CN101997463A - Double-direct current brushless motor controller of currency counting machine and control method thereof - Google Patents
Double-direct current brushless motor controller of currency counting machine and control method thereof Download PDFInfo
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- CN101997463A CN101997463A CN2010105207541A CN201010520754A CN101997463A CN 101997463 A CN101997463 A CN 101997463A CN 2010105207541 A CN2010105207541 A CN 2010105207541A CN 201010520754 A CN201010520754 A CN 201010520754A CN 101997463 A CN101997463 A CN 101997463A
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Abstract
The invention provides a double-direct current brushless motor controller of a currency counting machine. The double-direct current brushless motor controller comprises a power supply circuit, a rotor position detection circuit and a communication unit. The rotor position detection circuit comprises a microprocessor control circuit of master and slave microprocessors, a master control power tube driving circuit and a slave control power tube driving circuit, wherein the master control power tube driving circuit and the slave control power tube driving circuit are used for driving two direct current brushless motors. The controller is used for receiving instructions from the currency counting machine to control a master direct current brushless motor and a slave direct current brushless motor to work. The communication unit is used for communicating a state signal and a speed signal between the master and slave microprocessors so as to allow the master direct current brushless motor and the slave direct current brushless motor to cooperatively work, is used for controlling the master and slave motors of the currency counting machine to output stable speed under different loads and guarantees currency to stably and sequentially pass through detection positions of optical and electromagnetic sensors.
Description
Technical field
The present invention relates to a kind of kinetic control system that is applicable to industrial equipment, finance device, be specifically related to the two DC brushless motor controllers of a kind of false distinguishing counting instrument.
Background technology
Along with the development of pseudo-technology for making, the discriminating difficulty of counterfeit money is increasing, and existing anti counterfeit appts is badly in need of updating.At present, multispectral false distinguishing counting instrument is the developing direction of counting equipment in the world, functions such as this how much of equipment utilization, magnetic inspection, the analysis of safety line magnetic code, multispectral image analysis and serial number identification record storage can be carried out branch version false distinguishing counting to the bank note of various face amounts.This false distinguishing counting instrument and former comparing, though it is powerful much on function, but also face new problem, it is strict more to the requirement of power control system, be embodied in following 2 points: the one, the electromagnetic interference that requirement motor and control system thereof produce is minimum, for the transducer and the middle control circuit of false distinguishing counting instrument provides good electromagnetism environment; The 2nd, the requirement motor speed of service is very steady, makes banknote can keep the detecting location of substantially invariable speed by various kinds of sensors under different loads.And general two brush direct current motors that work alone fully and the control system thereof of adopting of the motor of original false distinguishing counting instrument uses the false distinguishing counting instrument of this type of dynamical system to have following shortcoming:
(1) poor reliability easily produces spark, and its carbon brush needs to change;
(2) speed adjustable range is narrow poor with load characteristic;
(3) power density is low, and the collector ring carbon brush has occupied the effective volume of motor;
(4) bi-motor independent operating adopts control unit separately respectively, mutually between not communication, can't realize the Collaborative Control of bi-motor.
Summary of the invention
Defective at above-mentioned brush direct current motor and control system thereof, the invention provides the two dc brushless motor control system of a kind of false distinguishing counting instrument, be applicable to novel multispectral false distinguishing counting instrument, make that whole power supply system has that good reliability, speed-regulating range width, load characteristic are good, high efficiency and the big advantage of power density, the electromagnetic interference of its generation simultaneously is extremely low.
