CN100385788C - Supersapce vector speed governing method for brushless direct-current machine direct torque control - Google Patents
Supersapce vector speed governing method for brushless direct-current machine direct torque control Download PDFInfo
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Abstract
This means puts the voltage of the shut phase on the Z-axis of quadrature coordinate system of 3D space, while puts the voltage of the open phase on the abc plane. In every sampling period, the projective value and instant rotary moment of projection magnetic chain on a, b and c axes are calculated according to the value of current and voltage tested. Compare the projective value with the giving value, the instant rotary moment with the giving moment. A voltage vector is selected according to the result of comparison to act on brush-free DC motor with the aid of the power converter. This invention has solved two difficult problems, the voltage comprehensive vector calculating and the stator magnetic chain comprehensive vector calculating. It simplifies the system, needs no rotor position signal and possesses fast dynamic response. It well meets the requirement of military industry and civil consume.
Description
One, technical field
The speed regulating method that is a kind of voltage synthetic vector and stator magnetic linkage synthetic vector in the brshless DC motor direct torque control of three-dimensional space motion involved in the present invention belongs to the speed regulating method of brshless DC motor system.
Two, background technology:
Reaching energy-conservation effect with ac speed control technology is news from nowhere, and magneto has been owing to used rare earth permanent-magnetic material, and energy-saving effect is more remarkable.China is rare earth metal big country, is promoting the application of rare-earth permanent-magnet electric machine for many years always; In addition, ac speed control technology can also improve various dynamic, static propertiess, and crudy or system operation integrated quality is improved.Therefore, the speed adjusting technique of magneto is that an application is very extensive, national economy is had the technology of large tracts of land influence.
Magneto comprises two types, and a class is a brshless DC motor, and a class is the AC sine magneto.In fact this two class all is an alternating current machine, and the characteristic that is the first kind is just like direct current machine, but it is brushless, so make it be brshless DC motor, it promptly is the permanent magnetism square-wave motor.A kind of direct torque control scheme of AC sine magneto was disclosed on American I EEE PE magazine in 1997.After this, this Study on Technology is risen simultaneously with domestic abroad, has delivered many papers, and remarkable progress is arranged.But also do not have the people that direct torque control is applied on the brshless DC motor, and that brshless DC motor uses is very extensive on household electrical appliances, general industry articles for use, as refrigerator, washing machine, air-conditioning all at a large amount of brshless DC motors that use.Application number 200610037967.2, in publication number CN1819439 " control method of the system that directly controls certainly of brshless DC motor ", in any one control sampling period, the a phase of motor, b phase, c are conducting simultaneously mutually, and the deficiency that this conduction mode brings is that current pulsation is big.
Three, summary of the invention
The objective of the invention is to solve and exist in the brshless DC motor drive system of closing the phase failure, the computational problem and the stator magnetic linkage computational problem of voltage vector when phase voltage changes, make system configuration simple, improve the dynamic property of system, realize the high performance control of brshless DC motor drive system.
For realizing above-mentioned technical indicator, technical solution of the present invention is that hardware system detects the loop by major loop, control loop three parts composition.Major loop is connected with power inverter by brshless DC motor, receives power supply grid by power inverter; Detecting the loop is made up of current sensor and voltage sensor; Control loop is connected in control unit based on digital signal processor (DSP) by analog to digital converter, produces the power inverter control signal, is connected in the convertor controls signal processing unit that links to each other with power inverter again and forms.In detecting the loop, has velocity transducer commonly used (perhaps adopting the Speedless sensor technology); In control loop, do not comprise the current closed-loop circuit.
