三相感应电机转矩方程推导

令
$$\begin{array}{rlr}\mathbf{i}=\left[\begin{array}{c}{\mathbf{i}}_s\\ {\mathbf{i}}_r\end{array}\right]=\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\\ i_a\\ i_b\\ i_c\end{array}\right]& & \mathbf{L}=\left[\begin{array}{cc}{\mathbf{L}}_s& {\mathbf{L}}_{sr}\\ {\mathbf{L}}_{rs}& {\mathbf{L}}_r\end{array}\right]\end{array}$$
假设电流与磁链线性相关，此时磁共能等于磁能，令 ${\theta }_e=\theta$ 采用虚位移法计算电磁转矩有：

$$\begin{array}{rl}{T}_e& =\frac{\partial W_m^{{}^{\prime }}}{\partial {\theta }_m}=n_p\frac{\partial W_m^{{}^{\prime }}}{\partial {\theta }_e}=n_p\frac{\partial \frac{1}{2}{\mathbf{i}}^T\mathbf{\psi }}{\partial \theta }=\frac{1}{2}{n}_p{\mathbf{i}}^T\frac{\partial \mathbf{Li}}{\partial \theta }\\ & \\ & =\frac{1}{2}{n}_p{\mathbf{i}}^T\frac{\partial \mathbf{L}}{\partial \theta }\mathbf{i}=\frac{1}{2}{n}_p{\mathbf{i}}^T\left[\begin{array}{cc}0& \frac{\partial {\mathbf{L}}_{sr}}{\partial \theta }\\ \frac{\partial {\mathbf{L}}_{rs}}{\partial \theta }& 0\end{array}\right]\mathbf{i}=\frac{1}{2}{n}_p({\mathbf{i}}_r^T\frac{\partial {\mathbf{L}}_{rs}}{\partial \theta }{\mathbf{i}}_s+{\mathbf{i}}_s^T\frac{\partial {\mathbf{L}}_{sr}}{\partial \theta }{\mathbf{i}}_r)\\ & \\ & =-n_p{L}_{ms}\left[(i_A{i}_a+i_b{i}_b+i_C{i}_c)\sin \theta +(i_A{i}_b+i_b{i}_c+i_C{i}_a)\sin \left(\theta +\frac{2\pi }{3}\right)+(i_A{i}_c+i_b{i}_a+i_C{i}_b)\sin \left(\theta -\frac{2\pi }{3}\right)\right]\\ & \\ & =-n_p{L}_{ms}\left[{\mathbf{i}}_{ABC}^T{\mathbf{i}}_{abc}\sin \theta +{\mathbf{i}}_{ABC}^T\left[\begin{array}{ccc}0& 1& 0\\ 0& 0& 1\\ 1& 0& 0\end{array}\right]{\mathbf{i}}_{abc}\sin \left(\theta +\frac{2\pi }{3}\right)+{\mathbf{i}}_{ABC}^T\left[\begin{array}{ccc}0& 0& 1\\ 1& 0& 0\\ 0& 1& 0\end{array}\right]{\mathbf{i}}_{abc}\sin \left(\theta -\frac{2\pi }{3}\right)\right]\\ & \\ & =-n_p{L}_{ms}{\mathbf{i}}_{ABC}^T\left[\begin{array}{ccc}\sin \theta & \sin \left(\theta +\frac{2\pi }{3}\right)& \sin \left(\theta -\frac{2\pi }{3}\right)\\ \sin \left(\theta -\frac{2\pi }{3}\right)& \sin \theta & \sin \left(\theta +\frac{2\pi }{3}\right)\\ \sin \left(\theta +\frac{2\pi }{3}\right)& \sin \left(\theta -\frac{2\pi }{3}\right)& \sin \theta \end{array}\right]{\mathbf{i}}_{abc}\end{array}$$
具体过程可以参考下图：

对 ${\mathbf{i}}_{ABC}$ 和 ${\mathbf{i}}_{abc}$ 可等效为 ${\mathbf{i}}_{sdq}$ 和 ${\mathbf{i}}_{rdq}$ 进行（系数为1：原因是计算为真实值，并非变换值）反 $Park$ 变换，即
$$\{\begin{array}{l}{\mathbf{i}}_{ABC}={\mathbf{C}}_{dq-abc}({\theta }_1){\mathbf{i}}_{sdq}\\ {\mathbf{i}}_{abc}={\mathbf{C}}_{dq-abc}({\theta }_1-\theta ){\mathbf{i}}_{rdq}\end{array}$$
其中 （系数为1）反 $Park$ 变换矩阵为：
$${\mathbf{C}}_{dq-abc}(\theta )=\left[\begin{array}{cc}\cos \theta & -\sin \theta \\ \cos \left(\theta -\frac{2\pi }{3}\right)& -\sin \left(\theta -\frac{2\pi }{3}\right)\\ \cos \left(\theta +\frac{2\pi }{3}\right)& -\sin \left(\theta +\frac{2\pi }{3}\right)\end{array}\right]$$
则：
$$\begin{array}{rl}{T}_e& =-n_p{L}_{ms}{\mathbf{i}}_{sdq}^T{\mathbf{C}}^T({\theta }_1)\left[\begin{array}{ccc}\sin \theta & \sin \left(\theta +\frac{2\pi }{3}\right)& \sin \left(\theta -\frac{2\pi }{3}\right)\\ \sin \left(\theta -\frac{2\pi }{3}\right)& \sin \theta & \sin \left(\theta +\frac{2\pi }{3}\right)\\ \sin \left(\theta +\frac{2\pi }{3}\right)& \sin \left(\theta -\frac{2\pi }{3}\right)& \sin \theta \end{array}\right]\mathbf{C}({\theta }_1-\theta ){\mathbf{i}}_{rdq}\\ & \\ & =-n_p{L}_{ms}{\mathbf{i}}_{sdq}^T\left[\begin{array}{cc}0& 1\\ -1& 0\end{array}\right]{\mathbf{i}}_{rdq}=-n_p{L}_m\left[\begin{array}{cc}{i}_{sd}& i_{sq}\end{array}\right]\left[\begin{array}{cc}0& 1\\ -1& 0\end{array}\right]\left[\begin{array}{c}{i}_{rd}\\ i_{rq}\end{array}\right]\\ & \\ & =\frac{9n_p{L}_{ms}}{4}(i_{sq}{i}_{rd}-i_{sd}{i}_{rq})\\ & \\ & =\frac{3n_p{L}_m}{2}(i_{sq}{i}_{rd}-i_{sd}{i}_{rq})\end{array}$$
中间具体计算过程如下：