CN103475296B  Permanentmagnet synchronous DC brushless motor low frequency control method  Google Patents
Permanentmagnet synchronous DC brushless motor low frequency control method Download PDFInfo
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 CN103475296B CN103475296B CN201310412964.2A CN201310412964A CN103475296B CN 103475296 B CN103475296 B CN 103475296B CN 201310412964 A CN201310412964 A CN 201310412964A CN 103475296 B CN103475296 B CN 103475296B
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Abstract
Description
Technical field
The present invention relates to air conditioner controlling technology, particularly permanentmagnet synchronous DC brushless motor low frequency control method.
Background technology
Permanentmagnet synchronous DC brushless motor nonposition sensor vector control method, one of key technology is wherein exactly the position probing of rotor and the presumption of running frequency, particularly during low frequency, the problem such as hydrops and the insufficient bearing lubrication caused of oil return due to compressor can make the fluctuation of service of compressor, cause detection current fluctuation, cause axis error △ θ to estimate inaccurate.The rotor position presuming value θ that motor is current _{c}it is the rotational speed omega utilizing axis error △ θ to obtain the current presumption of motor _{c}, ω _{c}by phase estimating unit according to formula:
θ＝∫ωdt
After carrying out integral adjustment calculating, then obtain.
During due to low frequency, axis error △ θ is inaccurate, and bigger than normal, just causes the rotational speed omega of the current presumption of motor _{c}inaccurate, frequency f _{c}also inaccurate (ω _{c}=2 π f _{c}), also just cause the phase theta of current presumption simultaneously _{c}also inaccurate.During the operation of the direct current machine pulse width modulation (PWM) ripple adopting inaccurate controling parameters to produce by three phase inverter bridge control circui compressor, the current detection value returned from current detecting unit is also just inaccurate, the estimation affecting again △ θ is conversely inaccurate, last result is, the very big fluctuation of the running frequency of axis error presumption, control not restrain, cause control out of control.
Summary of the invention
Technical problem to be solved by this invention, be exactly in prior art during compressor lowfrequency operation, because inaccurate and control problems such as the compressor position probing stepout of appearance bigger than normal are estimated in axis error estimation, permanentmagnet synchronous DC brushless motor low frequency control method is provided, by when low frequency, artificial reduction axis error, is equivalent to carry out amplitude limiting processing to axis error, reaches the effect of control convergence.
The present invention solve the technical problem, the technical scheme adopted is, permanentmagnet synchronous DC brushless motor low frequency control system, comprise permanentmagnet synchronous DC brushless motor, also comprise current conversion unit, axis error estimation unit, position detection unit, threephase inversion bridge control circuit and vector control and direct current machine pulse width modulation (PWM) ripple control unit, described permanentmagnet synchronous DC brushless motor is connected with current conversion unit and threephase inversion bridge control circuit respectively, current conversion unit respectively with axis error estimation unit, position detection unit is connected with vector control and direct current machine pulse width modulation (PWM) ripple control unit, axis error estimation unit is connected with position detection unit and vector control and direct current machine pulse width modulation (PWM) ripple control unit respectively, position detection unit is connected with vector control and direct current machine pulse width modulation (PWM) ripple control unit, vector control and direct current machine pulse width modulation (PWM) ripple control unit are connected with threephase inversion bridge control circuit.
Described current conversion unit, realizes coordinate transform by the electric current of detection after electric current provide current component for realizing detecting, and be transferred to axis error estimation unit;
Described axis error estimation unit, for calculating axis error △ θ, and is transferred to presumption unit;
Described position detection unit, the axis error △ θ for being exported by axis error estimation unit is estimated as the estimation rotational speed omega of motor _{c}and the estimated position θ of rotor _{c};
Described vector control and direct current machine pulse width modulation (PWM) ripple control unit are used for the estimated position θ based on rotor _{c}produce corresponding direct current machine pulse width modulation (PWM) ripple, and then be adjusted to the second tachometer value based on the rotating speed that described direct current machine pulse width modulation (PWM) ripple controls described rotor by the first tachometer value;
Described threephase inversion bridge control circuit, the direct current machine pulse width modulation (PWM) ripple inversion for the variable duty ratio produced according to vector control and direct current machine pulse width modulation (PWM) ripple control unit is the threephase alternating current of motor, controls the running of motor.
Concrete, described current conversion unit comprises current detecting unit and coordinate transformation unit, current detecting unit is connected with coordinate transformation unit, described current detecting unit is connected with permanentmagnet synchronous DC brushless motor and threephase inversion bridge control circuit respectively, and described coordinate transformation unit is connected with axis error estimation unit and vector control and direct current machine pulse width modulation (PWM) ripple control unit respectively;
Described current detecting unit, for realizing current detecting, and is transferred to coordinate transformation unit;
Described coordinate transformation unit, the electric current for being detected by current detecting unit realizes coordinate transform and provides current component, and is transferred to axis error estimation unit.
