参考文献
- 电机传动系统控制-薛承基
- 交流电机动态分析-汤蕴缪
- Sychronous Machines Theory and Performances – Charles Concordia
1. 静止坐标系建模
V
⃗
a
b
c
=
R
s
i
⃗
a
b
c
+
d
d
t
ψ
⃗
a
b
c
\vec{V}_{abc}=R_s\vec{i}_{abc}+\frac{d}{dt}\vec{\psi}_{abc}
Vabc=Rsiabc+dtdψabc
其中：
V
⃗
a
b
c
=
[
V
a
V
b
V
c
]
T
i
⃗
a
b
c
=
[
i
a
i
b
i
c
]
T
ψ
⃗
a
b
c
=
[
ψ
a
ψ
b
ψ
c
]
T
\vec{V}_{abc}=\left[ \begin{matrix} V_a& V_b& V_c\\ \end{matrix} \right] ^T \\ \vec{i}_{abc}=\left[ \begin{matrix} i_a& i_b& i_c\\ \end{matrix} \right] ^T \\ \vec{\psi}_{abc}=\left[ \begin{matrix} \psi _a& \psi _b& \psi _c\\ \end{matrix} \right] ^T
Vabc=[VaVbVc]Tiabc=[iaibic]Tψabc=[ψaψbψc]T
自感计算方法
单独推导了自感的计算方法，见单独的超链接如下。
自感计算推导
L
a
a
=
L
l
s
+
L
A
+
L
B
cos
(
2
θ
)
L
b
b
=
L
l
s
+
L
A
+
L
B
cos
(
4
3
π
−
2
θ
)
L
b
b
=
L
l
s
+
L
A
+
L
B
cos
(
4
3
π
+
2
θ
)
L_{aa}=L_{ls}+L_A+L_B\cos \left( 2\theta \right) \\ L_{bb}=L_{ls}+L_A+L_B\cos \left( \frac{4}{3}\pi -2\theta \right) \\ L_{bb}=L_{ls}+L_A+L_B\cos \left( \frac{4}{3}\pi +2\theta \right)
Laa=Lls+LA+LBcos(2θ)Lbb=Lls+LA+LBcos(34π−2θ)Lbb=Lls+LA+LBcos(34π+2θ)
相间互感的计算方法
单独推导了相间互感计算方法，见单独的超链接如下。
相间互感计算方法
L
a
b
=
−
L
A
2
+
L
B
cos
(
2
θ
−
2
3
π
)
L
a
c
=
−
L
A
2
+
L
B
cos
(
2
θ
+
2
3
π
)
L
b
c
=
−
L
A
2
+
L
B
cos
(
2
θ
)
L_{ab}=-\frac{L_A}{2}+L_B\cos \left( 2\theta -\frac{2}{3}\pi \right) \\ L_{ac}=-\frac{L_A}{2}+L_B\cos \left( 2\theta +\frac{2}{3}\pi \right) \\ L_{bc}=-\frac{L_A}{2}+L_B\cos \left( 2\theta \right)
Lab=−2LA+LBcos(2θ−32π)Lac=−2LA+LBcos(2θ+32π)Lbc=−2LA+LBcos(2θ)
L
A
L_A
LA表示静止坐标系下，每相自感的平均值；
L
B
L_B
LB表示静止坐标系下每项自感波动分量的最大值；
定子绕组交链转子磁链的部分
ψ a f = ψ f cos ( θ ) ψ b f = ψ f cos ( θ − 2 3 π ) ψ c f = ψ f cos ( θ + 2 3 π ) \psi _{af}=\psi _f\cos \left( \theta \right) \\ \psi _{bf}=\psi _f\cos \left( \theta -\frac{2}{3}\pi \right) \\ \psi _{cf}=\psi _f\cos \left( \theta +\frac{2}{3}\pi \right) ψaf=ψfcos(θ)ψbf=ψfcos(θ−32π)ψcf=ψfcos(θ+32π)
定子绕组磁链（矩阵形式）
ψ ⃗ a b c = [ L a a L a b L a c L b a L b b L b c L c a L c b L c c ] [ i a i b i c ] + [ cos θ cos ( 2 3 π − θ ) cos ( 2 3 π + θ ) ] ψ f \vec{\psi}_{abc}=\left[ \begin{matrix} L_{aa}& L_{ab}& L_{ac}\\ L_{ba}& L_{bb}& L_{bc}\\ L_{ca}& L_{cb}& L_{cc}\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] +\left[ \begin{array}{c} \cos \theta\\ \cos \left( \frac{2}{3}\pi -\theta \right)\\ \cos \left( \frac{2}{3}\pi +\theta \right)\\ \end{array} \right] \psi _f ψabc= LaaLbaLcaLabLbbLcbLacLbcLcc iaibic + cosθcos(32π−θ)cos(32π+θ) ψf
转化为空间复矢量
计算定子电流产生的磁链复矢量
L
s
=
[
L
l
s
+
L
A
+
L
B
cos
(
2
θ
a
)
−
1
2
L
A
+
L
B
cos
(
2
θ
−
2
3
π
)
−
L
A
2
+
L
B
cos
(
2
θ
+
2
3
π
)
−
1
2
L
A
+
L
B
cos
(
2
θ
−
2
3
π
)
L
l
s
+
L
A
+
L
B
cos
(
2
θ
+
2
3
π
)
−
L
A
2
+
L
B
cos
(
2
θ
)
−
L
A
2
+
L
B
cos
(
2
θ
+
2
3
π
)
−
L
A
2
+
L
B
cos
(
2
θ
)
L
l
s
+
L
A
+
L
B
cos
(
2
θ
−
