異步電動機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)外文翻譯

1、<p>　　合肥學(xué)院機(jī)械工程系畢業(yè)設(shè)計(jì)（論文）文件－－ </p><p>　　合 肥 學(xué) 院 機(jī) 械 工 程 系</p><p><b>　　畢業(yè)設(shè)計(jì)(論文)</b></p><p><b>　　外</b></p><p><b>　　文</b></p>

2、<p><b>　　翻</b></p><p><b>　　譯</b></p><p>　　文獻(xiàn)題目： The Design of the Vector Control System of Asynchronous Motor </p><p>　　專業(yè)： 機(jī)械設(shè)計(jì)制造及其自動化

3、 </p><p>　　年級： 09級 </p><p>　　姓名： 張支亮 </p><p>　　學(xué)號： 0906013014

4、 </p><p>　　指導(dǎo)教師： 夏小虎 </p><p>　　職稱： 副教授 </p><p>　　2013年 4 月 20 日</p><p>　　The De

5、sign of the Vector Control System of Asynchronous Motor</p><p>　　Min Zhang, Xinping Ding & Zhen Guo</p><p>　　College of Automation, Qingdao Technological University, Qingdao 266033, China<

6、;/p><p>　　E-mail: z_m530@163.com</p><p>　　Abstract: Among various modes of the asynchronous motor speed control, vector control has the advantages of fast response, stability, transmission of high-

7、performance and wide speed range. For the need of the asynchronous motor speed control, the design uses 89C196 as the controller, and introduces the designs of hardware and software in details. The Design is completed ef

8、fectively, with good performance simple structure and good prospects of development.</p><p>　　Keywords: Asynchronous motor, 89C196, Vector control</p><p>　　1. Introduction</p><p>　　

9、AC asynchronous motor is a higher order, multi-variable, non-linear, and strong coupling object, using the concept of parameters reconstruction and state reconstruction of modern control theory to achieve decoupling betw

10、een the excitation component of the AC motor stator current and the torque component, and the control process of AC motor is equivalent to the control process of DC motor, the dynamic performance of AC speed regulation s

11、ystem obtaining notable improvement, thus makes DC speed rep</p><p>　　2. Vector Control</p><p>　　With the criterion of producing consistent rotating magneto motive force, the stator AC current,,

12、 by3S/2S conversion in the three-phase coordinate system, can be equivalent to AC current ，， in two-phase static coordinate system, through vector rotation transformation of the re-orientation of the rotor magnetic field

13、, Equivalent to a synchronous rotation coordinates of the DC current ，. When observers at core coordinates with the rotation together, AC machine becomes DC machine. Of these, the AC </p><p>　　3. The Content

14、 and Thought of the Design</p><p>　　This system uses 80C196 as controller, consists of detection unit of stator three-phase current unit of keyboard input, LCD display modules, given unit of simulation speed

15、 detection unit of stator three-phase voltage, feedback unit of speed and output unit of control signals. System block diagram shown in Figure 2, the system applies 16 bits MCU 80C196 as control core, with some hardware

16、analog circuits composing the vector control system of asynchronous motor. On the one hand, 80C196 through th</p><p>　　4. The Design of Hardware and Software</p><p>　　The hardware circuits of th

17、e system mainly consists of AC-DC-AC current inverter circuit, SCR trigger inverter circuit, rectifier SCR trigger circuit, the speed given with the gun feedback circuit, current central regulation circuit, protection ci

18、rcuit and other typical circuits. The design of software includes: speed regulator control and flux detection and regulation.</p><p>　　4.1 AC-DC-AC Current Converter Circuit</p><p>　　The main ci

19、rcuit uses AC-DC-AC Current Converter in the system as shown in Figure 3, and main features can be known as follows:</p><p>　　1) Main circuit with simple structure and fewer components. For the four-quadrant

20、 operation, when the brake of power happens, the current direction of the main circuit keeps the same, just changing the polarity of the voltage, rectifier working in the state of inverter, inverter working in the state

21、of rectifier. The inverter can be easily entered, regenerative braking, fast dynamic response. The voltage inverter has to connect to a group of inverters in order to regenerative braking, bringing t</p><p>

22、　　2) Since the middle using a reactor, current limit, is constant current source. Coupled with current Loop conditioning, current limit, so it can tolerate instantaneous load short-circuit, automatic protection, thereby

