CN103023399A - Zero angle calibrating system of rotary transformer rotor - Google Patents
Zero angle calibrating system of rotary transformer rotor Download PDFInfo
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- CN103023399A CN103023399A CN2012104922292A CN201210492229A CN103023399A CN 103023399 A CN103023399 A CN 103023399A CN 2012104922292 A CN2012104922292 A CN 2012104922292A CN 201210492229 A CN201210492229 A CN 201210492229A CN 103023399 A CN103023399 A CN 103023399A
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Abstract
The invention discloses a zero angle calibrating system of a rotary transformer rotor. The system comprises a motor output sampling circuit, a motor output comparison circuit, a processing circuit of the rotary transformer, and a microprocessor. The motor output sampling circuit samples three phase inductive electromotive forces of a permanent magnet synchronous motor to obtain a three phase sample. The motor output comparison circuit converts the three phase sample into a three phase digital signal through a comparator. The processing circuit of the rotary transformer analyzes a rotor angle signal. The microprocessor subtracts angles corresponding to the times of ascending edge and the descending edge of the three phase digital signal with the corresponding angles of the rotor angle signal at a same time to obtain a plurality of angle deviation values corresponding to the ascending and descending edges; and carrying out arithmetic average on the angle deviation values to obtain the calibrated zero angular deviation value of the rotary transformer. The system provided by the invention is low in cost, simple in structure, and fast in calibrating speed.
Description
Technical field
The present invention relates to automotive electronic technology, particularly a kind of resolver rotor zero-bit angle calibration system.
Background technology
Resolver (resolver/transformer) is a kind of electromagnetic sensor, claims again synchronous decomposer.It is a kind of small-sized alternating current motor of the usefulness that takes measurement of an angle, and is used for measuring rotating shaft angular travel and the angular speed of rotating object, is comprised of stator and rotor.Wherein stator winding is accepted exciting voltage as the former limit of transformer, and excitation frequency uses 400,3000 and 5000HZ etc. usually.The rotor winding obtains induced voltage as the secondary of transformer by electromagnetic coupled.
The operation principle of resolver and common transformer basic simlarity, difference is that the former limit of common transformer, secondary winding are relatively-stationary, so output voltage and input voltage ratio are constants, the former limit of resolver, secondary winding are then with the change of the angular displacement generation relative position of rotor, thereby the size of its output voltage changes with rotor angular displacement, sinusoidal, cosine function relation that the voltage magnitude of rotor winding becomes with angle of rotor, or keep a certain proportionate relationship, or linear with corner in certain angle range.
The general polarity winding of resolver and two kinds of versions of four utmost point windings.Stator and the rotor of the two poles of the earth winding resolver respectively have a pair of magnetic pole, and four utmost point windings then respectively have two pairs of magnetic poles, are mainly used in high-precision detection system.In addition, also have the multipolar system resolver, be used for high accuracy absolute type detection system.
Resolver is a kind of accurate angle, position, speed detector, be applicable to all occasions, particularly high temperature of using rotary encoders, severe cold, humidity, at a high speed, the rotary encoder such as the high vibrations occasion that can't work.Because the above characteristics of resolver, complete instead of optical photoelectric coder is widely used in the angle, position detecting system in the fields such as servo-control system, robot system, machine tool, automobile, electric power, metallurgy, weaving, printing, Aero-Space, boats and ships, weapons, electronics, metallurgy, mine, oil field, water conservancy, chemical industry, light industry, building.
Permagnetic synchronous motor is used widely in industry, for can easily control permagnetic synchronous motor, supervision, speed governing, be necessary the rotating speed of permagnetic synchronous motor is measured, thereby improve automaticity.
At present, in electric automobile, the method that the permagnetic synchronous motor rotating speed is detected has the photoelectricity decoder of use and resolver (Resolver).
When using resolver to detect the permagnetic synchronous motor rotating speed, the secondary of resolver (rotor winding) is installed on the motor transmission shaft, when electric machine rotation, resolver secondary (rotor winding) rotates synchronously with motor transmission shaft, and by former limit (stator winding) input electrical signal and secondary (rotor winding) output electrical signals, parsing obtains the rotor angle signal, thereby obtains motor speed signal.