A kind of superspace vector speed governing method of brshless DC motor direct torque control, it is characterized in that, adopt three dimensions orthogonal coordinate system XYZ and brshless DC motor three-phase reference axis a axle and b axle and abc plane, plane, c axle place, the abc plane is X-axis and plane, Y-axis place, the voltage that closes the phase failure is placed into the Z axle of three dimensions orthogonal coordinate system, the voltage of conducting phase is placed into the abc plane at motor three-phase reference axis a axle and b axle and c axle place, and voltage synthetic vector and stator magnetic linkage synthetic vector are referred to as voltage superspace vector u respectively
sWith stator magnetic linkage superspace vector Ψ
s, voltage superspace vector u
sWith stator magnetic linkage superspace vector Ψ
sIn three dimensions, move voltage superspace vector u
sSeven the voltage projection vector V0～V6 that are projected as on the abc plane, stator magnetic linkage superspace vector Ψ
sBe projected as projection magnetic linkage Ψ on the abc plane
Sp, projection magnetic linkage Ψ
SpTrack be hexagon, in each control sampling period, detected transient current of testing circuit and the instantaneous voltage be made up of current sensor and voltage sensor according to being connected in main circuit pass through Mathematical Modeling: T (t)=K*I and Ψ
Sp=∫ (u
Sp-i
SpR) dt calculates instantaneous torque T (t) and projection magnetic linkage Ψ
SpAnd projection magnetic linkage Ψ
SpAt a axle of brshless DC motor three-phase axle and three projection Ψ on b axle and the c axle
a, Ψ
b, Ψ
c, wherein, K is a moment coefficient, I is a dc bus current, u
Sp=(2/3) * (u
Ap+ u
Bpα+u
Cpα
2), i
Sp=(2/3) * (i
Ap+ i
Bp* α+i
Cp* α
2), α=e
(j2 π/3), α
2=e
-(j2 π/3), u
Ap, u
Bp, u
CpAnd i
Ap, i
Bp, i
CpBe respectively brshless DC motor three-phase phase voltage u
a, u
b, u
cProjection on the abc plane and brshless DC motor three-phase current i
a, i
b, i
cProjection on the abc plane, u
Ap=S
a* u
Dc/ 2, u
Bp=S
b* u
Dc/ 2, u
Cp=S
c* u
Dc/ 2, i
Ap=S
a* I, i
Bp=S
b* I, i
Cp=S
c* I, S
a, S
b, S
cBe three switching signals of switching signal selected cell ASS output, u
DcBe power inverter DC side direct voltage, after the voltage of the pass phase failure is placed into the Z axle, its projection on the abc plane is zero forever, the pass phase failure only influences stator magnetic linkage but does not influence torque, the controlled quentity controlled variable relevant with torque all is positioned on the abc plane, by given rotating speed and the transient speed that calculates by software for calculation, regulate software again, obtain given torque T via the speed proportional integration
*, with above-mentioned three projection Ψ
a, Ψ
b, Ψ
cWith given magnetic linkage Ψ
s *Compare, with instantaneous torque T (t) and given torque T
*Compare,, directly select for use best in the middle of seven voltage projection vector V0～V6 one to act on brshless DC motor, make projection magnetic linkage Ψ by power inverter by comparative result
SpAlong setting ground hexagon orbiting motion, zero vector in seven voltage projection vectors is defined as six switching tubes of inverter and all turn-offs, when using this zero vector, the three-phase a of brshless DC motor all turn-offs the three-phase phase voltage u of brshless DC motor with c mutually mutually with b mutually
a, u
b, u
cAll be positioned on the Z axle of three dimensions orthogonal coordinate system stator magnetic linkage superspace vector Ψ
sIn three dimensions, move projection magnetic linkage Ψ along Z-direction
SpStatic, system is by control projection magnetic linkage Ψ
SpMovement velocity realize the direct control and the speed governing purpose of brshless DC motor torque not needing rotor-position signal.
This speed regulating method, definition zero vector are that six switching tubes of power inverter all turn-off, and do not need rotor-position signal, do not have the Rotating Transition of Coordinate link, calculate simply given magnetic linkage Ψ
s *Be a constant, accurately a bit say given magnetic linkage Ψ
s *Be not the instantaneous magnetic linkage of expectation, the arrow tongue mark of the instantaneous magnetic linkage of expectation is a hexagon, and its magnetic linkage amplitude is not a constant.But the radius of this hexagonal inscribed circle is a constant, and for convenience of calculation, we are defined as given magnetic linkage Ψ to this for the inradius of constant
s *, promptly the vertical line of hexagonal centre to six a limit mid point is long.It is little that system is influenced by the parameter of electric machine, and dynamic response is good, speed-regulating range width.Having removed current closed-loop, improved reliability, is a kind of new method of brshless DC motor direct torque control of great practical value.