23、enhancing the protection of over current and operational reliability</p><p>　　3) The current inverter can converter with force and the output current instantaneous value is controlled by current inverter, me

24、eting the vector control requirements of AC motors. Converter capacitor charging and discharging currents from the DC circuit filter by the suppression reactor, unlike a greater inrush current in voltage inverter, the ca

25、pacitor’s utilization is of high level.</p><p>　　4) Current inverter and the load motor form a whole, and the energy storage of the motor windings is also involved in the converter, and less dependent on the

26、 voltage inverter, so it has a certain load capacity.</p><p>　　4.2 Inverter SCR trigger drive circuit</p><p>　　The Inverter SCR trigger drive circuit as shown in Figure 4. Inverter trigger signa

27、l is controlled by P1 of 80C196, slip signal outputting through P1 via PWM regulation in the SCM through the photoelectric isolation to enlarge, to control the trigger of the inverter. The system uses P1.6 as control and

28、 uses P1.0~P1.5 to control six SCR inverters separately, so the trigger circuits is composed by six circuits above.</p><p>　　The principles of drive circuit of SCR trigger inverter are as follows: when the P

29、WM from P1 is high signal after and gate, photoelectric isolation is not on, composite pipe in a state of on-saturated, the left side of the transformer forming circuit, and that the power of the signal amplifies (curren

30、t enlarges); when the PWM from P1 is low signal after and gate, photoelectric isolation is on, composite pipe in a state of cut-off, and the left side of the transformer can not form circuit; thus, </p><p>　

31、　4.3 Current Loop conditioning circuits</p><p>　　After the vector calculation, outputting given current through D/A module, testing feedback current by the current testing circuit, sending them to the simula

32、tor of the P1 regulator to regulate, can eliminate static difference and improve the speed of regulation. The output of the analog devices can be regarded as the phase-shifting control signals of the rectifier trigger. C

33、urrent Loop conditioning circuits as shown in figure 5.</p><p>　　4.4 The control of speed regulator</p><p>　　Speed regulator uses dual-mode control. Setting a value T N of speed error, when the

34、system is more than the deviation (more than 10 percent of the rated frequency), as rough location of the start, using on-off control, at this time, speed regulator is in the state of amplitude limit, equivalent to speed

35、 loop being open-loop, so the current loop is in the state of the most constant current regulation. Thus, it can play the overload ability of motor fully and make the process of regulation fastes</p><p>　　4.

36、5 Flux Regulation</p><p>　　Slip frequency vector control system can be affected by the motor parameters, so that the actual flux and the given flux appear a deviation. This system is of observation and feedb

37、ack in the amplitude of the magnetic flux, regulating flux of the rotor, actual flux with the changes of given flux.</p><p>　　Flux regulator is also the same as the speed regulator, using PI regulator. The d

38、iscrete formula is:</p><p><b>　?。?）</b></p><p>　　Plus a reminder to forecast for correction:</p><p>　　（2） </p><p>　　In the for

39、mula, is proportional coefficient, is integral coefficient, is sampling period, is the actual output value.</p><p><b>　?。?）</b></p><p><b>　　（4）</b></p><p&g

40、t;　　When it is in the state of low frequency (f<5HZ), can not be ignored, the phase difference between and enlarges, and the formula ≈ no longer sets up. Through the Approximate rotor flux observer and the formula

41、 to observe the flux amplitude, only open-loop control of flux, that is, to calculate from a given flux, and that is .In addition, in order to avoid disorders, or too weak and too strong magnetic, limiting the output in

42、 preparation for the software, making it in the ranges from 75% to </p><p>　　5. Design Summary</p><p>　　This text researches the vector control variable speed control system of the asynchronous

43、motor design. The SCM 80C196 and the external hardware complete the asynchronous motor speed vector control system design efficiently, and meet the timing control requirements. The vector control system design thinks cle

44、arly, has a good speed performance and simple structure. It has a wide range of use and a good prospect of development from the analysis and design of the speed asynchronous motor vector con</p><p>　　The inn

45、ovations:</p><p>　　(1) Complete the data acquisition of the speed and voltage, output the control signal and save the devices effectively with the help of the 80C196 microcontroller owned A/D, D/A.</p>

