CN108448960B - A real-time simulation method for the power stage of a four-quadrant permanent magnet motor - Google Patents
A real-time simulation method for the power stage of a four-quadrant permanent magnet motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
- H02P25/034—Voice coil motors
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- H—ELECTRICITY
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Abstract
本发明提出一种四象限运行永磁电机功率级实时模拟方法。基于线电压推导了虚拟电机数值模型，在永磁电机功率级实时模拟系统中无需改变电路硬件结构，通过改变虚拟绕组线电压模型和数值模型中电磁转矩模型及反电动势模型，实现无刷直流电机和表贴式永磁电机的实时模拟，且能实时修改虚拟电机参数。当表贴式永磁同步电机模拟时，虚拟绕组线电压模型输出线电压等于驱动器三相功率桥输出线电压。无刷直流电机模拟时，虚拟绕组线电压模型需先分析电机在不同电流路径下电动或制动线电压与相电流之间的关系，再结合电机驱动器输出线电压及蓄电池电压，获得用于虚拟电机数学模型计算所需的虚拟线电压，实现无刷直流电机功率级稳态和瞬态运行工况的实时模拟。
The invention proposes a real-time simulation method for the power level of a four-quadrant running permanent magnet motor. The virtual motor numerical model is derived based on the line voltage. In the real-time simulation system of the permanent magnet motor power stage, there is no need to change the circuit hardware structure. By changing the virtual winding line voltage model and the electromagnetic torque model and the back EMF model in the numerical model, the brushless DC is realized Real-time simulation of motors and surface-mounted permanent magnet motors, and real-time modification of virtual motor parameters. When the surface mount permanent magnet synchronous motor is simulated, the virtual winding line voltage model output line voltage is equal to the output line voltage of the three-phase power bridge of the driver. When simulating a brushless DC motor, the virtual winding line voltage model needs to first analyze the relationship between the electric or braking line voltage and the phase current of the motor under different current paths, and then combine the motor driver output line voltage and battery voltage to obtain the virtual winding line voltage. The virtual line voltage required by the motor mathematical model is calculated, and the real-time simulation of the steady-state and transient operating conditions of the power stage of the brushless DC motor is realized.
Description
Technical Field
The invention relates to the technical field of real-time simulation of a motor system, in particular to a four-quadrant running permanent magnet motor power level real-time simulation system.
Background
The permanent magnet motor has the advantages of simple structure, high efficiency, high reliability and the like, is widely applied to a plurality of fields of automobiles, aerospace and the like, is mostly a surface-mounted permanent magnet synchronous motor and a brushless direct current motor in the application of medium and small power motors, and has similar structures. The power level real-time simulation is also called hardware-in-loop simulation, which means that a virtual motor formed by a power electronic device replaces a real motor to be connected with a driver for operation, and can be used for verifying real motor driver hardware and a control algorithm thereof, applicability of motors with different parameters, limit working conditions thereof and the like. The power level real-time simulation can solve the problems of long research and development period, large processing difficulty, complex bench test, high cost and the like of a real motor, can realize all functions of signal level real-time simulation, and can also perform real electric power interaction with a driver.
The difficulty of real-time power level simulation is the realization of power electronics of a virtual motor. Currently, related research mostly focuses on signal level simulation of a permanent magnet synchronous motor and an induction motor, such as document "electric traction drive system hardware-in-loop simulation based on a hybrid logic dynamic model" (see "Chinese motor engineering bulletin, 2017) and" vehicle motor hardware-in-loop real-time simulation and test platform "(see" Electrical engineering bulletin, 2014), which apply an FPGA to construct an inverter and a motor real-time simulation model, obtain three-phase voltage output by the inverter through sampling a driver 6-path PWM driving signal, and use the three-phase voltage to calculate a motor mathematical model. However, only two phases are conducted when the brushless dc motor is in a steady state, and a transient phase change process of two steady state conduction intervals exists in the operation process, so that the simulation of the steady state and transient conduction intervals of the whole operation process needs to be completed in the Real-time simulation operation process of the motor, for example, in the document "Real-time simulation of BLDCMs for hardware-in-the-loop application monitoring control" (see International Symposium on Power Electronics, 2008), a Real-time simulation system of the dc motor is established based on DSP and FPGA, the phase voltage and the phase current value of the model are calculated by using the phase voltage detected by the FPGA, and the conduction state of the motor is judged by using the phase current, but how to detect the phase voltage is not described. In practical application, a three-phase driver is usually not led out from a midpoint, and a hardware circuit of the three-phase driver is not allowed to be changed, so that the method for constructing the virtual motor numerical model based on phase voltage has limited practical value. In addition, no relevant research of real-time simulation of the power level of the four-quadrant running permanent magnet motor is available at present.