Four, description of drawings:
Fig. 1 is the brshless DC motor block diagram of system.
Fig. 2 is the principle schematic of brshless DC motor superspace vector speed governing method.
Fig. 3 is coordinate system and magnetic linkage track schematic diagram.
Fig. 4 is the theory diagram of brshless DC motor superspace vector speed governing method.
Fig. 5 is the software flow pattern of brshless DC motor superspace vector speed governing method.
Numbering title among Fig. 1 in each block diagram is respectively; 1, brshless DC motor, 2, power inverter, 3, converter control circuit, 4, based on the control unit of digital controlled signal processor, 5, modulus converter A/D, 6, current sensor and voltage sensor.
Designation among Fig. 3: V0～V6-voltage vector, a, b, c-motor three phase coordinate systems; α, β-motor α β coordinate system, Ψ
s *-given magnetic linkage; S1～S6-Ψ
SpSix sections that the space, place is divided equally.
Designation among Fig. 4: Ψ
s *-given magnetic linkage, T
*-given torque, T (t)-instantaneous torque, ω
r *-given rotating speed, ω
r-transient speed, S
T-torque ring hysteresis comparator output valve, S
A Ψ, S
B Ψ, S
C Ψ-three magnetic linkage on off states, S
a, S
b, S
c-three on off states, u
α, i
α-voltage superspace vector and the projection of electric current superspace vector on the α axle, u
β, i
β-voltage superspace vector and the projection of electric current superspace vector on the β axle, Ψ
α, Ψ
β-stator magnetic linkage superspace vector is at the projection of α axle and β axle, Ψ
a, Ψ
b, Ψ
cThe projection of-stator magnetic linkage superspace vector on a axle and b axle c axle, u
DcThe dc tache voltage of-output.Title in each block diagram among the figure: inverter model AIM, magnetic linkage is from controlling cells D MC, switching signal selected cell ASS, torque adjustment software unit ATR also has the permanent-magnet brushless DC electric machine (BLDC) in the main circuit, the encoder (ENCODE) and the three-phase bridge of detection rotor speed.
Five, specific implementation method:
Narrate specific implementation method of the present invention and operation principle and the course of work with reference to the accompanying drawings.As shown in Figure 1, brshless DC motor of the present invention directly comprises by brshless DC motor 1, power inverter 2 the two major loop that are formed by connecting from the control system; The detection loop of being made up of current sensor and voltage sensor 6 is connected in the control loop that convertor controls signal 3 is formed after being connected in control unit 4 based on digital signal processor (DSP) by modulus converter A/D 5 again.Power tube in the power inverter can adopt IGBT power tube or power field effect pipe; The current/voltage transducer can be Hall element, also can be sampling resistor.Transducer changes electric current on the major loop and voltage the analog voltage signal of light current into, enters modulus converter A/D, is digital signal by it with analog signal conversion, and it is used to give the DSP control unit again.According to the control strategy of signal of obtaining and superspace vector theory of the present invention, calculate the projection magnetic linkage Ψ of torque and stator magnetic linkage superspace vector
SpPlace section, and send control signal via convertor controls signal 3, sends 6 digit pulse signals and removes to control power inverter in the major loop.
The present invention is in control loop, and (current signal is not herein made current closed-loop usefulness, only as the projection magnetic linkage Ψ that determines stator magnetic linkage superspace vector to have deleted the current closed-loop circuit
SpThe position and calculate the needed signal of transient electromagnetic torque).
Brshless DC motor superspace vector speed governing method of the present invention, directly control electromagnetic torque by the method that converters directly selects for use the projection V0～V6 of voltage superspace vector to act on brshless DC motor, make motor change rotating speed fast, reach the purpose of quick speed governing.
