350 results about "Electromagnetic torque" patented technology

The invention relates to the technical field of wind driven generator driving control, and discloses a wind driven generator rotor turning-over driving control method based on torque and rotating speed cooperation, which comprises the following steps: before operation, controlling a motor to execute forward and reverse quasi-static micro-motion, and collecting an average electromagnetic torque; pure gravity and friction components are separated by using torque arithmetic sum and difference, gravity model gain is corrected, and friction compensation is configured; a feed-forward torque is calculated in combination with a real-time angle, and friction compensation and speed loop feedback are superposed to generate a current instruction; according to the method, gravity and friction are decoupled through physical symmetry, model parameter errors are eliminated, hidden dangers of integral lag and out-of-control rotating speed when the variable polarity load passes through a dead point are avoided, and stability and safety of the turnover process of the hundred-ton rotor are ensured.

The invention relates to a non-inductive FOC open-loop to closed-loop switching method and device for an electronic water pump and a vehicle. The method comprises the steps that a rotor is pre-positioned; starting an open loop I-F; switching condition judgment; estimating the rotor speed based on an observer, calculating a normalization factor, and obtaining a mixed scale factor through cubic polynomial operation; acquiring an open-loop current instruction of a q axis and a closed-loop current instruction output by a closed-loop speed PI regulator; performing weighted synthesis on the two paths of current instructions according to the mixing scale factor to obtain a temporary target current instruction, and applying a change rate limit to obtain a final current instruction output in the current period; the original angle error of the observer estimation angle and the open-loop slope angle is calculated and normalized, the allowable adjustment step length and direction of the round are dynamically determined, and the angle correction amount of the round is generated and superposed to the open-loop slope angle to update the rotor angle reference value; and closed-loop switching is completed. According to the invention, the problems of electromagnetic torque impact and rotating speed fluctuation caused by instruction step change are solved.

The invention discloses a wind driven generator large-torque transmission chain resistance increasing control method and system, and relates to the technical field of wind driven generator resistance increasing control. The method comprises the steps that operation parameters of a wind driven generator are collected in real time and preprocessed; calculating a rotation fluctuation frequency set and a corresponding amplitude spectrum of the current time window, and tracking and locking the dominant vibration frequency; constructing a fan state space prediction model containing the torsional vibration state of the transmission chain, outputting the predicted variable quantity of the torque of the transmission chain in the next control period, constructing a filter bank based on the dominant vibration frequency, performing filtering compensation on the predicted variable quantity, and generating an electromagnetic torque given value; and performing phase lead compensation on the electromagnetic torque given value, generating a control instruction, sending the control instruction to the wind power converter, and controlling the wind power generator to output the corresponding electromagnetic torque by using the wind power converter. Through systematic multi-link cooperative processing, the vibration suppression effect and the operation stability of the transmission chain can be comprehensively improved.

The invention discloses a motor multi-parameter identification method based on sampling noise excitation and bias compensation, and the method comprises the steps: firstly obtaining the voltage and sampling current of a motor, and enabling the sampling current to comprise sampling noise; then constructing an information evaluation index, and adjusting a proportional parameter of a current controller to improve the identification information amount; then, shaft voltage feed-forward compensation is constructed to suppress electromagnetic torque pulsation; recursion is carried out by adopting a least square method based on the discrete linear parameterization model to obtain a parameter initial value and a covariance matrix; secondly, estimating offset-containing parameters on line, and calculating a sampling noise variance by using an estimated residual error; and finally, obtaining unbiased parameter estimation according to bias compensation iteration updating so as to output online estimation values of stator resistance, direct-axis inductance Ld, quadrature-axis inductance Lq and permanent magnet flux linkage.

