外文翻譯---智能小車控制中模糊-pid控制的實現(xiàn)

1、<p><b>　　安徽理工大學</b></p><p>　　自動化專業(yè)本科畢業(yè)設(shè)計英文翻譯</p><p>　　學院(部)：電氣與信息工程學院</p><p>　　專業(yè)班級： 自動化0 班 </p><p>　　學生姓名： x x x </p><p>

2、;　　指導教師： 講師 </p><p>　　年 月 日</p><p>　　Implementation of Fuzzy-PID in Smart Car Control</p><p>　　Abstract—An unmanued smart car control system and the fuzzy-PID cont

3、rol algorithm are produced . A design scheme of fuzzy-PID controller is put forward. The simulation analysis from matlab indicated that the dynamic performance of fuzzy-PID control algorithm is better than that of usual

4、PID. Experimental result of smart car show that it can follow the black guide line well and fast-stable complete running the whole trip.</p><p>　　Keywords — fuzzy-PID; smart car; fuzzy controller; fuzzy cont

5、rol</p><p>　　1 Introduction</p><p>　　In recent years, many countries are developing unmanned vehicle technology. This gives birth to many new theories and applied technology. Reference[1] presen

6、ts the theory of turn ahead which uses real-time monitoring speed to change the turn-in point dynamically, then it implements the control strategy to achieve a perfect characteristics of steering. Reference[2] uses edge

7、detection algorithm to extract track information and adopt P control. Reference[3] proposes a efficient, good anti-jamming </p><p>　　2 Hardware system design</p><p>　　To implement the design of

8、fuzzy-PID algorithm, it’s necessary to design a hardware system of smart car. Smart car would have a smart control unite which contain detection of guide line, steering angle value, speed value and so on. See details in

9、Fig.1.</p><p>　　Fig.1 The functional block diagram of smart car</p><p>　　3 Basic principle of fuzzy-PID</p><p>　　It’s difficult for usual PID control algorithm to achieve the best e

10、ffect. Because, the parameters Kp, Ki, Kd can’t adjust to different object or different state of the same object. Fuzzy control is based on fuzzy set and fuzzy logic. Without precise mathematical model it can determine t

11、he size of controlled variable according the rule table organized by experience. In general, fuzzy control input variables are based on system error E and error change EC, which is similar to PD control. Such con</p&g

12、t;<p>　　Combining fuzzy control and PID control, this would make a system have both flexibility-adaptablity of fuzzy control and high accuracy of PID control.Fig.2 shows the structure diagram of fuzzy-PID control

13、system, in which fuzzy controller is responsible for selecting a different PID parameter to improve the local performance thus increasing over all performance.</p><p>　　4 Design of fuzzy-PID controller</p

14、><p>　　Speed drive motor controller design is similar to the following example for steering gear controller design. Fuzzy controller consists of fuzzification, fuzzy-inference and defuzzification, which are bas

15、ed on the knowledge base.[6] Controller input error and error change, output the parameters Kp,Ki,Kd.</p><p>　　Suppose the fuzzy set for E is{NB,NM,NS,NO,PO,PS，PM,PB}; the fuzzy set for EC、 Kp、Ki and Kd is{N

16、B,NM,NS,ZO,PS,PM,PB}. The linguistic meanings are: NB = negative big, NM = negative middle, NS = negative small, NO = negative zero, ZO = zero, PO = positive zero, PS = positive small, PM = positive middle, PB = positive

17、 big. So the membership function curves of fuzzy variables E、EC、Kp、Ki and Kd are shown in the Fig.3-Fig.7:</p><p>　　It’s necessary to establish rule table after finishing fuzzification. According the descrip

18、tion of rule table, 56 fuzzy conditional statements can be summed, which look like If (E is PB) and (EC is PB) then (Kp is PB) (Ki is ZO) (Kd is PB). See details in Tab.1-Tab.3.</p><p>　　Then, the last step

19、is defuzzification and making a lookup table. During fuzzy control, the lookup table would be embed into the program. Suppose input value is fixed, the corresponding output value would be found in the table. Actually, th

20、is would save much computing time, and the control would become simply.</p><p>　　5 Analysis of experimental results</p><p>　　Experiment used the steering gear model. The simulation circuit were

21、shown in Fig.2. The usual PID and fuzzy PID algorithm were all simulinked in the Matlab. Responding curves obtained were shown in Fig.8 and Fig.9. The experimental result show that compared with the usual PID, the respon