2
3
π
)
]
L_s=\left[ \begin{matrix} L_{ls}+L_A+L_B\cos \left( 2\theta _a \right)& -\frac{1}{2}L_A+L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& -\frac{L_A}{2}+L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)\\ -\frac{1}{2}L_A+L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_{ls}+L_A+L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& -\frac{L_A}{2}+L_B\cos \left( 2\theta \right)\\ -\frac{L_A}{2}+L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& -\frac{L_A}{2}+L_B\cos \left( 2\theta \right)& L_{ls}+L_A+L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)\\ \end{matrix} \right]
Ls=
Lls+LA+LBcos(2θa)−21LA+LBcos(2θ−32π)−2LA+LBcos(2θ+32π)−21LA+LBcos(2θ−32π)Lls+LA+LBcos(2θ+32π)−2LA+LBcos(2θ)−2LA+LBcos(2θ+32π)−2LA+LBcos(2θ)Lls+LA+LBcos(2θ−32π)
将电感矩阵可以分拆为三个电感矩阵以便计算：
L
s
=
L
1
+
L
2
+
L
3
L
1
=
[
L
l
s
0
0
0
L
l
s
0
0
0
L
l
s
]
;
L
2
=
[
L
A
−
1
2
L
A
−
1
2
L
A
−
1
2
L
A
L
A
−
1
2
L
A
−
1
2
L
A
−
1
2
L
A
L
A
]
;
L
3
=
[
L
B
cos
(
2
θ
a
)
L
B
cos
(
2
θ
−
2
3
π
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
−
2
3
π
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
)
L
B
cos
(
2
θ
−
2
3
π
)
]
L_s=L_1+L_2+L_3 \\ L_1=\left[ \begin{matrix} L_{ls}& 0& 0\\ 0& L_{ls}& 0\\ 0& 0& L_{ls}\\ \end{matrix} \right] ;L_2=\left[ \begin{matrix} L_A& -\frac{1}{2}L_A& -\frac{1}{2}L_A\\ -\frac{1}{2}L_A& L_A& -\frac{1}{2}L_A\\ -\frac{1}{2}L_A& -\frac{1}{2}L_A& L_A\\ \end{matrix} \right] ; \\ L_3=\left[ \begin{matrix} L_B\cos \left( 2\theta _a \right)& L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)\\ L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta \right)\\ L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta \right)& L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)\\ \end{matrix} \right]
Ls=L1+L2+L3L1=
Lls000Lls000Lls
;L2=
LA−21LA−21LA−21LALA−21LA−21LA−21LALA
;L3=
LBcos(2θa)LBcos(2θ−32π)LBcos(2θ+32π)LBcos(2θ−32π)LBcos(2θ+32π)LBcos(2θ)LBcos(2θ+32π)LBcos(2θ)LBcos(2θ−32π)
计算磁链复矢量：
ψ
⃗
s
=
2
3
[
1
a
a
2
]
[
ψ
a
ψ
b
ψ
c
]
ψ
⃗
s
=
2
3
[
1
a
a
2
]
[
L
1
+
L
2
+
L
3
]
[
i
a
i
b
i
c
]
\vec{\psi}_s=\frac{2}{3}\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ \begin{array}{c} \psi _a\\ \psi _b\\ \psi _c\\ \end{array} \right] \\ \vec{\psi}_s=\frac{2}{3}\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ L_1+L_2+L_3 \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right]
ψs=32[1aa2]
ψaψbψc
ψs=32[1aa2][L1+L2+L3]
iaibic
带入L1,L2,L3可得：
ψ
⃗
s
=
2
3
[
1
a
a
2
]
[
L
l
s
0
0
0
L
l
s
0
0
0
L
l
s
]
[
i
a
i
b
i
c
]
+
2
3
[
1
a
a
2
]
[
L
A
−
1
2
L
A
−
1
2
L
A
−
1
2
L
A
L
A
−
1
2
L
A
−
1
2
L
A
−
1
2
L
A
L
A
]
[
i
a
i
b
i
c
]
+
2
3
[
1
a
a
2
]
[
L
B
cos
(
2
θ
a
)
L
B
cos
(
2
θ
−
2
3
π
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