The invention provides a double-rotor direct-drive coaxial reverse-propeller electric ducted fan, which is characterized in that a single motor with an inner rotor and an outer rotor directly drives two pairs of blades, an intermediate transmission device and an inner rotor excitation group to generate a rotating magnetic field, and a first-stage propulsion component and a second-stage propulsion component with the same rotational inertia are driven under the action of electromagnetic torque with the same acting force and counter-acting force; one-way rotation deflection torque is balanced, and coaxial reverse propeller movement is achieved; the rectification duct reduces the induced resistance of the blades and improves the propulsive efficiency, the convergence and expansion guide sleeve and the motor frame body dissipate heat to form circulating heat dissipation of the Brayton heat engine, meanwhile, air is heated, expanded and ejected out to generate thrust, the efficiency is high, and the thrust is large. The dual-rotor motor direct-driven coaxial reverse propeller ducted fan propulsion unit is simple in mechanism, light in structure, large in power-to-weight ratio, high in reliability, beneficial to use in a narrow space and vertical take-off and landing, especially suitable for an EVTOL (electric vertical take-off and landing aircraft), and capable of promoting popularization of small aircrafts and vertical take-off and landing urban transportation carriers.

The invention provides an electronic control hydraulic steering system driving mode switching method, system and device and a medium, and belongs to the technical field of automatic driving control. The method comprises the following steps: constructing a kinetic model of an EHPS system corner torque sensor, constructing a sliding mode observer based on the model, and accurately calculating an estimated value of a driver hand torque by compensating rotational inertia and a damping component of a steering wheel in real time; determining an adjustment factor by using a fuzzy rule according to the vehicle speed and the corner speed, and setting a dynamic threshold by combining the maximum hand torque; judging the hand intervention state of the driver in a self-adaptive time window by comparing the estimated value of the hand torque with a dynamic threshold value; after the manual intervention is confirmed, the target current value of the power-assisted motor and the road curvature in the manual driving mode and the automatic driving mode are fused, a comprehensive target current value in smooth transition is calculated, and finally the comprehensive target current value is converted into electromagnetic torque to complete the driving mode switching. According to the invention, accurate identification of driver intervention intentions and smooth control of a mode switching process are realized.

The invention relates to the field of airplane airborne pod servo control algorithm design, and provides a method and a system for calculating external force disturbance resistance according to current feedback of a servo motor. The method comprises the steps that three-phase currents Ia, Ib and Ic and an electrical angle theta are collected, two-phase currents Id and Iq are obtained through Clarke conversion and Park conversion, and the Iq is defined as an external force disturbance resistance estimator IQ; establishing a set value r (t) and a deviation e (t) = r (t)-IQ, calculating an output u (t) of a PID controller, and writing the u (t) as a q-axis control reference into a driver: mapping to Vq and Vd in a voltage control mode for inverse transformation and PWM modulation, mapping to q-axis current reference Iqref in a current control mode, converting the q-axis current reference Iqref into a corresponding voltage instruction by a driver current loop, and driving a servo motor to generate an electromagnetic torque for counteracting disturbance and reactance. A complex motor model and a high-end inertial sensor are not needed, the calculation amount is small, disturbance can be rapidly and accurately estimated, and the stable control performance of the aircraft pod in a complex flight environment is guaranteed.

The invention discloses a permanent magnet synchronous motor wide speed range model prediction control method and system based on a mean value reduction optimization algorithm, and belongs to the technical field of motor control. According to the method, a discrete mathematical model of the permanent magnet synchronous motor is established under a d-q rotating coordinate system, a q-axis current reference value is generated by an outer ring through a speed PI regulator, and a d-axis current reference value is calculated in combination with a maximum torque per ampere (MTPA) principle and a weak magnetic region voltage constraint; finite control set model prediction control is adopted in an inner ring, enumeration prediction is conducted on candidate voltage vectors of the three-phase voltage source type inverter, a cost function containing a d-axis current error, a q-axis current error and an electromagnetic torque error is constructed, an optimal voltage vector is selected, and a three-phase PWM signal is generated through space vector pulse width modulation to drive a motor. The system is provided with a mean value reduction optimization module, joint optimization is carried out on speed outer ring PI parameters and cost function weight coefficients in the off-line stage, the parameters are stored in a lookup table, and automatic setting of control parameters is achieved. The permanent magnet synchronous motor can improve the dynamic response performance of the rotating speed and the current in the base speed area and the weak magnetic area, reduce the total harmonic distortion of the stator current, improve the voltage utilization rate and the overall operation efficiency of the permanent magnet synchronous motor, and is suitable for occasions such as electric vehicle driving and high-performance servo systems.

