外文翻译---智能小车控制中模糊-pid控制的实现

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安徽理工大学自动化专业本科毕业设计英文翻译学院(部)：电气与信息工程学院专业班级：自动化0班学生姓名：xxx指导教师：讲师年月日 ImplementationofFuzzy-PIDinSmartCarControlAbstract—Anunmanuedsmartcarcontrolsystemandthefuzzy-PIDcontrolalgorithmareproduced.Adesignschemeoffuzzy-PIDcontrollerisputforward.Thesimulationanalysisfrommatlabindicatedthatthedynamicperformanceoffuzzy-PIDcontrolalgorithmisbetterthanthatofusualPID.Experimentalresultofsmartcarshowthatitcanfollowtheblackguidelinewellandfast-stablecompleterunningthewholetrip.Keywords—fuzzy-PID;smartcar;fuzzycontroller;fuzzycontrol1IntroductionInrecentyears,manycountriesaredevelopingunmannedvehicletechnology.Thisgivesbirthtomanynewtheoriesandappliedtechnology.Reference[1]presentsthetheoryofturnaheadwhichusesreal-timemonitoringspeedtochangetheturn-inpointdynamically,thenitimplementsthecontrolstrategytoachieveaperfectcharacteristicsofsteering.Reference[2]usesedgedetectionalgorithmtoextracttrackinformationandadoptPcontrol.Reference[3]proposesaefficient,goodanti-jammingandadaptiveimageprocessingdynamicalgorithmwhicheffectivelysolvestheoutoftrackcausedbythechangesofambientlightandtrack.Reference[4]reconstructsspatialrelationshipsoftrackandcalibratescamerausingnonlinearoptimization,thenitcanmeasurelateraldeviationaccurately.Theaboveimprovevehicleperformanceinonewaybuttheyarealllackofcharacteristicsofcarmovementandbasedonlotsofexperiments.Afuzzy-PIDcontrolalgorithmandadesignschemeoffuzzy-PIDcontrollerareputforwardinthispaper.Atlast,theexperimentalresultisgivenouttoprovethevalidityoffuzzy-PID.2HardwaresystemdesignToimplementthedesignoffuzzy-PIDalgorithm,it’snecessarytodesignahardwaresystemofsmartcar.Smartcarwouldhaveasmartcontrolunitewhichcontaindetectionofguideline,steeringanglevalue,speedvalueandsoon.SeedetailsinFig.1.22 Fig.1Thefunctionalblockdiagramofsmartcar3Basicprincipleoffuzzy-PIDIt’sdifficultforusualPIDcontrolalgorithmtoachievethebesteffect.Because,theparametersKp,Ki,Kdcan’tadjusttodifferentobjectordifferentstateofthesameobject.Fuzzycontrolisbasedonfuzzysetandfuzzylogic.Withoutprecisemathematicalmodelitcandeterminethesizeofcontrolledvariableaccordingtheruletableorganizedbyexperience.Ingeneral,fuzzycontrolinputvariablesarebasedonsystemerrorEanderrorchangeEC,whichissimilartoPDcontrol.Suchcontrolmighthaveagooddynamiccharacteristic,butthestaticperformanceisnotsatisfactory.CombiningfuzzycontrolandPIDcontrol,thiswouldmakeasystemhavebothflexibility-adaptablityoffuzzycontrolandhighaccuracyofPIDcontrol.Fig.2showsthestructurediagramoffuzzy-PIDcontrolsystem,inwhichfuzzycontrollerisresponsibleforselectingadifferentPIDparametertoimprovethelocalperformancethusincreasingoverallperformance.22 4Designoffuzzy-PIDcontrollerSpeeddrivemotorcontrollerdesignissimilartothefollowingexampleforsteeringgearcontrollerdesign.Fuzzycontrollerconsistsoffuzzification,fuzzy-inferenceanddefuzzification,whicharebasedontheknowledgebase.