永磁同步电机电压方程在静止坐标系与运动坐标系间的相互转换

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已于 2022-05-14 10:01:33 修改

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分类专栏：电机控制文章标签：经验分享

于 2021-05-07 22:08:47 首次发布

本文链接：https://blog.csdn.net/qq_50632468/article/details/116497387

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本文解决电压方程在静止坐标系与运动坐标系转换问题。本文将呈现的转换关系是电压方程由静止坐标系转换至运动坐标系，反之同理可证。

证明开始

$\left[ \begin{array}{c} u_{\alpha}\\ u_{\beta}\\ \end{array} \right] =R\left[ \begin{array}{c} i_{\alpha}\\ i_{\beta}\\ \end{array} \right] +\frac{\mathrm{d}}{\mathrm{dt}}\left[ \begin{array}{c} \psi _{\alpha}\\ \psi _{\beta}\\ \end{array} \right] \left( 1 \right)$

$P_{2r/2s}=\left[ \begin{matrix} \cos \theta _e& -\sin \theta _e\\ \sin \theta _e& \cos \theta _e\\ \end{matrix} \right] \left( \text{推导过程中记为}P\text{，正交矩阵的逆阵等于其转置} \right)$

$P^{-1}=\left[ \begin{matrix} \cos \theta _e& \sin \theta _e\\ -\sin \theta _e& \cos \theta _e\\ \end{matrix} \right] ,\frac{\mathrm{d}P}{\mathrm{d\theta_e}}=\left[ \begin{matrix} -\sin \theta _e& -\cos \theta _e\\ \cos \theta _e& -\sin \theta _e\\ \end{matrix} \right] \text{，}\left[ \begin{array}{c} f_{\alpha}\\ f_{\beta}\\ \end{array} \right] =P\left[ \begin{array}{c} f_d\\ f_q\\ \end{array} \right]$

$\text{式子}\left( 1 \right) \Rightarrow P\left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =RP\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +\frac{\mathrm{d}}{\mathrm{dt}}\left\{ P\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] \right\}$

${上式两边同乘以}P^{-1}\text{，}$

$\Rightarrow \left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =R\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +P^{-1}\frac{\mathrm{d}}{\mathrm{dt}}\left\{ P\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] \right\}$

$\Rightarrow \left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =R\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +P^{-1}\left( P\cdot \frac{\mathrm{d}}{\mathrm{dt}}\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] +\frac{\mathrm{d}P}{\mathrm{dt}}\cdot \left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] \right)$

$\Rightarrow \left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =R\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +P^{-1}P\cdot \frac{\mathrm{d}}{\mathrm{dt}}\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] +P^{-1}\frac{\mathrm{d}P}{\mathrm{dt}}\cdot \left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right]$

$\Rightarrow \left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =R\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +\frac{\mathrm{d}}{\mathrm{dt}}\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] +\left[ \begin{matrix} \cos \theta _e& \sin \theta _e\\ -\sin \theta _e& \cos \theta _e\\ \end{matrix} \right] \left[ \begin{matrix} -\sin \theta _e& -\cos \theta _e\\ \cos \theta _e& -\sin \theta _e\\ \end{matrix} \right] \frac{\mathrm{d}\theta _e}{\mathrm{dt}}\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right]$

$\Rightarrow \left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =R\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +\frac{\mathrm{d}}{\mathrm{dt}}\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] +\left[ \begin{matrix} 0& -1\\ 1& 0\\ \end{matrix} \right] \omega _e\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] \text{（逆向推导的起点）}$

$\text{处理上式，得到常见的矩阵形式}$

$\left[ \begin{array}{c} u_d\\ u_q\\ \end{array} \right] =R\left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +\frac{\mathrm{d}}{\mathrm{dt}}\left[ \begin{array}{c} \psi _d\\ \psi _q\\ \end{array} \right] +\omega _e\left[ \begin{array}{c} -\psi _q\\ \psi _d\\ \end{array} \right]$