The invention discloses a dual-channel electric drive multiplexing type vehicle-mounted charging system unbalanced current suppression method, which comprises the following steps of: firstly, popularizing and applying a positive and negative sequence separation method for decoupling a dual-synchronous coordinate system to a dual-channel six-phase motor, and calculating positive and negative sequence components of a dq axis of a dual-channel system under a current unbalanced working condition; utilizing Park and VSD transformation to map the data to an alpha beta xy0102 sub-plane; secondly, setting a positive-sequence current given value and a negative-sequence current given value to be 0 by using a six-phase current distribution method for minimizing electromagnetic torque; then, independent PI control is carried out on each sub-plane; and finally, correspondingly adding the output quantities of the positive sequence current and the negative sequence current of each sub-plane, returning to a natural coordinate system through TVSD-1, and then outputting SPWM, thereby realizing a three-phase charging working condition. According to the method, the suppression of the negative-sequence current can be realized, the sine degree of the power grid current is improved, the torque ripple is suppressed, and the system safety is guaranteed.

The invention belongs to the technical field of ship electric propulsion, and particularly relates to a ship electric propulsion dual-mode control system with a multi-redundancy architecture, and the system comprises the steps: firstly, accurately obtaining the actual rotating speed and electromagnetic torque of a motor through a sensor group with redundancy configuration and two-out-of-three voting logic; secondly, calculating load disturbance intensity by utilizing time domain difference analysis, and calculating the deviation between the actual torque and the theoretical hydrodynamic torque in combination with a propeller characteristic coefficient, so as to generate a load anomaly index; generating a dynamic flexible factor with a damping characteristic based on the index by using a Sigmoid function and low-pass filtering logic; and finally, carrying out weighted fusion on output instructions of the rotating speed mode and the torque mode according to the factor. According to the method, normal acceleration and sea wave disturbance can be accurately distinguished, smooth seamless switching between a static water speed stabilization mode and a severe sea condition machine protection mode is achieved, and control oscillation and mechanical damage are effectively avoided.

The invention discloses a non-differential disc type equal-pole common-winding high-power-density motor and a design method, and belongs to the technical field of design and manufacturing of motors and new energy automobiles. The invention discloses a split-disc type high-power density motor and a design method, a double-disc or multi-disc structure is adopted, direct current or alternating current or single-phase alternating current is subjected to physical space nominal phase splitting to complete continuous circumferential rotation or linear motion of the motor, and the specific implementation scheme can be directed at direct current brush motors, direct current brushless motors, direct current brushless motors, direct current brushless motors, direct current brushless motors, direct current brushless motors and direct current brushless motors. Due to the fact that a multi-disc complementary effect is achieved, the number of pole pairs of a rotor and a stator can be equal, the number density of interaction force points of the stator and the rotor in a unit space can be increased, the electromagnetic torque or magnetic resistance torque density can be increased, and square waves can be adopted to replace sine wave currents. The negative torque can be effectively eliminated by timely performing transient outage on the square wave commutation interlaced area, the motor power density can be greatly improved, and the technical scheme is also suitable for the field of generators.