The invention provides the two DC brushless motor controllers of a kind of counting instrument, comprise power circuit, comprise main control microprocessor and from the control microprocessor microprocessor control circuit, comprise the master control power tube drive circuit and from the power tube drive circuit of control power tube drive circuit, this controller is used to receive from commands for controlling master's dc brushless motor of counting instrument with from the work of dc brushless motor;
Described power circuit comprises first Switching Power Supply that is used to the microprocessor control circuit power supply and the second switch power supply that is used to the power tube drive circuit power supply;
Main control microprocessor is used to receive the rate signal and the hall position status signal of autonomous dc brushless motor, exports main control signal, and drives main dc brushless motor by the master control power tube drive circuit;
Be used to receive next rate signal and hall position status signal from the control microprocessor, export from control signal since dc brushless motor, and by driving from dc brushless motor from the control power tube drive circuit;
It is characterized in that this controller further comprises:
Communication unit, be used for main control microprocessor and from communications status signal and rate signal between the control microprocessor so that main dc brushless motor and from the dc brushless motor collaborative work.
Preferably, described main dc brushless motor is used for banknote is delivered to the detecting sensor position, describedly drives Hot Wheels from dc brushless motor and is used to receive the banknote that has detected.
Preferably, described main dc brushless motor and comprise from the dc brushless motor collaborative work:
(1) when described controller received open command from counting instrument control board, after reaching predetermined speed from the brshless DC motor rotation, main brshless DC motor was started working;
(2) when described controller received halt instruction from counting instrument control board, main brshless DC motor quit work, and quit work from brshless DC motor after waiting for the scheduled time;
(3) when paper money counter by intellectual status, when examining a kind of in state, the number state and enter stopped status by force, main brshless DC motor enters inverted status, keep original speed forward work from brshless DC motor this moment.
The invention provides the control method of the two DC brushless motor controllers of a kind of aforesaid counting instrument, this method feature is:
(1) when described controller received open command from counting instrument control board, after reaching predetermined speed from the brshless DC motor rotation, main brshless DC motor was started working;
(2) when controller received halt instruction from counting instrument control board, main brshless DC motor quit work, and quit work from brshless DC motor after waiting for the scheduled time;
(3) when by paper money counter by intellectual status, when examining a kind of in state, the number state and enter stopped status by force, main brshless DC motor enters inverted status, keep original speed forward work from brshless DC motor this moment.
Technical scheme of the present invention is as follows: the two DC brushless motor controllers of a kind of false distinguishing counting instrument, and the hardware circuit part of The whole control system comprises power circuit, microprocessor control circuit, power tube drive circuit, rotor position detection circuit and protective circuit; Software program partly comprises primary control program and phase change logic control program.In the function design, software program moves at main control microprocessor with from two microprocessors of control microprocessor respectively, by each circuit module, realize the cooperative motion of bi-motor, two motors of principal and subordinate that are used to control false distinguishing counting instrument can be exported stable speed under different loads, guarantee that banknote steady ordered ground passes through the detecting location of optics, electromagnetic sensor.Preferably, described power circuit is a switching power circuit, adopts two switching power source chip MC34063 of ST company cheaply.Described microprocessor control circuit is the dual micro processor control circuit, comprises corresponding interface circuits and ancillary equipment, and microprocessor preferably adopts the XC846 of company of German Infineon.Described power tube drive circuit is the MOSFET tube drive circuit, preferably adopts the integrated chip IR2103 of IR company, and the MOSFET pipe is preferably selected the 17NF03 of ST company for use.Primary control program and commutation program are moved in described XC846.Under the support of above-mentioned built-up circuit, each segmentation PID control computing module in the microprocessor control circuit adopts segmentation PID (ratio, integration, differential) control strategy, master control and receive the current speed of service of motor that the Hall element from electric machine built-in obtains respectively from the control microprocessor, according to the duty ratio of the different adjustment PWM between this speed of service and the respective objects speed, make winner's motor and under different loads, can export stable speed in real time from motor.Further, described controller further comprises two communication units between the microprocessor, by establishing a communications link between two microprocessors, guarantees the collaborative work of bi-motor with mutual transmission state signal and rate signal.
Preferably, described switching power circuit adopts two low-cost switching power source chip MC34063, by the design and the adjustment of peripheral circuit, the 24V voltage of input stably can be converted to needed 12V of controller and 5V, give controller each functional module power supply respectively.
