The application of electric motor emulators (EME) has been prosperous in recent years along with the advancement in power hardware-in-the-loop technology. However, EME design methods based on a typical modeling approach and control structure tend to be invalid in promising a clear, dynamic accuracy objective and a robust dynamic accuracy performance over wide working points, especially at high operating speed. Hence, a new EME design method based on multi-input multioutput (MIMO) modeling and a MIMO closed-loop current control (MCLCC) structure is proposed in this article. Singular values of the MIMO motor model are analyzed to clarify the influence of the rotor speed on the dynamic accuracy objective of EME for the first time, based on which an unknown input observer is designed in the MCLCC structure to compensate for disturbance voltages caused by modeling errors. The transient tracking errors of both current and torque responses can thus be remarkably reduced at 300-Hz electrical speed in the experiment even if 35% modeling errors exist, verifying the superiority of the proposed EME design method in dynamic accuracy.

中文翻译：

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通过 MIMO 设计方法提高电机仿真器的高速动态精度

近年来，随着电力硬件在环技术的进步，电动机仿真器（EME）的应用得到了蓬勃发展。然而，基于典型建模方法和控制结构的 EME 设计方法往往无法保证在宽工作点上具有明确的动态精度目标和稳健的动态精度性能，尤其是在高速运行时。因此，本文提出了一种基于多输入多输出（MIMO）建模和MIMO闭环电流控制（MCLCC）结构的新型EME设计方法。首次分析了MIMO电机模型的奇异值，阐明了转子速度对EME动态精度目标的影响，基于此，在 MCLCC 结构中设计了一个未知的输入观测器，以补偿由建模误差引起的干扰电压。因此，即使存在 35% 的建模误差，实验中电流和转矩响应的瞬态跟踪误差也可以在 300Hz 电速下显着降低，验证了所提出的 EME 设计方法在动态精度方面的优越性。