This invention discloses a modeling method for a proxy model of a permanent magnet synchronous motor under eccentric conditions. First, a mathematical model of the eccentric motor proxy model is established, including the permanent magnet flux linkage and no-load back EMF, flux linkage model, voltage model, electromagnetic torque, and torque balance equations. Then, no-load back EMF, permanent magnet flux linkage, and dq-axis inductance data are obtained through finite element simulation, and harmonic fitting is performed on the permanent magnet flux linkage. Next, a multi-dimensional parameterized lookup table covering eccentricity type and degree, speed, torque, and rotor position angle is constructed. The lookup table and interpolation algorithm are integrated into the simulation platform to form a high-fidelity proxy model module that can be called in real time. Finally, the model accuracy is verified by comparison with finite element simulation and experimental data. This invention achieves high-precision and rapid mapping of the electromagnetic characteristics of eccentric motors, balancing modeling accuracy, efficiency, and versatility.

This invention relates to a cascaded fuzzy feedforward direct-drive speed control method and system based on LC filtering. The method includes: obtaining a speed error and error rate of change from a reference speed and a real-time measured speed; inputting the speed error and error rate of change into a Mamdani fuzzy inference engine to output a power setpoint coefficient; inputting the power setpoint coefficient and a normalized measured speed signal into a two-dimensional torque-current reference lookup table, performing bilinear interpolation calculation, and outputting an electromagnetic torque command; converting the electromagnetic torque command into a quadrature-axis command current, generating a PWM signal through current closed-loop regulation and SVPWM modulation, and driving a two-level voltage-type inverter; the output of the two-level voltage-type inverter drives a low-voltage permanent magnet synchronous motor through an LC sine wave filter with an RC damping branch. Compared with the prior art, this invention has advantages such as low computational load, improved dynamic response, and enhanced disturbance rejection.

The tripping structure comprises a first module and a second module, the first module comprises a support, a traction rod, a transmission part, an armature, a traction rod spring providing elastic reset force for the traction rod and an armature spring providing elastic reset force for the armature, and the armature is in driving connection with the traction rod through the transmission part. The second module comprises a temperature sensing element and a magnet yoke located below the support, the armature extends downwards to form an attraction part opposite to the magnet yoke in a spaced mode, a through cavity for the temperature sensing element to penetrate through is defined between the attraction part and the magnet yoke, and the part, penetrating into the through cavity, of the temperature sensing element is fixedly connected with the magnet yoke. The circuit breaker comprises the tripping structure. According to the tripping structure and the circuit breaker, the traction rod, the transmission part and the armature share the support and are integrated in the first module, the temperature sensing element and the magnet yoke are integrated in the second module, module assembling is facilitated, the support replaces the upper half portion of the magnet yoke to be used for installing the armature, and the electromagnetic torque borne by the armature is increased.

The application provides a wind turbine maximum wind energy capturing control method, device and system, the method comprising: obtaining a generator speed and a low-speed shaft torsion angle; calculating optimal torque of the generator at different speeds according to the generator speed and an optimal wind energy proportionality coefficient; calculating an impeller aerodynamic torque according to the low-speed shaft torsion angle, a low-speed shaft torsion stiffness and a torsion damping coefficient; correcting the optimal torque to obtain a target electromagnetic torque according to the impeller aerodynamic torque; and controlling the generator to operate according to the target electromagnetic torque. In the application, the wind turbine realizes optimal adjustment of the electromagnetic torque in a low wind speed area, can effectively improve energy absorption efficiency when the wind turbine operates below the rated wind speed, improve control performance of the wind turbine, and further improve annual power generation of the wind turbine.

This invention discloses a high-precision intelligent forming control method, device, equipment, and storage medium for all-electric metallurgical equipment, relating to the field of intelligent control technology for metallurgical forming equipment. The method includes: performing stage self-identification of the metallurgical forming process based on the operating signal of the direct-drive motor to obtain stage identification results; switching the corresponding control strategy based on the stage identification results; controlling the direct-drive motor according to the switched control strategy, and introducing a virtual response mechanism to adjust the dynamic characteristics of the control system during stage switching to obtain adjusted control parameters; determining the forming load based on the mapping relationship between the electromagnetic torque of the direct-drive motor and the forming load, generating control commands based on the forming load, and controlling the output of the direct-drive motor based on the control commands and adjusted control parameters to achieve closed-loop control of the forming force. This achieves high-precision force control and multi-axis synchronous coordination throughout the entire metallurgical forming process without relying on external force sensors.