Disclosure of Invention
The invention aims to provide a real-time simulation method for the power level of a four-quadrant running permanent magnet motor, which is characterized in that a virtual motor numerical model is deduced based on line voltage, the hardware structure of a circuit is not required to be changed in a real-time simulation system for the power level of the permanent magnet motor, real-time simulation of a brushless direct current motor and a surface-mounted permanent magnet motor can be realized by changing an electromagnetic torque model and a back electromotive force model in a virtual winding line voltage model and a numerical model, parameters of the virtual motor can be modified in real time, and the method has strong universality and flexibility. And when the surface-mounted permanent magnet synchronous motor is simulated, the output line voltage of the virtual winding line voltage model is equal to the output line voltage of the driver. During simulation of the brushless direct current motor, the virtual winding line voltage model needs to analyze the relation between the voltage of an electric or brake line and the phase current of the motor under different current paths, and then the output line voltage of a motor driver and the voltage of a storage battery are combined, so that the virtual line voltage required by calculation of the virtual motor mathematical model can be obtained, and real-time simulation of the power level steady-state and transient operation conditions of the brushless direct current motor is realized.
In order to implement the above detection method, the present invention is implemented by a system as shown in fig. 1, including: the device comprises a position module, an electric power exchange module, a virtual winding line voltage model and a virtual motor mathematical model. Wherein, virtual winding line voltage model includes: the device comprises a virtual motor type judging unit, a virtual brushless direct current motor running state judging unit, a virtual brushless direct current motor electric running unit and a virtual brushless direct current motor braking running unit. The virtual motor mathematical model comprises: a phase current model, a rotational speed model, an angle model, an electromagnetic torque model, and a back electromotive force model.
The virtual winding line voltage model is input to output line voltage and power supply voltage of a motor driver, and the phase current model is connected with the angle model; the input of the phase current model is connected with the virtual winding line voltage model and the back electromotive force model, and the output of the phase current model is connected with the electric power exchange module and the electromagnetic torque model; the input of the rotating speed model is connected with the electromagnetic torque model, and the output of the rotating speed model is connected with the back electromotive force model and the angle model; the input of the position module is connected with the angle model, and the output of the position module is connected with the motor driver; the electric power exchange module is connected with a three-phase power bridge of the motor driver; the input of a virtual brushless direct current motor running state judging unit in the virtual winding line voltage module is connected with a virtual motor type judging unit, and the output of the virtual brushless direct current motor running state judging unit is connected with a virtual brushless direct current motor electric running unit and a virtual brushless direct current motor braking running unit.
The brushless direct current motor and the surface-mounted permanent magnet synchronous motor are similar in structure, when the line voltage is used for deducing a mathematical model of the virtual motor, the two virtual motors have the same phase current model, rotating speed model and angle model, and when the hardware structure of a circuit is not changed, the simulation of the brushless direct current motor and the surface-mounted permanent magnet synchronous motor can be realized by changing the line voltage model of the virtual winding, the electromagnetic torque model and the back electromotive force model.
The virtual motor type judging unit of the virtual winding line voltage model is used for judging the simulation type of the motor and outputting the virtual line voltage required by the calculation of the virtual motor mathematical model; when the surface-mounted permanent magnet synchronous motor is simulated, the virtual winding line voltage model outputs a virtual line voltage equal to the output line voltage of a three-phase power bridge of a motor driver; during simulation of the brushless direct current motor, the virtual winding line voltage model is used for judging the electric operation or braking operation of the virtual brushless direct current motor through the virtual brushless direct current motor operation state judging unit, and the output of the virtual winding line voltage model is connected with the virtual brushless direct current motor electric operation unit or the virtual brushless direct current motor braking operation unit and used for generating the virtual line voltage during the electric operation or braking operation.
During simulation of the brushless direct current motor, the virtual brushless direct current motor electric operation unit or the virtual brushless direct current motor brake operation unit judges the conduction interval of the virtual motor through an angle signal output by the angle model, then judges whether the interval is in a two-phase steady state conduction interval or a transient conduction interval by using a phase current instruction signal output by the phase current model, and analyzes the virtual line voltage in the steady state or transient conduction interval of the virtual brushless direct current motor according to the line voltage and the power voltage output by a three-phase power bridge of the motor driver and is used for calculating a mathematical model of the virtual brushless direct current motor.
