径向环形编织机机电一体化系统建模及控制策略研究

径向环形编织机机电一体化系统建模及控制策略研究

庄培灿,李麒阳,郗欣甫,孙以泽

Research on modeling and control strategy of mechatronics system for radial ring braiding machine

Pei-can ZHUANG,Qi-yang LI,Xin-fu CHI,Yi-ze SUN

表1 基本电压矢量与开关序列的对应关系

Table 1 Correspondence between basic voltage vector and switching sequence

$U_{i}$	$[s_{a}, s_{b}, s_{c}]$	$[U_{α}, U_{β}]$
$U_{0}$	$[0,0, 0]$	$[0,0]$
$U_{1}$	$[1,0, 0]$	$[\frac{2}{3} U_{d c}, 0]$
$U_{2}$	$[1,1, 0]$	$[\frac{1}{3} U_{d c}, \frac{\sqrt[]{3}}{3} U_{d c}]$
$U_{3}$	$[0,1, 0]$	$[- \frac{1}{3} U_{d c}, \frac{\sqrt[]{3}}{3} U_{d c}]$
$U_{4}$	$[0,1, 1]$	$[- \frac{2}{3} U_{d c}, 0]$
$U_{5}$	$[0,0, 1]$	$[- \frac{1}{3} U_{d c}, - \frac{\sqrt[]{3}}{3} U_{d c}]$
$U_{6}$	$[1,0, 1]$	$[\frac{1}{3} U_{d c}, - \frac{\sqrt[]{3}}{3} U_{d c}]$
$U_{7}$	$[1,1, 1]$	$[0,0]$