22、ding time of fuzzy-PID algorithm is shorter without over swing. The system dynamic performance is improved significantly.</p><p>　　6 Conclusion and outlook</p><p>　　This paper provided a design

23、scheme for controlling a smart car, which is proved practically and superlatively though experiments. Unmanned smart car is due to the development of computer technology, pattern recognition and intelligent control techn

24、ique. Many countries and research groups are doing research in the area. But it’s a complicated system, which involves a number of technologies. So the development of each technology is important, for it would become the

25、 bottleneck of the development </p><p>　　Stepper motor</p><p>　　Stepper motor is the electric pulse signals into angular displacement or linear displacement of the open-loop stepper motor contro

26、l element pieces. In the case of non-overloaded, the motor speed, stop position depends only on the pulse frequency and pulse number, regardless of load changes, when the driver receives a step pulse signal, it will driv

27、e a stepper motor to Set the direction of rotation of a fixed angle, called the "step angle", which the angle of rotation is fixed step by step operat</p><p><b>　　1 Work</b></p>

28、<p>　　Induction motor is a stepper motor, does it work is the use of electronic circuits, the DC power supply into a time-sharing, multi-phase timing control current, this current stepper motor power supply, the ste

29、pper motor to work properly , The drive is sharing power supply for the stepper motor, the polyphase timing controller.</p><p>　　Although the stepper motor has been widely used, but the stepper motor does no

30、t like a normal DC motor, AC motor in the conventional use. It must be double-ring pulse signal; power driver circuit composed of the control system can be used. Therefore, it is not easy with a good stepping motor, whic

31、h involves mechanical, electrical, electronics and computers, and much other specialized knowledge.</p><p>　　As the stepper motor actuators, electromechanical integration, one of the key products, widely use

32、d in a variety of automatic control systems. With the development of microelectronics and computer technology, increasing demand for stepper motor has applications in all areas of the national economy.</p><p&g

33、t;　　2 Categories</p><p>　　Now more commonly used include the reaction of step motor stepper motor (VR), permanent magnet stepper motor (PM), hybrid stepper motors (HB) and single-phase stepper motor.</p&g

34、t;<p>　　3 Permanent magnet stepper motor</p><p>　　Permanent magnet stepper motor is generally two-phase, torque, and smaller, usually 7.5 degree step angle or 15 degrees;</p><p>　　Permane

35、nt magnet stepper motor output torque, dynamic performance, but a large step angle.</p><p>　　4 Reaction Stepper Motor</p><p>　　Reaction is generally three-phase stepping motor can achieve high t

36、orque output, step angle of 1.5 degrees is generally, but the noise and vibration are large. Reaction by the stepper motor rotor magnetic circuit made of soft magnetic materials, a number of the stator phase excitation w

37、inding, the use of permeability changes in torque.</p><p>　　Step Motor simple structure, low production costs, step angle is small; but the dynamic performance is poor.</p><p>　　5 Hybrid Steppin

38、g Motor</p><p>　　Hybrid Step Motor combines reactive, permanent magnet stepper motors of both, it's a small step angle, contribute a large, dynamic performance, is currently the highest performance stepp

39、er motor. It is also sometimes referred to as Permanent Magnet Induction Stepping Motor. It consists of two phases and the five-phase: the general two-phase step angle of 1.8 degrees and the general five-phase step angle

40、 0.72 degrees. The most widely used Stepper Motor. Stepper motor drive for energy saving</p><p>　　6 Three-phase stepper motor drive special features:</p><p>　　180% low torque output, low frequen

41、cy characteristics of a good run</p><p>　　Maximum output frequency 600Hz, high-speed motor control</p><p>　　full range of detection of protection (over voltage, under voltage, overload) instanta

42、neous power failure restart</p><p>　　acceleration, deceleration, such as dynamic change in the stall protection function to prevent</p><p>　　Electrical dynamic parameters of automatic recognitio

43、n function to ensure stability and accuracy of the system</p><p>　　quick response and high-speed shutdown</p><p>　　abundant and flexible input and output interface and control, versatility</p

44、><p>　　use of SMT production and three full-mount anti-paint treatment process, product stability and high</p><p>　　full range of Siemens IGBT power devices using the latest, to ensure the quality

45、of high-quality</p><p>　　7 Basic principles</p><p>　　Usually for the permanent magnet rotor motor, when current flows through the stator windings, the stator windings produce a magnetic field ve