Compared with the prior art, the invention has the following remarkable advantages: 1) the virtual permanent magnet motor numerical model based on line voltage derivation has strong universality and simple operation; 2) the voltage of the output line of the driver is measured by using a differential line voltage detection circuit, so that the method is suitable for simulating the operating conditions of the permanent magnet motor in different control modes; 3) when the hardware circuit structure is not changed, the real-time simulation of the operation conditions of the brushless direct current motor and the surface-mounted permanent magnet synchronous motor can be realized by changing the electromagnetic torque model and the back electromotive force model in the virtual winding line voltage model and the numerical model; 4) the real-time simulation of the steady-state and transient conduction interval operation condition of the brushless direct current motor can be realized based on the virtual winding line voltage model; 5) the permanent magnet motor power level real-time simulation system does not need a rack in the operation process, is low in cost and short in research and development period, and is more convenient to apply.
The invention is described in further detail below with reference to the following figures and detailed description:
drawings
Fig. 1 is a diagram of a real-time simulation system for power level of a permanent magnet motor.
Detailed Description
Fig. 1 shows a structure diagram of a real-time simulation system of a power level of a permanent magnet motor, which includes: the device comprises a position module (2), an electric power exchange module (3), a virtual winding line voltage model (4) and a virtual motor mathematical model (5). Wherein the virtual winding line voltage model (4) comprises: the device comprises a virtual motor type judging unit (4-1), a virtual brushless direct current motor running state judging unit (4-2), a virtual brushless direct current motor electric running unit (4-3) and a virtual brushless direct current motor braking running unit (4-4). The virtual motor mathematical model (5) comprises: the device comprises a phase current model (5-1), a rotating speed model (5-2), an angle model (5-3), an electromagnetic torque model (5-4) and a back electromotive force model (5-5).
The virtual winding line voltage model (4) is input to the output line voltage and the power supply voltage of the motor driver (1), and the phase current model (5-1) is connected with the angle model (5-3); the input of the phase current model (5-1) is connected with the virtual winding line voltage model (4) and the back electromotive force model (5-5), and the output of the phase current model is connected with the electric power exchange module (3) and the electromagnetic torque model (5-4); the input of the rotating speed model (5-2) is connected with the electromagnetic torque model (5-4), and the output is connected with the back electromotive force model (5-5) and the angle model (5-3); the input of the position module (2) is connected with the angle model (5-3), and the output is connected with the motor driver (1); the electric power exchange module (3) is connected with a three-phase power bridge of the motor driver (1); the input of a virtual brushless direct current motor running state judging unit (4-2) in the virtual winding line voltage module (4) is connected with a virtual motor type judging unit (4-1), and the output is connected with a virtual brushless direct current motor electric running unit (4-3) and a virtual brushless direct current motor braking running unit (4-4).
In the real-time simulation system of the power level of the permanent magnet motor, two motor structures of the brushless direct current motor and the surface-mounted permanent magnet synchronous motor are similar, a virtual motor mathematical model (5) is derived by using line voltage, the two virtual motors have the same phase current model (5-1), rotating speed model (5-2) and angle model (5-3), and when the circuit hardware structure is not changed, simulation of the brushless direct current motor and the surface-mounted permanent magnet synchronous motor can be realized by changing a virtual winding line voltage model (4), an electromagnetic torque model (5-4) and a back electromotive force model (5-5).
In a permanent magnet motor power level real-time simulation system, a phase current model (5-1) is used for calculating a virtual motor phase current instruction signal ia *、ib *And ic *：
In the formula, R and L are the stator resistance and inductance of each phase of the virtual motor; h is a numerical integration step length; i.e. ikAnd ukTaking values of the phase current and the voltage of the virtual motor at the current k moment; i.e. ik-1And uk-1Values are taken for the phase current and the voltage of the virtual motor at the (k-1) th moment in the past; calculating phase current command signal ia *When U is equal to Uab+Uac-2ea+eb+ec(ii) a Calculating phase current command signal ib *When the temperature of the water is higher than the set temperature,
u＝-2Uab+Uac+ea-2eb+ec(ii) a Phase current command signal ic *＝-(ia *+ib *)；ea、ebAnd ecIs a virtual motor back emf.