46、<p>　　(2) Because the Current Source Inverter uses forced converter, the maximum operating frequency is free from the power grid frequency. And it is with wide speed range.</p><p>　　(3) This system us

47、es constant flux to keep the constant flux stably. Use stator physical voltage amplitude to approximate the observed flux amplitude value. The magnetic flux overcomes the impact of the parameters changes. This way is sim

48、ple and effective.</p><p>　　Figure 1. Vector Control System Principle</p><p>　　Figure 2. Scheme of System</p><p>　　Figure 3. AC-DC-AC Current inverter Circuit</p><p>　　

49、Figure 4. Inverter SCR trigger drive circuit</p><p>　　Figure 5. Current Loop conditioning circuits</p><p>　　Figure 6. Flux regulation flowchart</p><p>　　References</p><p&

50、gt;　　Hisao Kubota and Kouki Matsuse. (1994). Speed Sensorless Field-Oriented Control of Induction Motor with</p><p>　　Rotor Resistance Adaptation. IEEE Trans. Ind. Appl., vo1.30, No.5,pp.1219-1224.</p>

51、<p>　　Li, Da, Yang, Qingdong, and Liu, Quan.(2007). The DSP permanent magnet synchronous linear motor vector control system. Micro-computer information, 09-2:195-196</p><p>　　Liu, Wei. (2007). The app

52、lication design about vector control of current loop control. Micro-computer information, 07-1: 68-70</p><p>　　Zhao, Tao, Jiang, WeiDong, Chen, Quan, and Ren, Tao. (2006). The research about the permanent ma

53、gnet motor drive system bases on the dual-mode control. Power electronics technology, 40 (5) :32-34</p><p>　　異步電動機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)</p><p><b>　　張民，丁興平，郭振</b></p><p>　　中國，青島，青島科

54、技大學(xué)自動化學(xué)院， 266033，</p><p>　　E-mail: z_m530@163.com</p><p>　　摘 要:異步電動機(jī)的各種調(diào)速方式中，矢量控制的調(diào)速方式響應(yīng)快、穩(wěn)定性好、傳動性能高、調(diào)速范圍寬。針對異步電動機(jī)的調(diào)速需要，設(shè)計(jì)以80C196為控制器的矢量控制調(diào)速系統(tǒng)，并詳細(xì)介紹了系統(tǒng)的硬件設(shè)計(jì)和軟件設(shè)計(jì)。該系統(tǒng)有效地完成了異步電動機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)，調(diào)速性能好、結(jié)

55、構(gòu)簡單，具有很好的發(fā)展前景。</p><p>　　關(guān)鍵詞：異步電動機(jī)，89C196，矢量控制</p><p><b>　　1.引言</b></p><p>　　交流異步電動機(jī)是一個高階、多變量、非線性、強(qiáng)藕合的被控對象，采用參數(shù)重構(gòu)和狀態(tài)重構(gòu)的現(xiàn)代控制理論概念可以實(shí)現(xiàn)交流電動機(jī)定子電流的勵磁分量和轉(zhuǎn)矩分量之間的解藕，實(shí)現(xiàn)了將交流電動機(jī)的控制過程

56、等效為直流電動機(jī)的控制過程，使交流調(diào)速系統(tǒng)的動態(tài)性能得到顯著的改善和提高，從而使交流調(diào)速最終取代直流調(diào)速成為可能。目前對調(diào)速特性要求較高的生產(chǎn)工藝已較多地采用矢量控制型變頻調(diào)速裝置。</p><p><b>　　2.矢量控制</b></p><p>　　以產(chǎn)生完全一致的旋轉(zhuǎn)磁動勢為準(zhǔn)則，在三相坐標(biāo)系下的定子交流電流,,通過3S／2S變換，可以等效成兩相靜止坐標(biāo)系下的交

57、流電流，，再通過按轉(zhuǎn)子磁場定向的矢量旋轉(zhuǎn)變換，可以等效成同步旋轉(zhuǎn)坐標(biāo)系下的直流電流，。當(dāng)觀察者站在鐵心上與坐標(biāo)系一起旋轉(zhuǎn)時，交流機(jī)就變成了直流機(jī)。其中，交流異步電動機(jī)的轉(zhuǎn)子總磁通，就變成了等效的直流電動機(jī)的磁通，繞組相當(dāng)于直流電機(jī)的勵磁繞組，相當(dāng)于勵磁電流。繞組相當(dāng)于偽靜止繞組，相當(dāng)于與轉(zhuǎn)矩成正比的電樞電流。異步電動機(jī)經(jīng)過如上的變換后就等效成了直流電動機(jī)。因而，可以模仿直流電機(jī)的控制方法，求得直流電機(jī)的控制量，再經(jīng)過相應(yīng)的坐標(biāo)反變換，就