46、ctor. The magnetic field will lead to a rotor angle of the magnetic field makes the direction of a rotor and the stator's magnetic field direction. When the stator magnetic field vector rotating at an angle. As the r

47、otor magnetic field is also transferred from another perspective. An electrical pulse for each input, the motor turning a point forward. It is </p><p>　　8 Induction Stepping Motor</p><p>　　8-1 f

48、eatures: Induction, compared with the traditional reactive, structural reinforced with a permanent magnet rotor, in order to provide the working point of soft magnetic materials, and the stator excitation magnetic field

49、changes only need to provide to provide the operating point of the consumption of magnetic materials energy, so the motor efficiency, current, low heat. Due to the presence of permanent magnets, the motor has a strong EM

50、F, the damping effect of its own good, it is relatively</p><p>　　8-2 classification：Induction motors can be divided in phases: two-phase motor, three phase motor, four-phase motor, five-phase motor. The fram

51、e size (motor diameter) can be divided into: 42BYG (BYG the Induction Stepping motor code), 57BYG, 86BYG, 110BYG, (international standard), and like 70BYG, 90BYG, 130BYG and so are the national standards.</p><

52、p>　　8-3 the stepper motor phase number of static indicators of terms: very differently on the N, S the number of magnetic field excitation coil. Common m said. Beat number: complete the necessary cyclical changes in a

53、 magnetic field pulses or conducting state with n said, or that turned a pitch angle of the motor pulses needed to four-phase motor, for example, a four-phase four-shot operation mode that AB -BC-CD-DA-AB, shot eight fou

54、r-phase operation mode that A-AB-B-BC-C-CD-D-DA-A. Step angle: corr</p><p>　　智能小車控制中模糊-PID控制的實現(xiàn)</p><p>　　摘要：本文設(shè)計了一個自動智能小車控制系統(tǒng)和模糊-PID控制算法。 提出了一個設(shè)計模糊PID控制器的方案。通過matlab的仿真分析表明,模糊- PID控制算法的性能比一般的PID

55、控制更好。智能小車的試驗結(jié)果表明它會隨黑色的引導線快速并且穩(wěn)定的走完整個行程。</p><p>　　關(guān)鍵詞：模糊PID；智能小車；模糊控制器；模糊控制。 </p><p><b>　　1．簡介</b></p><p>　　近年來,許多國家正在研制無人駕駛的車輛技術(shù)。產(chǎn)生了許多新的理論和應用技術(shù)。文獻[1]中提出了一個采用實時檢測速度從而準確、動

56、態(tài)改變小車轉(zhuǎn)向的理論，從而實現(xiàn)轉(zhuǎn)向完美特性的控制策略。文獻[2]中采用邊緣檢測算法來提取道路信息，并采用了比例控制。文獻[3]提出了一種有效、具有良好抗干擾性的、適應性強的動態(tài)圖像處理算法。這種算法有效的解決了由環(huán)境光線變化以及軌道變化所引起的小車偏離軌道現(xiàn)象。文獻[4]利用非線性最優(yōu)化重建了軌道和攝像調(diào)整間的空間關(guān)系，從而使它能夠精確的測量出橫向偏差。上述方案都從某種意義上改善了小車的性能，但他們都缺少以小車運動和大量實驗為基礎(chǔ)的小車

57、的特性。這篇文章中提出了一個模糊控制算法以及模糊PID控制器的設(shè)計方法。在本文最后,給出了實驗結(jié)果來證明模糊PID算法的有效性。</p><p><b>　　2．硬件系統(tǒng)設(shè)計</b></p><p>　　要實現(xiàn)模糊PID控制算法的設(shè)計，有必要設(shè)計一個智能小車硬件系統(tǒng)。智能小車應該有由道路檢測，轉(zhuǎn)角檢測，速度檢測等構(gòu)成的智能控制單元。詳見圖1。</p>&

58、lt;p>　　圖1 智能小車原理框圖</p><p>　　3．模糊PID控制的基本原則</p><p>　　用一般的PID控制算法來獲得最好的響應是不容易的。因為參數(shù)Kp、Ki、Kd不適應于不同的對象，或者同一個對象的不同狀態(tài)。模糊控制是以模糊集合和模糊邏輯為機車的。不需要精確的數(shù)學模型，它可以由用經(jīng)驗建立起來的規(guī)則表來確定控制變量的大小。一般來說，模糊控制的輸入變量基于系統(tǒng)的誤差E