With reference to the accompanying drawings 2 and the basic principle and the concrete control method of accompanying drawing 3 narration speed regulating method of the present invention as follows:
For brshless DC motor, when adopting the direct torque control method of two-phase conduction mode, have uncertainty owing to turn-off phase voltage, space vector of voltage is to change constantly, the calculating of stator magnetic linkage is unusual difficulty.The voltage that the present invention will be closed the phase failure is placed into the Z axle of three dimensions orthogonal coordinate system, and the voltage of conducting two-phase is placed on the abc plane.Different magnetic state ShiShimonoseki phase failure differences, three voltages that close the phase failure just are put on the Z axle of three dimensions orthogonal coordinate system in turn.Closed the influence of variation of the voltage of the phase failure, the no longer motion in one plane as in the past of stator magnetic linkage superspace vector, but motion (Fig. 2 .b) in three dimensions.Stator magnetic linkage superspace vector is at the one section straightway that is projected as on abc plane in 60 ° of electrical degree magnetic state, one 360 ° six sections interior straightways of cycle constitute the hexagon (Fig. 3) of a sealing, meaning of the present invention is: though voltage superspace vector and stator magnetic linkage superspace vector move in three dimensions, but their projections on the abc plane are very simple, the control idea of specific implementation of the present invention is exactly to utilize the projection vector V0～V6 of voltage superspace vector on the abc plane, makes projection magnetic linkage Ψ
SpVector end track move along the hexagon of this sealing, thereby fundamentally simplifying system.
The radius of hexagon inscribed circle is defined as given magnetic linkage Ψ
s *(Fig. 3), this Ψ
s *Be a constant, like this, calculating and control just seem very simple.The link that does not have Rotating Transition of Coordinate, it is extremely simple that system forms structure, but resulting dynamic response is very excellent.The transient speed ω that measures
rWith given rotating speed ω
r *Send into rotational speed regulation software unit ATR, provide given torque according to its difference.If instantaneous torque T (t) is less than given torque T
*Surpass the permission tolerance, just relatively export the selection motion vector according to magnetic linkage.If instantaneous torque T (t) is greater than given torque T
*Surpass the permission tolerance, just use the zero vector of switching tube complete shut-down, when adopting zero vector, stator magnetic linkage superspace vector is to move along the Z axle on the basis of Fig. 2 .b, but its projection on the abc plane is static.If instantaneous torque T (t) and given torque T
*Difference allowing within the tolerance, then the sustaining voltage vector is constant.And the direction of control cycle internal rotor magnetic linkage changes not quite, rotor flux and projection magnetic linkage Ψ
SpAngle by projection magnetic linkage Ψ
SpDirection decision.Therefore, in fact as long as by control projection magnetic linkage Ψ
SpDirection just can realize the change of this angle.And projection magnetic linkage Ψ
SpBe subjected to the influence of voltage projection vector V0～V6, i.e. projection magnetic linkage Ψ
SpArrow tongue mark will move along the direction of selected voltage projection vector, select different voltage projection vectors will make projection magnetic linkage Ψ
SpAmplitude and direction change.If select zero vector, then projection magnetic linkage Ψ
SpConstant, promptly keep the angle of stator magnetic linkage vector.Therefore, select appropriate voltage vector with regard to may command projection magnetic linkage Ψ according to certain rule
SpBy required movement locus motion.Characteristics of the present invention just are: projection magnetic linkage Ψ
SpThe arrow point should be controlled so as to by the hexagon orbiting motion.That shown in Figure 3 is exactly projection magnetic linkage Ψ
SpThe track schematic diagram.Be divided into 6 different sections among the figure, exist at six different sections and make projection magnetic linkage Ψ separately accordingly
SpMovement locus is along the voltage vector of hexagon orbiting motion.Will change instantaneous torque T (t) rapidly is by quick change projection magnetic linkage Ψ
SpAngle reach.Change projection magnetic linkage Ψ
SpRotary speed be by selecting appropriate motion vector and inserting zero vector and realize.In view of the above, by in each extremely short control cycle, from voltage projection vector V0～V6, selecting motion vector or zero vector, make projection magnetic linkage Ψ on the one hand
SpAlong the hexagon orbiting motion; Change projection magnetic linkage Ψ on the other hand as soon as possible
SpMovement velocity.
