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无感电压采样

请教一下,

1.TI的无感滑模观测器程序中电压采样中采的是电机相电压是什么电压?是电机相对直流母线侧地的电压吗?

2.经过电压重构出的电机三相电压转换为Q24格式后再进行Clark变换,然后进行滑模观测器算法吗?

3.滑模观测器中的Iα和Iβ与Uα和Uβ是同一运算方式进行计算的吗?