59、和系統(tǒng)的誤差變化量Ec。這和比例－微分控制相似。這樣的控制可能可以獲得較好的動態(tài)性能，但獲得的靜態(tài)性能不能讓人滿意。</p><p>　　將模糊控制于PID控制結(jié)合起來，這就會使系統(tǒng)即具有模糊控制所具有的靈活的適應特性，又具有PID控制的所具有的較高的精確度。圖2給出了模糊PID控制系統(tǒng)的結(jié)構(gòu)圖，其中模糊控制器的作用是選擇不同的PID參數(shù)來改善局部響應，進而改善整體的響應。</p><p>

60、;　　圖2 模糊PID控制仿真框圖</p><p>　　4．模糊PID控制器的設(shè)計</p><p>　　速度驅(qū)動電機控制器的設(shè)計和下面給出的轉(zhuǎn)向機構(gòu)控制器設(shè)計是相似的。模糊控制器由模糊化、模糊推理、去模糊化組成，這些都是以知識庫為基礎(chǔ)的?？刂破鬏斎霝檎`差及誤差變化量，輸出為參數(shù)Kp、Ki、Kd。</p><p>　　假設(shè)誤差E的模糊集合為{NB NM NS NO P

61、O PS PM PB};誤差變化量Ec、參數(shù)Kp、Ki、Kd的模糊集合為{NB NM NS ZO PS PM PB}。他們表示的意義為：NB=負大、NM=負中、NS=負小、NO=負零、ZO=零、PO=正零、PS=正小、PM=正中、PB=正大。得到模糊變量E、EC、Kp、Ki、Kd的隸屬度函數(shù)曲線如圖3至圖7所示：</p><p>　　圖3 Kp隸屬函數(shù)響應曲線</p><p>　　圖4 K

62、i隸屬函數(shù)響應曲線</p><p>　　圖5 Kd隸屬函數(shù)響應曲線</p><p>　　圖6 E隸屬函數(shù)響應曲線</p><p>　　圖7 Ec隸屬函數(shù)響應曲線</p><p>　　在模糊化完成后需要建立規(guī)則表，根據(jù)規(guī)則表的描述，可以總結(jié)出56個模糊條件語句，形式例如：如果(E 是 PB) 并且 (Ec 是 PB)那么(Kp 是 PB) (K

63、i 是 ZO) (Kd是 PB)。詳見表1—表3。</p><p>　　最后一個步驟是去模糊化和建立查詢表。在模糊控制中查詢表應該嵌入到程序中。假設(shè)輸入的值是固定的那么可以在表中查出相應的輸出值。實際上，這可以節(jié)省許多計算時間并使控制簡化。</p><p><b>　　表1 Kp規(guī)則表</b></p><p><b>　　表2 Ki

64、規(guī)則表</b></p><p><b>　　表3 Kd規(guī)則表</b></p><p><b>　　5．實驗結(jié)果分析</b></p><p>　　圖8 PID控制響應曲線</p><p>　　圖9 模糊PID控制響應曲線</p><p>　　實驗利用了轉(zhuǎn)向機構(gòu)模型，

65、它的仿真回路已經(jīng)由圖2給出。我們已經(jīng)用MATLAB仿真出了一般PID控制算法和模糊PID控制算法，獲得的響應曲線如圖8、圖9所示。</p><p>　　實驗結(jié)果表明，同一般得PID控制相比模糊控制的響應時間要短且沒有超調(diào)的。系統(tǒng)的動態(tài)性能有了重大的提高。</p><p><b>　　6．總結(jié)和展望</b></p><p>　　這篇文章給出了一個

66、控制智能小車的設(shè)計方案，并且通過實驗從實際上很好的驗證了這個方案。</p><p>　　無人駕駛智能小車是以計算機技術(shù)、模式識別以及智能控制技術(shù)的發(fā)展為基礎(chǔ)的。許多國家和機構(gòu)都在做這一方面的研究，但它是一個復雜的系統(tǒng)，它包含了許多方面的技術(shù)，所以任何一個技術(shù)的發(fā)展都是重要的，這可能成為智能車發(fā)展的瓶頸。</p><p><b>　　………………</b></p&g

