26矢量控制基础1 [兼容模式]

2341.1.11-1ABANBNAuBuAiBi1-15mωμ2m2121BBHω==(1-15)(1-15)μ1-10Feμμδ02δm21VBWμ=(1-16)mWδV6mdWmAAmddψiW=(1-20)∫=mA0AmdψψiW(1-21)(1-21)Ai-ψ1-5oabo∫=′A0mAmdiiWψ(1-22)mW′1-5ocao1-57mAAmmψiWW=′+(1-23)1-5i-ψ2AmAmAAmm2121iLiWW==′=ψ(1-24)(1-24)SBfiWWδAmAAmm2121==′=ψ(1-25)δδAHf=(1-25)δ02δδδδmm2121VBVBHWWμ==′=(1-26)(1-26)(1-16)2AAAAAmm2121iLiWW==′=ψ(1-27)8ABAfBfABmBϕσBϕBBBBmBBσBmBσBBBiLiLiL=+=+=ψψψσBLmBLBLBmBσBBLLL+=BA1-1mBϕABiAmABψAδBBAmBmBmABNΛNiN===ϕψψ(1-28)9BALABδBABmABABΛNNiL==ψ(1-29)ABLBAδBAAmBABAΛNNiL==ψ(1-31)(1-29)(1-31)δBABAABΛNNLL==AB1-1AiBiAiBiNA=NBLmA=LmB=LAB=LBA10AAψBABAABABAmAAσAAiLiLiLiLiL+=++=ψ(1-33)ABABBABABmBBσBBiLiLiLiLiL+=++=ψ(1-34)AeBeteddAAψ-=(1-35)teddBBψ-=(1-36)11tdABedWBBAABBAABBAAddd)dddd(d)(dψψψψiititittieieWe+=+=+-=(1-37)edWBBAAmdddψψiiW+=(1-38)0AψBψ∫∫+=AB00BABAmdd),(ψψψψψψiiW(1-39)(1-39)mWAψBψ12mW′∫∫+=′AB00BABAmdd),(iiiiiiWψψ(1-40)iAiBBBAA000BA0BAmmddddAABBψψψψψψψψiiiiiiWWii+=+++=′+∫∫∫∫(1-41)2121BBAAmmψψiiWW+=′=(1-42)2BBBAAB2AAmm2121iLiiLiLWW++=′=(1-43)131.1.21-1ABiAiB1-6δBA(NA)NANBgg2=δ141-6ABiA()siBrsθrθr1-615LmALmBABLmA=LmBABLABθrLAB(θr)LBA(θr)rABrBArABcos)()(θθθMLL==(1-44)ABM(ABM0)ABMABMAB=LmA=LmB1-11-6WmAψBψθrmW′iAiBθr),,(),,(rBAmmrBAmmθθψψii′=′=16dWm()rrmBBmAAmmddddθθψψψψ∂∂+∂∂+∂∂=(1-45)(1-39)(1-45)rrmBBAAmddddθθψψ∂∂++=WiiW(1-46a)mdW′rrmBBAArrmBBmAAmmdddddddθθψψθθ∂′∂++=∂′∂+∂′∂+∂′∂=′WiiWiiWiiWW(1-46b)(1-38)(1-46a)17dtdθrtemechdWremechddθtW=remmechmedddddθt=+=(1-47)()18(1-37)(1-46a)(1-47)rrmrrmBBAABBAAmered)ddd()dd(dddθθθθψψψψθ∂∂-=∂∂++-+=-=WWiiiiWWt(1-48)rrBAme),,(θθψψ∂∂-=Wt(1-49)(1-49)19(1-41)mBBAAmBBAABBAAmered)dd()(d)dd(dddWiiWiiiiWWt′++-=′-+-+=-=ψψψψψψθ(1-50)(1-46b)(1-50)rrBAme),,(θθ∂′∂=iiWt(1-51)(1-51)(1-49)(1-51)(1-49)(1-51)mWmW′θr201-62BBBArAB2AAmm21)(21iLiiLiLWW++=′=θ(1-52)(1-43)(1-52)(1-52)LABθr(1-52)(1-52)(1-51)rABBArrABBAesin)(θθθMiiLiit-=∂∂=(1-53)1-6θrmW′211-6te(1-53)terθ(1-53)1-11-6dWmech=01-61-122ABAeBe]dd)(dd)(dd[])([ddddrrrABBBrABAABrABAAAAtLitiLtiLiLiLtteθθθθθψ∂∂++-=+-=-=(1-54)]dd)(dd)(dd[])([dddrrrABArABBBArABBBBBtLitiLtiLiLiLdtteAθθθθθψ∂∂++-=+-=-=(1-55)(1-54)(1-55)θr=ABAB(θr)23(1-54)(1-55)dtABrrrABBABAABBAAed)(2ddd)(dθθθψψ∂∂++=+-=LiiiiteieiWB(1-56)(1-53)dtrrrABBAremechd)(ddθθθθ∂∂==LiitW(1-57)(1-56)(1-57)rrrABBABBAAmechemd)(dddddθθθψψ∂∂++=-=Liiii(1-58)iAiB24(1-56)(1-57)(1-58)dtAB251.1.31-6(1-53)rmAmBmBrAmABmBmBesin1sin))((1θψψθLiLiLLt==(1-59)(1-59)BiAisBi26(0r=θor180=θ)(0r=θ)27BBB′-1-7BmA(θs)A“Bli”BrmaxmArBBeBsinθBliNf=(1-60)lrmAϕmaxmArrrmaxmAmAπ2BlDlB==τϕ(1-61)τrDτ2πr=D1-728(1-61)(1-60)rBmABreBsin1θϕiNDf=(1-62)mAϕAmAψAABmABmAAmAiMNN===ϕϕψ(1-63)AABBmA1iMN=ϕ(1-64)(1-64)(1-62)rABBAreBsin1θMiiDf=(1-65)B′Be′feBfrABBArBesin1θMiiDf=′(1-66)(1-65)(1-66)BrABBABeeBresin)(2θMiiffDt=+=′(1-67)29(1-67)1-6Bli1-7BBmABiB1-8aBmA1-8b1-8aBBBeBfB′BB′B1-8Ba)Bb)30(1-67)rBmAesinθψit=(1-68)(1-68)(1-59)1-61-61-91-6θr=0ºdsLd311-9a)0r=θb)2πrθc)2πr=θd)2πrθ32θr=90ºLqLALdLq1-10θr=0180LALdor90=θ270LALqLdLqθrr0rA2cos)(θθLLLΔ+=(1-68))(21qd0LLL+=)(21qdLLL-=Δ(1-68)L0ΔLL0()ΔLπ1-10331-9(1-52)2ArAmm)(21iLWWθ=′=(1-69)(1-69)(1-51)r2Aqdr2Ae2sin)(212sinθθiLLLit--=Δ-=(1-70)1-9(1-70)θrθr1-9b(1-70)θrr2sqde2sin)(21θiLLt-=(1-71)341-9a0r=θoro900θ1-9b1-9aor90=θoro18090θor180=θds0r=θ35dsLdLqiA361.1.41-111-11LrreddtΩRtΩJt++=ΩtetLΩrJRΩΩr1-1137tetL381-11rddΩt=ΩθθΩL22eddddttRtJt++=ΩΩΩθθtetL39401.21.2.11.2.21.2.31-61.2.11-6iAiB(1-53)1-6“”411-121-6BBB′B′B′NSB′B′B′B(1-53)rθiB1-12421-131-12AifNSB()1-121-13431-13NSNS1-13d()d90°q()q44“”1-14qq1-1445qdq461-141-151-15dqifiadq1-15q“”qqd1-15471-141-61-6AAfNN=BqiaBqNN=(1-53)mfafrABBAesinLiiMiit==θ(1-72)Afii=Baii=MAB=LmfLmffmffiL=ψ(1-72)afeitψ=(1-73)(1-72)(1-73)ifia48“”491.2.21-6BA1-6AA-XB-YC-Z1-16NS()ωs501-16511-6BiBif1-16βωsωrrsωω=β521-161-17dqd90dqAAAdqθrsdqβssssissABCfifsf531-17541-171-6(1-53)ββsinsinmfssffseLiiMiit-=-=(1-74)MsfsrmmsmfsfLLLM===LmfLmssrLmβ1-17βdβdsd(1-74)(1-74)βψβsinsinsfmfseiLiit==(1-75)fmfmffiLiL==ψfψ551-161-181-181-191-191-17(1-75)(1-76)561-181-19571-19β2sin)(212sqdeiLLt-=(1-77)ββ2sin)(21sin2sqdmfseiLLLiit-+=(1-78)ββψ2sin)(21sin2sqdsfeiLLit-+=(1-79)581.2.31-61-20ABa-xb-yc-zsωsωsωsω591-2060rωrωsωrωsωrωrsωωω-=Δssrsωωωs-=(1-80)fωsrsfsωωωω=-=fωsωrssrθ611-201-211-21ssiri1-211-2162(1-53)srsrrsesinθMiit-=(1-81)srMsr==mssrLMmmrLL=msLmrLsrmL(1-81)srmrsesinθLiit-=(1-82)srθ631.311..33..1111..33..2211..33..3311..33..441-221-2264Re-ImAReReθjeR=r(1-83)R()θRe1-22GrrGr(1-83)θθθsinjcosej+=(1-83)θθsinjcosRR+=r(1-84)baj+=r(1-85)(1-85)651.3.11-23AAiAAsiN)(AsggtiNgHgH=+(1-86)gHgNsA)(21AsgtiNgH=gH1-23bA-XNS661-23Aa)b)A671-231-241-24A68(1-86)A1-242)(AstiN)(21π4)(ASAtiNtF=(1-87)AfA1-22Af)(AAtF=f(1-88)BCiBiCBfCfBCo120jBB)(etF=f(1-89)o240jCC)(etF=f(1-90))(21π4)(BSBtiNtF=)(21π4)(CSCtiNtF=69AfBfCf1-24sN(1-87))(21π4)(Aωs1SAtikNtF=(1-93)ωs1k1ωs1k)(21π4)(Bωs1SBtikNtF=(1-94))(21π4)(Cωs1SCtikNtF=(1-95)70()AfBfCfABC)(Ati)(Bti)(Cti71)(Ati1-250t1Af)(AtiAt1t1Aft2t3Af)(AtiA()()1-25iA72sf)()()(e)(e)()(C2BA240jC120jBACBAstFataFtFtFtFtF++=++=++=ooffff(1-96)aa2o120je=ao240j2e=a0aa2a1-220aa2aABCABC73(1-96)0)(Ati0)(AtFAfABfCfiA=2iB=1iC=2(1-96)1-26sf)(AtF)(BtaF)(C2tFa)(Ati)(Bti)(C