting mechanical geometric displacement on an output shaft into pulse or digital quantity by photoelectric conversion, and mainly comprises a grating disc and a photoelectric detection device. In a servo system, because the photoelectric code disc is coaxial with the motor, when the motor rotates, the grating disc and the motor rotate at the same speed, a plurality of pulse signals are detected and output by a detection device composed of electronic elements such as a light-emitting diode, and the current motor rotating speed is obtained by the number of pulses output by a photoelectric encoder per second; the coded disc can also provide optical code output of 2 channels with 90-degree phase difference, and the steering of the motor is determined according to the state change of the two-channel optical code; in the calculation of the electrical angle, the electrical angle of the motor is obtained according to the position information fed back by the grating disk of the photoelectric encoder.
Therefore, in the photoelectric encoder circuit, the rotor position angle θ measured by the photoelectric encoder 16 is used as the referencemCarrying out angular velocity calculation 17 and electrical angle calculation 18 to obtain the motor rotating speed omegarExternal motor electrical angle thetae_oElectric angle theta with inner motore_i(ii) a The method specifically comprises the following steps:
θe_o＝θm×Pr
θe_i＝θe_o-Δθ
wherein, PrThe number of the rotor poles is, and delta theta is the included angle of the current phases of the inner motor and the outer motor.
S2: the motor rotation speed omega output by the photoelectric coding circuitrAnd a target rotational speed ωr *After the current is processed by the subtracter, the operation result of the subtracter is respectively input into the third PI controller 19 of the outer motor and the third PI controller 20 of the inner motor to obtain the given value i of the q-axis current of the outer motorq_o *Given value i of q-axis current of internal motorq_i *(ii) a The method specifically comprises the following steps:
wherein e isnAs rotational speed deviation (rpm), Kpn_o、Kpn_iProportional gains, K, for the third PI controller 19 of the outer motor and the third PI controller 20 of the inner motor, respectivelyin_o、Kin_iIntegrating gain, psi, for the outer motor third PI controller 19 and the inner motor third PI controller 20, respectivelyfIs rotor flux linkage, J is motor moment of inertia, B is motor viscosity coefficient, betanFor a parameter to be set (positively correlated with the loop bandwidth of the rotating speed) of the third PI controller, a subscript i represents a corresponding parameter of the inner motor, and a subscript o represents a corresponding parameter of the outer motor.
S3: carrying out ABC-dq conversion 4 on the three-phase current of the external motor in the three-phase current of the external motor collected by the current transformer, namely extracting a d-axis component and a q-axis component of the three-phase current of the external motor;
d-axis current set value i of external motord_o *The output of the third PI controller 19 of the external motor, namely the given value i of the q-axis current of the external motor is zeroq_o *Q-axis component of three-phase current of external motor and d-axis current of external motorGiven value id_o *D-axis components of three-phase current of the external motor are respectively transmitted to the inverter circuit through the subtracter, and then output results of the subtracter are transmitted to the inverter circuit;
s4: carrying out ABC-dq conversion 11 on the three-phase current of the inner motor in the three-phase current of the inner motor collected by the current transformer, namely extracting d-axis components and q-axis components of the three-phase current of the inner motor;
d-axis current set value i of internal motord_i *The output of a third PI controller of the internal motor, namely a given value i of q-axis current of the internal motor is zeroq_o *The q-axis component of the three-phase current of the internal motor and the d-axis current set value i of the internal motord_o *D-axis components of three-phase current of the inner motor are respectively transmitted to the inverter circuit through the subtracter, and then output results of the subtracter are transmitted to the inverter circuit;
wherein, the current transformer measures the motor winding phase current iA、iB、iC、iU、iV、iWObtaining the actual values i of q-axis and d-axis currents of the external motor after ABC-dq conversionq_o、id_oAnd actual values i of q-axis and d-axis currents of the internal motorq_i、id_iThe method specifically comprises the following steps:
the output result of the subtracter comprises the given values u of the internal and external motor voltages PId_o *、uq_o *、ud_i *、uq_i *The method specifically comprises the following steps:
wherein alpha isi_o、αi_iParameters to be set for current loops of outer and inner motors respectively(positively correlated with the current loop bandwidth, reference 2 π/min { L }d/R，Lq/R})，Ld_o、Ld_iD-axis inductance values, L, of the outer and inner motors, respectivelyq_o、Lq_iThe q-axis inductance values of the outer motor and the inner motor are respectively, and the other parameters are proportional or integral gain values of the PI controller.
S5: a photoelectric encoder in the photoelectric encoding circuit is connected with the PI master controller, and the rotor position angle is sent to the PI master controller; the PI master controller is respectively connected with the first PI controller of the outer motor, the second PI controller of the outer motor, the first PI controller of the inner motor and the second PI controller of the inner motor through an operation circuit, and receives the PI given values u of the voltages of the inner motor and the outer motord_o *、uq_o *、ud_i *、uq_i *And the controller is used for performing voltage compensation on the given voltage PI value output by the PI controller to obtain the actual given voltage value ud_o、uq_o、ud_i、uq_iThe expression is as follows:
wherein, ω iseIs the electrical angular velocity of the motor.
