Dynamic Modeling and Control of Electromechanical Coupling for Mechanical Elastic Energy Storage System

Table 1

Six generalized coordinates for MEES system.

Generalized coordinates	Electromagnetic system				Mechanical system
	Stator			Rotor	Gear	ES box
	𝑘=1	𝑘=2	𝑘=3	𝑘=4	𝑗=1	𝑗=2
𝑒𝑘(𝑞𝑗)	—	—	—	𝜓𝑓	𝜃1	𝜃2
𝑒𝑘̇(𝑞̇𝑗)	𝑖𝑎	𝑖𝑏	𝑖𝑐	—	Ω1	Ω2
𝑈𝑘(𝑄𝑗)	𝑢𝑎	𝑢𝑏	𝑢𝑐	—	−𝑇𝑔	−𝑇𝐿