−
2
3
π
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
)
L
B
cos
(
2
θ
−
2
3
π
)
]
[
i
a
i
b
i
c
]
\vec{\psi}_s=\frac{2}{3}\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ \begin{matrix} L_{ls}& 0& 0\\ 0& L_{ls}& 0\\ 0& 0& L_{ls}\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] +\frac{2}{3}\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ \begin{matrix} L_A& -\frac{1}{2}L_A& -\frac{1}{2}L_A\\ -\frac{1}{2}L_A& L_A& -\frac{1}{2}L_A\\ -\frac{1}{2}L_A& -\frac{1}{2}L_A& L_A\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] \\ +\frac{2}{3}\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ \begin{matrix} L_B\cos \left( 2\theta _a \right)& L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)\\ L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta \right)\\ L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta \right)& L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right]
ψs=32[1aa2]
Lls000Lls000Lls
iaibic
+32[1aa2]
LA−21LA−21LA−21LALA−21LA−21LA−21LALA
iaibic
+32[1aa2]
LBcos(2θa)LBcos(2θ−32π)LBcos(2θ+32π)LBcos(2θ−32π)LBcos(2θ+32π)LBcos(2θ)LBcos(2θ+32π)LBcos(2θ)LBcos(2θ−32π)
iaibic
前两项可以可以容易计算得到：
L
l
s
i
⃗
s
+
3
2
L
A
i
⃗
s
L_{ls}\vec{i}_s+\frac{3}{2}L_A\vec{i}_s
Llsis+23LAis
下面着重计算第三项：
2
3
[
1
a
a
2
]
[
L
B
cos
(
2
θ
a
)
L
B
cos
(
2
θ
−
2
3
π
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
−
2
3
π
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
)
L
B
cos
(
2
θ
+
2
3
π
)
L
B
cos
(
2
θ
)
L
B
cos
(
2
θ
−
2
3
π
)
]
[
i
a
i
b
i
c
]
\frac{2}{3}\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ \begin{matrix} L_B\cos \left( 2\theta _a \right)& L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)\\ L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta \right)\\ L_B\cos \left( 2\theta +\frac{2}{3}\pi \right)& L_B\cos \left( 2\theta \right)& L_B\cos \left( 2\theta -\frac{2}{3}\pi \right)\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right]
32[1aa2]
LBcos(2θa)LBcos(2θ−32π)LBcos(2θ+32π)LBcos(2θ−32π)LBcos(2θ+32π)LBcos(2θ)LBcos(2θ+32π)LBcos(2θ)LBcos(2θ−32π)
iaibic
根据欧拉公式有：
a
=
e
j
2
π
3
;
a
2
=
e
−
j
2
π
3
;
cos
θ
=
e
j
θ
+
e
−
j
θ
2
a=e^{j\frac{2\pi}{3}};a^2=e^{-j\frac{2\pi}{3}}; \cos \theta =\frac{e^{j\theta}+e^{-j\theta}}{2}
a=ej32π;a2=e−j32π;cosθ=2ejθ+e−jθ
因此可化简为：
2
3
L
B
[
1
a
a
2
]
[
cos
(
2
θ
a
)
cos
(
2
θ
a
−
2
3
π
)
cos
(
2
θ
a
+
2
3
π
)
cos
(
2
θ
a
−
2
3
π
)
cos
(
2
θ
a
+
2
3
π
)
cos
(
2
θ
a
)
cos
(
2
θ
a
+
2
3
π
)
cos
(
2
θ
a
)
cos
(
2
θ
a
−
2
3
π
)
]
[
i
a
i
b
i
c
]
=
1
3
L
B
[
1
e
j
2
π
3
e
−
j
2
π
3
]
[
e
j
2
θ
a
e
j
(
2
θ
a
−
2
3
π
)
e
j
(
2
θ
a
+
2
3
π
)
e
j
(
2
θ
a
−
2
3
π
)
e
j
(
2
θ
a
+
2
3
π
)
e
j
2
θ
a
e
j
(
2
θ
a
+
2
3
π
)
e
j
2
θ
a
e
j
(
2
θ
a
−
2
3
π
)
]
[
i
a
i
b
i
c
]
+
1
3
L
B
[
1