58、能夠控制異步電動機(jī)了。由于進(jìn)行坐標(biāo)變換的是電流(代表磁動勢)的空間矢量，所以，這樣通過坐標(biāo)變換實(shí)現(xiàn)的控制系統(tǒng)就叫作矢量控制系統(tǒng)，簡稱VC系統(tǒng)。按照這種設(shè)想，可以構(gòu)成直接控制和的矢量控制系統(tǒng)，如圖1所示。圖中給定和反饋信號經(jīng)過類似于直流凋速系統(tǒng)所用的控制器，產(chǎn)生勵磁電流的給定信號和電樞電流的給定信號，經(jīng)過反旋轉(zhuǎn)變換VR-1 得到和，再經(jīng)過2S／3S變換得到、、。把這三個電流控制信號和由控制器得到的頻率信號加到電流控制的變頻器上，即可輸出異

59、步電</p><p>　　3.設(shè)計(jì)內(nèi)容及設(shè)計(jì)思想</p><p>　　本系統(tǒng)以單片機(jī)8OC196為控制器，由定子三相電流檢測單元、鍵盤輸入單元、LCD顯示單元、模擬轉(zhuǎn)速給定單元、定子三相電壓檢測單元、轉(zhuǎn)速反饋單元、控制信號輸出單元等部分組成。如圖2所示，系統(tǒng)是以16位單片機(jī)80C196為控制核心，由一些硬件模擬電路組成異步電動機(jī)的矢量控制變頻凋速系統(tǒng)。一方面，通過8OC196的A／D模塊獲

60、得轉(zhuǎn)速給定及測速反饋的速度信號，經(jīng)過速度調(diào)節(jié)器獲得飽和限幅的轉(zhuǎn)矩給定，從而獲得給定的轉(zhuǎn)矩電流；利用函數(shù)發(fā)生器獲得給定轉(zhuǎn)子磁通，經(jīng)磁通觀測獲得實(shí)際轉(zhuǎn)子磁通，再經(jīng)磁通調(diào)節(jié)獲得定子電流給定勵磁分量電流，然后經(jīng)過K／P變換將給定的勵磁電流和轉(zhuǎn)矩電流合成，得到定子電流的幅值和相位，定子電流的幅值與電流互感器的檢測電流相比較后通過電流調(diào)節(jié)器去控制定子電流的大?。涣硪环矫?，定子電流的頻率是把計(jì)算得到的同步速度轉(zhuǎn)換為控制逆變器的時間常數(shù)，用定時器定時，

61、通過單片機(jī)上的P1口，送出觸發(fā)字來完成逆變器的觸發(fā)。</p><p>　　4.硬件電路及軟件設(shè)計(jì)</p><p>　　本系統(tǒng)硬件電路主要由交一直一交電流型變頻器電路、逆變晶閘管觸發(fā)電路、整流晶閘管觸發(fā)電路、速度給定與測速反饋電路、電流環(huán)調(diào)節(jié)電路、保護(hù)電路等典型電路組成；軟件設(shè)計(jì)主要包括：速度調(diào)節(jié)器控制和磁通檢測與調(diào)節(jié)兩部分。</p><p>　　4．1交一直一交電流

62、型變頻器電路</p><p>　　系統(tǒng)的主回路采用圖3所示的交一直一交變頻器，由圖可知它具有以下主要特點(diǎn)：</p><p>　　1)主回路結(jié)構(gòu)簡單，使用的元器件少。便于四象限運(yùn)行，當(dāng)再生發(fā)電制動時，主回路電流方向不變，只改變電壓極性，整流器工作于逆變狀態(tài)，逆變器工作于整流狀態(tài)?？煞奖愕倪M(jìn)入逆變，進(jìn)行再生制動，動態(tài)響應(yīng)快。而電壓型變頻器必須另接一組逆變器才能進(jìn)行再生制動，把電能回饋給電網(wǎng)。&