The invention relates to the technical field of permanent magnet direct-drive fans, and discloses a permanent magnet direct-drive fan modeling method considering a mechanical system and related equipment. A mechanical system transfer function and a complete electrical system transfer function including a permanent magnet synchronous generator stator loop, a machine side converter, a grid side inverter and the like are established; a permanent magnet direct drive fan small signal admittance model is constructed, the defect that a previous model neglects a mechanical system or part of an electrical system is made up, the model can accurately reflect the influence of mechanical shafting dynamic characteristics on harmonic transmission of an electrical subsystem through electromagnetic torque disturbance, and the accuracy of the fan broadband admittance model is improved. A reliable basis is provided for broadband oscillation analysis of an offshore wind power plant grid-connected system, the new energy delivery capacity is improved, and safe and stable operation of a novel electric power system is guaranteed.

The embodiment of the invention provides a motor torque monitoring method and device, equipment and a medium, and relates to the technical field of vehicles. The method comprises the following steps: in a first processing unit in a motor controller, obtaining a functional layer estimation torque through an electromagnetic torque algorithm based on a three-phase current signal; in a second processing unit in the motor controller, a safety layer estimation torque is obtained through a power torque algorithm based on the bus voltage signal and the bus current signal, and the first processing unit and the second processing unit are physically isolated; and determining the state of the torque based on the comparison of the estimated torque of the motor function layer and the estimated torque of the safety layer, and executing a corresponding system protection strategy based on the torque state. According to the method, the problem that the vehicle safety is affected due to the fact that torque monitoring is prone to misalignment when equipment abnormity or working condition abnormity occurs in motor torque monitoring in the related technology is effectively solved.

This invention relates to the field of servo control algorithm design for aircraft airborne pods, providing a method and system for calculating external disturbance reactance based on servo motor current feedback. The method acquires three-phase currents Ia, Ib, and Ic, and electrical angle θ, and obtains two-phase currents Id and Iq through Clarke and Park transforms, defining Iq as the external disturbance reactance estimate IQ. A setpoint r(t) and deviation e(t) = r(t) - IQ are established, and the PID controller output u(t) is calculated. u(t) is used as the q-axis control reference and written to the driver. In voltage control mode, it is mapped to Vq and Vd for inverse transformation and PWM modulation; in current control mode, it is mapped to the q-axis current reference Iqref and converted into corresponding voltage commands by the driver's current loop, driving the servo motor to generate electromagnetic torque to cancel out disturbance reactance. This invention eliminates the need for complex motor models and high-end inertial sensors, has low computational complexity, and can quickly and accurately estimate disturbances, ensuring stable control performance of the aircraft pod in complex flight environments.

The present invention discloses a highly efficient control method for a multiphase permanent magnet synchronous motor. Based on the extreme value search principle, a model of the electromagnetic torque and current vector angle of the multiphase permanent magnet synchronous motor is established. A virtual high-frequency signal is superimposed on the current vector angle, and an extreme value search process is designed. By detecting whether the partial differential of the electromagnetic torque term with respect to the current vector angle term is zero, the optimal current vector angle is searched. This method enables the multiphase permanent magnet synchronous motor to generate maximum electromagnetic torque under a certain current amplitude, thereby reducing motor copper loss. The highly efficient control method for a multiphase permanent magnet synchronous motor disclosed by the present invention has the advantages of a simple control structure, easy implementation, and low dependence on motor parameters.