e
j
2
π
3
e
−
j
2
π
3
]
[
e
−
j
2
θ
a
e
−
j
(
2
θ
a
−
2
3
π
)
e
−
j
(
2
θ
a
+
2
3
π
)
e
j
(
−
2
θ
a
+
2
3
π
)
e
−
j
(
2
θ
a
+
2
3
π
)
e
−
j
2
θ
a
e
j
(
−
2
θ
a
−
2
3
π
)
e
−
j
2
θ
a
e
−
j
(
2
θ
a
−
2
3
π
)
]
[
i
a
i
b
i
c
]
\frac{2}{3}L_B\left[ \begin{matrix} 1& a& a^2\\ \end{matrix} \right] \left[ \begin{matrix} \cos \left( 2\theta _a \right)& \cos \left( 2\theta _a-\frac{2}{3}\pi \right)& \cos \left( 2\theta _a+\frac{2}{3}\pi \right)\\ \cos \left( 2\theta _a-\frac{2}{3}\pi \right)& \cos \left( 2\theta _a+\frac{2}{3}\pi \right)& \cos \left( 2\theta _a \right)\\ \cos \left( 2\theta _a+\frac{2}{3}\pi \right)& \cos \left( 2\theta _a \right)& \cos \left( 2\theta _a-\frac{2}{3}\pi \right)\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] \\ =\frac{1}{3}L_B\left[ \begin{matrix} 1& e^{j\frac{2\pi}{3}}& e^{-j\frac{2\pi}{3}}\\ \end{matrix} \right] \left[ \begin{matrix} e^{j2\theta _a}& e^{j\left( 2\theta _a-\frac{2}{3}\pi \right)}& e^{j\left( 2\theta _a+\frac{2}{3}\pi \right)}\\ e^{j\left( 2\theta _a-\frac{2}{3}\pi \right)}& e^{j\left( 2\theta _a+\frac{2}{3}\pi \right)}& e^{j2\theta _a}\\ e^{j\left( 2\theta _a+\frac{2}{3}\pi \right)}& e^{j2\theta _a}& e^{j\left( 2\theta _a-\frac{2}{3}\pi \right)}\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] \\ +\frac{1}{3}L_B\left[ \begin{matrix} 1& e^{j\frac{2\pi}{3}}& e^{-j\frac{2\pi}{3}}\\ \end{matrix} \right] \left[ \begin{matrix} e^{-j2\theta _a}& e^{-j\left( 2\theta _a-\frac{2}{3}\pi \right)}& e^{-j\left( 2\theta _a+\frac{2}{3}\pi \right)}\\ e^{j\left( -2\theta _a+\frac{2}{3}\pi \right)}& e^{-j\left( 2\theta _a+\frac{2}{3}\pi \right)}& e^{-j2\theta _a}\\ e^{j\left( -2\theta _a-\frac{2}{3}\pi \right)}& e^{-j2\theta _a}& e^{-j\left( 2\theta _a-\frac{2}{3}\pi \right)}\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right]
32LB[1aa2]
cos(2θa)cos(2θa−32π)cos(2θa+32π)cos(2θa−32π)cos(2θa+32π)cos(2θa)cos(2θa+32π)cos(2θa)cos(2θa−32π)
iaibic
=31LB[1ej32πe−j32π]
ej2θaej(2θa−32π)ej(2θa+32π)ej(2θa−32π)ej(2θa+32π)ej2θaej(2θa+32π)ej2θaej(2θa−32π)
iaibic
+31LB[1ej32πe−j32π]
e−j2θaej(−2θa+32π)ej(−2θa−32π)e−j(2θa−32π)e−j(2θa+32π)e−j2θae−j(2θa+32π)e−j2θae−j(2θa−32π)
iaibic
=
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为共轭电流矢量,因此可得定子电流产生的定子磁链分量为：
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=\frac{1}{3}L_B\left[ \begin{matrix} 3e^{j2\theta _a}& 3e^{j\left( 2\theta _a-\frac{2}{3}\pi \right)}& 3e^{j\left( 2\theta _a+\frac{2}{3}\pi \right)}\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] +\frac{1}{3}L_B\left[ \begin{matrix} 0& 0& 0\\ \end{matrix} \right] \left[ \begin{array}{c} i_a\\ i_b\\ i_c\\ \end{array} \right] \\ =\frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a} \\ \vec{i}_{s}^{*}\text{为共轭电流矢量,} 因此可得定子电流产生的定子磁链分量为： \\ \vec{\psi}_{s1}=\left( L_{ls}+\frac{3}{2}L_A \right) \vec{i}_s+\frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a}