[6]Controllerinputerroranderrorchange,outputtheparametersKp,Ki,Kd.SupposethefuzzysetforEis{NB,NM,NS,NO,PO,PS，PM,PB};thefuzzysetforEC、Kp、KiandKdis{NB,NM,NS,ZO,PS,PM,PB}.Thelinguisticmeaningsare:NB=negativebig,NM=negativemiddle,NS=negativesmall,NO=negativezero,ZO=zero,PO=positivezero,PS=positivesmall,PM=positivemiddle,PB=positivebig.SothemembershipfunctioncurvesoffuzzyvariablesE、EC、Kp、KiandKdareshownintheFig.3-Fig.7:22 22 It’snecessarytoestablishruletableafterfinishingfuzzification.Accordingthedescriptionofruletable,56fuzzyconditionalstatementscanbesummed,whichlooklikeIf(EisPB)and(ECisPB)then(KpisPB)(KiisZO)(KdisPB).SeedetailsinTab.1-Tab.3.22 Then,thelaststepisdefuzzificationandmakingalookuptable.Duringfuzzycontrol,thelookuptablewouldbeembedintotheprogram.Supposeinputvalueisfixed,thecorrespondingoutputvaluewouldbefoundinthetable.Actually,thiswouldsavemuchcomputingtime,andthecontrolwouldbecomesimply.22 5Analysisofexperimentalresults22 Experimentusedthesteeringgearmodel.ThesimulationcircuitwereshowninFig.2.TheusualPIDandfuzzyPIDalgorithmwereallsimulinkedintheMatlab.RespondingcurvesobtainedwereshowninFig.8andFig.9.TheexperimentalresultshowthatcomparedwiththeusualPID,therespondingtimeoffuzzy-PIDalgorithmisshorterwithoutoverswing.Thesystemdynamicperformanceisimprovedsignificantly.6ConclusionandoutlookThispaperprovidedadesignschemeforcontrollingasmartcar,whichisprovedpracticallyandsuperlativelythoughexperiments.Unmannedsmartcarisduetothedevelopmentofcomputertechnology,patternrecognitionandintelligentcontroltechnique.Manycountriesandresearchgroupsaredoingresearchinthearea.Butit’sacomplicatedsystem,whichinvolvesanumberoftechnologies.Sothedevelopmentofeachtechnologyisimportant,foritwouldbecomethebottleneckofthedevelopmentofsmartcar.SteppermotorSteppermotoristheelectricpulsesignalsintoangulardisplacementorlineardisplacementoftheopen-loopsteppermotorcontrolelementpieces.Inthecaseof22 non-overloaded,themotorspeed,stoppositiondependsonlyonthepulsefrequencyandpulsenumber,regardlessofloadchanges,whenthedriverreceivesasteppulsesignal,itwilldriveasteppermotortoSetthedirectionofrotationofafixedangle,calledthe"stepangle",whichtheangleofrotationisfixedstepbystepoperation.Numberofpulsescanbecontrolledbycontrollingtheangulardisplacement,soastoachieveaccuratepositioningpurposes;thesametimebycontrollingthepulsefrequencytocontrolthemotorrotationspeedandacceleration,toachievespeedcontrolpurposes.1WorkInductionmotorisasteppermotor,doesitworkistheuseofelectroniccircuits,theDCpowersupplyintoatime-sharing,multi-phasetimingcontrolcurrent,thiscurrentsteppermotorpowersupply,thesteppermotortoworkproperly,Thedriveissharingpowersupplyforthesteppermotor,thepolyphasetimingcontroller.Althoughthesteppermotorhasbeenwidelyused,butthesteppermotordoesnotlikeanormalDCmotor,ACmotorintheconventionaluse.Itmustbedouble-ringpulsesignal;powerdrivercircuitcomposedofthecontrolsystemcanbeused.Therefore,itisnoteasywithagoodsteppingmotor,whichinvolvesmechanical,electrical,electronicsandcomputers,andmuchotherspecializedknowledge.Asthesteppermotoractuators,electromechanicalintegration,oneofthekeyproducts,widelyusedinavarietyofautomaticcontrolsystems.Withthedevelopmentofmicroelectronicsandcomputertechnology,increasingdemandforsteppermotorhasapplicationsinallareasofthenationaleconomy.2CategoriesNowmorecommonlyusedincludethereactionofstepmotorsteppermotor(VR),permanentmagnetsteppermotor(PM),hybridsteppermotors(HB)andsingle-phasesteppermotor.3PermanentmagnetsteppermotorPermanentmagnetsteppermotorisgenerallytwo-phase,torque,andsmaller,usually7.5degreestepangleor15degrees;Permanentmagnetsteppermotoroutputtorque,dynamicperformance,butalargestepangle.22 4ReactionStepperMotorReactionisgenerallythree-phasesteppingmotorcanachievehightorqueoutput,stepangleof1.5degreesisgenerally,butthenoiseandvibrationarelarge.Reactionbythesteppermotorrotormagneticcircuitmadeofsoftmagneticmaterials,anumberofthestatorphaseexcitationwinding,theuseofpermeabilitychangesintorque.StepMotorsimplestructure,lowproductioncosts,stepangleissmall;butthedynamicperformanceispoor.5HybridSteppingMotorHybridStepMotorcombinesreactive,permanentmagnetsteppermotorsofboth,it'sasmallstepangle,contributealarge,dynamicperformance,iscurrentlythehighestperformancesteppermotor.ItisalsosometimesreferredtoasPermanentMagnetInductionSteppingMotor.Itconsistsoftwophasesandthefive-phase:thegeneraltwo-phasestepangleof1.8degreesandthegeneralfive-phasestepangle0.72degrees.ThemostwidelyusedStepperMotor.Steppermotordriveforenergysaving6Three-phasesteppermotordrivespecialfeatures:u180%lowtorqueoutput,lowfrequencycharacteristicsofagoodrunuMaximumoutputfrequency600Hz,high-speedmotorcontrolufullrangeofdetectionofprotection(overvoltage,undervoltage,overload)instantaneouspowerfailurerestartuacceleration,deceleration,suchasdynamicchangeinthestallprotectionfunctiontopreventuElectricaldynamicparametersofautomaticrecognitionfunctiontoensurestabilityandaccuracyofthesystemuquickresponseandhigh-speedshutdownuabundantandflexibleinputandoutputinterfaceandcontrol,versatilityuuseofSMTproductionandthreefull-mountanti-painttreatmentprocess,productstabilityandhighufullrangeofSiemensIGBTpowerdevicesusingthelatest,toensurethequalityofhigh-quality22 