63、lt;/p><p>　　2)由于中間采用的是電抗器，故具有限流作用，是恒流源。再加上本系統(tǒng)設(shè)有電流環(huán)調(diào)節(jié)、限流，所以可耐受負(fù)載瞬時短路，自動進(jìn)行保護(hù)，從而提高了過流保護(hù)和運(yùn)行可靠性。</p><p>　　3)此電流型逆變器帶強(qiáng)迫換流，電流型逆變器所控制的是輸出電流瞬時值，符合交流電動機(jī)矢量控制的要求。換流電容器的充放電電流由直流回路的濾波電抗器所抑制，不像電壓型逆變器中有較大的浪涌電流，故換流

64、電容器的利用率較高。</p><p>　　4)電流型逆變器與負(fù)載電動機(jī)形成一個整體，電動機(jī)繞組的儲能也參與換流，故其換流能力依賴于負(fù)載電流，而較少依賴于逆變器電壓，因此有一定的負(fù)載能力。</p><p>　　4.2逆變晶閘管觸發(fā)驅(qū)動電路</p><p>　　逆變晶閘管觸發(fā)驅(qū)動電路如圖4所示。逆變觸發(fā)信號由單片機(jī)8OC196的P1口控制，轉(zhuǎn)差信號在單片機(jī)內(nèi)經(jīng)PWM調(diào)節(jié)

65、后由P1 I：I輸出，經(jīng)光電隔離器隔離放大，去控制逆變晶閘管的觸發(fā)端。本系統(tǒng)用P1．6作為控制端，用P1．O-P1．5作為另一端分別控制6個逆變晶閘管，故逆變晶閘管觸發(fā)電路由6個如圖4所示的電路組成。逆變晶閘管觸發(fā)驅(qū)動電路原理如下： 由P1口輸出的PWM經(jīng)與門后是高電平信號時，光電隔離管不導(dǎo)通，復(fù)合管處于飽和導(dǎo)通狀態(tài)，變壓器左邊形成回路，并且此信號經(jīng)復(fù)合管功率放大(電流放大)；當(dāng)從P1口輸出的PWM經(jīng)與門后為低電平時，光電隔離管導(dǎo)通，復(fù)

66、合管基極電流幾乎為零，復(fù)合管處于截止?fàn)顟B(tài)，變壓器左邊就不會形成回路；這樣，復(fù)合管就相當(dāng)于一個電子開關(guān)，這個開關(guān)的通斷頻率由PWM 的頻率決定，從而使變壓器左邊形成交流信號，經(jīng)變壓器降壓、半波整流、濾波后去觸發(fā)逆變晶閘管。</p><p>　　4．3 電流環(huán)調(diào)節(jié)電路</p><p>　　由8OC196經(jīng)過矢量計(jì)算，再由它的D／A模塊輸出電流給定，由電流檢測電路檢測到反饋電流，同時把他們送人到

67、模擬器件的Pl調(diào)節(jié)器中進(jìn)行調(diào)節(jié)，以消除靜差并能提高調(diào)節(jié)速度。模擬器件的輸出作為整流觸發(fā)的移相控制信號。電流環(huán)調(diào)節(jié)電路如5圖所示。</p><p>　　4．4 速度調(diào)節(jié)器控制</p><p>　　速度調(diào)節(jié)器采用雙?？刂?。設(shè)定一個速度誤差值NT，當(dāng)系統(tǒng)大于此偏差狀態(tài)下(大于1O％ 的額定頻率)，作為開始段粗定位，采用開關(guān)式的砰一砰控制，這時，轉(zhuǎn)速調(diào)節(jié)器處于限幅狀態(tài)，相當(dāng)于轉(zhuǎn)速環(huán)開環(huán)，使電流環(huán)處

68、于最大恒值電流調(diào)節(jié)。因而，能夠充分發(fā)揮電機(jī)的過載能力，使系統(tǒng)調(diào)節(jié)過程盡可能最快。當(dāng)系統(tǒng)偏差已經(jīng)進(jìn)入很小的范圍時，使系統(tǒng)由開關(guān)式的砰一砰控制，轉(zhuǎn)換成PI線性控制。這樣，集中了非線性和線性控制的優(yōu)點(diǎn)，使系統(tǒng)即滿足穩(wěn)定性又滿足精確性。速度調(diào)節(jié)器功能流程圖如圖6所示。</p><p><b>　　4．5 磁通調(diào)節(jié)</b></p><p>　　采用轉(zhuǎn)差型的矢量控制系統(tǒng)易受電機(jī)參