The rotating speed model (5-2) is used for calculating the mechanical angular speed omega of the virtual motorm：
Wherein F is the viscous friction coefficient of the virtual motor; j is the rotational inertia of the virtual motor; h is a numerical integration step length; omegamkAnd nkValues are taken for the mechanical angular speed and the moment of the virtual motor at the current k moment; omegam(k-1)And nk-1Values are taken for the mechanical angular speed and the moment of the virtual motor at the (k-1) th moment in the past; calculating the mechanical angular velocity omega of the virtual motormWhen n is equal to Te-Tf-Tm；TeFor virtual motor electromagnetic rotatingMoment; t isfThe static friction force of the virtual motor is taken as the static friction force; t ismThe virtual motor is loaded with torque.
The angle model (5-3) is used for calculating an angle signal theta by the virtual motor:
θ＝∫pωmdt
wherein p is the number of pole pairs.
The electromagnetic torque model (5-4) is used for calculating the electromagnetic torque T of the virtual brushless direct current motore：
The electromagnetic torque model (5-4) is used for calculating the electromagnetic torque T of the virtual surface-mounted permanent magnet synchronous motore：
In the formula, lambda is a flux linkage peak value generated on the stator by the permanent magnet rotor.
The counter electromotive force model (5-5) is used for calculating the counter electromotive force e of the virtual motora、eb、ec：
en＝λpωmφn
In the formulanIs a function of the instantaneous induced electromotive force related to the rotor position; calculating the virtual motor back electromotive force ea、ebAnd ecTime respectively corresponds to phia、φbAnd phic(ii) a The virtual brushless direct current motor is trapezoidal wave or sine wave instantaneous induced electromotive force, and the virtual surface-mounted permanent magnet synchronous motor is sine wave instantaneous induced electromotive force.
The virtual motor type judging unit (4-1) of the virtual winding line voltage model (4) is used for judging the simulation type of the motor and outputting the virtual line voltage required by the calculation of the virtual motor mathematical model (5); when the surface-mounted permanent magnet synchronous motor is simulated, the virtual winding line voltage model (4) outputs a virtual line voltage Uab、UacEqual to the output line voltage U of the three-phase power bridge of the motor driver (1)AB、UAC. During simulation of the brushless direct current motor, the virtual winding line voltage model (4) is used for judging the electric operation or braking operation of the virtual brushless direct current motor through the virtual brushless direct current motor operation state judging unit (4-2), and the output is connected with the virtual brushless direct current motor electric operation unit (4-3) or the virtual brushless direct current motor braking operation unit (4-4) and used for generating the virtual line voltage U during electric operation or braking operationab、Uac。
Wherein, the virtual brushless DC motor electric operation unit (4-3) or the virtual brushless DC motor brake operation unit (4-4) judges the conduction interval of the virtual motor according to the angle signal theta output by the angle model (5-3), and then utilizes the phase current instruction signal i output by the phase current model (5-1)a *、ib *And ic *Judging whether the interval is in a two-phase steady state conduction interval or a transient state conduction interval, and then outputting line voltage U according to a three-phase power bridge of a motor driver (1)AB、UAC、UBCAnd a supply voltage UdcTo analyze the virtual line voltage U in the steady state or transient state conduction interval of the virtual brushless DC motorab、UacAnd the method is used for calculating a mathematical model of the virtual brushless direct current motor.