Concrete, described position detection unit comprises speed estimating unit and phase estimating unit, speed estimating unit is connected with phase estimating unit, link is connected with vector control and direct current machine pulse width modulation (PWM) ripple control unit, speed estimating unit is connected with axis error estimation unit, and phase estimating unit is connected with vector control and direct current machine pulse width modulation (PWM) ripple control unit and coordinate transformation unit respectively;
Described speed estimating unit, the axis error △ θ for being exported by axis error estimation unit is estimated as the current estimation rotational speed omega of rotor _{c}, and be transferred to phase estimating unit;
Described phase estimating unit, regulates computing by the current estimation rotational speed omega of rotor for passing through _{c}be converted to the current estimated location θ of rotor _{c}, and input to vector control and direct current machine pulse width modulation (PWM) ripple control unit and current conversion unit.
Permanentmagnet synchronous DC brushless motor low frequency control method, comprises following step:
Step 1, system gather the phase current of permanentmagnet synchronous DC brushless motor by current detecting unit, comprise firstphase electric current I _{u}, secondphase electric current I _{v}and third phase electric current I _{w}, and be transferred to coordinate transformation unit;
The phase current of permanentmagnet synchronous DC brushless motor is carried out coordinate transform by coordinate transformation unit by step 2, system, obtains the d shaft current component I of this permanentmagnet synchronous DC brushless motor phase current _{d}and q shaft current component I _{q}, and be transferred to axis error estimation unit;
Step 3, system pass through axis error estimation unit, according to the d shaft current component I of gained phase current _{d}and the q shaft current component I of phase current _{q}the physical location calculating rotor, with the error of estimated position, counts axis error △ θ;
Step 4, system are by electric permanentmagnet synchronous DC brushless motor present operating frequency f and first frequency f _{1}and second frequency f _{2}relatively, calculate speed estimating unit input value, count △ θ _{pLL}, first frequency f _{1}large lower limit frequency value is become, second frequency f for making axis error △ θ _{2}for making axis error △ θ become large upper limit frequency value, and by speed estimating unit input value △ θ _{pLL}with given speed estimating unit input value △ θ _{pLL0}=0 compares, and calculates the current estimation rotational speed omega of rotor _{c};
Step 5, system are according to the current estimation rotational speed omega of rotor _{c}, the current estimated location θ of rotor is obtained by phase estimating unit _{c}.
Concrete, in step 2, the d shaft current component I of systemcomputed permanentmagnet synchronous DC brushless motor phase current _{d}and q shaft current component I _{q}time, first adopt the conversion of energy invariant coordinates, calculate the electric current I under α, β coordinate system _{α}and I _{β}, formula is:
Wherein, I _{u}for firstphase electric current, I _{v}for secondphase electric current, I _{w}for third phase electric current;
The coordinate transform formulae discovery that recycling α, β coordinate is tied to d, q axis coordinate system goes out the d shaft current component I of phase current _{d}and q shaft current component I _{q}, coordinate transform formula is:
Wherein, θ is the current phase angle of rotor.
Concrete, in step 3, the physical location of systemcomputed rotor and the error of rotor estimated position, axis error △ θ, the axis error computing formula adopted is:
Wherein, R is the resistance of permanentmagnet synchronous DC brushless motor, K _{e}for induced voltage constant, L _{d}for given d axle inductance value, L _{q}for given q axle inductance value, V _{d}for given motor d shaft voltage value, ω is the rotating speed of current motor, I _{d}for phase current d shaft current component, I _{q}for phase current q shaft current component.
Concrete, in step 4, the current estimation rotational speed omega of systemcomputed rotor _{c}, adopt formula to be:
ω _{c}＝K _{p}(0Δθ _{PLL})+T _{s}K _{I}(0Δθ _{PLL})
Wherein, K _{p}for the scale parameter that proportional integral regulates PI to regulate, K _{i}for the integral parameter that proportional integral regulates PI to regulate, T _{s}for computing cycle, △ θ _{pLL}for speed estimating unit input value.
Further, when permanentmagnet synchronous DC brushless motor present operating frequency f is lower than first frequency f _{1}time, error delta θ is constant for system retainer shaft, that is:
Δθ _{PLL}＝Δθ
Calculate the current estimation rotational speed omega of rotor _{c}, its computing formula is:
Wherein, a be greater than 1 constant, K _{p}for the scale parameter that proportional integral regulates PI to regulate, K _{i}for the integral parameter that proportional integral regulates PI to regulate, T _{s}for computing cycle, △ θ _{pLL}for speed estimating unit input value.