Before parsing obtains the rotor angle signal, the at first essential zero-bit angle of determining resolver, the zero-bit angle is relevant with the installation site.In permagnetic synchronous motor and resolver production installation process, can guarantee resolver zero-bit angle by producing mounting process, yet this can increase production cost, productive temp slows down.Therefore, common way is after motor and resolver installation it to be carried out resolver rotor zero-bit angle calibration No. one time, and the zero-bit angular deviation that demarcation obtains is preserved, and is used for electric machine controller and carries out the zero-bit angle compensation.Not only cost is low to use resolver rotor zero-bit angle calibration method, and reliability is high.
Existing resolver rotor zero-bit angle calibration system, a kind of absolute position of normal operation sensor-based system (such as the photoelectricity decoder) detection rotor angle, the rotor angle that the rotor angle of its detection and resolver are detected contrasts in real time and obtains relative error, thereby obtains the zero-bit angular deviation.Existing this kind resolver rotor zero-bit angle calibration system, cost is high, complex structure, demarcation speed is slow, can't satisfy the quick need of production of automobile industry etc.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of resolver rotor zero-bit angle calibration system, and cost is low, and is simple in structure, and demarcation speed is fast.
For solving the problems of the technologies described above, resolver rotor zero-bit angle calibration provided by the invention system, it comprises motor output sample circuit, motor output comparison circuit, resolver treatment circuit, microprocessor;
Described motor output sample circuit, be used for U, V, W three-phase output open circuit at permagnetic synchronous motor, and dragged when rotating, U, V, W three-phase induction electromotive force that permagnetic synchronous motor produces are sampled respectively, obtain U, V, W three phase samplers and output to described motor output comparison circuit;
Described motor output comparison circuit, being used for by comparator is U, V, W three-phase digital signal with described U, V, W three-phase sample conversion;
Described resolver treatment circuit, be used for sending pumping signal to the stator winding of described resolver, and the inverse signal of the rotor winding of reception resolver, compare by inverse signal and pumping signal, parse the rotor angle signal, and the rotor angle signal is passed to described microprocessor;
Described microprocessor, be used for rising edge and corresponding angle of the trailing edge moment with U, V, W three-phase digital signal, subtract each other in the corresponding angle in the identical moment with the rotor angle signal respectively, obtain constantly corresponding a plurality of angular deviation values of a plurality of rising edges and trailing edge, described a plurality of angular deviation values are carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value.
Better, described microprocessor, be used for rising edge and the trailing edge of U, V within N cycle, W three-phase digital signal are total to a 6N constantly corresponding 6N angle, subtract each other in corresponding 6N of an identical moment angle with the rotor angle signal respectively, obtain constantly corresponding 6N angular deviation value of 6N rising edge and trailing edge, described 6N angular deviation value carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value, N is positive integer.
Better, if maximum and minimum value in continuous 6N angular deviation value, the deviation of demarcating zero-bit angular deviation value with described resolver is namely demarcated successfully less than 1 ° of C, exports resolver demarcation zero-bit angular deviation value otherwise recomputate.
Better, described microprocessor, the resolver that also is used for calculating is demarcated the electric machine controller that zero-bit angular deviation value sends to permagnetic synchronous motor.
Better, described motor output sample circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance;
The first resistance, the second resistance be used for being serially connected in permagnetic synchronous motor U in the same manner between, the tie point of the first resistance and the second resistance is exported the U phase sampler of permagnetic synchronous motor;
The 3rd resistance, the 4th resistance be used for being serially connected in permagnetic synchronous motor V in the same manner between, the tie point of the 3rd resistance and the 4th resistance is exported the V phase sampler of permagnetic synchronous motor;
The 5th resistance, the 6th resistance be used for being serially connected in permagnetic synchronous motor W in the same manner between, the tie point of the 5th resistance and the 6th resistance is exported the W phase sampler of permagnetic synchronous motor;
The first resistance equates with the ratio of the 6th resistance with ratio and the 5th resistance of the 4th resistance with ratio, the 3rd resistance of the second resistance.