Described dual micro processor control circuit mainly comprises two microprocessors and corresponding interface circuits thereof, ancillary equipment.Microprocessor is the core of entire controller, mainly finish parsing, the control algolithm of input signal realization, control logic signal output and with functions such as the external world communicates by letter.Microprocessor control circuit comprises main control microprocessor and from the control microprocessor, controls main motor respectively and from motor, main motor is used for banknote is delivered to the detecting sensor position, is used to receive the banknote that has detected from the driven by motor Hot Wheels.Main control microprocessor and from the control microprocessor carry out collaborative work by for example 4 IO port communications.The model of microprocessor for example is the XC846 of company of German Infineon.
Described MOSFET tube drive circuit adopts for example special-purpose integrated drive chips IR2103, and its peripheral forming circuit is simple, the reliability height; The MOSFET pipe is selected 17NF03 for use, and its performance parameter for example voltage peak, the needed minimum performance requirement of current peak geometric ratio controller is high by about 30%.
Described rotor-position Hall testing circuit further comprises the RC filter circuit that the Hall output signal is carried out RC filtering, signal is directly inputted into the relevant pin of microprocessor after the filtering after the removal high-frequency signal disturbs, need not carry out photoelectricity through high speed photo coupling and isolate, under the prerequisite that guarantees reliability, save the cost of controller.
Controller comprises the current protecting circuit of main dc brushless motor, and it by constantan wire, carries out voltage sampling with phase current.This voltage signal inputs to main control microprocessor after filtering, main control microprocessor obtains current current value by the AD conversion, carries out FEEDBACK CONTROL then, makes electric current remain in the safe range.
Among the present invention, high reliability and low cost run through whole design, XC846 special microprocessor and power tube integrated drive chips IR2103 have been adopted towards Electric Machine Control, make the components and parts of entire controller less, circuit is simple relatively, so reliability and maintenanceability have all reached level preferably; Simultaneously, under the prerequisite that guarantees reliability, rotor position detection, speed detect and unnecessary components and parts and peripheral circuit have been removed in the current sampling aspect, thereby saved the overall cost of controller.
Each controller all is reserved with and extraneous serial ports of communicating by letter, custom-designed debugging plate and controller serial ports carry out alternately, parameters such as cut-off current that can the Correction and Control device, velocity amplitude, remove foozle thus, all controllers basically identical on performance parameter that assurance is dispatched from the factory, thereby reduced manufacture difficulty, helped producing in enormous quantities operation.
By on special microprocessor XC846, realizing segmentation PID speed control algorithm, it is non-linear to have remedied the part that concerns between motor rotation speed and the PWM, make velocity control accuracy reach level preferably, from test case, the velocity control accuracy of single controller is in 0.8%, in batches in 1.2%.
Description of drawings
Fig. 1 is according to false distinguishing counting instrument DC brushless motor controller structured flowchart of the present invention;
Fig. 2 is the switching power circuit according to controller shown in Figure 1 of the present invention;
Fig. 3 is the dual micro processor control circuit according to controller shown in Figure 1 of the present invention;
Fig. 4 is the MOSFET tube drive circuit according to controller shown in Figure 1 of the present invention;
Fig. 5 be according to controller shown in Figure 1 of the present invention rotor-position Hall testing circuit;
Fig. 6 is the current protecting circuit according to controller shown in Figure 1 of the present invention;
Fig. 7 is a primary control program flow chart of the present invention;
Fig. 8 is a commutation program flow diagram of the present invention.
Embodiment
Below in conjunction with specific embodiments, and, details of the present invention and principle are further described with reference to accompanying drawing.