Concrete, in step 4, when permanentmagnet synchronous DC brushless motor present operating frequency f is lower than first frequency f _{1}time, axis error △ θ reduces by system, as the input △ θ of speed estimating unit _{pLL}, calculate the current estimation rotational speed omega of rotor _{c}.
Further, when permanentmagnet synchronous DC brushless motor present operating frequency f is lower than first frequency f _{1}time, the method that axis error △ θ reduces to adopt is, by following formulae discovery by system:
Wherein, a be greater than 1 constant, △ θ is axis error;
System is according to the input value △ θ of this speed estimating unit _{pLL}, calculate the current estimation rotational speed omega of rotor _{c}.
Concrete, in step 4, when permanentmagnet synchronous DC brushless motor present operating frequency f is higher than second frequency f _{2}time, system uses axis error △ θ as the input △ θ of speed estimating unit _{pLL}, i.e. △ θ _{pLL}=△ θ, calculates the current estimation rotational speed omega of rotor _{c}.
Concrete, in step 4, when permanentmagnet synchronous DC brushless motor present operating frequency f is between first frequency f _{1}with second frequency f _{2}between time, wherein f _{2}> f _{1}, the input △ θ of systemcomputed phaselocked loop speed estimating unit _{pLL}formula be:
Wherein, a is a constant being greater than 1, f _{1}for first frequency, f _{2}for second frequency, △ θ is axis error;
And according to the input value △ θ of speed estimating unit _{pLL}, calculate the current estimation rotational speed omega of rotor _{c}.
Concrete, step 5, the current estimated location θ of systemcomputed rotor _{c}, the formula of employing is:
θ _{c}＝θ _{c1}+ω _{c}T _{c}
Wherein, T _{c}for computing cycle, θ _{c1}for a upper phase angle, ω _{c}for the current estimation rotating speed of rotor.
The invention has the beneficial effects as follows, by abovementioned permanentmagnet synchronous DC brushless motor low frequency control system and method, when can make low frequency, the axis error △ θ of compressor fluctuates and reduces, the absolute value of axis error △ θ diminishes, the compressor actual frequency fluctuation of microprocessor detect and control reduces, and permanentmagnet synchronous DC brushless motor actual current reduces, and improves efficiency, reduce system power, system stability, control convergence, improves low frequency control precision.
Accompanying drawing explanation
Fig. 1 is permanentmagnet synchronous DC brushless motor low frequency control system block diagram in the embodiment of the present invention;
Fig. 2 is the schematic diagram of rotorposition under dq coordinate system of embodiment of the present invention rotor physical location and presumption.
Embodiment
Technical scheme of the present invention is described in detail below in conjunction with drawings and Examples:
When the present invention is directed to compressor lowfrequency operation in prior art, because inaccurate and control problems such as the compressor position probing stepout of appearance bigger than normal are estimated in axis error estimation, permanentmagnet synchronous DC brushless motor low frequency control method is provided, comprise: first, system gathers the phase current of permanentmagnet synchronous DC brushless motor by current detecting unit, comprises firstphase electric current I _{u}, secondphase electric current I _{v}and third phase electric current I _{w}, and be transferred to coordinate transformation unit.Secondly, the phase current of permanentmagnet synchronous DC brushless motor is carried out coordinate transform by coordinate transformation unit by system, obtains the d shaft current component I of this permanentmagnet synchronous DC brushless motor phase current _{d}and q shaft current component I _{q}, and be transferred to axis error estimation unit.Then, system passes through axis error estimation unit, according to the d shaft current component I of gained phase current _{d}and the q shaft current component I of phase current _{q}the physical location calculating rotor, with the error of estimated position, counts axis error △ θ.Subsequently, system is by electric permanentmagnet synchronous DC brushless motor present operating frequency f and first frequency f _{1}and second frequency f _{2}relatively, calculate speed estimating unit input value, count △ θ _{pLL}, described first frequency f _{1}for making axis error △ θ become large lower limit frequency value, described second frequency f _{2}for making axis error △ θ become large upper limit frequency value, and by speed estimating unit input value △ θ _{pLL}with given speed estimating unit input value △ θ _{pLL0}=0 compares, and calculates the current estimation rotational speed omega of rotor _{c}.Finally, system is according to the current estimation rotational speed omega of rotor _{c}, the current estimated location θ of rotor is obtained by phase estimating unit _{c}.By when low frequency, artificially reduce axis error, be equivalent to, to axis error amplitude limiting processing, reach the effect of control convergence.