7BasicprinciplesUsuallyforthepermanentmagnetrotormotor,whencurrentflowsthroughthestatorwindings,thestatorwindingsproduceamagneticfieldvector.Themagneticfieldwillleadtoarotorangleofthemagneticfieldmakesthedirectionofarotorandthestator'smagneticfielddirection.Whenthestatormagneticfieldvectorrotatingatanangle.Astherotormagneticfieldisalsotransferredfromanotherperspective.Anelectricalpulseforeachinput,themotorturningapointforward.Itistheangulardisplacementoftheoutputandinputthenumberofpulsesproportionaltospeedandpulsefrequencyisproportionalto.Powertochangetheorderofwinding,themotorwillreverse.Therefore,thenumberofavailablecontrolpulse,frequencyandpowerthemotorwindingsofeachphaseinordertocontrolthesteppermotorrotation.8InductionSteppingMotor8-1features:Induction,comparedwiththetraditionalreactive,structuralreinforcedwithapermanentmagnetrotor,inordertoprovidetheworkingpointofsoftmagneticmaterials,andthestatorexcitationmagneticfieldchangesonlyneedtoprovidetoprovidetheoperatingpointoftheconsumptionofmagneticmaterialsenergy,sothemotorefficiency,current,lowheat.Duetothepresenceofpermanentmagnets,themotorhasastrongEMF,thedampingeffectofitsowngood,itisrelativelystableduringoperation,lownoise,lowfrequencyvibration.Inductioncanbeseenassomewhatlow-speedsynchronousmotor.Afour-phasemotorcanbeusedforfour-phaseoperation,butalsocanbeusedfortwo-phaseoperation.(Mustbebipolarvoltagedrive),whilethemotorisnotsoreactive.Forexample:fourphase,eight-phaseoperation(A-AB-B-BC-C-CD-D-DA-A)canusetwo-phaseeight-shotrun.NotdifficulttofindtheconditionsforC=,D=.atwo-phasemotor'sinternalwindingconsistentwiththefour-phasemotors,smallpowermotorsaregenerallydirectlyconnectedtothesecondphase,thepoweroflargermotor,inordertofacilitatetheuseandflexibletochangethedynamiccharacteristicsofthemotor,itsexternalconnectionsoftenleadtoeight(four-phase),sothatwhenusedeitherasafour-phasemotorsused,canbeusedfortwo-phasemotorwindinginseriesorparallel.8-2classification：Inductionmotorscanbedividedinphases:two-phasemotor,22 threephasemotor,four-phasemotor,five-phasemotor.Theframesize(motordiameter)canbedividedinto:42BYG(BYGtheInductionSteppingmotorcode),57BYG,86BYG,110BYG,(internationalstandard),andlike70BYG,90BYG,130BYGandsoarethenationalstandards.8-3thesteppermotorphasenumberofstaticindicatorsofterms:verydifferentlyontheN,Sthenumberofmagneticfieldexcitationcoil.Commonmsaid.Beatnumber:completethenecessarycyclicalchangesinamagneticfieldpulsesorconductingstatewithnsaid,orthatturnedapitchangleofthemotorpulsesneededtofour-phasemotor,forexample,afour-phasefour-shotoperationmodethatAB-BC-CD-DA-AB,shoteightfour-phaseoperationmodethatA-AB-B-BC-C-CD-D-DA-A.Stepangle:correspondstoapulsesignal,theangulardisplacementoftherotorturnedwithθsaid.