CN103259487B - The method of Frequency Converter Control motor and frequency converter - Google Patents

The method of Frequency Converter Control motor and frequency converter Download PDF

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CN103259487B
CN103259487B CN201310133221.1A CN201310133221A CN103259487B CN 103259487 B CN103259487 B CN 103259487B CN 201310133221 A CN201310133221 A CN 201310133221A CN 103259487 B CN103259487 B CN 103259487B
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phase
current
brachium pontis
sample
resistance
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CN201310133221.1A
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CN103259487A (en
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王国锋
郑伟
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深圳市海浦蒙特科技有限公司
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Abstract

The present invention discloses a kind of method of Frequency Converter Control motor, comprising: under the three-phase of inverter, brachium pontis is connected sampling resistor respectively; The driving of the wherein phase in three-phase is closed, the upper brachium pontis of the wherein phase in remaining two-phase drive close, lower brachium pontis drives completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of the other phase in remaining two-phase drives start from scratch increase gradually, lower brachium pontis drives and closes; Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the first preset value I, and recording busbar voltage U1 and duty ratio D1; Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the second preset value I ', and recording busbar voltage U2 and duty ratio D2; Calculate alternate resistance using the stator resistance of the average of the alternate between two resistance of three-phase as motor.Also disclose a kind of frequency converter applying said method, said method and frequency converter sample rate current are simple and accurately.

Description

The method of Frequency Converter Control motor and frequency converter

Technical field

The present invention relates to converter technology, particularly relate to a kind of method of Frequency Converter Control motor and a kind of frequency converter.

Background technology

Frequency converter, owing to can change the frequency and voltage of alternating current, therefore may be used for the rotating speed controlling motor easily.The main operational principle of frequency converter first by rectification, power frequency (being generally 50Hz) alternating current is become direct current, then carries out filtering process, then direct current is converted to the alternating current with expected frequence through inversion.As shown in Figure 1, be a kind of circuit theory diagrams of conventional inverter.This inverter comprises three road IGBT and manages, and with three-phase output node U, V, W for boundary, every road is all divided into the upper brachium pontis and lower brachium pontis that comprise an IGBT pipe.The grid input of each IGBT pipe has the waveform of the pwm signal control output voltage of certain duty ratio, thus obtains three-phase voltage.

In parameter of electric machine identification and Electric Machine Control, the accuracy of current sample is most important.In high-end field, adopt Hall effect induction to carry out sample rate current, but it does not possess advantage in low side low cost field.Be exactly based on bus sample rate current in addition, need complicated software control, and this method cannot carry out available protecting to phase fault.

Summary of the invention

Based on this, be necessary a kind of method providing Frequency Converter Control motor, current sample mode is wherein relatively simple and accurate.

In addition, a kind of frequency converter is also provided.

A method for Frequency Converter Control motor, comprise the parameter of electric machine identification step before control, the described parameter of electric machine is stator resistance, and described identification step specifically comprises: under the three-phase of inverter, brachium pontis is connected sampling resistor respectively; The driving of the wherein phase in three-phase is closed, the upper brachium pontis of the wherein phase in remaining two-phase drive close, lower brachium pontis drives completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of the other phase in remaining two-phase drives start from scratch increase gradually, lower brachium pontis drives and closes; Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the first preset value I, and recording busbar voltage U1 and duty ratio D1; Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the second preset value I ', and recording busbar voltage U2 and duty ratio D2; The alternate resistance R of described remaining two-phase is obtained according to following formulae discovery: calculate the stator resistance of average as motor of the alternate between two resistance of the three-phase obtained.

Wherein in an embodiment, also comprise: after the alternate between two resistance calculations of three-phase completes, calculate the deviation of three alternate resistance, if exceed predetermined deviation, then report alternate imbalance fault, otherwise get the stator resistance of average as motor of described three alternate resistance.

Wherein in an embodiment, the described parameter of electric machine comprises rotor resistance, stator leakage inductance and rotor leakage inductance, and identification step specifically comprises: make the wherein one-phase open circuit in three-phase, makes electric current reach the rated current of motor at other two alternate applying alternating currents; Detect the phase place zero point of sample rate current; According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current; Described rotor resistance, stator leakage inductance and rotor leakage inductance is calculated according to described phase difference θ and motor steady-state model;

Wherein, the step at phase place zero point of described detection sample rate current is: adopt the first sample frequency to carry out current sample, when detecting that two adjacent current symbol are contrary, being taken absolute value by described two adjacent electric currents and being added as judgment threshold; Continuing employing first sample frequency and carry out current sample, when detecting that current instantaneous value is less than described judgment threshold, adopting the second sample frequency to carry out current sample; Described second sample frequency is greater than the first sample frequency; When detecting that two adjacent current symbol are contrary, the phase place of two electric currents is averaged as phase place zero point.

