CN101009474A - Brushless motor driving device - Google Patents
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- CN101009474A CN101009474A CNA2006100069303A CN200610006930A CN101009474A CN 101009474 A CN101009474 A CN 101009474A CN A2006100069303 A CNA2006100069303 A CN A2006100069303A CN 200610006930 A CN200610006930 A CN 200610006930A CN 101009474 A CN101009474 A CN 101009474A
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Abstract
Brushless motor drive device possesses a signal compounding circuit which is used to transform several sensor signals to drive signal, every extent of the drive signal is decided by the current error signal. The several sensor signals are generated by sensor circuit which responds the magnetic field of brushless multi phase motor. The current error signal represses difference of a current command signal and a motor drive current. The character of the signal compound circuit is that it includes a calibration circuit which is used to adjust the current error signal based on the extent of several sensor signals. The calibration circuit includes: a difference amplification circuit, a commuting circuit, a filter circuit and a division circuit.
Description
Technical field
The present invention relates to a kind of motor drive, relate in particular to a kind of motor drive that is used to drive brushless multi-phase motor.
Background technology
Fig. 1 (a) illustrates the circuit block diagram of the brushless motor driving device of knowing.With reference to figure 1 (a), motor M is a three-phase direct-current brushless motor with three-phase coil U, V and W.Three hall sensor 11u, 11v and 11w are arranged at around the motor M, are used to respond the changes of magnetic field of motor M rotor (not shown) and produce three hall sensing signal HU, HV and HW.Based on hall sensing signal HU, HV and HW, signal synthesis circuit 12 produces three string ripple drive signal SU, SV and SW.Subsequently, with the modulation of string ripple drive signal SU, SV and SW input pulse width (Pulse Width Modulation, PWM) comparison circuit 13, the high frequency triangle wave reference signal T that is used for respectively independently being produced with oscillating circuit 14 compares.Based on the comparative result between string ripple drive signal SU, SV and SW and high frequency triangle wave reference signal T, PWM comparison circuit 13 produces three pulse signal PU, PV and PW, offers three predrive circuits (Pre-driver) N1, N2 and N3 respectively.
Fig. 1 (b) illustrates the working waveform figure of the brushless motor driving device of knowing.Because each all is to carry out work with similar waveform mutually among three-phase coil U, the V of motor M and the W, so for for the purpose of the simplified illustration, Fig. 1 (b) only illustrates the waveform sequential chart of coil U when working of motor M.With reference to figure 1 (b), string ripple drive signal SU and high frequency triangle wave reference signal T produce pulse signal PU through PWM comparison circuit 13 backs.Particularly, the high level of pulse signal PU corresponding to string ripple drive signal SU greater than high frequency triangle wave reference signal T De Qing Condition, the low level of pulse signal PU then corresponding to string ripple drive signal SU less than high frequency triangle wave reference signal T De Qing Condition.Response impulse signal PU, predrive circuit N1 produces switching signal UH and UL, is used for control switch S1 and S2 respectively.
Three-phase commutation circuit 15 has switch S 1 and S2, switch S 3 and S4 and switch S 5 and S6, is subjected to switching signal UH and UL, VH and VL and WH and WL control respectively.When switch S 1 forms short circuit, motor drive current I
mCan be from driving voltage source V
DdFlow into coil U, and when switch S 2 forms short circuit, motor drive current I
mCan flow to ground from coil U.When switch S 3 forms short circuit, motor drive current I
mCan be from driving voltage source V
DdFlow into coil V, and when switch S 4 forms short circuit, motor drive current I
mCan flow to earth potential from coil V.When switch S 5 forms short circuit, motor drive current I
mCan be from driving voltage source V
DdFlow into coil W, and when switch S 6 forms short circuit, motor drive current I
mCan flow to earth potential from coil W.
In order to detect motor drive current I
m, with series resistance R
sBe arranged between the common tie point and earth potential of switch S 2, S4 and S6.With motor drive current I
mThe series resistance of flowing through R
sThe potential difference that is produced offers the inverting input of error amplifier EA, as negative feedback.Error amplifier EA is for representing motor drive current I
mPotential difference and current command signal I
ComCompare, thereby produce current error signal I
ErrSubsequently, signal synthesis circuit 12 is according to current error signal I
ErrAdjust the amplitude of string ripple drive signal SU, SV and SW.