The block diagram of the superspace vector speed governing method of realization brshless DC motor direct torque control as shown in Figure 4.Projection magnetic linkage Ψ
SpProjection magnetic linkage on a axle, b axle, c axle is respectively Ψ
a, Ψ
b, Ψ
cWith three projection magnetic linkage Ψ
a, Ψ
b, Ψ
cRespectively with given magnetic linkage Ψ
s *Relatively, three magnetic linkage adjusters constitute magnetic linkage from controlling cells D MC.The magnetic linkage adjuster is the two point form comparator, imports three projection magnetic linkage Ψ
a, Ψ
b, Ψ
cAnd given magnetic linkage Ψ
s *, export three switching value S
A Ψ, S
B Ψ, S
C Ψ, three comparators are respectively exported a switching signal S
A Ψ, S
B Ψ, S
C ΨAs projection magnetic linkage Ψ
a, Ψ
b, Ψ
cGreater than given magnetic linkage Ψ
s *, comparator output 1 is as projection magnetic linkage Ψ
a, Ψ
b, Ψ
cLess than given magnetic linkage Ψ
s *Negative value, comparator output 0.
Torque adjustment software unit ATR is the two point form comparator, input instantaneous torque T (t) and given torque T
*Poor, output torque ring hysteresis comparator output valve S
TWhen instantaneous torque T (t) less than given torque T
*Surpass and allow tolerance, torque ring hysteresis comparator output valve S
TBe 1, require to increase torque; When instantaneous torque T (t) greater than given torque T
*Surpass and allow tolerance, torque ring hysteresis comparator output valve S
TBe 0, require to reduce torque; When both difference in positive minus allowance, torque ring hysteresis comparator output valve S
TConstant.
S
a, S
b, S
cRepresent the on off state of three brachium pontis of power inverter,, represent going up of this brachium pontis to manage conducting,, represent the following pipe conducting of this brachium pontis,, represent the pipe up and down of this brachium pontis all to turn-off when switching variable is 0 when switching variable is-1 when switching variable is 1.As torque ring hysteresis comparator output valve S
TBe 0 o'clock, three switching variable S
a, S
b, S
cValue all be 0, projection magnetic linkage Ψ
SpTransfixion, and rotor flux continues rotation, speed remains unchanged substantially, and instantaneous torque descends thereupon.As torque ring hysteresis comparator output valve S
TBe 1 o'clock, select which motion vector to depend on magnetic linkage from three outputs controlling cells D MC, system's speed governing is by changing projection magnetic linkage Ψ
SpThe mode of speed realizes.By such mode, projection magnetic linkage Ψ
SpSpeed change arbitrarily between the most at a high speed at zero-sum.So torque adjustment software unit ATR has determined selection zero vector or motion vector, which motion vector magnetic linkage has determined to select from controlling cells D MC.More than magnetic linkage of the present invention be self-regulating process, torque from control.Magnetic linkage provides correct section from controlling link, adopts two point form to regulate controlling torque.