Wherein in an embodiment, also comprise the step of motor being carried out to normal vector control, described vector control comprises three-phase current sampling, and moment of described current sample is the intermediate time that the lower brachium pontis of each phase is opened.

Wherein in an embodiment, brachium pontis driving time under U, V, W three-phase of last for present sample electric current moment bat is compared, a phase current minimum for driving time is synthesized by other biphase current.

A kind of frequency converter, comprises parameter of electric machine identification module, and described parameter of electric machine identification module is for identifying the stator resistance of motor, and under the three-phase of the inverter of described frequency converter, brachium pontis is connected sampling resistor respectively; Described parameter of electric machine identification module identify stator resistance time specifically: the driving of the wherein phase in three-phase is closed, the upper brachium pontis of the wherein phase in remaining two-phase drive close, lower brachium pontis drives completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of the other phase in remaining two-phase drives start from scratch increase gradually, lower brachium pontis drives and closes; Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the first preset value I, and recording busbar voltage U1 and duty ratio D1; Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the second preset value I ', and recording busbar voltage U2 and duty ratio D2; The alternate resistance R of described remaining two-phase is obtained according to following formulae discovery: calculate the stator resistance of average as motor of the alternate between two resistance of the three-phase obtained.

Wherein in an embodiment, described parameter of electric machine identification module also for: after the alternate between two resistance calculations of three-phase completes, calculate the deviation of three alternate resistance, if exceed predetermined deviation, then report alternate imbalance fault.

Wherein in an embodiment, described parameter of electric machine identification module is also for identifying rotor resistance, stator leakage inductance and rotor leakage inductance: make the wherein one-phase open circuit in three-phase, makes electric current reach the rated current of motor at other two alternate applying alternating currents; Detect the phase place zero point of sample rate current; According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current; Described rotor resistance, stator leakage inductance and rotor leakage inductance is calculated according to described phase difference θ and motor steady-state model;

Wherein, the step at phase place zero point of described detection sample rate current is: adopt the first sample frequency to carry out current sample, when detecting that two adjacent current symbol are contrary, being taken absolute value by described two adjacent electric currents and being added as judgment threshold; Continuing employing first sample frequency and carry out current sample, when detecting that current instantaneous value is less than described judgment threshold, adopting the second sample frequency to carry out current sample; Described second sample frequency is greater than the first sample frequency; When detecting that two adjacent current symbol are contrary, the phase place of two electric currents is averaged as phase place zero point.

Wherein in an embodiment, comprise vector control module, the intermediate time for opening at the lower brachium pontis of each phase triggers the sampling to three-phase current.

Wherein in an embodiment, a phase current minimum for driving time also for being compared by brachium pontis driving time under U, V, W three-phase of last for present sample electric current moment bat, is synthesized by other biphase current by described vector control module.

The method of above-described embodiment and frequency converter, by inverter leg up-sampling electric current, simply and exactly can complete current sample, and use it for parameter of electric machine identification and motor vector control.

Accompanying drawing explanation

Fig. 1 is the circuit theory diagrams figure of the inverter of traditional frequency converter;

Fig. 2 is the circuit theory diagrams of the inverter of the frequency converter of an embodiment;

Fig. 3 is current direction schematic diagram;

Fig. 4 is current sample schematic diagram.

Embodiment

As shown in Figure 2, be the circuit theory diagrams of inverter of frequency converter of an embodiment.This inverter on the basis of traditional inverter structure, at the lower brachium pontis series connection sampling resistor R of each phase u, R v, R w.Be respectively used to sample the electric current of each phase.

Based on above-mentioned inverter structure, provide the method for the Frequency Converter Control motor of an embodiment.The method comprises the current sample when parameter of electric machine identification step before control and normal vector control.When frequency converter connects controlled motor, the parameters of motor is not understood, and the parameter of motor to be frequency converter carry out that Electric Machine Control is necessary.When frequency converter is connected with motor first or Electric Machine Control is abnormal when needing to redefine the parameter of electric machine, need the step of carrying out above-mentioned parameter of electric machine identification.The above-mentioned parameter of electric machine mainly comprises stator resistance, rotor resistance, stator leakage inductance and rotor leakage inductance etc.

