四、BLDC矢量控制基础知识：dq轴电压方程

dq轴方程推导

通过阅读各种资料，将学到的关于dq轴方程的知识整理一下，并自己推导了一遍dq轴方程。

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前言

之前的对dq轴方程的理解有误，推导出的dq轴电压方程$L_d=L_q$，后来学习凸极效应，它将导致$L_d<L_q$。这里将学到的知识加以整理归纳并自行推导一遍dq轴的电压方程，以便真正掌握它。

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一、原始电压方程

$$\left[\begin{array}{c}{u}_a\\ u_b\\ u_c\end{array}\right]=R_s\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]+\frac{d}{dt}\left\{\left[\begin{array}{ccc}{L}_{aa}& M_{ab}& M_{ac}\\ M_{ba}& L_{bb}& M_{bc}\\ M_{ca}& M_{cb}& L_{cc}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]\right\}+\frac{d}{dt}\left[\begin{array}{c}{\psi }_{fa}\\ {\psi }_{fb}\\ {\psi }_{fc}\end{array}\right]$$
其中被微分的两项分别代表电流和永磁体的磁场。${\psi }_{fa},{\psi }_{fb},{\psi }_{fc}$是永磁体转子在三相线圈上的磁链分量。
为方便书写用黑体表示矩阵，电感矩阵的负号定义请参考《三、BLDC矢量控制基础知识：三相线圈的电感矩阵》：
$\mathbf{L}={\mathbf{L}}_{\mathbf{s}0}-{\mathbf{L}}_{\mathbf{s}2}$表示总的电感矩阵
${\mathbf{L}}_{\mathbf{s}0}$表示电感矩阵的常量部分
${\mathbf{L}}_{\mathbf{s}2}$表示电感矩阵的随电角度变化的部分
则方程简写为：
$$\begin{array}{r}{\mathbf{u}}_{\mathbf{a}\mathbf{b}\mathbf{c}}=\mathbf{R}{\mathbf{i}}_{\mathbf{a}\mathbf{b}\mathbf{c}}+\frac{\mathbf{d}\mathbf{L}{\mathbf{i}}_{\mathbf{a}\mathbf{b}\mathbf{c}}}{\mathbf{d}\mathbf{t}}+\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{a}\mathbf{b}\mathbf{c}}}{\mathbf{d}\mathbf{t}}\end{array}$$

二、对电压方程进行Clarke变换

上述方程两边进行Clarke变换(注意Clarke变换是常数矩阵)：
$$\begin{array}{rl}& {\mathbf{u}}_{\mathbf{\alpha }\mathbf{\beta }}=\mathbf{C}\mathbf{R}{\mathbf{i}}_{\mathbf{a}\mathbf{b}\mathbf{c}}+\mathbf{C}\frac{\mathbf{d}\mathbf{L}{\mathbf{i}}_{\mathbf{a}\mathbf{b}\mathbf{c}}}{\mathbf{d}\mathbf{t}}+\mathbf{C}\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{a}\mathbf{b}\mathbf{c}}}{\mathbf{d}\mathbf{t}}\\ & =\mathbf{R}{\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}+\frac{\mathbf{d}\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{C}{\mathbf{i}}_{\mathbf{a}\mathbf{b}\mathbf{c}}}{\mathbf{d}\mathbf{t}}+\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}\\ & =\mathbf{R}{\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}+\frac{\mathbf{d}\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}{\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}+\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}\end{array}$$
下面需要先计算$\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}$才能往下讨论。
先计算电感常量部分：
$\mathbf{C}{\mathbf{L}}_{\mathbf{s}0}{\mathbf{C}}^{-1}=L_{s0}\mathbf{C}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ -\frac{1}{2}& 1& -\frac{1}{2}\\ -\frac{1}{2}& -\frac{1}{2}& 1\end{array}\right]{\mathbf{C}}^{-1}$
计算的核心是矩阵乘积：
$$\begin{array}{rl}\mathbf{C}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ -\frac{1}{2}& 1& -\frac{1}{2}\\ -\frac{1}{2}& -\frac{1}{2}& 1\end{array}\right]{\mathbf{C}}^{-1}& =\mathbf{C}\left\{\frac{3}{2}\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right]-\frac{1}{2}\left[\begin{array}{ccc}1& 1& 1\\ 1& 1& 1\\ 1& 1& 1\end{array}\right]\right\}{\mathbf{C}}^{-1}\\ & =\frac{3}{2}\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]-\frac{1}{2}\mathbf{C}\left[\begin{array}{ccc}1& 1& 1\\ 1& 1& 1\\ 1& 1& 1\end{array}\right]{\mathbf{C}}^{-1}\end{array}$$
有一个很显然的地方：$\mathbf{C}\left[\begin{array}{ccc}1& 1& 1\\ 1& 1& 1\\ 1& 1& 1\end{array}\right]=\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{ccc}1& 1& 1\\ 1& 1& 1\\ 1& 1& 1\end{array}\right]=0$