The relation between the phase current instruction and the line voltage in the virtual brushless direct current motor electric operation unit (4-3) and the virtual brushless direct current motor brake operation unit (4-4) is as follows:
a) in the electric steady state conduction intervals of the A phase and the B phase of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*>0，ib*<0，ic*＝0，Uab＝Udc，Uac＝1/2UdcOr ia*>0，ib*<0，ic*＝0，Uab＝0，Uac＝0；
b) In the electric transient conduction interval of the virtual brushless direct current motor from the A phase to the B phase to the A phase to the C phase: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*>0，ib*<0，ic*<0，Uab＝-UD，Uac＝UdcOr ia*>0，ib*<0，ic*<0，Uab＝-Udc-UD，Uac＝0；
c) In the A-phase and C-phase electric steady state conduction intervals of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*>0，ib*＝0，ic*<0，Uab＝1/2Udc，Uac＝UdcOr ia*>0，ib*＝0，ic*<0，Uab＝0，Uac＝0；
d) In the braking steady-state conduction intervals of the A phase and the B phase of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*<0，ib*>0，ic*＝0，Uab＝Udc，Uac＝1/2UdcOr ia*<0，ib*>0，ic*＝0，Uab＝0，Uac＝0；
e) In the braking transient conduction interval of the virtual brushless direct current motor from the A phase to the B phase to the A phase and from the C phase: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*<0，ib*>0，ic*>0，Uab＝Udc+UD，Uac＝UdcOr ia*<0，ib*>0，ic*>0，Uab＝UD，Uac＝0；
f) In the A-phase and C-phase braking steady-state conduction intervals of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*<0，ib*＝0，ic*>0，Uab＝1/2Udc，Uac＝UdcOr ia*<0，ib*＝0，ic*>0，Uab＝0，Uac＝0。
Claims (1)
1. A real-time simulation method for the power level of a four-quadrant running permanent magnet motor is characterized in that a real-time simulation system for the power level of the permanent magnet motor of the method comprises a position module (2), an electric power exchange module (3), a virtual winding line voltage model (4) and a virtual motor mathematical model (5); the virtual winding line voltage model (4) comprises a virtual motor type judging unit (4-1), a virtual brushless direct current motor running state judging unit (4-2), a virtual brushless direct current motor electric running unit (4-3) and a virtual brushless direct current motor braking running unit (4-4); the virtual motor mathematical model (5) comprises a phase current model (5-1), a rotating speed model (5-2), an angle model (5-3), an electromagnetic torque model (5-4) and a back electromotive force model (5-5);
the virtual winding line voltage model (4) is input to be connected with the output line voltage and the power supply voltage of the motor driver (1), and the phase current model (5-1) is connected with the angle model (5-3); the input of the phase current model (5-1) is connected with the virtual winding line voltage model (4) and the back electromotive force model (5-5), and the output of the phase current model is connected with the electric power exchange module (3) and the electromagnetic torque model (5-4); the input of the rotating speed model (5-2) is connected with the electromagnetic torque model (5-4), and the output is connected with the back electromotive force model (5-5) and the angle model (5-3); the input of the position module (2) is connected with the angle model (5-3), and the output is connected with the motor driver (1); the electric power exchange module (3) is connected with a three-phase power bridge of the motor driver (1); the input of a virtual brushless direct current motor running state judging unit (4-2) in the virtual winding line voltage module (4) is connected with a virtual motor type judging unit (4-1), and the output is connected with a virtual brushless direct current motor electric running unit (4-3) and a virtual brushless direct current motor braking running unit (4-4);
the brushless direct current motor and the surface-mounted permanent magnet synchronous motor are similar in structure, a virtual motor mathematical model (5) is derived by using line voltage, the two virtual motors have the same phase current model (5-1), rotating speed model (5-2) and angle model (5-3), and when the circuit hardware structure is not changed, the simulation of the brushless direct current motor and the surface-mounted permanent magnet synchronous motor is realized by changing a virtual winding line voltage model (4), an electromagnetic torque model (5-4) and a back electromotive force model (5-5);
wherein, the phase current model (5-1) is used for calculating a virtual motor phase current instruction signal ia *、ib *And ic *：
In the formula, R and L are the stator resistance and inductance of each phase of the virtual motor; h is a numerical integration step length; i.e. ikAnd ukTaking values of the phase current and the voltage of the virtual motor at the current k moment; i.e. ik-1And uk-1Values are taken for the phase current and the voltage of the virtual motor at the (k-1) th moment in the past; calculating phase current command signal ia *When U is equal to Uab+Uac-2ea+eb+ec(ii) a Calculating phase current command signal ib *When U is-2Uab+Uac+ea-2eb+ec(ii) a Phase current command signal ic *＝-(ia *+ib *)；ea、ebAnd ecIs a virtual motor back electromotive force;
the rotating speed model (5-2) is used for calculating the mechanical angular speed omega of the virtual motorm：