Identifying that the step of stator resistance specifically comprises the alternate between two resistance identifying three-phase, is also the alternate resistance of UV, the alternate resistance of UW and the alternate resistance of VW.Step is as follows:

Step S101: the driving of the wherein phase in three-phase is closed, the upper brachium pontis of the wherein phase in remaining two-phase drive close, lower brachium pontis drives completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of the other phase in remaining two-phase drives start from scratch increase gradually, lower brachium pontis drives and closes.To identify the alternate resistance of UV, this step is specially: the driving of W phase closed, the upper brachium pontis of U phase drives (also i.e. T1) closes, lower brachium pontis drives (also i.e. T2) completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of V phase drives (also i.e. T3) start from scratch increase gradually, lower brachium pontis drives (also i.e. T4) to close.Now the flow direction of electric current is the alternate resistance → T2 → negative busbar (-) of UV of positive bus-bar (+) → T3 → electrode, and also namely electric current can flow through, with reference to figure 3 from brachium pontis U phase completely.

Step S102: detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the first preset value I, and recording busbar voltage U1 and duty ratio D1.To identify the alternate resistance of UV, this step is specially: detect and regulate the sample rate current of brachium pontis under U phase, also namely detecting by the electric current on sampling resistor RU, and make it be stabilized in the first preset value I through PI regulating measure.Current stabilization at the first preset value I time, corresponding busbar voltage is the duty ratio of brachium pontis in U1, V phase is D1.Suppose that the pressure drop of two IGBT pipes is X, then circuit equation is now:

U1×D1=X+X+R×I。

Step S103: detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the second preset value I ', and recording busbar voltage U2 and duty ratio D2.To identify the alternate resistance of UV, this step is specially: detect and regulate the sample rate current of brachium pontis under U phase, also namely detecting by sampling resistor R uon electric current, and make it be stabilized in the second preset value I ' through PI regulating measure.Current stabilization at the second preset value I ' time, corresponding busbar voltage is the duty ratio of brachium pontis in U2, V phase is D2.Then circuit equation is now:

U2×D2=X+X+R×I'。

Step S104: the alternate resistance R obtaining described remaining two-phase according to following formulae discovery:

R = U 2 × D 2 - U 1 × D 1 I ′ - I .

The formula of this step is obtained by step S102 and step S103 two step simultaneous solution equation.Wherein the first preset value I can be the half of rated current, and the second preset value I ' is rated current, or other also can be adopted to be no more than the value of rated current.

Further, for avoiding larger deviation, in above-mentioned steps, also comprise: after the alternate between two resistance calculations of three-phase completes, calculate the deviation of three alternate resistance, if exceed predetermined deviation, then report alternate imbalance fault, otherwise get the stator resistance of average as motor of described three alternate resistance.

The identification step of other parameters of electric machine as rotor resistance, stator leakage inductance and rotor leakage inductance specifically comprises:

Step S201: make the wherein one-phase open circuit in three-phase, applies alternating current in other two-phase and makes electric current reach the rated current of motor.Such as make W phase open a way, between UV phase, apply alternating current, make electric current reach the rated current of motor, the mode of employing is carry out PI adjustment equally.According to motor steady-state model, when obtaining the phase difference of electric current and voltage, rotor resistance, stators and rotators leakage inductance can be calculated.

Step S202: the phase place zero point detecting sample rate current.Phase place is a comparatively crucial timing node zero point, and from the moment that phase place arrives zero point, current phasor periodically changed according to regular time.Therefore phase place is most important for parameter of electric machine computational accuracy for zero point accurately.This step specifically can be adopted and be detected with the following method.

Described two adjacent electric currents, when detecting that two adjacent current symbol are contrary, are taken absolute value and are added as judgment threshold by step S221: adopt the first sample frequency to carry out current sample.As shown in Figure 4, when phase place zero crossing, electric current is necessarily by just becoming negative or by negative change just, being also that symbol can change.Meanwhile, the absolute value of these two current sampling datas is also less, and that is, when phase place zero crossing, current amplitude is also less.The two electric current is taken absolute value and is added as judgment threshold, as the basis judged further.

Step S222: continuing employing first sample frequency and carry out current sample, when detecting that current instantaneous value is less than described judgment threshold, adopting the second sample frequency to carry out current sample; Described second sample frequency is greater than the first sample frequency.When sample rate current is less than above-mentioned judgment threshold, first sample frequency that sample frequency can be adopted larger carries out sampling to judge phase place zero point.

Preferably, above-mentioned first sample frequency is 10KHz(and sampling period is 100 μ s), above-mentioned second sample frequency is 200KHz(and sampling period is 5 μ s).

Step S223: when detecting that two adjacent current symbol are contrary, the phase place of electric current is averaged as current flow phase place.