Fig. 1 (c) illustrates the circuit block diagram of known signals combiner circuit 12.With reference to figure 1 (c), signal synthesis circuit 12 has a position detecting circuit 20, a phase deviation circuit 21 and three mlultiplying circuit 22u, 22v and 22w.Position detecting circuit 20 is determined the position of magnetic pole of motor rotor (not shown) according to hall sensing signal HU, HV and HW, and therefore produces three position signalling 23u, 23v and 23w.Phase deviation circuit 21 makes the phase place of position signalling 23u, 23v and 23w be offset 30 degree respectively, and forms three string wave control signal 24u, 24v and 24w.At last, respectively by means of mlultiplying circuit 22u, 22v and 22w, make string wave control signal 24u, 24v and 24w be multiplied by current error signal I
ErrAnd formation string ripple drive signal SU, SV and SW.Therefore, the amplitude of string ripple drive signal SU, SV and SW is able to according to current error signal I
ErrAnd adjusted effectively.
Yet in the signal synthesis circuit of knowing 12, the amplitude of string ripple drive signal SU, SV and SW also is subjected to the influence of hall sensing signal HU, HV and HW simultaneously.Particularly, produce in the process of string wave control signal 24u, 24v and 24w based on hall sensing signal HU, HV and HW at position detecting circuit 20 and phase deviation circuit 21, the amplitude information of hall sensing signal HU, HV and HW keeps always and continues, and makes the amplitude of final string wave control signal 24u, 24v that produces and 24w be proportional to the amplitude of hall sensing signal HU, HV and HW.In typical case, by hall sensing signal HU, HV and HW that hall sensor 11u, 11v and 11w are produced, its amplitude is subjected to the influence of factors such as hall sensor physical specification, operating ambient temperature easily and changes.Therefore, even at current error signal I
ErrKeep fixedly under the De Qing Condition, when the amplitude of hall sensing signal HU, HV and HW changes, still can cause the changes in amplitude of string ripple drive signal SU, SV and SW.Because the amplitude of string ripple drive signal SU, SV and SW can influence the work ratio of pulse signal PU, PV that PWM comparison circuit 13 produced and PW, therefore the signal synthesis circuit of knowing 12 can cause the driving work of motor M to be subjected to the influence of hall sensing signal HU, HV and HW changes in amplitude, and the unsettled shortcoming of running occurs.
Summary of the invention
In view of aforementioned topic together, one object of the present invention is to provide a kind of brushless motor driving device, and it can prevent effectively that string ripple drive signal is subjected to the influence that the hall sensing signal amplitude changes.
According to a kind of situation of the present invention, a kind of brushless motor driving device is provided, be used to drive a multi-phase motor, it comprises: a current detection circuit, an error determine that circuit, a sensing circuit, a signal synthesis circuit, a comparison circuit and switch circuit.Current detection circuit produces a current detection signal, represents a motor drive current of this multi-phase motor of flowing through.Error determines that circuit produces a current error signal, represents the difference between a current command signal and this current detection signal.Respond the changes of magnetic field of this multi-phase motor, sensing circuit produces a plurality of transducing signals.Signal synthesis circuit should transform into a plurality of drive signals by a plurality of transducing signals, made in these a plurality of drive signals each amplitude according to this current error signal and definite.Based on the comparative result between these a plurality of drive signals and a reference signal, comparison circuit produces a plurality of pulse signals.Commutation circuit is coupling between a driving voltage source and this multi-phase motor, by the control of this a plurality of pulse signal to drive this multi-phase motor.Brushless motor driving device is characterised in that among the present invention: this signal synthesis circuit comprises a correcting circuit, is used for adjusting this current error signal according to any amplitude of these a plurality of transducing signals.
This correcting circuit comprises: a differential amplifier circuit, a rectification circuit, a filter circuit and a division circuit.Differential amplifier circuit with in these a plurality of transducing signals any just go negative-going signal to Xin Minus so that export a string ripple signal.Rectification circuit carries out rectification to this string ripple signal, so that form a unipolar signal.Filter circuit extracts a correction factor from this unipolar signal, and it represents the amplitude of this unipolar signal.Utilize this current error signal divided by this correction factor, division circuit is adjusted this current error signal.
