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为提高磁悬浮反作用飞轮输出力矩精度,针对传统控制方法下永磁无刷直流电机非理想反电势和换相引起的转矩脉动,分别提出补偿控制策略。非换相期间,根据转速和位置信息,估计实时反电势来获取参考电流,通过设计的力矩控制器直接计算出调制占空比以补偿非理想反电势引起的力矩脉动;分析全转速范围内换相期间转矩波动的特点,分别提出低速区非换相相调制和中高速区间关断相调制的换相转矩脉动抑制策略,并给出换相时间的计算方法。实验表明所提控制方法显著提高了飞轮的输出力矩精度,从而验证了方法的正确性和有效性。
In order to improve the output torque accuracy of flywheel with reactive magnetic levitation, the compensation control strategy is proposed separately for the non-ideal back EMF and torque ripple caused by commutation in the traditional control method. During the non-commutation period, the real-time back EMF is estimated to obtain the reference current according to the rotational speed and the position information, and the duty cycle of the modulator is directly calculated through the designed torque controller to compensate for the torque ripple caused by the non-ideal back EMF. Commutation torque ripple suppression strategy is proposed respectively for non-commutation phase modulation in low speed region and phase-off phase modulation in mid-high speed range, and the calculation method of commutation time is given respectively. Experiments show that the proposed control method significantly improves the output torque accuracy of the flywheel, thus verifying the correctness and effectiveness of the method.