69、數(shù)變化的影響，使實(shí)際磁通與給定磁通發(fā)生偏差。故本系統(tǒng)中對磁通幅值進(jìn)行了觀測和反饋，對轉(zhuǎn)子的磁通進(jìn)行調(diào)節(jié)，使實(shí)際磁通跟隨給定磁通變化。磁通調(diào)節(jié)器也象速度調(diào)節(jié)器一樣，使用PI調(diào)節(jié)器。它的離散化公式為：</p><p><b>　　(1)</b></p><p>　　外加一個外催器進(jìn)行預(yù)報(bào)校正：</p><p><b>　　(2)</

70、b></p><p>　　式中為 比例系數(shù)，為積分系數(shù)，為采樣周期，為實(shí)際輸出值。</p><p><b>　　(3)</b></p><p><b>　　(4)</b></p><p>　　當(dāng)在低頻時(f<5HZ)，由于不可忽略，和相位相差增大，原近似地認(rèn)為≈不再成立。由近似的轉(zhuǎn)子磁通

71、觀測器，由式子來觀測磁通幅值，只能對磁通開環(huán)控制，即由給定磁通來計(jì)算，即。另外，為了使電機(jī)不至于失凋或過分弱磁及強(qiáng)磁，在軟件編制中，對輸出進(jìn)行限幅，使之在額定值75％～115％內(nèi)。</p><p><b>　　5.設(shè)計(jì)總結(jié)</b></p><p>　　本文研究了異步電動機(jī)的矢量榨制變頻調(diào)速系統(tǒng)的設(shè)計(jì)，采用了單片機(jī)80C196和外圍硬件電路有效地完成了異步電動機(jī)矢量控制

72、調(diào)速系統(tǒng)設(shè)汁，達(dá)到了適時地控制要求。從對異步電動機(jī)矢量控制凋速系統(tǒng)的分析和設(shè)計(jì)來看，矢量控制系統(tǒng)設(shè)汁思路清晰、調(diào)速性能好、結(jié)構(gòu)簡單，具有很廣的用途和很好的發(fā)展前景。</p><p>　　本文作者的的創(chuàng)新點(diǎn)：</p><p>　　利用80C196單片機(jī)本身的A／D、D／A分別完成轉(zhuǎn)速和電壓數(shù)據(jù)采集及對控制信號的輸出，有效地節(jié)省了元器件的使用。</p><p>　　電流

73、型逆變器采用強(qiáng)迫換流，最高工作頻率不受電網(wǎng)工頻限制，調(diào)速范圍寬。</p><p>　　系統(tǒng)的控制思想是采用恒磁通控制。以保持磁通的恒定，設(shè)計(jì)中采用定子物理量電壓幅值來近似的觀測磁通幅值，以克服參數(shù)變化對磁通的影響。此方法實(shí)施簡便有效。</p><p>　　圖1 矢量控制系統(tǒng)原理結(jié)構(gòu)圖</p><p><b>　　圖2 系統(tǒng)框圖</b></

74、p><p>　　圖3 交一直一交電流型變頻器電路</p><p>　　圖4 逆變晶閘管觸發(fā)驅(qū)動電路</p><p>　　圖5 電流環(huán)調(diào)節(jié)電路</p><p>　　圖6 磁通調(diào)節(jié)流程圖</p><p><b>　　參考文獻(xiàn)</b></p><p>　　[1]李大，楊慶東，劉泉基于

75、DSP交流永磁同步直線電機(jī)矢量控制系統(tǒng)[J]．微計(jì)算機(jī)信息，2007(09—2)：195—196</p><p>　　[2]劉偉關(guān)于矢量控制電流環(huán)復(fù)合控制的應(yīng)用設(shè)計(jì)[J]微計(jì)算機(jī)信息，2007(07—1)：68—70</p><p>　　[3]趙濤，姜衛(wèi)東，陳權(quán)，等．基于雙?？刂频挠来胖绷麟姍C(jī)驅(qū)動系統(tǒng)的研究[J].電力電子技術(shù)，2006，40(5)：32—34</p><