Fig. 1 shows the structured flowchart according to false distinguishing counting instrument DC brushless motor controller of the present invention, and the two DC brushless motor controllers of this false distinguishing counting instrument comprise power circuit 1, dual micro processor control circuit 2, MOSFET tube drive circuit 3 ' and 3 ", rotor-position Hall testing circuit 4 ' and 4 ", current protecting circuit 5.Power circuit 1 is used for 24V general supply 6 is converted to for example 12V and 5V through switching power circuit 7 and switching power circuit 8, is used to be respectively MOSET tube drive circuit 3 ' and 3 " and 2 power supplies of dual micro processor control circuit.Switching power circuit comprises for example switching power source chip of the MC34063 of ST company.Rotor-position Hall testing circuit 4 ' and 4 ", comprise signal conditioning circuit 20 and 21 and hall position testing circuit 22 and 23 respectively, be used for detecting respectively main dc brushless motor 18 and from the hall position status signal of dc brushless motor 19.Signal conditioning circuit 20 and 21 comprises the RC filter circuit that is used for described hall position status signal is carried out High frequency filter respectively.Dual micro processor control circuit 2 comprises main control microprocessor 9 and from control microprocessor 10, the model of microprocessor for example is XC846.Main control microprocessor 9 and receives autonomous dc brushless motor 18 respectively and from the rate signal and the hall position status signal of dc brushless motor 19 from control microprocessor 10, status signal and rate signal are analyzed and handled, and output is used to control main dc brushless motor 18 and from the main control signal of dc brushless motor 19 states and speed with from control signal respectively.Main control microprocessor 9 further comprises the connector 11 that for example is used for serial communication and is used to receive connector 13 from the instruction of counting instrument with false distinguishing counting instrument IO port communications.Further comprise the connector 12 that for example is used for serial communication from control microprocessor 10.MOSFET tube drive circuit 3 ' and 3 " comprise integrated drive chips 14 and 15 respectively; receive respectively from master control with from principal and subordinate's control signal of control microprocessor 9 and 10; drive the inverter bridge of forming by 6 MOSFET pipes respectively 16 and 17, so that control the operating state and the speed of dc brushless motor 18 and 19.The model that drives integrated chip for example is the IR2103 of IR company, and the model of MOSFET pipe for example is the 17NF03 of ST company.Current protecting circuit is with the phase current ground connection of main motor.This current protecting circuit adopts constantan wire 24 to carry out current sampling 25, and sampled signal is converted to voltage signal.This voltage signal is through the laggard AD pin of going into master control microprocessor 9 of signal condition unit 26 conditionings.
Counting instrument DC brushless motor controller according to the present invention further comprises communication interface, be used for establishing a communications link at main control microprocessor 9 with between control microprocessor 10, communications status signal and rate signal betwixt, so as master control and from control microprocessor 9 and 10 by MOSFET drive circuit 3 ' and 3 " respectively adjusting advocate peace and make the collaborative work of principal and subordinate's dc brushless motor from the operating state and the speed of dc brushless motor.Workflow according to controller of the present invention may further comprise the steps: when (1) requires motor to open when false distinguishing counting instrument master control borad, change earlier from the driven by motor Hot Wheels, after wait reached predetermined speed from motor, main motor was started working.(2) when false distinguishing counting instrument master control borad was assigned halt instruction, main motor quit work immediately, waited for for example quitting work from motor after 2 seconds.(3) inverted status is used for that main motor is anxious to stop action; when by intellectual status, when examining a kind of in state, the number state and enter stopped status by force; the centre has of short duration inverted status, when main motor is in inverted status, keeps original speed forward work from motor.At intellectual status, examine state and number state by force, the speed of service that the two DC brushless motor controllers of false distinguishing counting instrument are controlled main motor for example is respectively 1655 rev/mins, 1140 rev/mins and 680 rev/mins; Be respectively 170 rev/mins, 105 rev/mins, 43 rev/mins for speed from motor.Control algolithm adopts segmentation PID control strategy, and microprocessor obtains the current speed of service of motor by the Hall element of electric machine built-in, regulates the duty ratio of PWM to guarantee that motor is with stable speed operation according to this speed of service and target velocity then.