=31LB[3ej2θa3ej(2θa−32π)3ej(2θa+32π)]
iaibic
+31LB[000]
iaibic
=23LBis∗ej2θais∗为共轭电流矢量,因此可得定子电流产生的定子磁链分量为：ψs1=(Lls+23LA)is+23LBis∗ej2θa
计算转子磁场在定子产生的磁链
ψ ⃗ s f = 2 3 [ 1 e j 2 π 3 e − j 2 π 3 ] [ cos θ a cos ( 2 3 π − θ a ) cos ( 2 3 π + θ a ) ] ψ f = 1 3 [ 1 e j 2 π 3 e − j 2 π 3 ] [ e j θ a e j ( θ a − 2 3 π ) e j ( θ a + 2 3 π ) ] ψ f + 1 3 [ 1 e j 2 π 3 e − j 2 π 3 ] [ e − j θ a e − j ( θ a − 2 3 π ) e − j ( θ a + 2 3 π ) ] ψ f = ψ f e j θ a \vec{\psi}_{sf}=\frac{2}{3}\left[ \begin{matrix} 1& e^{j\frac{2\pi}{3}}& e^{-j\frac{2\pi}{3}}\\ \end{matrix} \right] \left[ \begin{array}{c} \cos \theta _a\\ \cos \left( \frac{2}{3}\pi -\theta _a \right)\\ \cos \left( \frac{2}{3}\pi +\theta _a \right)\\ \end{array} \right] \psi _f \\ =\frac{1}{3}\left[ \begin{matrix} 1& e^{j\frac{2\pi}{3}}& e^{-j\frac{2\pi}{3}}\\ \end{matrix} \right] \left[ \begin{array}{c} e^{j\theta _a}\\ e^{j\left( \theta _a-\frac{2}{3}\pi \right)}\\ e^{j\left( \theta _a+\frac{2}{3}\pi \right)}\\ \end{array} \right] \psi _f+\frac{1}{3}\left[ \begin{matrix} 1& e^{j\frac{2\pi}{3}}& e^{-j\frac{2\pi}{3}}\\ \end{matrix} \right] \left[ \begin{array}{c} e^{-j\theta _a}\\ e^{-j\left( \theta _a-\frac{2}{3}\pi \right)}\\ e^{-j\left( \theta _a+\frac{2}{3}\pi \right)}\\ \end{array} \right] \psi _f \\ =\psi _fe^{j\theta _a} ψsf=32[1ej32πe−j32π] cosθacos(32π−θa)cos(32π+θa) ψf=31[1ej32πe−j32π] ejθaej(θa−32π)ej(θa+32π) ψf+31[1ej32πe−j32π] e−jθae−j(θa−32π)e−j(θa+32π) ψf=ψfejθa
定子总磁链
ψ ⃗ s = ( L l s + 3 2 L A ) i ⃗ s + 3 2 L B i ⃗ s ∗ e j 2 θ a + ψ f e j θ a \vec{\psi}_s=\left( L_{ls}+\frac{3}{2}L_A \right) \vec{i}_s+\frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a}+\psi _fe^{j\theta _a} ψs=(Lls+23LA)is+23LBis∗ej2θa+ψfejθa
电压方程的复失量形式
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根据以下公式：
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Ψ
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\vec{u}_s=R_s\vec{i}_s+\frac{d}{dt}\vec{\psi}_s \\ \vec{u}_s=R_s\vec{i}_s+\frac{d}{dt}\left[ \left( L_{ls}+\frac{3}{2}L_A \right) \vec{i}_s+\frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a}+\psi _fe^{j\theta _a} \right] \\ \vec{u}_se^{-j\theta _a}=R_s\vec{i}_se^{-j\theta _a}+e^{-j\theta _a}\frac{d}{dt}\left[ \left( L_{ls}+\frac{3}{2}L_A \right) \left( \vec{i}_{dqs}e^{j\theta _a} \right) +\frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a}+\psi _fe^{j\theta _a} \right] \\ \text{根据以下公式：} \\ \frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a}=\frac{3}{2}L_B\vec{i}_{dqs}^{*}e^{j\theta _a} \\ \vec{u}_{dqs}=R_s\vec{i}_{dqs}+\left( L_{ls}+\frac{3}{2}L_A \right) \frac{d}{dt}\vec{i}_{dqs}+j\omega _r\left( L_{ls}+\frac{3}{2}L_A \right) \vec{i}_{dqs}+\frac{3}{2}L_B\frac{d}{dt}\vec{i}_{dqs}^{*}+j\omega _r\frac{3}{2}L_B\vec{i}_{dqs}^{*}+j\omega _r\varPsi _f