Description of drawings
Fig. 1 (a) illustrates the circuit block diagram of the brushless motor driving device of knowing.
Fig. 1 (b) illustrates the working waveform figure of the brushless motor driving device of knowing.
Fig. 1 (c) illustrates the circuit block diagram of the signal synthesis circuit of knowing.
Fig. 2 illustrates the circuit block diagram according to signal synthesis circuit of the present invention.
Fig. 3 (a) illustrates the oscillogram of the forward signal of hall sensing signal.
Fig. 3 (b) illustrates the oscillogram of the negative-going signal of hall sensing signal.
Fig. 3 (c) illustrates the oscillogram of the string ripple signal that differential amplifier circuit exports.
Fig. 3 (d) illustrates the oscillogram of the unipolar signal that rectification circuit exports.
Embodiment
Explanation hereinafter and accompanying drawing will make of the present invention aforementioned more obvious with other purposes, feature and advantage.Describe in detail according to preferred embodiment of the present invention referring now to accompanying drawing.
Fig. 2 illustrates the circuit block diagram according to signal synthesis circuit 32 of the present invention.Signal synthesis circuit 32 is to be applied in the brushless motor driving device shown in Fig. 1 (a), the signal synthesis circuit of knowing in order to replacement 12.As previous described with reference to figure 1 (a), motor M is the three-phase direct-current brushless motor with three-phase coil U, V and W.Three hall sensor 11u, the 11v and the 11w that constitute sensing circuit are arranged at around the motor M, are used to respond the changes of magnetic field of motor M rotor (not shown) and produce three hall sensing signal HU, HV and HW.Based on hall sensing signal HU, HV and HW, signal synthesis circuit 32 according to the present invention produces three string ripple drive signal SU, SV and SW.Subsequently, with string ripple drive signal SU, SV and SW input PWM comparison circuit 13, the high frequency triangle wave reference signal T that is used for respectively independently being produced with oscillating circuit 14 compares.Based on the comparison between string ripple drive signal SU, SV and SW and high frequency triangle wave reference signal T, PWM comparison circuit 13 produces three pulse signal PU, PV and PW, is supplied to three predrive circuit N1, N2 and N3 respectively.Response impulse signal PU, predrive circuit N1 produces switching signal UH and UL.Response impulse signal PV, predrive circuit N2 produces switching signal VH and VL.Response impulse signal PW, predrive circuit N3 produces switching signal WH and WL.
In order to detect motor drive current I
m, use a series connection resistance R
sAs current detection circuit, be arranged between the common tie point and ground of switch S 2, S4 and S6.With motor drive current I
mThe series resistance of flowing through R
sThe potential difference that is produced is used to represent motor drive current I as current detection signal
mError determines that circuit realized that by an error amplifier EA its in-phase input end is used for received current command signal I
Com, and its inverting input is used for receiving and represents motor drive current I
mCurrent detection signal.Based on current command signal I
ComWith motor drive current I
mBetween difference, the output of error amplifier EA provides a current error signal I
ErrSubsequently with current error signal I
ErrBe applied to the signal synthesis circuit 32 among the present invention so that adjust the amplitude of string ripple drive signal SU, SV and SW.
With reference to figure 2, signal synthesis circuit 32 has a position detecting circuit 40, a phase deviation circuit 41, three mlultiplying circuit 42u, 42v and 42w and correcting circuits 45.Position detecting circuit 40 is used for determining the position of magnetic pole of motor rotor (not shown) according to hall sensing signal HU, HV and HW, and produces three position signalling 43u, 43v and 43w in view of the above.Therefore, position signalling 43u, 43v and 43w are indicating rotor and the relation of the position between three-phase coil U, V and W of motor M respectively.Particularly, each of position signalling 43u, 43v and 43w is all string ripple signal, and is synchronous with the running of motor M, and has phase difference 120 degree to each other.Subsequently, phase deviation circuit 41 makes the phase place of three position signalling 43u, 43v and 43w be offset 30 degree respectively, and forms three string wave control signal 44u, 44v and 44w.
