Precise zero speed positioning control technology of permanent magnet synchronous motor based on dual-motor planetary coupled driving

During the braking process of the dual-motor planetary coupled driving system which is applied to Blade Electric Buses, the outer gear rim need to be locked at the moment that the high gear turns to the low gear. For achieving the aim that there is no power interruption at that time, the locking action of the locking mechanism needs to be precise zero speed positioning controlled under the condition that the permanent magnet synchronous motor is with load. This control method uses the Faraday principle as its theoretical basis, and uses space voltage vector control method as basic control framework, with leading into the closed-loop control to establish the zero speed braking control method. On this basis, the position ahead of torque compensation control is used to achieve precise zero speed position.