θ=360degrees(therotorteethnumberofJ*runshot),theconventionaltwo,four-phase,therotorteeth50toothmotorasanexample.Foursteprun-timestepangleθ=360°/(50*4)=1.8degrees(commonlycalledthewholestep),eight-shotrunningstepangleθ=360°/(50*8)=0.9degrees(commonlyknownashalfstep.)Locationtorque:themotorisnotenergizedinthestate,itslockedrotortorque(aswellasbythemagneticfieldprofileofharmonicscausedbymechanicalerror)statictorque:themotorundertheratedstaticelectricity,themotorwithoutrotation,themotorshaftlockingtorque.Themotortorqueisameasureofvolume(geometry)standards,anddrivevoltageanddrivepower,etc.hasnothingtodo.Althoughthestatictorqueisproportionaltotheelectromagneticmagnetizingampereturns,andfixedairgapbetweentherotorteethon,butover-useofreducedairgap,increasetheexcitationampere-turnstoincreasethestatictorqueisnotdesirable,thiswillcausethemotorheatingandmechanicalnoise.22 智能小车控制中模糊-PID控制的实现摘要：本文设计了一个自动智能小车控制系统和模糊-PID控制算法。提出了一个设计模糊PID控制器的方案。通过matlab的仿真分析表明,模糊-PID控制算法的性能比一般的PID控制更好。智能小车的试验结果表明它会随黑色的引导线快速并且稳定的走完整个行程。关键词：模糊PID；智能小车；模糊控制器；模糊控制。1．简介近年来,许多国家正在研制无人驾驶的车辆技术。产生了许多新的理论和应用技术。文献[1]中提出了一个采用实时检测速度从而准确、动态改变小车转向的理论，从而实现转向完美特性的控制策略。文献[2]中采用边缘检测算法来提取道路信息，并采用了比例控制。文献[3]提出了一种有效、具有良好抗干扰性的、适应性强的动态图像处理算法。这种算法有效的解决了由环境光线变化以及轨道变化所引起的小车偏离轨道现象。文献[4]利用非线性最优化重建了轨道和摄像调整间的空间关系，从而使它能够精确的测量出横向偏差。上述方案都从某种意义上改善了小车的性能，但他们都缺少以小车运动和大量实验为基础的小车的特性。这篇文章中提出了一个模糊控制算法以及模糊PID控制器的设计方法。在本文最后,给出了实验结果来证明模糊PID算法的有效性。2．硬件系统设计要实现模糊PID控制算法的设计，有必要设计一个智能小车硬件系统。智能小车应该有由道路检测，转角检测，速度检测等构成的智能控制单元。详见图1。图1智能小车原理框图22 3．模糊PID控制的基本原则用一般的PID控制算法来获得最好的响应是不容易的。因为参数Kp、Ki、Kd不适应于不同的对象，或者同一个对象的不同状态。模糊控制是以模糊集合和模糊逻辑为机车的。不需要精确的数学模型，它可以由用经验建立起来的规则表来确定控制变量的大小。一般来说，模糊控制的输入变量基于系统的误差E和系统的误差变化量Ec。这和比例－微分控制相似。这样的控制可能可以获得较好的动态性能，但获得的静态性能不能让人满意。将模糊控制于PID控制结合起来，这就会使系统即具有模糊控制所具有的灵活的适应特性，又具有PID控制的所具有的较高的精确度。图2给出了模糊PID控制系统的结构图，其中模糊控制器的作用是选择不同的PID参数来改善局部响应，进而改善整体的响应。图2模糊PID控制仿真框图4．模糊PID控制器的设计速度驱动电机控制器的设计和下面给出的转向机构控制器设计是相似的。模糊控制器由模糊化、模糊推理、去模糊化组成，这些都是以知识库为基础的。控制器输入为误差及误差变化量，输出为参数Kp、Ki、Kd。假设误差E的模糊集合为{NBNMNSNOPOPSPMPB};误差变化量Ec、参数Kp、Ki、Kd的模糊集合为{NBNMNSZOPSPM22 PB}。他们表示的意义为：NB=负大、NM=负中、NS=负小、NO=负零、ZO=零、PO=正零、PS=正小、PM=正中、PB=正大。得到模糊变量E、EC、Kp、Ki、Kd的隶属度函数曲线如图3至图7所示：图3Kp隶属函数响应曲线图4Ki隶属函数响应曲线图5Kd隶属函数响应曲线22 图6E隶属函数响应曲线图7Ec隶属函数响应曲线在模糊化完成后需要建立规则表，根据规则表的描述，可以总结出56个模糊条件语句，形式例如：如果(E是PB)并且(Ec是PB)那么(Kp是PB)(Ki是ZO)(Kd是PB)。详见表1—表3。最后一个步骤是去模糊化和建立查询表。在模糊控制中查询表应该嵌入到程序中。假设输入的值是固定的那么可以在表中查出相应的输出值。实际上，这可以节省许多计算时间并使控制简化。表1Kp规则表表2Ki规则表22 表3Kd规则表5．实验结果分析22 图8PID控制响应曲线图9模糊PID控制响应曲线实验利用了转向机构模型，它的仿真回路已经由图2给出。我们已经用MATLAB仿真出了一般PID控制算法和模糊PID控制算法，获得的响应曲线如图8、图9所示。实验结果表明，同一般得PID控制相比模糊控制的响应时间要短且没有超调的。系统的动态性能有了重大的提高。6．总结和展望这篇文章给出了一个控制智能小车的设计方案，并且通过实验从实际上很好的验证了这个方案。无人驾驶智能小车是以计算机技术、模式识别以及智能控制技术的发展为基础的。许多国家和机构都在做这一方面的研究，但它是一个复杂的系统，它包含了许多方面的技术，所以任何一个技术的发展都是重要的，这可能成为智能车发展的瓶颈。………………步进电机22 步进电机是将电脉冲信号转变为角位移或线位移的开环控制元步进电机件。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度，称为“步距角”，它的旋转是以固定的角度一步一步运行的。可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。