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Pˆq Pq
*
i q i *
q1 1 1 iq
Rq ( s) -
+- + Rs G0
Rs ++ 1 qs
Stratégie de commande
Cem=piq{Ld-Lq)id+Mif}
Pˆd Pd Cr
wref
*
i *
1 wr
d i
d1 1 1 id -
R ( s) -
+- +- Rd ( s) + Rs G0
Rs ++ 1 d s
+
f Js
Pˆf Pf
*
i f i *
f1 1 1 if
-
+- R f ( s) + Rf H0
Rf ++ 1 f s
pMi fnom