Wherein F is the viscous friction coefficient of the virtual motor; j is the rotational inertia of the virtual motor; h is a numerical integration step length; omegamkAnd nkValues are taken for the mechanical angular speed and the moment of the virtual motor at the current k moment; omegam(k-1)And nk-1Values are taken for the mechanical angular speed and the moment of the virtual motor at the (k-1) th moment in the past; calculating the mechanical angular velocity omega of the virtual motormWhen n is equal to Te-Tf-Tm；TeIs a virtual motor electromagnetic torque; t isfThe static friction force of the virtual motor is taken as the static friction force; t ismLoading a torque for the virtual motor;
the angle model (5-3) is used for calculating an angle signal theta by the virtual motor:
θ＝∫pωmdt
wherein p is the number of pole pairs;
electromagnetic torque model (5-4) for calculating virtual brushless DCElectromagnetic torque T of a current motoreThe method comprises the following steps:
the electromagnetic torque model (5-4) is used for calculating the electromagnetic torque T of the virtual surface-mounted permanent magnet synchronous motoreThe method comprises the following steps:
in the formula, lambda is a flux linkage peak value generated on the stator by the permanent magnet rotor;
the counter electromotive force model (5-5) is used for calculating the counter electromotive force e of the virtual motora、eb、ec：
en＝λpωmφn
In the formulanIs a function of the instantaneous induced electromotive force related to the rotor position; calculating the virtual motor back electromotive force ea、ebAnd ecTime respectively corresponds to phia、φbAnd phic(ii) a The virtual brushless direct current motor is trapezoidal wave or sine wave instantaneous induced electromotive force, and the virtual surface-mounted permanent magnet synchronous motor is sine wave instantaneous induced electromotive force;
the virtual motor type judging unit (4-1) of the virtual winding line voltage model (4) is used for judging the simulation type of the motor and outputting the virtual line voltage required by the calculation of the virtual motor mathematical model (5); when the surface-mounted permanent magnet synchronous motor is simulated, the virtual winding line voltage model (4) outputs a virtual line voltage Uab、UacEqual to the output line voltage U of the three-phase power bridge of the motor driver (1)AB、UAC(ii) a During simulation of the brushless direct current motor, the virtual winding line voltage model (4) is used for judging the electric operation or braking operation of the virtual brushless direct current motor through the virtual brushless direct current motor operation state judging unit (4-2), and the output is connected with the virtual brushless direct current motor electric operation unit (4-3) or the virtual brushless direct current motor braking operation unit (4-4) and is used for generating electric operation or braking operationVirtual line voltage U of timeab、Uac；
Wherein, the virtual brushless DC motor electric operation unit (4-3) or the virtual brushless DC motor brake operation unit (4-4) judges the conduction interval of the virtual motor according to the angle signal theta output by the angle model (5-3), and then utilizes the phase current instruction signal i output by the phase current model (5-1)a *、ib *And ic *Judging whether the interval is in a two-phase steady state conduction interval or a transient state conduction interval, and then outputting line voltage U according to a three-phase power bridge of a motor driver (1)AB、UAC、UBCAnd a supply voltage UdcTo analyze the virtual line voltage U in the steady state or transient state conduction interval of the virtual brushless DC motorab、UacAnd is used for calculating a mathematical model of the virtual brushless direct current motor;
the relation between the phase current instruction and the line voltage in the virtual brushless direct current motor electric operation unit (4-3) and the virtual brushless direct current motor brake operation unit (4-4) is as follows:
a) in the electric steady state conduction intervals of the A phase and the B phase of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*>0，ib*<0，ic*＝0，Uab＝Udc，Uac＝1/2UdcOr ia*>0，ib*<0，ic*＝0，Uab＝0，Uac＝0；
b) In the electric transient conduction interval of the virtual brushless direct current motor from the A phase to the B phase to the A phase to the C phase: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*>0，ib*<0，ic*<0，Uab＝-UD，Uac＝UdcOr ia*>0，ib*<0，ic*<0，Uab＝-Udc-UD，Uac＝0；
c) In the A-phase and C-phase electric steady state conduction intervals of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*>0，ib*＝0，ic*<0，Uab＝1/2Udc，Uac＝UdcOr ia*>0，ib*＝0，ic*<0，Uab＝0，Uac＝0；
d) In the braking steady-state conduction intervals of the A phase and the B phase of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*<0，ib*>0，ic*＝0，Uab＝Udc，Uac＝1/2UdcOr ia*<0，ib*>0，ic*＝0，Uab＝0，Uac＝0；
e) In the braking transient conduction interval of the virtual brushless direct current motor from the A phase to the B phase to the A phase and from the C phase: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*<0，ib*>0，ic*>0，Uab＝Udc+UD，Uac＝UdcOr ia*<0，ib*>0，ic*>0，Uab＝UD，Uac＝0；
f) In the A-phase and C-phase braking steady-state conduction intervals of the virtual brushless direct current motor: when the switching device of the A-phase upper bridge arm or the lower bridge arm is conducted, ia*<0，ib*＝0，ic*>0，Uab＝1/2Udc，Uac＝UdcOr ia*<0，ib*＝0，ic*>0，Uab＝0，Uac＝0。
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