This invention discloses a grid-connected / off-grid control method and system for low-voltage power supply, applied in the field of power grid-connected / off-grid technology. The method includes: transforming and decomposing acquired main power source data and backup power source data to obtain a frequency deviation value; determining a frequency synchronization accuracy value based on the frequency deviation value; extracting the rotational speed sampling value from the backup power source data and the grid synchronization rotational speed value from the main power source data, and determining a slip ratio based on the rotational speed sampling value and the grid synchronization rotational speed value; inputting the frequency synchronization accuracy value and the slip ratio into a constructed grid-connected / off-grid control model to obtain a real-time phase compensation angle; sequentially performing phase lead compensation processing and torque conversion processing on the real-time phase compensation angle to obtain an electromagnetic torque correction amount; and obtaining a grid-connected / off-grid control strategy for low-voltage power supply based on the electromagnetic torque correction amount. The method provided by this invention can achieve stable grid-connected / off-grid control.

The application discloses a coaxial collaborative speed control method and system of double synchronous motors and fan simulation application and belongs to the technical field of motor control and wind power test. By collecting speed and shaft current feedback signals, a system mechanical dynamic and motor mathematical model are constructed, a load torque estimator and a dynamic compensator are designed to suppress internal and external disturbances, total target electromagnetic torque is distributed based on a torque distribution coefficient, and an optimal control input is solved through a model predictive control to construct a cost function, so that double motor collaborative speed regulation is realized. A corresponding system comprises a signal acquisition unit, a model construction unit, a load estimation and dynamic compensation unit, a torque distribution and control unit, and can be applied to a fan main shaft simulation platform to reproduce the characteristics of large inertia and high load fluctuation. The application improves the dynamic response and coordination of double motors, simplifies the control structure, enhances the anti-disturbance ability, and is suitable for high-precision fan simulation.

The invention aims to solve the technical problems that a hemispherical resonator gyroscope in the prior art is difficult to adapt to a high-dynamic environment, cannot realize full-circumferential high-precision measurement and is insufficient in anti-interference capability, and provides a three-axis inertially stabilized platform system based on a full-angle mode hemispherical resonator gyroscope and a control method thereof. The system adopts a three-axis two-frame structure, and the method adopts a Y-axis stable control loop and an XZ double-axis stable control loop to realize three-axis stable control of the inertially stabilized platform; a stable control loop adopts a double-loop control mode of'a rate inner loop + a position outer loop ', angle change information sensed by a corresponding hemispherical resonator gyroscope is calculated by a correction network to generate a driving signal, a corresponding torque motor is driven to generate an electromagnetic torque for counteracting an interference torque, and the method can isolate the disturbance caused by the movement of a carrier; a six-position calibration method of a mixed mode is invented based on the stable control loop, and the method is characterized in that the gyroscope is stabilized at the optimal standing wave angle position during stable acquisition, so that the optimal measurement precision of the gyroscope is exerted.

The application discloses a kind of digital twin driven armored vehicle double-motor transmission mechanism coupling modeling method and application, consider including nonlinear factors such as time-varying engagement stiffness of gear, transmission error and meshing impact, the motion relationship and force relationship between components are described by applying force element, the dynamic model of coupling transmission mechanism is established;According to the dynamic mathematical equation and vector control theory of permanent magnet synchronous motor, the dynamic mathematical model and vector control model of permanent magnet synchronous motor are established;According to the dynamic model of coupling transmission mechanism and the vector control model of permanent magnet synchronous motor, coupling is carried out through electromagnetic torque, load torque and feedback speed, an electromechanical coupling model is established, the sensitivity of different parameters to response signal difference is analyzed based on the residual value of simulation signal and measured signal, sensitive parameters are screened out, the sensitive parameters of model are optimized based on the forgetting least square algorithm, and the model parameters are corrected based on the optimization result, and the digital twin model is updated.

The invention discloses a motor control method, a washing machine, a storage medium and a computer program product, relates to the technical field of washing machine control, is applied to the washing machine, and the washing machine at least comprises a washing machine roller and a motor. Obtaining the eccentricity amplitude and eccentric phase information of an eccentric load in the drum of the washing machine based on the motor rotating speed signal; and generating a target torque instruction based on the eccentricity amplitude and the eccentric phase information, and controlling a motor of the washing machine to generate an electromagnetic torque confronting the eccentric load based on the target torque instruction. The technical problem that an existing roller washing machine is low in operation efficiency under the dewatering working condition is solved.