67、t;<p><b>　　步進電機</b></p><p>　　步進電機是將電脈沖信號轉(zhuǎn)變?yōu)榻俏灰苹蚓€位移的開環(huán)控制元步進電機件。在非超載的情況下，電機的轉(zhuǎn)速、停止的位置只取決于脈沖信號的頻率和脈沖數(shù)，而不受負載變化的影響，當步進驅(qū)動器接收到一個脈沖信號，它就驅(qū)動步進電機按設(shè)定的方向轉(zhuǎn)動一個固定的角度，稱為“步距角”，它的旋轉(zhuǎn)是以固定的角度一步一步運行的?？梢酝ㄟ^控制脈沖個數(shù)來控

68、制角位移量，從而達到準確定位的目的；同時可以通過控制脈沖頻率來控制電機轉(zhuǎn)動的速度和加速度，從而達到調(diào)速的目的。</p><p><b>　　工作原理</b></p><p>　　步進電機是一種感應電機，它的工作原理是利用電子電路，將直流電變成分時供電的，多相時序控制電流，用這種電流為步進電機供電，步進電機才能正常工作，驅(qū)動器就是為步進電機分時供電的，多相時序控制器 &

69、lt;/p><p>　　雖然步進電機已被廣泛地應用，但步進電機并不能象普通的直流電機，交流電機在常規(guī)下使用。它必須由雙環(huán)形脈沖信號、功率驅(qū)動電路等組成控制系統(tǒng)方可使用。因此用好步進電機卻非易事，它涉及到機械、電機、電子及計算機等許多專業(yè)知識。 </p><p>　　步進電機作為執(zhí)行元件，是機電一體化的關(guān)鍵產(chǎn)品之一, 廣泛應用在各種自動化控制系統(tǒng)中。隨著微電子和計算機技術(shù)的發(fā)展，步進電機的需求量

70、與日俱增，在各個國民經(jīng)濟領(lǐng)域都有應用。 </p><p><b>　　分類</b></p><p>　　現(xiàn)在比較常用的步進電機包括反應式步進電機（VR）、永磁式步進電機（PM）、混合式步進電機（HB）和單相式步進電機等。 </p><p><b>　　永磁式步進電機</b></p><p>　　永磁

71、式步進電機一般為兩相，轉(zhuǎn)矩和體積較小，步進角一般為7.5度 或15度； </p><p>　　永磁式步進電動機輸出力矩大，動態(tài)性能好，但步距角大。 </p><p><b>　　反應式步進電機</b></p><p>　　反應式步進電機一般為三相，可實現(xiàn)大轉(zhuǎn)矩輸出，步進角一般為1.5度，但噪聲和振動都很大。反應式步進電機的轉(zhuǎn)子磁路由軟磁材料制成

72、，定子上有多相勵磁繞組，利用磁導的變化產(chǎn)生轉(zhuǎn)矩。 </p><p>　　反應式步進電動機結(jié)構(gòu)簡單，生產(chǎn)成本低，步距角??；但動態(tài)性能差。 </p><p><b>　　混合式步進電機</b></p><p>　　混合式步進電動機綜合了反應式、永磁式步進電動機兩者的優(yōu)點，它的步距角小，出力大，動態(tài)性能好，是目前性能最高的步進電動機。它有時也稱作永磁

73、感應子式步進電動機。它又分為兩相和五相：兩相步進角一般為1.8度而五相步進角一般為 0.72度。這種步進電機的應用最為廣泛。 </p><p>　　變頻器對步進電機的節(jié)能改造</p><p>　　三相步進電機專用變頻器特點： </p><p>　　■低頻轉(zhuǎn)矩輸出180% ，低頻運行特性良好 </p><p>　　■輸出頻率最大600Hz，可控

74、制高速電機 </p><p>　　■全方位的偵測保護功能(過壓、欠壓、過載)瞬間停電再起動 </p><p>　　■加速、減速、動轉(zhuǎn)中失速防止等保護功能 </p><p>　　■電機動態(tài)參數(shù)自動識別功能，保證系統(tǒng)的穩(wěn)定性和精確性 </p><p>　　■高速停機時響應快 </p><p>　　■豐富靈活的輸入、輸出接口

75、和控制方式，通用性強 </p><p>　　■采用SMT全貼裝生產(chǎn)及三防漆處理工藝，產(chǎn)品穩(wěn)定度高 </p><p>　　■全系列采用最新西門子IGBT功率器件，確保品質(zhì)的高質(zhì)量 </p><p><b>　　基本原理</b></p><p>　　通常電機的轉(zhuǎn)子為永磁體，當電流流過定子繞組時，定子繞組產(chǎn)生一矢量磁場。該磁場