工作原理步进电机是一种感应电机，它的工作原理是利用电子电路，将直流电变成分时供电的，多相时序控制电流，用这种电流为步进电机供电，步进电机才能正常工作，驱动器就是为步进电机分时供电的，多相时序控制器虽然步进电机已被广泛地应用，但步进电机并不能象普通的直流电机，交流电机在常规下使用。它必须由双环形脉冲信号、功率驱动电路等组成控制系统方可使用。因此用好步进电机却非易事，它涉及到机械、电机、电子及计算机等许多专业知识。步进电机作为执行元件，是机电一体化的关键产品之一,广泛应用在各种自动化控制系统中。随着微电子和计算机技术的发展，步进电机的需求量与日俱增，在各个国民经济领域都有应用。分类现在比较常用的步进电机包括反应式步进电机（VR）、永磁式步进电机（PM）、混合式步进电机（HB）和单相式步进电机等。永磁式步进电机永磁式步进电机一般为两相，转矩和体积较小，步进角一般为7.5度或15度；永磁式步进电动机输出力矩大，动态性能好，但步距角大。反应式步进电机反应式步进电机一般为三相，可实现大转矩输出，步进角一般为1.5度，但噪声和振动都很大。反应式步进电机的转子磁路由软磁材料制成，定子上有多相励磁绕组，利用磁导的变化产生转矩。反应式步进电动机结构简单，生产成本低，步距角小；但动态性能差。混合式步进电机混合式步进电动机综合了反应式、永磁式步进电动机两者的优点，它的步距角小，出力大，动态性能好，是目前性能最高的步进电动机。它有时也称作永磁感应子式步进电动机。它又分为两相和五相：两相步进角一般为1.8度而五相步进角一般为0.72度。这种步进电机的应用最为广泛。变频器对步进电机的节能改造三相步进电机专用变频器特点：■低频转矩输出180%，低频运行特性良好■输出频率最大600Hz，可控制高速电机■全方位的侦测保护功能(过压、欠压、过载)瞬间停电再起动22 ■加速、减速、动转中失速防止等保护功能■电机动态参数自动识别功能，保证系统的稳定性和精确性■高速停机时响应快■丰富灵活的输入、输出接口和控制方式，通用性强■采用SMT全贴装生产及三防漆处理工艺，产品稳定度高■全系列采用最新西门子IGBT功率器件，确保品质的高质量基本原理通常电机的转子为永磁体，当电流流过定子绕组时，定子绕组产生一矢量磁场。该磁场会带动转子旋转一角度，使得转子的一对磁场方向与定子的磁场方向一致。当定子的矢量磁场旋转一个角度。转子也随着该磁场转一个角度。每输入一个电脉冲，电动机转动一个角度前进一步。它输出的角位移与输入的脉冲数成正比、转速与脉冲频率成正比。改变绕组通电的顺序，电机就会反转。所以可用控制脉冲数量、频率及电动机各相绕组的通电顺序来控制步进电机的转动。感应子式步进电机1、特点：感应子式与传统的反应式相比，结构上转子加有永磁体，以提供软磁材料的工作点，而定子激磁只需提供变化的磁场而不必提供磁材料工作点的耗能，因此该电机效率高，电流小，发热低。因永磁体的存在，该电机具有较强的反电势，其自身阻尼作用比较好，使其在运转过程中比较平稳、噪音低、低频振动小。感应子式某种程度上可以看作是低速同步的电机。一个四相电机可以作四相运行，也可以作二相运行。（必须采用双极电压驱动），而反应式电机则不能如此。例如：四相，八相运行（A-AB-B-BC-C-CD-D-DA-A）完全可以采用二相八拍运行方式.不难发现其条件为C=,D=.一个二相电机的内部绕组与四相电机完全一致，小功率电机一般直接接为二相，而功率大一点的电机，为了方便使用，灵活改变电机的动态特点，往往将其外部接线为八根引线（四相），这样使用时，既可以作四相电机使用，可以作二相电机绕组串联或并联使用。2、分类感应子式电机以相数可分为：二相电机、三相电机、四相电机、五相电机等。以机座号（电机外径）可分为：42BYG(BYG为感应子式步进电机代号）、57BYG、86BYG、110BYG、（国际标准），而像70BYG、90BYG、130BYG等均为国内标准。3、步进电机的静态指标术语相数：产生不同对极N、S磁场的激磁线圈对数。常用m表示。拍数：完成一个磁场周期性变化所需脉冲数或导电状态用n表示，或指电机转过一个齿距角所需脉冲数，以四相电机为例，有四相四拍运行方式即AB-BC-CD-DA-AB，四相八拍运行方式即A-AB-B-BC-C-CD-D-DA-A.步距角：对应一个脉冲信号，电机转子转过的角位移用θ22 表示。θ=360度（转子齿数J*运行拍数），以常规二、四相，转子齿为50齿电机为例。四拍运行时步距角为θ=360度/（50*4）=1.8度（俗称整步），八拍运行时步距角为θ=360度/（50*8）=0.9度（俗称半步）。定位转矩：电机在不通电状态下，电机转子自身的锁定力矩（由磁场齿形的谐波以及机械误差造成的）静转矩：电机在额定静态电作用下，电机不作旋转运动时，电机转轴的锁定力矩。此力矩是衡量电机体积（几何尺寸）的标准，与驱动电压及驱动电源等无关。虽然静转矩与电磁激磁安匝数成正比，与定齿转子间的气隙有关，但过分采用减小气隙，增加激磁安匝来提高静力矩是不可取的，这样会造成电机的发热及机械噪音。内部资料仅供参考9JWKffwvG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8GK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^G89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z8vG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNuGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89Amv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz84!z89Amv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNuGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^GjqvadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz8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