Gure six: judge which flight state the airplane The thrust JMS-053 Autophagy Cooperative manage tactic 0, and add the speed compensation command is in in line with no matter whether the yaw angle, , is is constituted by combining the synchronous cooperative controlmotorthe distributedstate for the given speed, nref . The load simulation of each and every propulsion with output within this cooperative manage proposed above. motor is coaxially connected with the propulsion motor to simulate the load characteristicsTable two. Key parameters in the simulation model.Planet Electr. Veh. J. 2021, 12,Parameters Values bus voltage 270 V rated speed of motors 2000 rpm 7 of 12 rated power of motors 15 kW flux linkage of permanent magnet 0.1225 Wb quadrature axis inductance 0.eight mH direct axis inductance 0.8 mH in the propeller. The electric power generated by the load simulation motors is transmitted 0.008 kgm2 to a 540 V moment of Prostaglandin A2-d4 Biological Activity inertia of propulsion motors DC bus. Crucial parameters are shown in Table two.V+ VDCCS1 =0 SCCS1 DCCS2 =V+ nref + +M otor con trol lerV-UabcPropulsion motorShaftLoad simulation motorUabcM otor con trol lerTLnref+ +270V DC busSCCS2 DCCS3 =0 SCCS3 DCCS4 =0 SCCSM otor con trol lerUabcPropulsion motorShaftLoad simulation motorUabcM otor con trol lerTLnref+ +M otor con trol lerUabcPropulsion motorShaftLoad simulation motorUabcM otor con trol ler540V DC busTLnref+ +M otor con trol lerUabcPropulsion motorShaftLoad simulation motorUabcM otor con trol lerTLV+V-V+V-Figure six. The schematic diagram of your technique. Figure 6. The schematic diagram with the system.3.1.1. Simulation of Synchronous Cooperative Table 2. Important parameters on the simulation model. Handle Firstly, the conventional relative coupling control is simulated. The models in the 4 Parameters Values propulsion motors would be the same. The four propulsion motors are assigned a speed of 1500 bus voltage 270 V rpm, and initially all operate under the rated propeller load. At four s, a load disturbance of 40 rated speed of motors 2000 rpm Nm is added to one of many motors, whilst the load with the other motors remains unchanged. rated energy of motors 15 kW The speed distinction waveform involving the disturbed motor and0.1225 Wbof the motors the rest flux linkage of permanent magnet is shown in Figure 7. quadrature axis inductance 0.8 mHdirect axis inductance moment of inertia of propulsion motors 0.eight mH 0.008 kg3.1.1. Simulation of Synchronous Cooperative Manage Firstly, the classic relative coupling manage is simulated. The models on the 4 propulsion motors will be the similar. The four propulsion motors are assigned a speed of 1500 rpm, and initially all operate below the rated propeller load. At four s, a load disturbance of 40 Nm is added to one of many motors, whilst the load of your other motors remains unchanged. The speed distinction waveform in between the disturbed motor plus the rest of your motors is shown in Figure 7.World Electr. Veh. J. 2021, 12,Figure 7. 7. Speed difference waveform beneath relative coupling Figure Speed difference waveform beneath relative coupling manage.control.It could be noticed from the waveform that when one of several motors is disturbed at four s, the It may be also respond for the disturbance. The maximum from the motors is disturbed a other motors can observed from the waveform that when one particular speed difference between other motors may also undisturbed the disturbance. The maximum speed differ the disturbed motor and the respond tomotors is about 12 rpm. Then, the enhanced motor and also the undisturbed motors is propulsion motors twee.