五、BLDC矢量控制基础知识：BLDC模型的基本方程

基本方程

基本方程包含了磁链方程、电压方程、转矩方程、运动方程 ，这里主要是在$dq$坐标下写出三个方程。

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前言

本文总结了BLDC在$dq$坐标系下的基本方程，并打算推导无感FOC中滑膜观测器可能要使用到的$\alpha \beta$和$dq$坐标下的混合电压方程。

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一、基本方程

为了方便我们选择Clarke变换中保持幅值不变，即$K=\frac{2}{3}$。
1.磁链方程：
$$\{\begin{array}{rl}{\psi }_d& =L_d{i}_d+{\psi }_f\\ {\psi }_q& =L_q{i}_q\end{array}$$
其中${\psi }_f$是永磁体转子磁场。
2.电压方程：
$$\{\begin{array}{rl}{u}_d& =R{i}_d+L_d\frac{d{i}_d}{dt}-\omega {\psi }_q=R{i}_d+L_d\frac{d{i}_d}{dt}-\omega L_q{i}_q\\ u_q& =R{i}_q+L_q\frac{d{i}_q}{dt}+\omega {\psi }_d=R{i}_q+L_q\frac{d{i}_q}{dt}+\omega (L_d{i}_d+{\psi }_f)\end{array}$$
其中$L_d,L_q$具体定义参考《BLDC的dq轴方程推导》
3.转矩方程：
忽略电阻消耗(当然可以扣除电阻损耗功率)，并考虑稳态电流(否则电功率回在电感中来回充放问题变得复杂而感觉没有必要)，则电机三相的总功率就是转矩的功率，下面我们用$u_d、i_d、u_q、i_q$表示稳态电压电流。原则上“转矩=总电功率/机械角速度”而Clarke变换和Park变换对功率的影响已经在《BLDC中的Clarke变换和Park变换》已经由详细的讨论了。
$${\tau }_{em}=P/{\omega }_j=\frac{3}{2}(u_d{i}_d+u_q{i}_q)/(\omega /p_n)=\frac{3p_n(u_d{i}_d+u_q{i}_q)}{2\omega }=\frac{3}{2}{p}_n({\psi }_f{i}_q+(L_d-Lq)i_d{i}_q)$$
其中：
${\omega }_j$为机械角速度
$\omega$为电角速度
$p_n$为极对数
题外话：根据转矩公式，即使转子没有磁场${\psi }_f$，只要$L_d,Lq$差距明显(凸极效应大)的电机也依靠转子磁阻不均匀来转动，这样好像叫做磁阻电机。
4.运动方程：
运动方程就比较简单了
${\tau }_{em}={\tau }_L+\frac{1}{p_n}B\omega +\frac{1}{p_n}J\frac{d\omega }{dt}$
其中：
${\tau }_L$为负载转矩
$p_n$为极对数
$B$为摩擦系数
$\omega$为电角速度

二、$\alpha \beta$坐标下的混合电压方程

为了方便变换，我们还是把$dq$坐标下的电压方程写成矩阵形式，然后以此展开推导：
$$\begin{array}{rl}& \left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=R\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_d& 0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega \\ \omega & 0\end{array}\right]\left[\begin{array}{c}{\psi }_f\\ 0\end{array}\right]\end{array}$$
为了变换方便先将矩阵对称化：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]& =R\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& 0\\ 0& L_q-L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]\\ & +\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& 0\\ \omega (L_d-L_q)& 0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega \\ \omega & 0\end{array}\right]\left[\begin{array}{c}{\psi }_f\\ 0\end{array}\right]\end{array}$$
化简后得到：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]& =R\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]\\ & +\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
再利用Park变换带回，其实就是：
$$\begin{array}{rl}& \mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]=R\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}(\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right])+\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
两边同时乘以Park逆变换$\mathbf{P}(-\mathbf{\theta })$
$$\begin{array}{rl}& \left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]=R\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}(\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right])+\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
即：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]& =R\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}(\mathbf{P}(\mathbf{\theta }))\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\mathbf{P}(\mathbf{\theta })\frac{d}{dt}\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
整理一下：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]& =R\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}(\mathbf{P}(\mathbf{\theta }))\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
进一步利用旋转矩阵的性质：$\frac{\mathbf{d}\mathbf{P}(\mathbf{\theta })}{\mathbf{d}\mathbf{t}}=\frac{d\theta }{dt}\mathbf{P}(\mathbf{\theta }+\frac{\mathbf{\pi }}{2})=\left[\begin{array}{cc}0& \omega \\ -\omega & 0\end{array}\right]\mathbf{P}(\mathbf{\theta })$上式进一步化简为：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]& =R\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\left[\begin{array}{cc}0& \omega \\ -\omega & 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& -\omega L_q\\ \omega L_q& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
整理合并：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]& =R\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& \omega (L_d-L_q)\\ -\omega (L_d-L_q)& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]\\ & +\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\end{array}$$
其中：
$$\begin{array}{rl}& \mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& \omega (L_d-L_q)\\ -\omega (L_d-L_q)& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\\ & =\omega (L_d-L_q)\mathbf{P}(-\mathbf{\theta })\left[\begin{array}{cc}0& 1\\ -1& 0\end{array}\right]\mathbf{P}(\mathbf{\theta })\\ & =\omega (L_d-L_q)\mathbf{P}(-\mathbf{\theta })\mathbf{P}(\frac{\mathbf{\pi }}{2})\mathbf{P}(\mathbf{\theta })=\omega (L_d-L_q)\mathbf{P}(\frac{\mathbf{\pi }}{2})\mathbf{P}(-\mathbf{\theta })\mathbf{P}(\mathbf{\theta })\\ & =\omega (L_d-L_q)\mathbf{P}(\frac{\mathbf{\pi }}{2})=\left[\begin{array}{cc}0& \omega (L_d-L_q)\\ -\omega (L_d-L_q)& 0\end{array}\right]\end{array}$$

最后一部分：
$$\begin{array}{rl}& \mathbf{P}(-\mathbf{\theta })\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\\ & =\left[\begin{array}{cc}cos\theta & -sin\theta \\ sin\theta & cos\theta \end{array}\right]\left[\begin{array}{c}0\\ \omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt})\end{array}\right]\\ & =(\omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt}))\left[\begin{array}{c}-sin\theta \\ cos\theta \end{array}\right]\end{array}$$
$\alpha \beta$坐标混合电压方程完整形式：
$$\begin{array}{rl}\left[\begin{array}{c}{u}_{\alpha }\\ u_{\beta }\end{array}\right]& =R\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{cc}{L}_d& 0\\ 0& L_d\end{array}\right]\frac{d}{dt}\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{cc}0& \omega (L_d-L_q)\\ -\omega (L_d-L_q)& 0\end{array}\right]\left[\begin{array}{c}{i}_{\alpha }\\ i_{\beta }\end{array}\right]+\left[\begin{array}{c}{E}_{\alpha }\\ E_{\beta }\end{array}\right]\end{array}$$
其中：
$$\begin{array}{r}\left[\begin{array}{c}{E}_{\alpha }\\ E_{\beta }\end{array}\right]=(\omega {\psi }_f+(L_d-L_q)(\omega i_d-\frac{d{i}_q}{dt}))\left[\begin{array}{c}-sin\theta \\ cos\theta \end{array}\right]\end{array}$$

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总结

以上就是BLDC常用的方程及其推导过程。