Assume that a proper current controller has been obtained, then the transfer function of the PMSM from the input current to the output velocity can be approx- imated as a fixed gain and first-order lag. In this man- ner, the transfer function would represent the actual controlled plant only for low frequencies (up to fre- quencies of concern to the velocity loop). Now, as dis- cussed in Section 2, the transfer function of the controlled plant (from ii to cor) is represented by
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