On the other hand, with among hall sensing signal HU, HV and the HW any, the hall sensing signal HW that is associated with coil W for example shown in Figure 2 offers correcting circuit 45 extraly.Correcting circuit 45 at first calculates a correction factor, and it is proportional to the amplitude of hall sensing signal HW, and subsequently with current error signal I
ErrDivided by this correction factor that calculates, so that obtain a current error signal I after proofreading and correct
EcPlease note because each of hall sensing signal HU, HV and HW all has identical amplitude, thus correcting circuit 45 only the fibrous root certificate wherein arbitrary signal can calculate the correction factor that is proportional to this same magnitude.Therefore, correcting circuit 45 is effectively with original current error signal I
ErrConvert the current error signal I after the correction to
Ec, make current error signal I after this correction
EcEqual this original current error signal I
ErrDivided by correction factor.
At last, respectively by means of mlultiplying circuit 42u, 42v and 42w, make the current error signal I after string wave control signal 44u, 44v and 44w are multiplied by correction
EcAnd formation string ripple drive signal SU, SV and SW.By means of the computing of multiplying each other each other, the current error signal I after the correction
EcIn existing correction factor will offset among string wave control signal 44u, 44v and the 44w amplitude with hall sensing signal correction connection effectively because correction factor is proportional to the amplitude of hall sensing signal.In other words, the string ripple drive signal SU, the SV that are produced of mlultiplying circuit 42u, 42v and 42w and SW will avoid being subjected to the influence of the changes in amplitude of hall sensing signal HU, HV and HW fully.Therefore, signal synthesis circuit 32 of the present invention can prevent effectively that string ripple drive signal SU, SV and SW are subjected to the influence of the changes in amplitude of hall sensing signal HU, HV and HW.
Particularly, correcting circuit 45 has a differential amplifier circuit 46, a rectification circuit 47, a low-frequency filter circuit 48 and a division circuit 49.Describe the working method of correcting circuit 45 among the present invention in detail to 3 (d) referring now to Fig. 3 (a).At first with reference to figure 3 (a) and 3 (b), in fact the hall sensing signal HW that exports from hall sensor 11w comprises a forward signal HW (+) and a negative-going signal HW (-), and they have each other the string wave component that presents " anti-phase symmetry ".Shown in Fig. 3 (a), the amplitude of the string wave component of forward signal HW (+) is A.Shown in Fig. 3 (b), the amplitude of the string wave component of negative-going signal HW (-) also is A.Differential amplifier circuit 46 makes forward signal HW (+) deduct negative-going signal HW (-), produces a string ripple signal 50 thus, and its good fortune of shaking is 2A, shown in Fig. 3 (c).Subsequently, 47 pairs of string ripples of rectification circuit signal 50 carries out full-wave rectification, produces the unipolar signal 51 shown in Fig. 3 (d) thus.In one embodiment, the full wave bridge rectifier that rectification circuit 47 usefulness are known realizes that its detailed structure is well known to those skilled in the art, and therefore repeats no more.
Low-frequency filter circuit 48 can extract low frequency part or the flip-flop in the unipolar signal 51, as correction factor 52, offers division circuit 49.Therefore, correction factor 52 is the direct current signals with amplitude 2A, and it also is proportional to the amplitude of hall sensing signal HW really.In one embodiment, the capacitive character low-frequency filter circuit that low-frequency filter circuit 48 usefulness are known is implemented, and its detailed structure is well known to those skilled in the art, and therefore repeats no more.By means of the correction factor 52 that is provided from low-frequency filter circuit 48 is provided, division circuit 49 is with original current error signal I
ErrDivided by correction factor 52, thus the current error signal I after generation is proofreaied and correct
EcIn mlultiplying circuit 42w, proofread and correct after-current error signal I subsequently
EcCorrection factor 52 can offset the amplitude that is associated with hall sensing signal HW among the string wave control signal 44w effectively, make the string ripple drive signal SW produced not be subjected to the influence of the changes in amplitude of hall sensing signal HW.
Though please noting previous embodiment is with three-phase motor M as an illustration, brushless motor driving device according to the present invention is not limited thereto, and has the more motor of polyphase winding but can also be applied to drive.