Better, the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance are greater than 500 kilohms.
Better, described motor output comparison circuit comprises the first comparator, the second comparator, the 3rd comparator;
Described the first comparator, the positive described U phase sampler of termination, negativing ending grounding, output U phase digital signal;
Described the second comparator, the positive described V phase sampler of termination, negativing ending grounding, output V phase digital signal;
Described the 3rd comparator, the positive described W phase sampler of termination, negativing ending grounding, output W phase digital signal.
Resolver rotor zero-bit angle calibration of the present invention system, use resistor voltage divider circuit to gather the UVW three-phase voltage of permagnetic synchronous motor, and the UVW three-phase voltage obtained three-phase digital signal Uc by comparator respectively, Vc, Wc, three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge then characterize the special angle of resolver rotor constantly, at three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge are constantly, with rotor angle signal and the three-phase digital signal Uc that resolver gathers, Vc, the rising edge of Wc and special angle corresponding to the trailing edge moment subtract each other can obtain the angular deviation of resolver zero-bit.Resolver rotor zero-bit angle calibration of the present invention system can get zero-bit angular deviation value six times in one-period, and can calculate a plurality of cycles and average and verify, can obtain fast, accurately resolver and demarcate zero-bit angular deviation value; Resolver rotor zero-bit angle calibration of the present invention system can realize at the equipment that is independent of electric machine controller, has reduced the electric machine controller hardware cost and has discharged software resource, and cost is low; Resolver rotor zero-bit angle calibration of the present invention system does not need to connect high voltage source, and the stability of motor speed is not required, and is simple in structure, easy to operate.
Description of drawings
In order to be illustrated more clearly in technical scheme of the present invention, the below does simple the introduction to the accompanying drawing that will use required for the present invention, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is resolver rotor zero-bit angle calibration of the present invention system one embodiment schematic diagram;
Fig. 2 is the three phase sampler schematic diagrames that resolver rotor zero-bit angle calibration one embodiment of system sampling of the present invention obtains;
Fig. 3 is the three-phase digital signal sampling schematic diagram that resolver rotor zero-bit angle calibration one embodiment of system of the present invention is converted to;
Fig. 4 is the rotor angle signal schematic representation that resolver rotor zero-bit angle calibration of the present invention system one embodiment resolver treatment circuit parses.
Embodiment
Below in conjunction with accompanying drawing, the technical scheme among the present invention is carried out clear, complete description, obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment among the present invention, all other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work belong to the scope of protection of the invention.
Embodiment one
As shown in Figure 1, the rotor winding of resolver is fixed on the power transmission shaft of permagnetic synchronous motor, resolver rotor zero-bit angle calibration system comprises motor output sample circuit, motor output comparison circuit, resolver treatment circuit, Micro-processor MCV;
Described motor output sample circuit, be used for U, V, W three-phase output open circuit at permagnetic synchronous motor, and when permagnetic synchronous motor is dragged and is rotated, U, V, W three-phase induction electromotive force that permagnetic synchronous motor is produced are sampled and are obtained U, V, W three phase sampler Us, Vs, Ws, as shown in Figure 2, output U, V, W three phase sampler Us, Vs, Ws is to described motor output comparison circuit;
Described motor output comparison circuit is used for by comparator described U, V, W three phase sampler Us, and Vs, Ws are converted to U, V, W three-phase digital signal Uc, Vc, and Wc, as shown in Figure 3;
Described resolver treatment circuit, be used for sending pumping signal to the stator winding of described resolver, and the inverse signal of the rotor winding of reception resolver, compare by inverse signal and pumping signal, parse the rotor angle signal, shown in Fig. 4 dotted line, and the rotor angle signal passed to microprocessor;
Described microprocessor, be used for U, V, W three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge be corresponding angle constantly, subtract each other in the angle in the identical moment with the rotor angle signal respectively, obtain constantly corresponding a plurality of angular deviation values of a plurality of rising edges and trailing edge, described a plurality of angular deviation values are carried out arithmetic mean, the output resolver is demarcated zero-bit angular deviation value.