Step S203: according to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current.Voltage current phase more accurately can be obtained by process above

It should be noted that this alternating voltage is divided into positive and negative half-wave voltage when when alternate applying alternating voltage.When applying positive voltage, now the control mode of inverter is that T2 often opens, and T1 often closes, and the copped wave of V phase exports.By analysis, this kind of situation current direction has 2 kinds of possibilities: one is electric current is just, from positive bus-bar → T3 → motor → T2 → negative busbar; Another is electric current is negative, from negative busbar → D2 → motor → D3 → positive bus-bar.Regardless of which kind of situation, now current of electric is always through the lower brachium pontis sampling resistor R of U phase u, so during positive voltage, need the lower brachium pontis sample rate current of sampling U phase as actual current.

And when applying negative voltage, now the control mode of inverter is, and: T4 often opens, and T3 often closes, the copped wave of U phase exports.By analysis, this kind of current direction has 2 kinds of possibilities: one is electric current is just, from negative busbar → D4 → motor → D1 → positive bus-bar; Be a kind of electric current be in addition negative, from positive bus-bar → T1 → motor → T4 → negative busbar.From two kinds above, now current of electric is always through the lower brachium pontis sampling resistor of V phase, so during negative voltage, needs the lower brachium pontis sample rate current of sampling V phase as actual current.

Step S204: calculate described rotor resistance, stator leakage inductance and rotor leakage inductance according to described phase difference θ and motor steady-state model.

Through parameter of electric machine identification, frequency converter just can correctly control motor.

Based on the inverter structure shown in Fig. 2, the method for the present embodiment, when carrying out normal vector control to motor, is come to sample to three-phase current: the intermediate time opened at the lower brachium pontis of each phase triggers described current sample in the following manner.When motor normally runs, under three-phase, brachium pontis sampling resistor electric current and each brachium pontis of reality flow out electric current is differentiated.Need special processing, under guarantee, brachium pontis sample rate current is actual output current, as shown in Figure 2, illustrates to only have when electric current is by T2 or D2, lower bridge arm current R for U phase ujust be equal to this brachium pontis output current.When electric current is by T1 or D1 else if, lower brachium pontis there is no sample rate current.For this reason, by sampling at every turn, the intermediate time all opened at the lower brachium pontis of each phase triggers, and namely the electric current that so just can ensure to flow through brachium pontis is the electric current of sampling resistor.Concrete, the present embodiment adopts TI(Texas Instrument) C2000 series DSP 28035 chip produced, the functional realiey of the EPWM module utilizing it to carry is to the timing sampling of AD current sample.Moment of timing sampling realizes lower brachium pontis and opens intermediate time by arranging the component register of EPWM module and carry out trigger current sampling.

In addition, at certain phase brachium pontis because output voltage higher generation ovennodulation time, there will be the situation that brachium pontis under this phase is closed completely, now sample rate current just there will be mistake.For avoiding occurring this situation, the present embodiment compares brachium pontis driving time under U, V, W three-phase of present sample electric current moment last bat, gives up that phase current that driving time is minimum.This phase current is by other biphase current composite calulation.

The frequency converter of one embodiment, its inverter adopts circuit structure as shown in Figure 2, and comprises parameter of electric machine identification module and vector control module.Wherein parameter of electric machine identification module identifies parameters such as the stator resistance of motor, rotor resistance, stator leakage inductance and rotor leakage inductances according to the method for above-described embodiment, and vector control module then obtains sample rate current according to the method for above-described embodiment.

The method of above-described embodiment and frequency converter, by inverter leg up-sampling electric current, simply and exactly can complete current sample, and use it for parameter of electric machine identification and motor vector control.

The above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.

Claims (6)