于是得到公式：$\mathbf{C}{\mathbf{L}}_{\mathbf{s}0}{\mathbf{C}}^{-1}=\frac{3}{2}{L}_{s0}\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]\dots \dots 1$

然后计算电感角度相关部分：
$\mathbf{C}{\mathbf{L}}_{\mathbf{s}2}{\mathbf{C}}^{-1}=L_{s2}\mathbf{C}\left[\begin{array}{ccc}cos(2\theta )& cos(2\theta -\frac{2\pi }{3})& cos(2\theta +\frac{2\pi }{3})\\ cos(2\theta -\frac{2\pi }{3})& cos(2\theta +\frac{2\pi }{3})& cos(2\theta )\\ cos(2\theta +\frac{2\pi }{3})& cos(2\theta )& cos(2\theta -\frac{2\pi }{3})\end{array}\right]{\mathbf{C}}^{-1}$

先对第一列进行变换：
注意第一列是一个三相矢量$A$相的相位$\phi =2\theta$(参考《一、BLDC矢量控制基础知识：Clarke变换和Park变换》)，直接看出结果：
$$\mathbf{C}\left[\begin{array}{c}cos(2\theta )\\ cos(2\theta -\frac{2\pi }{3})\\ cos(2\theta +\frac{2\pi }{3})\end{array}\right]=\frac{3K}{2}\left[\begin{array}{c}cos(2\theta )\\ sin(2\theta )\end{array}\right]$$
按照这个思路，第二列是把三相矢量的$\phi$替换成$2\theta -\frac{2\pi }{3}$，第三列是把三相矢量的$\phi$替换成$2\theta +\frac{2\pi }{3}$：
因此我们有：
$$\begin{array}{rl}& \mathbf{C}\left[\begin{array}{ccc}cos(2\theta )& cos(2\theta -\frac{2\pi }{3})& cos(2\theta +\frac{2\pi }{3})\\ cos(2\theta -\frac{2\pi }{3})& cos(2\theta +\frac{2\pi }{3})& cos(2\theta )\\ cos(2\theta +\frac{2\pi }{3})& cos(2\theta )& cos(2\theta -\frac{2\pi }{3})\end{array}\right]{\mathbf{C}}^{-1}\\ & =\frac{3K}{2}\left[\begin{array}{ccc}cos(2\theta )& cos(2\theta -\frac{2\pi }{3})& cos(2\theta +\frac{2\pi }{3})\\ sin(2\theta )& sin(2\theta -\frac{2\pi }{3})& sin(2\theta +\frac{2\pi }{3})\end{array}\right]{\mathbf{C}}^{-1}\end{array}$$
上式转置，并使用Clarke变换的转置性质：
$$\begin{array}{rl}& \frac{1}{K}\mathbf{C}\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ cos(2\theta -\frac{2\pi }{3})& sin(2\theta -\frac{2\pi }{3})\\ cos(2\theta +\frac{2\pi }{3})& sin(2\theta +\frac{2\pi }{3})\end{array}\right]=\frac{1}{K}\mathbf{C}\left[\begin{array}{cc}cos(2\theta )& -cos(2\theta +\frac{\pi }{2})\\ cos(2\theta -\frac{2\pi }{3})& -cos(2\theta +\frac{\pi }{2}-\frac{2\pi }{3})\\ cos(2\theta +\frac{2\pi }{3})& -cos(2\theta +\frac{\pi }{2}+\frac{2\pi }{3})\end{array}\right]\\ & =\frac{3}{2}\left[\begin{array}{cc}cos(2\theta )& -cos(2\theta +\frac{\pi }{2})\\ sin(2\theta )& -sin(2\theta +\frac{\pi }{2})\end{array}\right]=\frac{3}{2}\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\end{array}$$
结果是一个对称矩阵，于是得到公式：
$$\mathbf{C}{\mathbf{L}}_{\mathbf{s}2}{\mathbf{C}}^{-1}=\frac{3}{2}{L}_{s2}\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\dots \dots 1$$

这样就把$ABC$下的电感变换到了$\alpha \beta$坐标系：
$$\begin{array}{r}\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}=\mathbf{C}({\mathbf{L}}_{\mathbf{s}0}-{\mathbf{L}}_{\mathbf{s}2}){\mathbf{C}}^{-1}=\frac{3}{2}{L}_{s0}\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]-\frac{3}{2}{L}_{s2}\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\end{array}\dots \dots 2$$