us=Rsis+dtdψsus=Rsis+dtd[(Lls+23LA)is+23LBis∗ej2θa+ψfejθa]use−jθa=Rsise−jθa+e−jθadtd[(Lls+23LA)(idqsejθa)+23LBis∗ej2θa+ψfejθa]根据以下公式：23LBis∗ej2θa=23LBidqs∗ejθaudqs=Rsidqs+(Lls+23LA)dtdidqs+jωr(Lls+23LA)idqs+23LBdtdidqs∗+jωr23LBidqs∗+jωrΨf
根据以下公式：
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=
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d
−
j
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q
,
i
⃗
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可以化简得到电压方程：
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Ψ
f
令：
L
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3
2
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L
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+
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;
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=
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化简可得：
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同理可得：
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Ψ
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\text{根据以下公式：}\vec{i}_{dqs}^{*}=i_d-ji_q,\vec{i}_{dqs}=i_d+ji_q \\ \text{可以化简得到电压方程：} \\ u_{sd}=R_si_{sd}+\left( L_{ls}+\frac{3}{2}L_A \right) \frac{d}{dt}i_{sd}+\frac{3}{2}L_B\frac{d}{dt}i_{sd}-\omega _r\left( L_{ls}+\frac{3}{2}L_A \right) i_{sq}+\omega _r\frac{3}{2}L_B\vec{i}_{sq} \\ u_{sd}=R_si_{sq}+\left( L_{ls}+\frac{3}{2}L_A \right) \frac{d}{dt}i_{sq}-\frac{3}{2}L_B\frac{d}{dt}i_{sd}+\omega _r\left( L_{ls}+\frac{3}{2}L_A \right) i_{sd}+\omega _r\frac{3}{2}L_B\vec{i}_{sd}+\omega _r\varPsi _f \\ \text{令：}L_d=L_{ls}+\frac{3}{2}\left( L_A+L_B \right) ;L_q=L_{ls}+\frac{3}{2}\left( L_A-L_B \right) \\ \text{化简可得：}u_{sd}=R_si_{sd}+L_d\frac{di_{sd}}{dt}-\omega _rL_qi_{sq} \\ \text{同理可得：}u_{sd}=R_si_{sq}+L_q\frac{di_{sq}}{dt}+\omega _rL_di_{sd}+\omega _r\varPsi _f
根据以下公式：idqs∗=id−jiq,idqs=id+jiq可以化简得到电压方程：usd=Rsisd+(Lls+23LA)dtdisd+23LBdtdisd−ωr(Lls+23LA)isq+ωr23LBisqusd=Rsisq+(Lls+23LA)dtdisq−23LBdtdisd+ωr(Lls+23LA)isd+ωr23LBisd+ωrΨf令：Ld=Lls+23(LA+LB);Lq=Lls+23(LA−LB)化简可得：usd=Rsisd+Lddtdisd−ωrLqisq同理可得：usd=Rsisq+Lqdtdisq+ωrLdisd+ωrΨf
静止两相坐标系模型推导
静止坐标系下推导磁链矢量：