Can pass through the CAN communication, resolver be demarcated zero-bit angular deviation value transfer to electric machine controller, also this resolver can be demarcated zero-bit angular deviation value and be identified in permagnetic synchronous motor, when the mounted motor controller, input to again electric machine controller.
Embodiment two
Based on embodiment one, described microprocessor, be used for rising edge and the trailing edge of U, V within N cycle, W three-phase digital signal are total to a 6N constantly corresponding 6N angle, subtract each other in corresponding 6N of an identical moment angle with the rotor angle signal respectively, obtain constantly corresponding 6N angular deviation value of 6N rising edge and trailing edge, described 6N angular deviation value carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value, N is positive integer.
Among Fig. 3, in the one-period, U, V, W three-phase digital signal Uc, Vc, corresponding angle is as shown in the table constantly for the rising edge of Wc and trailing edge.
| The Uc rising edge | The Uc trailing edge | The Vc rising edge | The Vc trailing edge | The Wc rising edge | The Wc trailing edge |
| 0 | 180 | 120 | 300 | 240 | 60 |
Better, if maximum and minimum value in continuous 6N angular deviation value, demarcate the deviation of zero-bit angular deviation value less than 1 ° of C with described resolver, can think and demarcate successfully, otherwise recomputate the output resolver and demarcate zero-bit angular deviation value, unsuccessfully then think and demarcate unsuccessfully if demarcate for three times.
Embodiment three
Based on embodiment one, as shown in Figure 1, described motor output sample circuit comprises the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6;
The first resistance R 1, the second resistance R 2 be used for being serially connected in permagnetic synchronous motor U in the same manner between, the tie point of the first resistance R 1 and the second resistance R 2 is exported the U phase sampler Us of permagnetic synchronous motor;
The 3rd resistance R 3, the 4th resistance R 4 be used for being serially connected in permagnetic synchronous motor V in the same manner between, the tie point of the 3rd resistance R 3 and the 4th resistance R 4 is exported the V phase sampler Vs of permagnetic synchronous motor;
The 5th resistance R 5, the 6th resistance R 6 be used for being serially connected in permagnetic synchronous motor W in the same manner between, the tie point of the 5th resistance R 5 and the 6th resistance R 6 is exported the W phase sampler Ws of permagnetic synchronous motor;
The first resistance R 1 equates with the ratio of the 6th resistance R 6 with ratio and the 5th resistance R 5 of the 4th resistance R 4 with ratio, the 3rd resistance R 3 of the second resistance R 2.
Better, the resistance of the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6 is all greater than 500 kilohms.
Embodiment four
Based on embodiment three, described motor output comparison circuit comprises the first comparator C 1, the second comparator C 2, the 3rd comparator C 3;
Described the first comparator C 1, the positive described U phase sampler of termination Us, negativing ending grounding, output U phase digital signal Uc;
Described the second comparator C 2, the positive described V phase sampler of termination Vs, negativing ending grounding, output V phase digital signal Vc;
Described the 3rd comparator C 3, the positive described W phase sampler of termination Ws, negativing ending grounding, output W phase digital signal Wc.
When being rotated transformer rotor zero-bit angle calibration, keeping the three-phase output open circuit of permagnetic synchronous motor, and drag permagnetic synchronous motor and rotate, if stabilization of speed then can produce the induced electromotive force of three phase sine in the three-phase output of permagnetic synchronous motor.
The resolver treatment circuit sends pumping signal to the stator winding of resolver, and receives the inverse signal of the rotor winding of resolver, compares by inverse signal and pumping signal, parses the rotor angle signal.
Be resolver rotor zero-bit if establish U phase zero-bit, then when permagnetic synchronous motor is exported as shown in Figure 2 the three-phase induction electromotive force, the rotor angle signal should be shown in Fig. 4 solid line in theory, yet because resolver rotor zero drift, in fact the rotor angle signal will be shown in Fig. 4 dotted line.
