Park equations in a rotor reference frame are used for sinusoidal back-electromotive force (EMF) permanent magnet synchronous machines (PMSMs) to eliminate the rotor-position dependency and create time-invariant model. However, Park equations are not suitable for non-sinusoidal back EMF cases. Instead, multiple reference frames are considered individually for each harmonic, with their rotation speed defined as multiples of the rotor electrical speeds. A nonlinear average-value model of the inverter-fed PMSMs is developed. A universal controller is designed for the resulting nonlinear model using a synergetic approach to control theory that does not require linearization. The controller is able to construct the desired input voltage for the 1st, 5th, and 7th harmonics in both direct and quadrature axes. The final model is verified with four-quadrant operation and locked rotor tests where speed and torque commands are closely tracked.
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机译：转子参考框架中的公园方程用于正弦背部电动力（EMF）永磁同步机（PMSMS），以消除转子位置依赖性并产生时间不变模型。然而，Park方程不适合非正弦反向EMF案例。相反，对于每个谐波单独地考虑多个参考帧，其旋转速度定义为转子电速的倍数。开发了逆变器馈电PMSM的非线性平均值模型。使用协同方法来设计通用控制器，用于使用协同方法来控制不需要线性化的理论。控制器能够在直接和正交轴上构造1 ST ，5 TH ，5 TH 和7 TH 谐波的所需输入电压。最终模型用四象限的操作和锁定转子测试验证，其中速度和扭矩命令被紧密跟踪。
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