Narrate computational process and formula is as follows: projection magnetic linkage Ψ according to Fig. 5
Sp=∫ (u
Sp-i
SpR) dt, voltage superspace vector u
s=(2/3) * (u
a+ u
bα+u
cα
2).Wherein, u
a, u
b, u
cBe three-phase phase voltage, α=e
(j2 π/3), α
2=e
-(j2 π/3)With A mutually with B mutually two be conducted and C to turn-off mutually be example, the C phase voltage changes continuously, voltage superspace vector u
sVary continuously to vector U2 (Fig. 2 .a) from vector U1.Voltage superspace vector u
sTrack half on the abc plane, second half is under the abc plane.Voltage superspace vector u
sBe in three dimensions, to move.Voltage superspace vector u
sProjection vector on the abc plane is that (the voltage projection vector V0 among Fig. 3～V6), these seven voltage projection vectors can be expressed as seven voltage projection vectors: u
Sp=(2/3) * (u
Ap+ u
Bpα+u
Cpα
2), wherein, u
Ap, u
Bp, u
CpBe respectively u
a, u
b, u
cProjection on the abc plane, u
Ap=S
a* u
Dc/ 2, u
Bp=S
b* u
Dc/ 2, u
Cp=S
c* u
Dc/ 2, u
DcBe power inverter DC side direct voltage, S
a, S
b, S
cThree switching signals for switching signal selected cell ASS output.i
SpBe current phasor, i
Sp=(2/3) * (i
Ap+ i
Bp* α+i
Cp* α
2), i
Ap, i
Bp, i
CpBe a, b, the projection of c three-phase current on the abc plane, i
Ap=S
a* I, i
Bp=S
b* I, i
Cp=S
c* I, I is a dc bus current, under the two-phase conduction mode, i
Ap, i
Bp, i
CpIt is exactly actual phase current.Projection vector V0～V6 is the amount that the excitation stator winding produces electric current; Projection magnetic linkage Ψ
SpIt is the component that produces torque in the stator magnetic linkage.Z axle component and torque are irrelevant, important all drop on abc plane on relevant with torque.Instantaneous torque T (t) can be calculated by current measurement, T (t)=K*I, and wherein, K is a moment coefficient, I is the DC side bus current.
Claims (1)
1. the superspace vector speed governing method of a brshless DC motor direct torque control, it is characterized in that, adopt three dimensions orthogonal coordinate system XYZ and brshless DC motor three-phase reference axis a axle and b axle and abc plane, plane, c axle place, the abc plane is X-axis and plane, Y-axis place, the voltage that closes the phase failure is placed into the Z axle of three dimensions orthogonal coordinate system, the voltage of conducting phase is placed into the abc plane at motor three-phase reference axis a axle and b axle and c axle place, the voltage superspace vector (u that moves in three dimensions
s) be projected as seven voltage projection vectors (V0～V6), the stator magnetic linkage superspace vector Ψ that in three dimensions, moves on the abc plane
sBe projected as projection magnetic linkage Ψ on the abc plane
Sp, projection magnetic linkage Ψ
SpTrack be hexagon, in each control sampling period, detected transient current of testing circuit and the instantaneous voltage be made up of current sensor and voltage sensor according to being connected in main circuit pass through Mathematical Modeling: T (t)=K*I and Ψ
Sp=∫ (u
Sp-i
SpR) dt calculates instantaneous torque (T (t)) and projection magnetic linkage Ψ
SpAnd projection magnetic linkage Ψ
SpAt a axle of brshless DC motor three-phase axle and three projection magnetic linkage Ψ on b axle and the c axle
a, Ψ
b, Ψ
c, wherein, K is a moment coefficient, I is a dc bus current, u
Sp=(2/3) * (u
Ap+ u
BpA+u
Cpa
2), i
Sp=(2/3) * (i
Ap+ i
Bp* a+i
Cp* a
2), a=e
(j2 π/3), a
2=e
-(j2 π/3), u
Ap, u
Bp, u
CpAnd i
Ap, i
Bp, i
CpBe respectively brshless DC motor three-phase phase voltage (u
a, u
b, u
c) projection and brshless DC motor three-phase current (i on the abc plane
a, i
b, i
c) projection on the abc plane, u
Ap=S
a* u
Dc/ 2, u
Bp=S
b* u
Dc/ 2, u
Cp=S
c* u
Dc/ 2, i
Ap=S
a* I, i
Bp=S
b* I, i
Cp=S
c* I, S
a, S
b, S
cBe three switching signals of switching signal selected cell ASS output, u
DcBe power inverter DC side direct voltage,, regulate software, obtain given torque (T via the speed proportional integration again by given rotating speed and the transient speed that calculates by software for calculation
*), with above-mentioned projection magnetic linkage Ψ
SpAt a axle of brshless DC motor three-phase axle and three projection magnetic linkage Ψ on b axle and the c axle
a, Ψ
b, Ψ
cWith given magnetic linkage Ψ
s *Compare, with above-mentioned instantaneous torque (T (t)) and above-mentioned given torque (T
*) compare, by comparative result, (best one acts on brshless DC motor by power inverter in the middle of the V0～V6), makes projection magnetic linkage Ψ directly to select seven voltage projection vectors for use
SpAlong the hexagon orbiting motion of setting, zero vector in seven voltage projection vectors is defined as six switching tubes of inverter and all turn-offs, when using this zero vector, the three-phase a of brshless DC motor all turn-offs the three-phase phase voltage (u of brshless DC motor with c mutually mutually with b mutually
a, u
b, u
c) all be positioned on the Z axle of three dimensions orthogonal coordinate system stator magnetic linkage superspace vector Ψ
sIn three dimensions, move projection magnetic linkage ψ along Z-direction
SpStatic, system is by control projection magnetic linkage Ψ
SpMovement velocity realize the direct control and the speed governing purpose of brshless DC motor torque.