This invention discloses a maximum power point tracking (MPPT) control system and method for a pump-driven turbine power generation system. It calculates output power by acquiring DC-side voltage and current, and also acquires rotational speed. Within each MPPT cycle, the operating state is identified by the power-speed slope feature G: when operating conditions change rapidly, the weight of the disturbance observation branch is increased; when approaching the maximum power point, the weight of the adaptive scale fuzzy logic control branch is enhanced. The two branches achieve branch current fusion according to the weights constructed using (|G|), outputting the q-axis stator current increment. A dq current closed loop is used to output a PWM drive signal to control the machine-side converter, adjusting the electromagnetic torque of the permanent magnet synchronous generator, thereby achieving efficient MPPT under time-varying head / flow conditions. This invention relies only on measurable power and speed signals, requiring no precise hydraulic model or data-intensive training, resulting in low computational load, ease of embedded implementation, improved energy recovery efficiency, and suppression of power fluctuations and torque pulsations.

The application discloses a kind of model construction method and device of wind power generation system, the method wind power generation system, at least including wind turbine and permanent magnet synchronous generator, the method includes: the mechanical characteristics of wind turbine is modeled according to momentum theory data to obtain wind turbine model;Maximum power output point of wind turbine is tracked by analyzing wind turbine model and using hill climbing search method;Ideal conditions met by permanent magnet synchronous generator are obtained;Under ideal conditions, three-phase voltage equation under natural coordinate system, flux linkage equation under natural coordinate system, electromagnetic torque equation of motor, mechanical motion equation of permanent magnet synchronous generator are established to obtain permanent magnet synchronous motor model.The application can reduce the loss generated by mechanical rotation in power generation process, so that the power generation efficiency of system is higher.

The application discloses a permanent magnet synchronous motor MTPA control method based on double virtual direct current signal injection, and particularly relates to a motor control method, in particular to a control method of a permanent magnet synchronous motor under a high-speed low-carrier ratio working condition. β A pair of virtual direct current signals with the same amplitude and opposite polarity are injected into a current vector angle, an electromagnetic torque containing the pair of signals is Taylor expanded, subtraction operation is performed on the two to obtain an approximate value of a first-order partial derivative of the torque to the current vector angle, the approximate value is input into an integral regulator, and when the input is controlled to be 0, an optimal current vector angle can be obtained β mtpa , and MTPA control is realized. In order to simultaneously improve dynamic performance and steady-state performance of the control, the method selects virtual direct current signals with different amplitudes to be injected under different working conditions, so that the motor can quickly approach an optimal current vector angle working state, and fluctuation of the current vector angle under a stable state is reduced.

The invention discloses an electromagnetic torque layered modeling method based on magnetic conductance space attenuation characteristics, and relates to the technical field of permanent magnet motors, and the method comprises the steps: building an electromagnetic parameter expression through motor parameters; determining magnetomotive force parameter expressions of an armature and a permanent magnet through motor pole slot cooperation and a winding mode, and thus obtaining magnetomotive force harmonic waves; according to the condition that the number of magnetic field pole pairs in the electromagnetic parameter expression is the same, an armature magnetic field source generating average torque is limited, and an armature magnetomotive force source is determined to modulate the magnetic conductance order; determining air gap space magnetic conductance through conformal transformation; spatial layering and harmonic attenuation law analysis are carried out aiming at air gap space magnetic conductance, electromagnetic layering torque considering space attenuation characteristics is calculated through magnetomotive force harmonic and magnetic conductance harmonic modulation coupling, and weighting is carried out on the electromagnetic layering torque to obtain the total torque of the motor. According to the method, the torque modeling precision of the permanent magnet vernier motor is remarkably improved.