若考虑线圈漏感$L_l$则无非是增加了一个常数单位阵，结果显然为：
$$\begin{array}{r}\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}=\frac{3}{2}(L_{s0}+L_l)\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]-\frac{3}{2}{L}_{s2}\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\end{array}\dots \dots 3$$

三、继续对电压方程进行Park变化

把$\alpha \beta$坐标系下的电压方程列在下面方便查看：
$$\begin{array}{r}{\mathbf{u}}_{\mathbf{\alpha }\mathbf{\beta }}=\mathbf{R}{\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}+\frac{\mathbf{d}\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}{\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}+\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}\end{array}$$
两边同时进行Park变换，使得d轴与永磁体转子的磁场方向重合。
$$\begin{array}{rl}& {\mathbf{u}}_{\mathbf{d}\mathbf{q}}=\mathbf{P}(\mathbf{\theta }){\mathbf{u}}_{\mathbf{\alpha }\mathbf{\beta }}\\ & =\mathbf{P}(\mathbf{\theta })\mathbf{R}{\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })\mathbf{P}(\mathbf{\theta })\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{P}(-\mathbf{\theta })\mathbf{P}(\mathbf{\theta }){\mathbf{i}}_{\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })\mathbf{P}(\mathbf{\theta }){\mathbf{\psi }}_{\mathbf{f}\mathbf{\alpha }\mathbf{\beta }}}{\mathbf{d}\mathbf{t}}\\ & =\mathbf{R}{\mathbf{i}}_{\mathbf{d}\mathbf{q}}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })(\mathbf{P}(\mathbf{\theta })\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{P}(-\mathbf{\theta })){\mathbf{i}}_{\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta }){\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}\end{array}$$
其中：
$$\begin{array}{rl}& \mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta }){\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}=\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })}{\mathbf{d}\mathbf{t}}{\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}+\mathbf{P}(\mathbf{\theta })\mathbf{P}(-\mathbf{\theta })\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}\\ & =-\frac{\mathbf{d}\mathbf{\theta }}{\mathbf{d}\mathbf{t}}\mathbf{P}(\mathbf{\theta })\mathbf{P}(-\mathbf{\theta }+\frac{\mathbf{\pi }}{2}){\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}+\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}=-\omega \mathbf{P}(\frac{\mathbf{\pi }}{2}){\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}\\ & =\left[\begin{array}{cc}0& -\omega \\ \omega & 0\end{array}\right]\left[\begin{array}{c}{\psi }_f\\ 0\end{array}\right]=\left[\begin{array}{c}0\\ \omega {\psi }_f\end{array}\right]\end{array}\dots \dots 4$$
上面计算中用到了下面的关系，$dq$坐标下转子是静止的并且只有$d$轴方向的磁场，因此：
$$\begin{array}{r}\frac{\mathbf{d}{\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}=0,{\mathbf{\psi }}_{\mathbf{f}\mathbf{d}\mathbf{q}}=\left[\begin{array}{c}{\psi }_f\\ 0\end{array}\right]\end{array}$$
所以电压方程写成：
$$\begin{array}{rl}& {\mathbf{u}}_{\mathbf{d}\mathbf{q}}=\mathbf{R}{\mathbf{i}}_{\mathbf{d}\mathbf{q}}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })(\mathbf{P}(\mathbf{\theta })\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{P}(-\mathbf{\theta })){\mathbf{i}}_{\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}+\left[\begin{array}{c}0\\ \omega {\psi }_f\end{array}\right]\end{array}$$
接下来计算$\mathbf{P}(\mathbf{\theta })\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{P}(-\mathbf{\theta })$，写成矩阵是：
$$\begin{array}{rl}& \mathbf{P}(\mathbf{\theta })(\frac{3}{2}{L}_{s0}\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]-\frac{3}{2}{L}_{s2}\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right])\mathbf{P}(-\mathbf{\theta })\\ & =\frac{3}{2}{L}_{s0}\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]-\frac{3}{2}{L}_{s2}\mathbf{P}(\mathbf{\theta })\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\mathbf{P}(-\mathbf{\theta })\end{array}$$
对上式中第二项的中间矩阵变形：
$$\begin{array}{rl}& \left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]=\left[\begin{array}{cc}sin(\frac{\pi }{2}-2\theta )& cos(\frac{\pi }{2}-2\theta )\\ cos(\frac{\pi }{2}-2\theta )& -sin(\frac{\pi }{2}-2\theta )\end{array}\right]\\ & =\left[\begin{array}{cc}cos(\frac{\pi }{2}-2\theta )& sin(\frac{\pi }{2}-2\theta )\\ -sin(\frac{\pi }{2}-2\theta )& cos(\frac{\pi }{2}-2\theta )\end{array}\right]\left[\begin{array}{cc}0& 1\\ 1& 0\end{array}\right]=\mathbf{P}(\frac{\pi }{2}-2\theta )\left[\begin{array}{cc}0& 1\\ 1& 0\end{array}\right]\end{array}$$
所以我们有(后面的计算利用了Park变换的对易性质)：
$$\begin{array}{rl}& \mathbf{P}(\mathbf{\theta })\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\mathbf{P}(-\mathbf{\theta })=\mathbf{P}(\mathbf{\theta })\mathbf{P}(\frac{\pi }{2}-2\theta )\left[\begin{array}{cc}0& 1\\ 1& 0\end{array}\right]\mathbf{P}(-\mathbf{\theta })\\ & =\mathbf{P}(\mathbf{\theta })\left[\begin{array}{cc}cos(2\theta )& sin(2\theta )\\ sin(2\theta )& -cos(2\theta )\end{array}\right]\mathbf{P}(-\mathbf{\theta })=\mathbf{P}(\mathbf{\theta })\mathbf{P}(\frac{\pi }{2}-2\theta )\mathbf{P}(\mathbf{\theta })\left[\begin{array}{cc}0& 1\\ 1& 0\end{array}\right]\\ & =\mathbf{P}(\frac{\pi }{2})\left[\begin{array}{cc}0& 1\\ 1& 0\end{array}\right]=\left[\begin{array}{cc}1& 0\\ 0& -1\end{array}\right]\end{array}$$
这样就得到$dq$轴电感的公式如下：
$$\begin{array}{rl}& \mathbf{P}(\mathbf{\theta })\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{P}(-\mathbf{\theta })=\frac{3}{2}{L}_{s0}\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right]-\frac{3}{2}{L}_{s2}\left[\begin{array}{cc}1& 0\\ 0& -1\end{array}\right]\\ & =\left[\begin{array}{cc}\frac{3}{2}{L}_{s0}-\frac{3}{2}{L}_{s2}& 0\\ 0& \frac{3}{2}{L}_{s0}+\frac{3}{2}{L}_{s2}\end{array}\right]=\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\end{array}\dots \dots 5$$