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| CNB2006100968499A CN100385788C (en) | 2006-10-20 | 2006-10-20 | Supersapce vector speed governing method for brushless direct-current machine direct torque control |
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| CN101902192B (en) * | 2010-07-15 | 2012-08-29 | 福州大学 | Direct automatic control method of hybrid stepper motor |
| CN102223139B (en) * | 2011-06-16 | 2012-10-24 | 东南大学 | Method for realizing direct torque control by single current sensor |
| CN107276458A (en) * | 2017-06-28 | 2017-10-20 | 深圳市雷赛智能控制股份有限公司 | Motor control method and device and motion controller |
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|---|---|---|---|---|
| JP2003210000A (en) * | 2002-01-11 | 2003-07-25 | Isao Takahashi | Inverter control method and inverter controller |
| CN1614869A (en) * | 2004-11-26 | 2005-05-11 | 南京航空航天大学 | Direct moment controlling system without position sensor for brushless D.C. motor by fundamental wave |
| CN1819439A (en) * | 2006-01-24 | 2006-08-16 | 南京航空航天大学 | Direct self-controlling system method of brushless DC motor |
-
2006
- 2006-10-20 CN CNB2006100968499A patent/CN100385788C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003210000A (en) * | 2002-01-11 | 2003-07-25 | Isao Takahashi | Inverter control method and inverter controller |
| CN1614869A (en) * | 2004-11-26 | 2005-05-11 | 南京航空航天大学 | Direct moment controlling system without position sensor for brushless D.C. motor by fundamental wave |
| CN1819439A (en) * | 2006-01-24 | 2006-08-16 | 南京航空航天大学 | Direct self-controlling system method of brushless DC motor |
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| Title |
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| Direct Torque Control of Brushless DC Drives with ReducedTorque Ripple. Yong Liu，Z. Q. Zhu，David Howe.IEEE Transactions on Industry Applications,Vol.41 No.2. 2005 |
| Direct Torque Control of Brushless DC Drives with ReducedTorque Ripple. Yong Liu，Z. Q. Zhu，David Howe.IEEE Transactions on Industry Applications,Vol.41 No.2. 2005 * |
| Direct Torque Control of Brushless DC Motor with NonidealTrapezoidal Back EMF. Seog-Joo Kang，Seung-Ki Sul.IEEE Transactions on Power Electronics,Vol.10 No.6. 1995 |
| Direct Torque Control of Brushless DC Motor with NonidealTrapezoidal Back EMF. Seog-Joo Kang，Seung-Ki Sul.IEEE Transactions on Power Electronics,Vol.10 No.6. 1995 * |
| 模糊控制神经网络的直接转矩无刷直流电机控制系统的研究. 王晓远，田亮，常斌.Proceedings of the 6th World Congress on Intelligent Control and Automation. 2006 |
| 模糊控制神经网络的直接转矩无刷直流电机控制系统的研究. 王晓远，田亮，常斌.Proceedings of the 6th World Congress on Intelligent Control and Automation. 2006 * |
| 直接转矩控制的发展现状及前景. 赵伟峰，朱承高.电气传动，第3期. 1999 |
| 直接转矩控制的发展现状及前景. 赵伟峰，朱承高.电气传动，第3期. 1999 * |
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| CN1937398A (en) | 2007-03-28 |
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