76、會帶動轉(zhuǎn)子旋轉(zhuǎn)一角度，使得轉(zhuǎn)子的一對磁場方向與定子的磁場方向一致。當定子的矢量磁場旋轉(zhuǎn)一個角度。轉(zhuǎn)子也隨著該磁場轉(zhuǎn)一個角度。每輸入一個電脈沖，電動機轉(zhuǎn)動一個角度前進一步。它輸出的角位移與輸入的脈沖數(shù)成正比、轉(zhuǎn)速與脈沖頻率成正比。改變繞組通電的順序，電機就會反轉(zhuǎn)。所以可用控制脈沖數(shù)量、頻率及電動機各相繞組的通電順序來控制步進電機的轉(zhuǎn)動。 </p><p><b>　　感應子式步進電機</b>&

77、lt;/p><p>　　1、特點： 感應子式與傳統(tǒng)的反應式相比，結(jié)構(gòu)上轉(zhuǎn)子加有永磁體，以提供軟磁材料的工作點，而定子激磁只需提供變化的磁場而不必提供磁材料工作點的耗能，因此該電機效率高，電流小，發(fā)熱低。因永磁體的存在，該電機具有較強的反電勢，其自身阻尼作用比較好，使其在運轉(zhuǎn)過程中比較平穩(wěn)、噪音低、低頻振動小。 感應子式某種程度上可以看作是低速同步的電機。一個四相電機可以作四相運行，也可以作二相運行。（必須采用雙極電壓

78、驅(qū)動），而反應式電機則不能如此。例如：四相，八相運行（A-AB-B-BC-C-CD-D-DA-A）完全可以采用二相八拍運行方式.不難發(fā)現(xiàn)其條件為C=,D=. 一個二相電機的內(nèi)部繞組與四相電機完全一致，小功率電機一般直接接為二相，而功率大一點的電機，為了方便使用，靈活改變電機的動態(tài)特點，往往將其外部接線為八根引線（四相），這樣使用時，既可以作四相電機使用，可以作二相電機繞組串聯(lián)或并聯(lián)使用。 </p><p><

79、;b>　　2、分類 </b></p><p>　　感應子式電機以相數(shù)可分為：二相電機、三相電機、四相電機、五相電機等。以機座號（電機外徑）可分為：42BYG(BYG為感應子式步進電機代號）、57BYG、86BYG、110BYG、（國際標準），而像70BYG、90BYG、130BYG等均為國內(nèi)標準。 </p><p>　　3、步進電機的靜態(tài)指標術(shù)語 相數(shù)：</p>

80、;<p>　　產(chǎn)生不同對極N、S磁場的激磁線圈對數(shù)。常用m表示。 拍數(shù)：完成一個磁場周期性變化所需脈沖數(shù)或?qū)щ姞顟B(tài)用n表示，或指電機轉(zhuǎn)過一個齒距角所需脈沖數(shù)，以四相電機為例，有四相四拍運行方式即AB-BC-CD-DA-AB，四相八拍運行方式即 A-AB-B-BC-C-CD-D-DA-A. 步距角：對應一個脈沖信號，電機轉(zhuǎn)子轉(zhuǎn)過的角位移用θ表示。θ=360度（轉(zhuǎn)子齒數(shù)J*運行拍數(shù)），以常規(guī)二、四相，轉(zhuǎn)子齒為50齒電機為例。四

81、拍運行時步距角為θ=360度/（50*4）=1.8度（俗稱整步），八拍運行時步距角為θ=360度/（50*8）=0.9度（俗稱半步）。 定位轉(zhuǎn)矩：電機在不通電狀態(tài)下，電機轉(zhuǎn)子自身的鎖定力矩（由磁場齒形的諧波以及機械誤差造成的） 靜轉(zhuǎn)矩：電機在額定靜態(tài)電作用下，電機不作旋轉(zhuǎn)運動時，電機轉(zhuǎn)軸的鎖定力矩。此力矩是衡量電機體積（幾何尺寸）的標準，與驅(qū)動電壓及驅(qū)動電源等無關(guān)。 雖然靜轉(zhuǎn)矩與電磁激磁安匝數(shù)成正比，與定齒轉(zhuǎn)子間的氣隙有關(guān)，但過分采用減