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\vec{\psi}_s=\left( L_{ls}+\frac{3}{2}L_A \right) \vec{i}_s+\frac{3}{2}L_B\vec{i}_{s}^{*}e^{j2\theta _a}+\psi _fe^{j\theta _a} \\ \vec{\psi}_s=\left( L_{ls}+\frac{3}{2}L_A \right) \left( i_{\alpha}+ji_{\beta} \right) +\frac{3}{2}L_B\left( i_{\alpha}-ji_{\beta} \right) \left( \cos 2\theta _r+j\sin 2\theta _r \right) +\psi _f\left( \cos \theta _r+j\sin \theta _r \right) \\ \vec{\psi}_s=\left[ \left( L_{ls}+\frac{3}{2}L_A \right) +\frac{3}{2}L_B\cos 2\theta _r \right] i_{\alpha}+\frac{3}{2}L_B\sin 2\theta _ri_{\beta}+\psi _f\cos \theta _r \\ +j\left[ \left( L_{ls}+\frac{3}{2}L_A \right) -\frac{3}{2}L_B\cos 2\theta _r \right] i_{\beta}+j\frac{3}{2}L_B\sin 2\theta _ri_{\alpha}+j\psi _f\sin \theta _r \\ \vec{\psi}_s=\left[ \begin{matrix} \left( L_{ls}+\frac{3}{2}L_A \right) +\frac{3}{2}L_B\cos 2\theta _r& \frac{3}{2}L_B\sin 2\theta _r\\ \frac{3}{2}L_B\sin 2\theta _r& \left( L_{ls}+\frac{3}{2}L_A \right) -\frac{3}{2}L_B\cos 2\theta _r\\ \end{matrix} \right] \left[ \begin{array}{c} i_{\alpha}\\ i_{\beta}\\ \end{array} \right] +\left[ \begin{array}{c} \psi _f\cos \theta _r\\ \psi _f\sin \theta _r\\ \end{array} \right]
ψs=(Lls+23LA)is+23LBis∗ej2θa+ψfejθaψs=(Lls+23LA)(iα+jiβ)+23LB(iα−jiβ)(cos2θr+jsin2θr)+ψf(cosθr+jsinθr)ψs=[(Lls+23LA)+23LBcos2θr]iα+23LBsin2θriβ+ψfcosθr+j[(Lls+23LA)−23LBcos2θr]iβ+j23LBsin2θriα+jψfsinθrψs=[(Lls+23LA)+23LBcos2θr23LBsin2θr23LBsin2θr(Lls+23LA)−23LBcos2θr][iαiβ]+[ψfcosθrψfsinθr]
进行变量代换：
根据电感定义：
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可得：
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分别令：
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，
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因此：
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+
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sin
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\text{根据电感定义：} \\ L_d=L_{ls}+\frac{3}{2}L_A+\frac{3}{2}L_B \\ L_q=L_{ls}+\frac{3}{2}L_A-\frac{3}{2}L_B \\ \text{可得：}L_{ls}+\frac{3}{2}L_A=\frac{L_d+L_q}{2},\frac{3}{2}L_B=\frac{L_d-L_q}{2} \\ \text{分别令：}L_{ls}+\frac{3}{2}L_A=L_1\text{，}\frac{3}{2}L_B=L_2 \\ \text{因此：} \\ \vec{\psi}_s=\left[ \begin{matrix} L_1+L_2\cos 2\theta _r& L_2\sin 2\theta _r\\ L_2\sin 2\theta _r& L_1-L_2\cos 2\theta _r\\ \end{matrix} \right] \left[ \begin{array}{c} i_{\alpha}\\ i_{\beta}\\ \end{array} \right] +\left[ \begin{array}{c} \psi _f\cos \theta _r\\ \psi _f\sin \theta _r\\ \end{array} \right]
根据电感定义：Ld=Lls+23LA+23LBLq=Lls+23LA−23LB可得：Lls+23LA=2Ld+Lq,23LB=2Ld−Lq分别令：Lls+23LA=L1，23LB=L2因此：ψs=[L1+L2cos2θrL2sin2θrL2sin2θrL1−L2cos2θr][iαiβ]+[ψfcosθrψfsinθr]
因此可得静止两相坐标系下的电压方程：
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ψ
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\vec{u}_s=R_s\vec{i}_s+\frac{d}{dt}\vec{\psi}_s \\ \vec{\psi}_s=\left[ \begin{matrix} L_1+L_2\cos 2\theta _r& L_2\sin 2\theta _r\\ L_2\sin 2\theta _r& L_1-L_2\cos 2\theta _r\\ \end{matrix} \right] \left[ \begin{array}{c} i_{\alpha}\\ i_{\beta}\\ \end{array} \right] +\left[ \begin{array}{c} \cos \theta _r\\ \sin \theta _r\\ \end{array} \right] \psi _f