According to the switching power circuit that is used for controller shown in Figure 1 of the present invention as shown in Figure 2. Switching power circuit 7 and 8 comprises low-cost switching power source chip MC34063 and the peripheral circuit of being made up of resistor, capacitor, inductor and diode respectively.Can determine the resistance of resistor according to the power supply chip handbook, so that the 24V voltage of input stably is converted to needed 5V of controller and 12V voltage, the current value of allowing is given the microprocessor and the drive circuitry of controller respectively in 1.5A.
Be used for dual micro processor control circuit shown in Figure 1 as shown in Figure 3 according to of the present invention.This control circuit comprise two for example model be microprocessor and corresponding external interface circuit and the ancillary equipment of XC846.Two microprocessors are cores of entire controller.For improving the control precision of controller, two microprocessors have adopted external crystal-controlled oscillation respectively.The external interface of dual micro processor control circuit for example comprises 2 serial ports connectors and an IO mouth connector, wherein serial ports is used for program burn writing and parameter correction, the IO mouth is used for communicating with the control main board of false distinguishing counting instrument, microprocessor is adjusted the speed and the direction of two motors according to communication instruction, with the intellectual status that satisfies paper money counter, examine under state, the number state requirement to the motor different rotating speeds by force.Further, also there is the IO port communications between two microprocessors of controller, be used to the to communicate by letter status signal and the rate signal of principal and subordinate's brshless DC motor are so that main control microprocessor and control main brshless DC motor respectively and from the brshless DC motor cooperative motion from the control microprocessor.This cooperative motion comprises: when (1) requires motor to open when false distinguishing counting instrument master control borad, change earlier from the driven by motor Hot Wheels, after wait reached predetermined speed from motor, main motor was started working.(2) when false distinguishing counting instrument master control borad was assigned halt instruction, main motor quit work immediately, waited for quitting work from motor after 2 seconds.(3) inverted status is used for that main motor is anxious to stop action; when by intellectual status, when examining a kind of in state, the number state and enter stopped status by force; the centre has of short duration inverted status, when main motor is in inverted status, keeps original speed forward work from motor.
MOSFET tube drive circuit 3 ' and 3 according to controller shown in Figure 1 of the present invention " as shown in Figure 4, only show the driving situation of two bridges mutually up and down among Fig. 4, in addition two-phase with shown in similar, for simplicity's sake, no longer illustrate here.This drive circuit comprises integrated drive chips and MOSFET pipe, and integrated drive chips is for example selected IR2103 for use, and the MOSFET pipe is for example selected 17NF03 for use.On the periphery circuit design of drive circuit, diode has been selected fast recovery diode for use, and bootstrap capacitor for example is 47 μ F, and withstand voltage for example is 25V.The impedance ratio of considering IR2103 internal drive output is lower, manages the G utmost point for example 510 ohm the resistor of having connected at its output and MOSFET.
Rotor-position Hall testing circuit 4 ' and 4 according to controller shown in Figure 1 of the present invention " as shown in Figure 5.Testing circuit draws processing on the output signal of Hall element has been carried out.Before hall signal enters microprocessor, also carried out RC filtering, disturbed with the high-frequency signal of removing in the hall signal.
According to the current protecting circuit of controller shown in Figure 1 of the present invention as shown in Figure 6.Current protecting circuit is passed through constantan wire with the phase current of main brshless DC motor, and for example resistance value is 0.1 ohm, carries out voltage sampling.This voltage signal inputs to main control microprocessor after filtering, main control microprocessor obtains current current value by the AD conversion.
Fig. 7 is according to the main control microprocessor of Double Motor Control device of the present invention with from controlling the master control operational flowchart of microprocessor.After the counting instrument powers on or resets, carry out basic software and hardware initial work earlier, two of the start-up control device timers 1 and timer 2s then, timing cycle is respectively 1ms and 64 μ s, is respectively applied for master control operation and commutation operation; With 1ms as basic time quantum; each functional module is carried out frequency division to be handled; making these real-times of current protecting circuit and IO communication unit require stronger functional module is to move in the cycle with 1ms, and serial communication modular is to move in the cycle with 100ms.The segmentation pid control algorithm module of master microprocessor is to move in the cycle with 5ms.