1. a method for Frequency Converter Control motor, comprise the parameter of electric machine identification step before control, it is characterized in that, the described parameter of electric machine is stator resistance, and described identification step specifically comprises:
Under the three-phase of inverter, brachium pontis is connected sampling resistor respectively;
The driving of the wherein phase in three-phase is closed, the upper brachium pontis of the wherein phase in remaining two-phase drive close, lower brachium pontis drives completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of the other phase in remaining two-phase drives start from scratch increase gradually, lower brachium pontis drives and closes;
Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the first preset value I, and recording busbar voltage U1 and duty ratio D1;
Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the second preset value I ', and recording busbar voltage U2 and duty ratio D2;
The alternate resistance R of described remaining two-phase is obtained according to following formulae discovery:
R = U 2 × D 2 - U 1 × D 1 I ′ - I ;
Calculate the stator resistance of average as motor of the alternate between two resistance of the three-phase obtained;
Also comprise the step of motor being carried out to normal vector control, described vector control comprises three-phase current sampling, and moment of described current sample is the intermediate time that the lower brachium pontis of each phase is opened;
Brachium pontis driving time under U, V, W three-phase of last for present sample electric current moment bat is compared, a phase current minimum for driving time is synthesized by other biphase current.
2. the method for Frequency Converter Control motor according to claim 1, is characterized in that, also comprise:
After the alternate between two resistance calculations of three-phase completes, calculate the deviation of three alternate resistance, if exceed predetermined deviation, then report alternate imbalance fault, otherwise get the stator resistance of average as motor of described three alternate resistance.
3. the method for Frequency Converter Control motor according to claim 1, is characterized in that, the described parameter of electric machine comprises rotor resistance, stator leakage inductance and rotor leakage inductance, and identification step specifically comprises:
Make the wherein one-phase open circuit in three-phase, make electric current reach the rated current of motor at other two alternate applying alternating currents;
Detect the phase place zero point of sample rate current;
According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current;
Described rotor resistance, stator leakage inductance and rotor leakage inductance is calculated according to described phase difference θ and motor steady-state model;
Wherein, the step at phase place zero point of described detection sample rate current is:
Adopt the first sample frequency to carry out current sample, when detecting that two adjacent current symbol are contrary, described two adjacent electric currents being taken absolute value and is added as judgment threshold;
Continuing employing first sample frequency and carry out current sample, when detecting that current instantaneous value is less than described judgment threshold, adopting the second sample frequency to carry out current sample; Described second sample frequency is greater than the first sample frequency;
When detecting that two adjacent current symbol are contrary, the phase place of two electric currents is averaged as phase place zero point.
4. a frequency converter, comprises parameter of electric machine identification module, it is characterized in that, described parameter of electric machine identification module is for identifying the stator resistance of motor, and under the three-phase of the inverter of described frequency converter, brachium pontis is connected sampling resistor respectively;
Described parameter of electric machine identification module identify stator resistance time specifically:
The driving of the wherein phase in three-phase is closed, the upper brachium pontis of the wherein phase in remaining two-phase drive close, lower brachium pontis drives completely open-minded, the duty ratio of the pulse-width signal that the upper brachium pontis of the other phase in remaining two-phase drives start from scratch increase gradually, lower brachium pontis drives and closes;
Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the first preset value I, and recording busbar voltage U1 and duty ratio D1;
Detect and regulate the sample rate current of the lower brachium pontis of the wherein phase in described remaining two-phase to make it be stabilized in the second preset value I ', and recording busbar voltage U2 and duty ratio D2;
The alternate resistance R of described remaining two-phase is obtained according to following formulae discovery:
R = U 2 × D 2 - U 1 × D 1 I ′ - I ;
Calculate the stator resistance of average as motor of the alternate between two resistance of the three-phase obtained;
Also comprise vector control module, the intermediate time for opening at the lower brachium pontis of each phase triggers the sampling to three-phase current;
A phase current minimum for driving time also for being compared by brachium pontis driving time under U, V, W three-phase of last for present sample electric current moment bat, is synthesized by other biphase current by described vector control module.
5. frequency converter according to claim 4, it is characterized in that, described parameter of electric machine identification module also for: after the alternate between two resistance calculations of three-phase completes, calculate the deviation of three alternate resistance, if exceed predetermined deviation, then report alternate imbalance fault.
6. frequency converter according to claim 4, is characterized in that, described parameter of electric machine identification module is also for identifying rotor resistance, stator leakage inductance and rotor leakage inductance:
Make the wherein one-phase open circuit in three-phase, make electric current reach the rated current of motor at other two alternate applying alternating currents;
Detect the phase place zero point of sample rate current;
According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current;
Described rotor resistance, stator leakage inductance and rotor leakage inductance is calculated according to described phase difference θ and motor steady-state model;
Wherein, the step at phase place zero point of described detection sample rate current is:
Adopt the first sample frequency to carry out current sample, when detecting that two adjacent current symbol are contrary, described two adjacent electric currents being taken absolute value and is added as judgment threshold;
Continuing employing first sample frequency and carry out current sample, when detecting that current instantaneous value is less than described judgment threshold, adopting the second sample frequency to carry out current sample; Described second sample frequency is greater than the first sample frequency;
When detecting that two adjacent current symbol are contrary, the phase place of two electric currents is averaged as phase place zero point.
CN201310133221.1A 2013-04-16 2013-04-16 The method of Frequency Converter Control motor and frequency converter CN103259487B (en)

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CN107294435A (en) * 2017-07-17 2017-10-24 武汉豪岩照明电子有限公司 The intensive frequency converter of three-phase synchronous motor

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