Please note in the foregoing embodiments, in order to detect motor drive current I
m, as the series resistance R of current detection circuit
sBe arranged between the common tie point and ground of side switch S2, S4 and S6.Yet in another embodiment of the present invention, as the series resistance R of current detection circuit
sThen be arranged at common tie point and the driving voltage source V of side switch S1, S3 and S5
DdBetween.
Though describe the present invention, should be understood that to the invention is not restricted to disclosed embodiment here by means of preferred embodiment.On the contrary, the present invention includes tangible to those skilled in the art various modifications and similar configuration.Therefore, the protection range of this patent should adopt the most widely and explain, this type of is revised and similar configuration to comprise all.
Claims (10)
1. a brushless motor driving device is used to drive a multi-phase motor, comprising:
One current detection circuit is used to produce a current detection signal, represents a motor drive current of this multi-phase motor of flowing through;
One error is determined circuit, is used to produce a current error signal, represents the difference between a current command signal and this current detection signal;
One sensing circuit is used to respond the changes of magnetic field of this multi-phase motor and produces a plurality of transducing signals;
One signal synthesis circuit, being used for transforming this a plurality of transducing signals is a plurality of drive signals, makes that the amplitude of each is definite according to this current error signal in these a plurality of drive signals;
One comparison circuit is used for relatively these a plurality of drive signals and a reference signal and produces a plurality of pulse signals; And
One switches circuit, be coupled between a driving voltage source and this multi-phase motor, by the control of this a plurality of pulse signal driving this multi-phase motor,
It is characterized in that:
This signal synthesis circuit comprises a correcting circuit, is used for adjusting this current error signal according to any amplitude of these a plurality of transducing signals.
2. brushless motor driving device as claimed in claim 1, wherein:
This sensing circuit adopts a plurality of hall sensors to realize, is used for producing respectively these a plurality of transducing signals.
3. brushless motor driving device as claimed in claim 1, wherein:
In these a plurality of transducing signals each all has a forward signal and a negative-going signal.
4. brushless motor driving device as claimed in claim 3, wherein:
This correcting circuit comprises:
One differential amplifier circuit is used for making any this forward signal of these a plurality of transducing signals to deduct this negative-going signal, so that export a string ripple signal;
One rectification circuit, being used to change this string ripple signal becomes a unipolar signal;
One filter circuit is used for extracting a correction factor from this unipolar signal, represents the amplitude of this unipolar signal; And
One division circuit is used for this current error signal is adjusted this current error signal divided by this correction factor.
5. brushless motor driving device as claimed in claim 1, wherein:
This signal synthesis circuit also comprises:
One position detecting circuit is used for producing a plurality of position signallings based on these a plurality of transducing signals, and it shows the rotor-position of this multi-phase motor;
One phase deviation circuit is used for making each phase deviation one predetermined angular of these a plurality of position signallings; And
A plurality of mlultiplying circuits are used for making respectively each and this current error signal of position signalling after this skew to multiply each other each other and produce this a plurality of drive signals.
6. brushless motor driving device as claimed in claim 1, wherein:
This current detection circuit is realized with a resistance, is coupling between this commutation circuit and the earth potential, makes this motor drive current flow through this resistance and produces a potential difference as this current detection signal.
7. brushless motor driving device as claimed in claim 1, wherein:
This error determines that circuit adopts an error amplifier to realize, have a homophase input, an inverting input and an output, this in-phase input end is used to receive this current command signal, this inverting input is used to receive this current detection signal, and this output is used to provide this current error signal.
8. a brushless motor driving device is used to drive a multi-phase motor, comprising:
One sensing circuit is used to respond the changes of magnetic field of this multi-phase motor and produces a plurality of transducing signals;
One combiner circuit, be used for transforming these a plurality of transducing signals and become a plurality of drive signals, make that the amplitude of each determines that according to a current error signal this current error signal is represented the difference between a current command signal and a motor drive current in these a plurality of drive signals;
One comparison circuit is used for relatively these a plurality of drive signals and a reference signal and produces a plurality of pulse signals; And
One switches circuit, be coupling between a driving voltage source and this multi-phase motor, by the control of this a plurality of pulse signal driving this multi-phase motor,
It is characterized in that:
This combiner circuit comprises a correcting circuit, is used for adjusting this current error signal according to any amplitude of these a plurality of transducing signals.