Resolver rotor zero-bit angle calibration of the present invention system, use resistor voltage divider circuit to gather the UVW three-phase voltage of permagnetic synchronous motor, and the UVW three-phase voltage obtained three-phase digital signal Uc by comparator respectively, Vc, Wc, three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge then characterize the special angle of resolver rotor constantly, at three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge are constantly, with rotor angle signal and the three-phase digital signal Uc that resolver gathers, Vc, the rising edge of Wc and special angle corresponding to the trailing edge moment subtract each other can obtain the angular deviation of resolver zero-bit.Resolver rotor zero-bit angle calibration of the present invention system can get zero-bit angular deviation value six times in one-period, and can calculate a plurality of cycles and average and verify, can obtain fast, accurately resolver and demarcate zero-bit angular deviation value; Resolver rotor zero-bit angle calibration of the present invention system can realize at the equipment that is independent of electric machine controller, has reduced the electric machine controller hardware cost and has discharged software resource, and cost is low; Resolver rotor zero-bit angle calibration of the present invention system does not need to connect high voltage source, and the stability of motor speed is not required, and is simple in structure, easy to operate.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, is equal to replacement, improvement etc., all should be included within the scope of protection of the invention.
Claims (7)
1. a resolver rotor zero-bit angle calibration system is characterized in that, comprises motor output sample circuit, motor output comparison circuit, resolver treatment circuit, microprocessor;
Described motor output sample circuit, be used for U, V, W three-phase output open circuit at permagnetic synchronous motor, and dragged when rotating, U, V, W three-phase induction electromotive force that permagnetic synchronous motor produces are sampled respectively, obtain U, V, W three phase samplers and output to described motor output comparison circuit;
Described motor output comparison circuit, being used for by comparator is U, V, W three-phase digital signal with described U, V, W three-phase sample conversion;
Described resolver treatment circuit, be used for sending pumping signal to the stator winding of described resolver, and the inverse signal of the rotor winding of reception resolver, compare by inverse signal and pumping signal, parse the rotor angle signal, and the rotor angle signal is passed to described microprocessor;
Described microprocessor, be used for rising edge and corresponding angle of the trailing edge moment with U, V, W three-phase digital signal, subtract each other in the corresponding angle in the identical moment with the rotor angle signal respectively, obtain constantly corresponding a plurality of angular deviation values of a plurality of rising edges and trailing edge, described a plurality of angular deviation values are carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value.
2. resolver rotor zero-bit angle calibration according to claim 1 system is characterized in that,
Described microprocessor, be used for rising edge and the trailing edge of U, V within N cycle, W three-phase digital signal are total to a 6N constantly corresponding 6N angle, subtract each other in corresponding 6N of an identical moment angle with the rotor angle signal respectively, obtain constantly corresponding 6N angular deviation value of 6N rising edge and trailing edge, described 6N angular deviation value carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value, N is positive integer.
3. resolver rotor zero-bit angle calibration according to claim 2 system is characterized in that,
If maximum and minimum value in continuous 6N angular deviation value, the deviation of demarcating zero-bit angular deviation value with described resolver is namely demarcated successfully less than 1 ° of C, exports resolver demarcation zero-bit angular deviation value otherwise recomputate.
4. resolver rotor zero-bit angle calibration according to claim 3 system is characterized in that,
Described microprocessor, the resolver that also is used for calculating is demarcated the electric machine controller that zero-bit angular deviation value sends to permagnetic synchronous motor.
5. resolver rotor zero-bit angle calibration according to claim 1 system is characterized in that,
Described motor output sample circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance;
The first resistance, the second resistance be used for being serially connected in permagnetic synchronous motor U in the same manner between, the tie point of the first resistance and the second resistance is exported the U phase sampler of permagnetic synchronous motor;
The 3rd resistance, the 4th resistance be used for being serially connected in permagnetic synchronous motor V in the same manner between, the tie point of the 3rd resistance and the 4th resistance is exported the V phase sampler of permagnetic synchronous motor;
The 5th resistance, the 6th resistance be used for being serially connected in permagnetic synchronous motor W in the same manner between, the tie point of the 5th resistance and the 6th resistance is exported the W phase sampler of permagnetic synchronous motor;
The first resistance equates with the ratio of the 6th resistance with ratio and the 5th resistance of the 4th resistance with ratio, the 3rd resistance of the second resistance.