利用该结论化简电压方程：
$$\begin{array}{rl}& {\mathbf{u}}_{\mathbf{d}\mathbf{q}}=\mathbf{R}{\mathbf{i}}_{\mathbf{d}\mathbf{q}}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })(\mathbf{P}(\mathbf{\theta })\mathbf{C}\mathbf{L}{\mathbf{C}}^{-1}\mathbf{P}(-\mathbf{\theta })){\mathbf{i}}_{\mathbf{d}\mathbf{q}}}{\mathbf{d}\mathbf{t}}+\left[\begin{array}{c}0\\ \omega {\psi }_f\end{array}\right]\\ & =\mathbf{R}{\mathbf{i}}_{\mathbf{d}\mathbf{q}}+\mathbf{P}(\mathbf{\theta })\frac{\mathbf{d}\mathbf{P}(-\mathbf{\theta })}{\mathbf{d}\mathbf{t}}\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ \omega {\psi }_f\end{array}\right]\\ & =R\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega \\ \omega & 0\end{array}\right]\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ \omega {\psi }_f\end{array}\right]\end{array}$$
上式的计算中，Park变换的微分项之前已经再4式中计算过了，直接拿来用。

四、获得$dq$轴电压方程

经过一系列变换，我终于就得到$dq$轴电压方程：
$$\begin{array}{rl}& \left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=R\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_d& 0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega \\ \omega & 0\end{array}\right]\left[\begin{array}{c}{\psi }_f\\ 0\end{array}\right]\end{array}\dots \dots 6$$
或：
$$\{\begin{array}{rl}& u_d=R{i}_d+L_d\frac{d{i}_d}{dt}-\omega L_q{i}_q\\ & u_q=R{i}_q+L_q\frac{d{i}_q}{dt}+\omega (L_d{i}_d+{\psi }_f)\end{array}\dots \dots 7$$
关于$dq$轴电感的计算由下式给出：
$$\{\begin{array}{rl}& L_d=\frac{3}{2}(L_{s0}-L_{s2})+L_l\\ & L_q=\frac{3}{2}(L_{s0}+L_{s2})+L_l\end{array}\dots \dots 8$$
按照《三、BLDC矢量控制基础知识：三相线圈的电感矩阵》中的描述(并考虑漏感)：
$L_{s0}$：电机线圈平均电感
$L_{s2}$：转子位置不同时电机线圈实际电感于平均电感的差值
$L_l$：线圈没有于转子交链的漏感
如电机没有凸极效应，比如表贴式转子则$L_{s2}\approx 0$，则$dq$轴的电感大小相当，否则按照公式$L_q>L_d$。

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总结

通过刻苦的推导，完整地推导了一遍$dq$轴电压方程。完成之后感觉清楚了知识上的盲区死角非常畅快。