S6: in an inverter circuit, aAccording to the electrical angle theta of the external motore_oSetting the d-axis voltage of the external motor to be the actual given value ud_oActual set value u of q-axis voltage of external motorq_oCarrying out dq-alpha beta conversion 7 of the external motor, namely extracting alpha component and beta component of the actual given value of voltage, namely uα_o、uβ_o；
According to the electric angle theta of the internal motore_iSetting the d-axis voltage of the internal motor to be a given value ud_iAnd actual given value u of q-axis voltage of internal motorq_iThe internal motor dq-alpha beta conversion 14 is carried out, i.e. the alpha component and beta component of the given voltage value are extracted, i.e. uα_i、uβ_i；
The method specifically comprises the following steps:
passing the obtained components through an outer motor inverter bridge and an inner motor inverter bridge to generate an ABC three-phase voltage value and a UVW three-phase voltage value, and generating a six-phase voltage value to drive the double three-phase permanent magnet motor to operate;
it can be understood that the outer motor SVPWM 8 and the inner motor SVPWM 15 are adopted to obtain three-phase PWM signals which are used as switching signals of an inverter bridge, and the inverter bridge module is connected with a direct-current voltage source and the double three-phase permanent magnet motor and used for generating three-phase voltage values according to the three-phase PWM signals and driving the permanent magnet motor to operate.
In the embodiment, current and rotating speed signals are obtained through six current transformers and a photoelectric encoder, the signals are fed back to a control board to generate 12-channel PWM waves, and the PWM waves of the first six channels drive a three-phase inverter to generate ABC three-phase voltage current; the latter six-channel PWM wave drives another inverter to generate UVW phase voltage current, thereby causing the motor to generate a rotating magnetic field to account for the rotation of the dual three-phase motor.
In order to verify the effectiveness of the double-triple closed-loop control circuit, the control system and the control method, the present embodiment is verified by combining a Matlab/simulink simulation diagram, in the simulation process, the motor is started at 300rpm when the motor speed is set at 0.05s, 20N · m is loaded when the motor speed is 0.15s, and 20N · m is loaded when the motor speed is 0.25s, and the obtained motor responses are shown in fig. 4(a) -4 (f); it can be seen that the inner and outer motors output torque simultaneously and rapidly; the rotating speed is uniformly accelerated and started at the maximum torque, then the steady state is quickly recovered after slight overshoot, the rotating speed is only slightly dropped during two times of loading, and the tracking performance is good; meanwhile, in the process, the phase A current always leads the phase U current by 90 degrees, namely the current of the outer motor leads the current of the inner motor by 90 degrees, and the requirement on the operation of the motor is met. In conclusion, the control mode can fully, quickly and automatically utilize the output torque of the inner motor and the output torque of the outer motor, has quick response, small overshoot and good tracking performance, and proves the correctness and the effectiveness of the method of the embodiment.
It should be noted that the present invention provides a double-triple closed-loop control circuit and control system, which is a structural scheme, wherein for each device monomer involved therein, the specific structure for realizing the function respectively exists in the prior art, and the protocol, software or program involved in performing the work processing between them also exists in the prior art, and those skilled in the art are fully aware of the present invention.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. A double triple closed-loop control circuit, comprising: the photoelectric encoder comprises two symmetrical three-closed-loop control components with consistent structures and a photoelectric encoding circuit; the three closed-loop control assemblies respectively comprise an inverter circuit, a first PI controller, a second PI controller and a third PI controller;
the inverter circuit is respectively connected with the output ends of the first PI controller and the second PI controller, the input ends of the first PI controller and the second PI controller are arranged at the first position, the input end of the second PI controller is connected with the third PI controller, the third PI controller is connected with the photoelectric coding circuit, and the photoelectric coding circuit is arranged at the second position.
2. The dual-tri-closed loop control circuit as claimed in claim 1, wherein the photoelectric encoding circuit is connected to the third PI controller through an arithmetic circuit.
3. The dual-tri-closed loop control circuit as claimed in claim 1, wherein the first PI controller and the second PI controller are connected to the first position of the controlled device through an arithmetic circuit.
4. A double triple closed loop control circuit as claimed in claim 3 wherein the arithmetic circuit comprises a subtractor.
5. The double-triple closed-loop control circuit as claimed in claim 1, wherein the photoelectric coding circuit is further connected to a PI master controller, and the PI master controller is respectively connected to the first PI controller and the second PI controller through an adder.
6. The double-triple closed-loop control circuit as claimed in claim 4, wherein the outputs of the first PI controller and the second PI controller and the output of the PI master controller are connected to the inverter circuit through a subtracter.
7. A double-three closed-loop control system of a double-three-phase permanent magnet motor is characterized by comprising: the control circuit of any one of claims 1-6 and a dual three-phase permanent magnet machine; the first position is arranged at the current output end of the double three-phase permanent magnet motor, and the second position is arranged at the rotor of the double three-phase permanent magnet motor.
8. The system of claim 7, wherein the dual three-phase permanent magnet machine is divided into an outer machine and an inner machine, wherein the outer machine is provided with a triple closed loop control assembly, and wherein the inner machine is provided with a triple closed loop control assembly of a uniform configuration.
9. The double-triple closed-loop control system of the double-three-phase permanent magnet motor according to claim 7, wherein current transformers are respectively connected to the current output terminals of the outer motor and the current output terminals of the inner motor of the double-three-phase permanent magnet motor, and the current transformers of the outer motor are connected to the first PI controller of the outer motor and the second PI controller of the outer motor through an arithmetic circuit; the inner motor current transformer is connected with a first PI controller of the inner motor and a second PI controller of the inner motor through an operation circuit.
10. The dual three-phase closed loop control system of a dual three-phase permanent magnet motor according to claim 7, wherein the inverter circuit in the control circuit comprises an inverter bridge, and the inverter bridge connects the dc voltage source and the dual three-phase permanent magnet motor.
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| CN202120593249.3U CN214281265U (en) | 2021-03-23 | 2021-03-23 | Double-three closed-loop control circuit and control system |
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