9. brushless motor driving device as claimed in claim 8, wherein:
This correcting circuit comprises:
One differential amplifier circuit is used for making any forward signal of these a plurality of transducing signals to deduct a negative-going signal, so that export a string ripple signal;
One rectification circuit, being used to change this string ripple signal becomes a unipolar signal;
One filter circuit is used for extracting a correction factor from this unipolar signal, represents the amplitude of this unipolar signal; And
One division circuit, thus be used for this current error signal is adjusted this current error signal divided by this correction factor.
10. brushless motor driving device as claimed in claim 8, wherein:
This combiner circuit also comprises:
One position detecting circuit is used for producing a plurality of position signallings based on these a plurality of transducing signals, and it indicates the rotor-position of this multi-phase motor;
One phase deviation circuit is used for making each phase deviation one predetermined angular of these a plurality of position signallings; And
A plurality of mlultiplying circuits are used for making respectively each and this current error signal of position signalling after this skew to multiply each other each other and produce this a plurality of drive signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100069303A CN100421349C (en) | 2006-01-26 | 2006-01-26 | Brushless motor driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100069303A CN100421349C (en) | 2006-01-26 | 2006-01-26 | Brushless motor driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101009474A true CN101009474A (en) | 2007-08-01 |
| CN100421349C CN100421349C (en) | 2008-09-24 |
Family
ID=38697679
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100069303A Expired - Fee Related CN100421349C (en) | 2006-01-26 | 2006-01-26 | Brushless motor driving device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103259477A (en) * | 2012-02-17 | 2013-08-21 | 现代摩比斯株式会社 | Motor control method and circuit of inverter |
| CN108233793A (en) * | 2016-12-09 | 2018-06-29 | 阿莱戈微系统有限责任公司 | For utilizing the method and apparatus of the motor start-up of sinusoidal phase current |
| CN110062891A (en) * | 2016-12-02 | 2019-07-26 | Cmr外科有限公司 | Sense motor current |
| US11680996B2 (en) | 2012-05-10 | 2023-06-20 | Allegro Microsystems, Llc | Methods and apparatus for magnetic sensor having integrated coil |
| US11768256B2 (en) | 2017-05-26 | 2023-09-26 | Allegro Microsystems, Llc | Coil actuated sensor with sensitivity detection |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002218783A (en) * | 2001-01-15 | 2002-08-02 | Rohm Co Ltd | Motor driver |
| EP3190696A1 (en) * | 2002-02-25 | 2017-07-12 | Daikin Industries, Ltd. | Motor controlling method and apparatus thereof |
| US6924611B1 (en) * | 2004-09-03 | 2005-08-02 | Aimtron Technology Corp. | Brushless motor drive device |
-
2006
- 2006-01-26 CN CNB2006100069303A patent/CN100421349C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103259477A (en) * | 2012-02-17 | 2013-08-21 | 现代摩比斯株式会社 | Motor control method and circuit of inverter |
| US11680996B2 (en) | 2012-05-10 | 2023-06-20 | Allegro Microsystems, Llc | Methods and apparatus for magnetic sensor having integrated coil |
| CN110062891A (en) * | 2016-12-02 | 2019-07-26 | Cmr外科有限公司 | Sense motor current |
| CN110062891B (en) * | 2016-12-02 | 2022-03-08 | Cmr外科有限公司 | Sensing motor current |
| US11353481B2 (en) | 2016-12-02 | 2022-06-07 | Cmr Surgical Limited | Sensing motor current |
| US11747368B2 (en) | 2016-12-02 | 2023-09-05 | Cmr Surgical Limited | Sensing motor current |
| CN108233793A (en) * | 2016-12-09 | 2018-06-29 | 阿莱戈微系统有限责任公司 | For utilizing the method and apparatus of the motor start-up of sinusoidal phase current |
| CN108233793B (en) * | 2016-12-09 | 2023-08-08 | 阿莱戈微系统有限责任公司 | Method and apparatus for motor starting with sinusoidal phase current |
| US11768256B2 (en) | 2017-05-26 | 2023-09-26 | Allegro Microsystems, Llc | Coil actuated sensor with sensitivity detection |
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|---|---|
| CN100421349C (en) | 2008-09-24 |
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