直接调节器

ABSTRACT Aiming at problems of trans-vector controller in a vehicle-carried induction motor such as variable rotor and stator resistance following motor temperature, and their inductance varying with flux saturation degrees. Firstly, CSI and VSI are introduced, for CSI, it can hold the advantages both FOC and DTC using stator flux directional, PI parameter and simulation are also introduced. Secondly, equations of IM in the synchronous rotary frame and its static counterpart, as figuring in the saturation condition of magnetic field, are dealt in this paper and the simulation results are presented. Thereafter, the parameter designing of PI trans-vector controller is processed, which features the non-linear model. In practical realization, as neglecting the dynamical change of motor inductance, this paper employs online modification of inductance parameters, according to the flux saturation, then transforms the non-linear equations into linear ones, and so compacts the structure of controller. Thirdly, in view of the maximum torque output is extraordinary requisite when Electrical Vehicle start up, accelerate, and overtake, this paper issues the maximum torque when both inverter and battery capacity is corporeally definite. Fourthly, on-line differentiating and analyzing both rotor's time constants and its flux by using the expanding order reduction and discrete Kalman filter equation are fathomed, in order to realize high-performance trans-vector algorithm, and also the simulation results are presented. Fifthly, the close-loop regenerative brake system, when the EV's torque is set constant, is deduced; at the same time, unification of electric drive model and brake model is executed. Combined with maximum charge current demands, the mathematical model for online yielding torque as a demand.

本论文针对车载异步电机在矢量控制器所遇到的问题：定转子电阻随温度变化及随电机饱和程度变化的转子电感及定子电感而影响电机调速性能提出一套完整的解决方案：分析了电流型逆变器和电压型逆变器在实现矢量控制时控制器参数的计算，分析出对于电流型逆变器在采用定子磁场定向时，其性能同时具有矢量控制和直接转矩控制两者的优势，并对电压型逆变器在转子磁场定向下的模型进行了仿真研究；建立异步电机非线性模型，推导出考虑磁饱和时异步电机在同步旋转坐标系及静止坐标系下的方程，并做出了仿真结果，建立异步电机在非线性模型下的矢量控制调节器的PI参数设计，在实际应用中，若忽略电机电感的动态变化，可以根据当前的磁路饱和状态而在线修正电感参数，从而将非线性方程线性化，降低控制器的复杂度；考虑到电动汽车在起动和加速超车时需要电机有最大转矩输出，本文讨论在逆变器容量一定和电池供电能力有限的情况下电机最大转矩输出问题；推导了异步电机扩展降阶、离散卡尔曼滤波方程在线辨识转子时间常数和转子磁通，用于实现高性能的矢量控制算法，并给出了仿真结果；推导出了电动汽车恒转矩给定的闭环回馈制动系统，实现了电动控制模型和制动模型的统一，而且结合铅酸电池最大充电电流的要求，为制动转矩在线给定建立了数学模型；设计了基于双DSP系统的高性能矢量控制器软硬件框图，并以大量实验数据说明矢量控制在电动汽车应用的实际应用状况。

Due to the large torque ripple of direct torque control in low speed range,a torque angle adjustor based on fuzzy neural network and PI control was adopted to improve the control effect.

针对直接转矩控制低速时转矩脉动大的问题，采用基于模糊网络与PI控制结合的转矩角调节器来改进控制效果。

In this paper, the configuration of motorized spindle is studied and the procedure of direct torque control for motorized spindle is investigated, and the system principle sketch map is drawn.

结果 建立了高速电主轴直接转矩控制系统仿真模型，完成了仿真系统调节器及其参数设计，对系统的恒定负载和负载变化两种情况进行了仿真研究。

For the direct current decouple controller, the P1 adjustor抯 parameter of current and voltage loop抯 is designed. The correction of the designed parameter is testified by simulating on two phase synchronization coordinate and three phase stationary coordinate, the simulation wave is given.

对直接电流解耦控制器的电流环和电压环的PI调节器参数进行了设计，并通过在两相同步坐标系与三相静态坐标系的仿真验证了设计参数的正确性，同时也验证了直接电流解耦控制方案的可行性，给出了仿真波形。

This paper presents a design method of fuzzy PI parameter adaptive con troller in order to settle better the nonlinear problem of parameters ' changing in direct torque control .

为了更好地解决直接转矩控制系统中的变参数非线性问题，提出了一种适用于异步电动机直接转矩控制的模糊参数PI自适应速度调节器的设计方法

BE/VR (Battery Eliminator/Voltage Regulator) can be used to power the receiver and servos directly from the main battery, eliminating the need for a separate receiver battery.

村代表（电池消除器/电压调节器）可用于电源接收器和伺服直接从主电池，不再需要一个单独的接收器的电池。

Acute; BE/VR (Battery Eliminator/Voltage Regulator) can be used to power the receiver and servos directly from the main battery, eliminating the need for a separate receiver battery.

村代表（电池消除器/电压调节器）可用于电源接收器和伺服直接从主电池，不再需要一个单独的接收器的电池。

Here a computer soft ware of simulation in tuning regulator parameters about the steam heater temperature control system was introduced.

这里介绍一种针对直接蒸汽加热器温度调节系统调节器参数整定的计算机仿真软件。

Key parts are imported directly from overseas which are advanced and reliable* Integral casting machine body to ensure high rigidity and stability* Precision processed working table with hard chrome-plated surface prolong the life time of the machine* Japan made MIKI PULLEY an infinitely speed adjuster with 6 - 25m/min infeed speed* Fully automated for entire infeed process* Each high precision spindle is supported by two bearings which makes spindle more stable.

配备有HFB523设备的经济型机械，但是消耗了更少的电压。*关键部件直接从海外进口，先进可靠。*机身整体铸件，保证高坚韧度和稳定性。*精加工工作台表面镀硬铬合金，能延长机器的使用寿命。*日本制造MIKI PULLEY，带6―25m/min的进给速度的一款无限速度调节器。*整个进给程序完全自动化。*每个高精度的轴都由两个轴承支持，使轴更稳定。

In software,I used location PID control algorithm to achieve the right systemPID tuning parameters, PID controller is the ratio of integrals,integral saturation correction factor, the parameters such asintegration time, Due to reasons of space calculation unmanifestedas if this thesis, it is in the final process directly give thevalue.

在软件实现中，本人采用位置式PID控制算法来实现对系统PID参数的整定，得到PID调节器的比例、积分、饱和积分修正系数、积分时间等参数，由于篇幅原因计算过程未列如本论文内容中，只是在最后程序中直接赋予各值。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。