6. resolver rotor zero-bit angle calibration according to claim 5 system is characterized in that,
The first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance are greater than 500 kilohms.
7. resolver rotor zero-bit angle calibration according to claim 5 system is characterized in that,
Described motor output comparison circuit comprises the first comparator, the second comparator, the 3rd comparator;
Described the first comparator, the positive described U phase sampler of termination, negativing ending grounding, output U phase digital signal;
Described the second comparator, the positive described V phase sampler of termination, negativing ending grounding, output V phase digital signal;
Described the 3rd comparator, the positive described W phase sampler of termination, negativing ending grounding, output W phase digital signal.
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| CN111200380A (en) * | 2018-11-16 | 2020-05-26 | 郑州宇通客车股份有限公司 | Method and device for detecting initial rotary transformation electrical angle of new energy automobile motor |
| CN111490710A (en) * | 2020-05-06 | 2020-08-04 | 郑州精益达汽车零部件有限公司 | Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle |
| CN112636655A (en) * | 2020-12-18 | 2021-04-09 | 湖南航天机电设备与特种材料研究所 | Method and device for calibrating zero position of permanent magnet synchronous motor |
| CN113271043A (en) * | 2021-05-26 | 2021-08-17 | 永大电梯设备（中国）有限公司 | Method for correcting angular deviation between rotor of rotary transformer and rotor of permanent magnet synchronous motor |
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| CN104333286A (en) * | 2014-10-23 | 2015-02-04 | 江苏浩峰汽车附件有限公司 | Method for realizing Hall sensor installation position deviation correction based on six pulse algorithm |
| CN108196213A (en) * | 2018-02-02 | 2018-06-22 | 中国第汽车股份有限公司 | Zero-bit angle test device, the method and system of a kind of rotary transformer |
| CN108429493A (en) * | 2018-03-21 | 2018-08-21 | 深圳派赛科技有限公司 | A kind of caliberating device and its method of three-phase permanent magnet synchronous motor initial zero position |
| CN111200380A (en) * | 2018-11-16 | 2020-05-26 | 郑州宇通客车股份有限公司 | Method and device for detecting initial rotary transformation electrical angle of new energy automobile motor |
| CN110266219A (en) * | 2019-06-25 | 2019-09-20 | 合肥巨一动力系统有限公司 | A kind of permanent magnet synchronous motor rotation change Zero positioning circuit |
| CN111162711A (en) * | 2020-03-17 | 2020-05-15 | 深圳熙斯特新能源技术有限公司 | Motor rotor reference zero offset correction method and system |
| CN111490710A (en) * | 2020-05-06 | 2020-08-04 | 郑州精益达汽车零部件有限公司 | Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle |
| CN111490710B (en) * | 2020-05-06 | 2022-06-21 | 郑州智驱科技有限公司 | Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle |
| CN112636655A (en) * | 2020-12-18 | 2021-04-09 | 湖南航天机电设备与特种材料研究所 | Method and device for calibrating zero position of permanent magnet synchronous motor |
| CN112636655B (en) * | 2020-12-18 | 2022-08-30 | 湖南航天机电设备与特种材料研究所 | Method and device for calibrating zero position of permanent magnet synchronous motor |
| CN113271043A (en) * | 2021-05-26 | 2021-08-17 | 永大电梯设备（中国）有限公司 | Method for correcting angular deviation between rotor of rotary transformer and rotor of permanent magnet synchronous motor |
| CN113702704A (en) * | 2021-07-16 | 2021-11-26 | 东风汽车集团股份有限公司 | Motor zero position detection method and device for new energy vehicle and related vehicle |
| CN114578125A (en) * | 2022-03-08 | 2022-06-03 | 广汽埃安新能源汽车有限公司 | System and method for detecting rotary transformer zero crossing point and vehicle |
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