us=Rsis+dtdψsψs=[L1+L2cos2θrL2sin2θrL2sin2θrL1−L2cos2θr][iαiβ]+[cosθrsinθr]ψf
另外可得
α
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\alpha\beta
αβ坐标系下的另外一种形式：
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sin
θ
r
=
(
L
1
+
L
2
)
cos
θ
r
L
12
=
(
L
2
−
L
1
)
sin
θ
r
L
21
=
(
L
1
+
L
2
)
sin
θ
r
L
22
=
(
L
1
−
L
2
)
cos
θ
r
因为：
L
1
+
L
2
=
L
d
；
L
1
−
L
2
=
L
q
;
因此：
ψ
⃗
s
=
[
cos
θ
r
−
sin
θ
r
sin
θ
r
cos
θ
r
]
[
L
d
i
d
+
ψ
f
L
q
i
q
]
\left[ \begin{array}{c} i_{\alpha}\\ i_{\beta}\\ \end{array} \right] =\left[ \begin{matrix} \cos \theta _r& -\sin \theta _r\\ \sin \theta _r& \cos \theta _r\\ \end{matrix} \right] \left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] \\ \vec{\psi}_s=\left[ \begin{matrix} L_1+L_2\cos 2\theta _r& L_2\sin 2\theta _r\\ L_2\sin 2\theta _r& L_1-L_2\cos 2\theta _r\\ \end{matrix} \right] \left[ \begin{matrix} \cos \theta _r& -\sin \theta _r\\ \sin \theta _r& \cos \theta _r\\ \end{matrix} \right] \left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +\left[ \begin{array}{c} \cos \theta _r\\ \sin \theta _r\\ \end{array} \right] \psi _f \\ \vec{\psi}_s=\left[ \begin{matrix} L_{11}& L_{12}\\ L_{21}& L_{22}\\ \end{matrix} \right] \left[ \begin{array}{c} i_d\\ i_q\\ \end{array} \right] +\left[ \begin{array}{c} \cos \theta _r\\ \sin \theta _r\\ \end{array} \right] \psi _f \\ L_{11}=L_1\cos \theta _r+L_2\cos 2\theta _r\cos \theta _r+L_2\sin 2\theta _r\sin \theta _r=\left( L_1+L_2 \right) \cos \theta _r \\ L_{12}=\left( L_2-L_1 \right) \sin \theta _r \\ L_{21}=\left( L_1+L_2 \right) \sin \theta _r \\ L_{22}=\left( L_1-L_2 \right) \cos \theta _r \\ \text{因为：}L_1+L_2=L_d\text{；}L_1-L_2=L_q; \\ \text{因此：}\vec{\psi}_s=\left[ \begin{matrix} \cos \theta _r& -\sin \theta _r\\ \sin \theta _r& \cos \theta _r\\ \end{matrix} \right] \left[ \begin{array}{c} L_di_d+\psi _f\\ L_qi_q\\ \end{array} \right]
[iαiβ]=[cosθrsinθr−sinθrcosθr][idiq]ψs=[L1+L2cos2θrL2sin2θrL2sin2θrL1−L2cos2θr][cosθrsinθr−sinθrcosθr][idiq]+[cosθrsinθr]ψfψs=[L11L21L12L22][idiq]+[cosθrsinθr]ψfL11=L1cosθr+L2cos2θrcosθr+L2sin2θrsinθr=(L1+L2)cosθrL12=(L2−L1)sinθrL21=(L1+L2)sinθrL22=(L1−L2)cosθr因为：L1+L2=Ld；L1−L2=Lq;因此：ψs=[cosθrsinθr−sinθrcosθr][Ldid+ψfLqiq]
总结推导的难点
- 互感的计算；需要利用双反应定律
- 复矢量合成时，二倍频分量的处理，需要利用欧拉公式计算；
- 进行dq轴变换时，需要注意负序电流的处理，负序电流的作用产生了dq轴不同电感的区别，可见负序分量电流矢量在永磁同步电机中的关键作用；
- 薛承基的书籍中有大量的错误，如P104页，错误非常多；
- 静止两相坐标系下的磁链矩阵存在2次谐波项，无法通过静止两相坐标系进行磁链观测，除非是隐极电机。
- 在静止两相坐标系下，主要L1和L2的物理意义。L1指漏感+1.5倍定子每相平均电感，L2指1.5倍定子电感脉动分量的最大值。L1和L2与Ld，Lq存在明确关系。
L l s + 3 2 L A = L 1 ， 3 2 L B = L 2 L d = L 1 + L 2 L q = L 1 − L 2 L_{ls}+\frac{3}{2}L_A=L_1\text{，}\frac{3}{2}L_B=L_2 \\ L_d=L_1+L_2 \\ L_q=L_1-L_2 Lls+23LA=L1，23LB=L2Ld=L1+L2Lq=L1−L2
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