      

Vsa Rs 0 0 ISa ψsa

d 
Vs = Vsb  =  0 Rs 0   Isa  + dt ψsb  (1)
Vsc 0 0 Rs Isa ψsc
      
VRa RR 0 0 IRa ψRa
d 
VR = VRb  =  0 RR 0  IRa  + dt ψRb  (2)
VRc 0 0 RR IRa ψRb

ψsa = Ls Isa + Ms Isb + Ms Isc + MsR IRa MsR IRb + MsR IRc
ψsb = Ms Isa + Ls Isb + Ms Isc + MsR IRa MsR IRb + MsR IRc (3)
ψsc = Ls Isa + Ms Isb + Ms Isc + MsR IRa MsR IRb + MsR IRc


ψRa = LR IRa + MR IRb + MR IRc + MRs IRa MRs IRb + MRs IRc
ψRb = MR IRa + LR IRb + Ms Isc + MRs IRa MRs IRb + MRs IRc (4)
ψRc = LR IRa + MR IRb + MR IRc + MRs IRa MRs IRb + MRs IRc


[ψS ]abc = [LS ] [IS ]abc + [MSR ] [IR ]abc

(5)
[ψR ]abc = [LR ] [IR ]abc + [MRS ] [Is ]abc
   
Ls Ms Ms LR MR MR
[Ls ] = Ms Ls Ms  and [LR ] = MR LR MR 
Ms Ms Ls MR MR LR
d[Ls ][iS ]abc
[VS ]abc = [RS ] [iS ]abc + dt + [MSR ] [iR ]abc
d[LR ][iR ]abc (6)
[VR ]abc = [RR ] [iR ]abc + dt + [MRS ] [is ]abc
T d[MsR ][iRabc ]
Cem = p [isabc ] + dt (7)
J dW
dt = Cem − Cr − fr Ω (8)

θ = arctg( φs
φs ) (9)

− π6 + (N − 1) π3 ≤ θ < π
6 + (N − 1) π3 (10)
Cem = P (ψs Is − ψs Is ) (11)
drest
dt = Rr M
Lr is − ωr ψrest (12)
sr

ωest = ωs − ωslip (13)

√s ψs2−ψ̇s ψ2 s = ψ̇√
ωs = ψ̇ R ψR −ψ̇R ψR
(14)
s +ψ s R +ψ R
ψ 2 ψ 2

Rs Cem
ωslip = ψr2 P (15)

ωest = ψ̇√s ψs − ψ̇s ψs

− Rs Cem
(ψ s 2 +ψs 2 )P
(16)
2ψs +ψs2

1

vba = 3 (2Sa − Sb − Sc ) ∗ Vdc
1
vbb = 3 (2Sb − Sa − Sc ) ∗ Vdc (17)
1
vbc = (2Sc − Sb − Sa ) ∗ Vdc

3

1
 q
Vbα = 2 (b va − 1 vbb − 1 vbc )
q3 √ 2 √ 2 (18)
 Vbβ = 2 ( 3 vbb − 3 vbc )
3 2 2
 q
2
Vbα = Rs iα + d φ
dt s = (bva − 1 vbb − 1 vbc )
q3 √ 2 √ 2
b
(19)
2 3
 Vbβ = Rs iβ + d φ
dt bs = 3( 2 v bb − 23 vbc )
 q
2
dφ ba − 1 vbb − 1 vbc − Rs iα


dt bs = q3 v
√ 2 √ 2  (20)
2 3
 dφ
dt bs = 3 2 v bb − 23 vbc − Rs iβ

V (x) ∗ V̇ (x) < 0 (21)

e = ωref − ωest (22)
ė = ω̇ref − ω̇est (23)
˙ ˙
ė = ω̇ref − ψ̇√s ψ̇s −˙ ψ̇s ψ̇s − Rs Cem
2 (24)
2ψs +ψs 2 (ψ̇ s +ψ̇s2 )P

V (t) = 12 e2 (t) (25)

ψ̇˙ s ψ̇s −ψ̇˙ s ψ̇s
 
Rs Cem
V̇ (t) = e(t) ∗ ė(t) = e(t) ω̇ref − √ 2˙ 2 − 2 (26)
ψs +ψs (ψ̇ s +ψ̇s2 )P

V̇ (t) = −K ∗ e2 (t) ≤ 0 (27)

˙ ˙
 
e(t) ω̇ref − ψ̇√s ψ̇s −˙ ψ̇s ψ̇s − R2s Cem2 = −K ∗ e2 (t) (28)
ψs 2 +ψs 2 (ψ̇ s +ψ̇s )P

˙ ˙
2
 
(ψ̇ s +ψ̇s2 )P
Cem = Rs ω̇ref − ψ̇√s ψ̇s −˙ ψ̇s ψ̇s + K ∗ e(t) (29)
ψs +ψs2 2