Fig. 8 is according to the main control microprocessor of Double Motor Control device of the present invention with from control microprocessor commutation operational flowchart.This operation is the cycle to enter interrupt routine with 64 μ s.Microprocessor is inquired about the state of corresponding hall position testing circuit.If the hall position status signal does not change, the not commutation as yet of corresponding motor is described, only need after reading current current value, withdraw from interrupt routine fast.If variation has taken place in the hall position status signal, the hall position status signal is repeatedly confirmed to prevent mistake, so according to new hall position status signal, determine the conducting order of MOSFET pipe, adjust 6 logic control signals of drive axle then, realize control corresponding brushless direct-current drive motors.Need to calculate the current rotating speed of motor after this, this rotating speed feeds back to the microprocessor of motor as the value of feedback of speed control, to realize the closed-loop control to motor speed, jumps out interrupt routine at last after reading current current value.
More than by embodiment the present invention is specified.Should be appreciated that foregoing description of the present invention is illustrative rather than restrictive.Those skilled in the art can make amendment and modification to the present invention in the case of without departing from the spirit of the present invention by reading this specification.Protection scope of the present invention only is defined by the following claims.
Claims (10)
1. two DC brushless motor controllers of a counting instrument, comprise power circuit, comprise main control microprocessor and from the control microprocessor microprocessor control circuit, comprise the master control power tube drive circuit and from the power tube drive circuit of control power tube drive circuit, this controller is used to receive from commands for controlling master's dc brushless motor of counting instrument with from the work of dc brushless motor;
Described power circuit comprises first Switching Power Supply that is used to the microprocessor control circuit power supply and the second switch power supply that is used to the power tube drive circuit power supply;
Main control microprocessor is used to receive the rate signal and the hall position status signal of autonomous dc brushless motor, exports main control signal, and drives main dc brushless motor by the master control power tube drive circuit;
Be used to receive next rate signal and hall position status signal from the control microprocessor, export from control signal since dc brushless motor, and by driving from dc brushless motor from the control power tube drive circuit;
It is characterized in that this controller further comprises:
Communication unit is used at main control microprocessor with from communications status signal and rate signal between the control microprocessor, so that main control microprocessor and control main dc brushless motor respectively and from the dc brushless motor collaborative work from the control microprocessor.
2. the two DC brushless motor controllers of counting instrument according to claim 1 is characterized in that described main dc brushless motor is used for banknote is delivered to the detecting sensor position, describedly drive Hot Wheels from dc brushless motor and are used to receive the banknote that has detected.
3. the two DC brushless motor controllers of counting instrument according to claim 1 is characterized in that described main dc brushless motor and comprise from the dc brushless motor collaborative work:
(1) when described controller received open command from counting instrument control board, after reaching predetermined speed from the brshless DC motor rotation, main brshless DC motor was started working;
(2) when described controller received halt instruction from counting instrument control board, main brshless DC motor quit work, and quit work from brshless DC motor after waiting for the scheduled time;
(3) when paper money counter by intellectual status, when examining a kind of in state, the number state and enter stopped status by force, main brshless DC motor enters inverted status, keep original speed forward work from brshless DC motor this moment.
4. the two DC brushless motor controllers of counting instrument according to claim 1 is characterized in that described main control microprocessor and are respectively the XC846 microprocessor of company of German Infineon from the control microprocessor.
5. the two DC brushless motor controllers of counting instrument according to claim 1 is characterized in that,
Described master control power tube drive circuit is the MOSFET drive circuit, and it comprises the integrated chip IR2103 of IR company, and the MOSFET pipe is the 17NF03 of ST company,
Described is the MOSFET drive circuit from the control power tube drive circuit, and it comprises the integrated chip IR2103 of IR company, and the MOSFET pipe is the 17NF03 of ST company.
