摘要：【中文】本发明公开了一种基于梯度下降法的旋变周期性误差幅值相位补偿方法和系统，属于异步电机位置传感器信号校正领域，该方法包括：计算可调电流矢量和参考电流矢量；根据可调电流矢量和参考电流矢量的叉积，利用梯度下降法依次计算用于补偿旋变周期性误差的补偿信号相位和幅值；利用计算得到的补偿信号相位和幅值对旋转变压器输出的转子位置进行补偿。本发明采用梯度下降法，对旋变周期性误差的幅值和相位分别进行补偿，补偿精度高、速度快，能够有效解决周期性误差引起的相电流畸变与转矩脉动问题；将本发明方法与转子时间常数的变化结合，能够有效提高间接磁场定向的精确度。 【EN】The invention discloses a method and a system for compensating amplitude and phase of a rotary-change periodic error based on a gradient descent method, belonging to the field of signal correction of position sensors of asynchronous motors, and comprising the following steps: calculating an adjustable current vector and a reference current vector; sequentially calculating the phase and amplitude of a compensation signal for compensating the periodic error of the rotary transformer by using a gradient descent method according to the cross product of the adjustable current vector and the reference current vector; and compensating the position of the rotor output by the rotary transformer by using the calculated phase and amplitude of the compensation signal. The invention adopts a gradient descent method to respectively compensate the amplitude and the phase of the periodic error of the rotary transformer, has high compensation precision and high speed, and can effectively solve the problems of phase current distortion and torque pulsation caused by the periodic error; the method of the invention is combined with the change of the rotor time constant, and the precision of the indirect magnetic field orientation can be effectively improved.

摘要：【中文】本发明公开了一种降低逆变器交流侧共模电压的SVPWM调制方法，属于电力电子领域，包括：判断随机一时刻下参考电压矢量所在扇区，并在扇区逆时针选取非零有效矢量x，y；以上述扇区为基准，逆时针选择每个扇区的非零有效矢量x和y；计算各个扇区非零有效矢量x和非零有效矢量y的作用时间；将等效零矢量的两个非零有效矢量对称插入采样周期的首部、尾部和中部，获取SVPWM矢量的作用顺序；根据SVPWM矢量的作用顺序以及各扇区非零有效矢量x的作用时间、非零有效矢量y的作用时间，获取各扇区中的三相开关时刻表；本发明不仅降低逆变器交流侧共模电压，并且降低了切换不同开关状态时的切换开关次数。 【EN】The invention discloses an SVPWM (space vector pulse width modulation) method for reducing common-mode voltage of an alternating-current side of an inverter, belonging to the field of power electronics and comprising the following steps: judging the sector where the reference voltage vector is located at random moment, and selecting a non-zero effective vector x, y in the counterclockwise direction of the sector; selecting non-zero effective vectors x and y of each sector counterclockwise by taking the sector as a reference; calculating the action time of the nonzero effective vector x and the nonzero effective vector y of each sector; symmetrically inserting two non-zero effective vectors of the equivalent zero vector into the head part, the tail part and the middle part of a sampling period to obtain the action sequence of the SVPWM vector; acquiring a three-phase switching timetable in each sector according to the action sequence of the SVPWM vector, the action time of the non-zero effective vector x and the action time of the non-zero effective vector y in each sector; the invention not only reduces the common-mode voltage of the AC side of the inverter, but also reduces the switching times when different switching states are switched.

摘要：【中文】本发明公开了一种磁齿轮电机控制方法及控制电路，包括：基于磁齿轮电机的q轴和d轴电流及高速转子实测转速，采用线性观测器，观测得到低速转子和高速转子观测转速；基于低速转子观测转速以及高速转子实测转速或观测转速，通过磁齿轮电机速度控制环，得到用于产生转矩的控制电流和用于抑制动态震荡的补偿电流；基于控制电流和补偿电流，产生控制指令。本发明引入线性观测器对磁齿轮电机低速转子转速进行计算，避免采用硬件设备采集电机低速转子转速带来的系统复杂、成本高的问题，另外磁齿轮电机速度控制环可结合高速转子转速和线性观测器观测到的低速转子转速，产生用于抑制动态震荡的补偿电流，用于电机控制时，有效提高应用场景下的控制性能。 【EN】The invention discloses a control method and a control circuit of a magnetic gear motor, which comprises the following steps: observing to obtain the observed rotating speeds of the low-speed rotor and the high-speed rotor by adopting a linear observer based on the q-axis and d-axis currents of the magnetic gear motor and the actually measured rotating speeds of the high-speed rotor; based on the observed rotating speed of the low-speed rotor and the actually measured rotating speed or the observed rotating speed of the high-speed rotor, a control current for generating torque and a compensation current for inhibiting dynamic oscillation are obtained through a speed control ring of the magnetic gear motor; based on the control current and the compensation current, a control command is generated. The invention introduces the linear observer to calculate the rotating speed of the low-speed rotor of the magnetic gear motor, avoids the problems of complex system and high cost caused by adopting hardware equipment to acquire the rotating speed of the low-speed rotor of the motor, and in addition, a speed control loop of the magnetic gear motor can combine the rotating speed of the high-speed rotor and the rotating speed of the low-speed rotor observed by the linear observer to generate compensation current for inhibiting dynamic oscillation, and when the compensation current is used for controlling the motor, the control performance under an application scene is effectively improved.

