摘  要：针对自主导航系统中电机低速平稳的要求，分析了低速条件下相电压的影响因素和旋转坐标系dq轴下的电机数学模型，提出了dq轴的电压电流传递函数，并根据硬件电路系统对电流环回路进行分析，进而提出电流环在d轴和q轴下的传递函数模型，为使电流环具有动态快速响应和较小电流跟踪误差，设计了各自的调节器。Matlab仿真和实验结果表明， d轴、q轴各自的调节器能够达到快速稳定的性能指标，并且稳态误差较小，证明了该方法的正确性。
关键词：低速平稳；电机数学模型；电流环

Abstract: To satisfy the requirement of low-velocity stability for the system of autonomous navigation, a current-voltage transfer function in d-q axis was advised after analyzing the factors of phase-voltage and model of motor in low speed. Furthermore, the transfer functions of current loop in d-axis and q-axis were proposed while analyzing the hardware circuit of current loop. And then, the rotating reference frame current regulator configuration was presented. And the parameters of controller were tuned to make it have the rapid response and less steady state error. Matlab/Simulink simulation and experimental results verify the performance characteristics of the proposed regulator as the calculated feedback current of d-axis or q -axis could track its demand value with acceptable small errors.
Key words: low-velocity stability；model of motor； current loop