6. the two DC brushless motor controllers of counting instrument according to claim 1 is characterized in that,
Described first Switching Power Supply comprises the switching power source chip MC34063 of ST company; Described second switch power supply comprises the switching power source chip MC34063 of ST company.
7. the two DC brushless motor controllers of counting instrument according to claim 1; it is characterized in that described controller further comprises the current protecting circuit of main dc brushless motor; this current protecting circuit adopts constantan wire to carry out current sample, and sampled signal exports main control microprocessor to after nursing one's health.
8. the two DC brushless motor controllers of counting instrument according to claim 1 is characterized in that,
Described main control microprocessor comprises that rate signal and its target velocity that segmentation PID control computing module is used in the future autonomous brshless DC motor compare, and the duty ratio of regulating PWM, so that main brshless DC motor is exported stable speed under different loads;
Describedly comprise that from the control microprocessor segmentation PID control computing module is used in the future comparing since rate signal and its target velocity of brshless DC motor, and the duty ratio of regulating PWM, so that under different loads, export stable speed from brshless DC motor.
9. the two DC brushless motor controllers of counting instrument according to claim 1, the hall position status signal that it is characterized in that described main dc brushless motor through RC filtering after input main control microprocessor control circuit; After the hall position status signal process RC filtering of dc brushless motor, import from the control microprocessor control circuit.
10. the control method of the two DC brushless motor controllers of a counting instrument as claimed in claim 1, its method feature is:
(1) when described controller received open command from counting instrument control board, after reaching predetermined speed from the brshless DC motor rotation, main brshless DC motor was started working;
(2) when controller received halt instruction from counting instrument control board, main brshless DC motor quit work, and quit work from brshless DC motor after waiting for the scheduled time;
(3) when by paper money counter by intellectual status, when examining a kind of in state, the number state and enter stopped status by force, main brshless DC motor enters inverted status, keep original speed forward work from brshless DC motor this moment.
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| CN201010520754A CN101997463B (en) | 2010-10-20 | 2010-10-20 | Double-direct current brushless motor controller of currency counting machine and control method thereof |
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| CN201010520754A CN101997463B (en) | 2010-10-20 | 2010-10-20 | Double-direct current brushless motor controller of currency counting machine and control method thereof |
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| CN113315421A (en) * | 2021-06-24 | 2021-08-27 | 中汽创智科技有限公司 | Redundant double-brushless motor control system and control method |
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| CN104811106A (en) * | 2015-04-23 | 2015-07-29 | 深圳怡化电脑股份有限公司 | Method and system for closed-loop control over direct-current motor |
| CN104811106B (en) * | 2015-04-23 | 2018-11-09 | 深圳怡化电脑股份有限公司 | The method and system of direct current generator closed-loop control |
| CN105450100B (en) * | 2015-07-03 | 2020-08-18 | 浙江海洋学院 | Brushless motor driving circuit and control method thereof |
| CN105450100A (en) * | 2015-07-03 | 2016-03-30 | 浙江海洋学院 | Brushless motor driving circuit and control method thereof |
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| CN107703929A (en) * | 2017-12-06 | 2018-02-16 | 黄河科技学院 | DC brushless motor controller test device |
| CN107703929B (en) * | 2017-12-06 | 2024-03-29 | 黄河科技学院 | DC brushless motor controller testing device |
| CN113315421A (en) * | 2021-06-24 | 2021-08-27 | 中汽创智科技有限公司 | Redundant double-brushless motor control system and control method |
| CN113315421B (en) * | 2021-06-24 | 2023-12-26 | 中汽创智科技有限公司 | Redundant double brushless motor control system and control method |
| WO2023087905A1 (en) * | 2021-11-22 | 2023-05-25 | 江苏科技大学 | Compensation circuit for collecting phase delay of switch hall sensor, and control method thereof |
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