摘要：【中文】本发明公开了一种集成绕组双机械端口电机的内外转子解耦控制方法及系统，属于交流电机与驱动控制领域。本发明基于绕组变极理论的解耦供电技术，两套绕组通过采用灵活的电流分配系数m₁，m₂，n₁，n₂以辅助提高转矩输出或作为容错拓扑来运行；通过预测少极磁场将作用到外转子上的转矩，跳过外转子转速环，直接将补偿分量作用到外转子转矩上，从而实现了内转子转矩与外转子转速的解耦控制。本发明不仅实现了集成绕组双机械端口电机的灵活供电及内转子转矩与外转子转速解耦控制，而且所提出的解耦控制方法依赖于电机本身结构和参数特性，与负载大小无关，可以很好的适应于实际应用。 【EN】The invention discloses an internal and external rotor decoupling control method and system of an integrated winding double-mechanical-port motor, and belongs to the field of alternating current motor and drive control. The invention relates to a decoupling power supply technology based on a winding pole-changing theory, wherein two sets of windings adopt a flexible current distribution coefficient m₁，m₂，n₁，n₂To assist in increasing torque output or to operate as a fault tolerant topology; the torque acting on the outer rotor by the few-pole magnetic field is predicted, the outer rotor rotating speed ring is skipped, and the compensation component is directly acted on the outer rotor torque, so that the decoupling control of the inner rotor torque and the outer rotor rotating speed is realized. The invention not only realizes the double mechanical ports of the integrated windingThe motor is flexibly powered, the torque of the inner rotor and the rotating speed of the outer rotor are decoupled and controlled, and the decoupling control method is independent of the structure and parameter characteristics of the motor and the load, so that the decoupling control method can be well suitable for practical application.

摘要：【中文】本发明公开了一种无刷双机电端口电机的动态响应主动控制方法和装置，属于交流电机与驱动控制领域。本发明方法使用双三相绕组供电产生两个极对数的磁场，分别作用到磁齿轮MGM和永磁同步电机PMSM部分，实现了无刷双机电端口电机在电流闭环跟踪下的外转子驱动轴动态响应主动控制，具体为：基于少极磁场转矩预测方法，实现了内转子突加突减负载时的外转子驱动轴无差拍补偿控制，系统响应大大增强；通过外转子驱动轴上的负载转矩观测方法，实现了外转子驱动轴上突加突减负载时的前馈补偿控制，系统响应进一步增强。控制简单易于实现，能够有效抑制系统震荡，提高系统响应和使用寿命。 【EN】The invention discloses a dynamic response active control method and device for a brushless dual-electromechanical port motor, and belongs to the field of alternating current motor and drive control. The method of the invention uses double three-phase windings to supply power to generate two magnetic fields with the number of pole pairs, and the two magnetic fields are respectively applied to the magnetic gear MGM part and the permanent magnet synchronous motor PMSM part, thereby realizing the dynamic response active control of the outer rotor driving shaft of the brushless double-motor port motor under the current closed-loop tracking, and the method specifically comprises the following steps: based on a few-pole magnetic field torque prediction method, the dead-beat compensation control of the outer rotor driving shaft is realized when the load of the inner rotor is suddenly added and reduced, and the system response is greatly enhanced; through the load torque observation method on the outer rotor driving shaft, the feedforward compensation control when the load is suddenly added or reduced on the outer rotor driving shaft is realized, and the system response is further enhanced. The control is simple and easy to realize, the system oscillation can be effectively inhibited, the system response is improved, and the service life is prolonged.