Embodiment
In this example, permanentmagnet synchronous DC brushless motor low frequency control system, as shown in Figure 1, permanentmagnet synchronous DC brushless motor is connected with threephase inversion bridge control circuit and current detecting unit respectively, current detecting unit is connected with coordinate transformation unit, coordinate transformation unit respectively with axis error estimation unit, phase estimating unit is connected with vector control and direct current machine pulse width modulation (PWM) ripple control unit, axis error estimation unit is connected with speed estimating unit and vector control and direct current machine pulse width modulation (PWM) ripple control unit respectively, speed estimating unit is connected with phase estimating unit and vector control and direct current machine pulse width modulation (PWM) ripple control unit respectively, vector control and direct current machine pulse width modulation (PWM) ripple control unit are connected with threephase inversion bridge control circuit.
During work, system, by the current sensor of current detecting unit, detects the firstphase electric current I of permanentmagnet synchronous DC brushless motor _{u}, secondphase electric current I _{v}and third phase electric current I _{w}after, as shown in Figure 2, set up d, q axle rectangular coordinate system rotated with rotor, is overlapped by abscissa d axle with the current location of rotor, ordinate is q axle and vertical with d axle, and first employing energy invariant coordinates converts, and calculates electric current I under α, β coordinate system _{α}and I _{β}, formula is:
Wherein, Iu is firstphase electric current, Iv is secondphase electric current, Iw is third phase electric current.
Recycling α, β coordinate is tied to the coordinate transform of d, q axis coordinate system, calculates the d shaft current component I of phase current _{d}and q shaft current component I _{q}, adopt following coordinate transform formula:
Wherein, θ is the current phase angle of rotor.
Obtain the d shaft current component I of phase current _{d}and q shaft current component I _{q}after, meanwhile, utilize the rotational speed omega of current permanentmagnet synchronous DC brushless motor, by axis error estimation unit, can obtain axis error △ θ, computing formula is:
Wherein, R is the resistance of permanentmagnet synchronous DC brushless motor, K _{e}for induced voltage constant, L _{d}for given d axle inductance value, L _{q}for given q axle inductance value, V _{d}for given motor d shaft voltage value, ω is the current rotating speed of rotor, I _{d}for phase current d shaft current component, I _{q}for phase current q shaft current component.
Secondly, system is by permanentmagnet synchronous DC brushless motor present operating frequency f, first frequency f _{1}and second frequency f _{2}relatively, when given frequency f is less than first frequency f _{1}time, axis error △ θ reduces by system, as the input △ θ of speed estimating unit _{pLL}, be not limited only to proportionally reduce, also can segmentation reduce, or amplitude limiting processing etc., can formula be adopted in this example:
Δθ _{PLL}＝Δθ
Wherein, a be greater than 1 constant, △ θ is axis error;
And by speed estimating unit input value △ θ _{pLL}with the input △ θ of given speed estimating unit _{pLL}=0 compares, and then according to following formula, calculates the current estimation rotational speed omega of rotor _{c}:
ω _{c}＝K _{p}(0Δθ _{PLL})+T _{s}K _{I}(0Δθ _{PLL})
Wherein, K _{p}for the scale parameter that PI regulates, K _{i}for the integral parameter that PI regulates, T _{s}for computing cycle, △ θ _{pLL}for speed estimating unit input value.
When permanentmagnet synchronous DC brushless motor present operating frequency f is less than first frequency f _{1}time, this example provides another method, and error delta θ is constant for system retainer shaft, that is:
Δθ _{PLL}＝Δθ
Regulated by PI, calculate the current estimation rotational speed omega of rotor _{c}, its computing formula is:
Wherein, a be greater than 1 constant, K _{p}for the scale parameter that PI regulates, K _{i}for the integral parameter that PI regulates, T _{s}for computing cycle, △ θ _{pLL}for speed estimating unit input value.
When permanentmagnet synchronous DC brushless motor present operating frequency f is higher than second frequency f _{2}time, system directly uses axis error △ θ as the input △ θ of speed estimating unit _{pLL}, i.e. △ θ _{pLL}=△ θ, by △ θ _{pLL}with given △ θ _{pLL}=0 compares, and then according to following formula, calculates the current estimation rotational speed omega of rotor _{c}:
ω _{c}＝K _{p}(0Δθ _{PLL})+T _{s}K _{I}(0Δθ _{PLL})
Wherein, K _{p}for the scale parameter that PI regulates, K _{i}for the integral parameter that PI regulates, T _{s}for computing cycle, △ θ _{pLL}for speed estimating unit input value.
When permanentmagnet synchronous DC brushless motor present operating frequency f is between first frequency f _{1}with second frequency f _{2}between time (f _{2}>f _{1}), the input △ θ of systemcomputed phaselocked loop speed estimating unit _{pLL}formula be:
Wherein, a is a constant being greater than 1, f _{1}for first frequency, f _{2}for second frequency;
Then, by speed estimating unit input value △ θ _{pLL}with the input △ θ of given speed estimating unit _{pLL}=0 compares, and then according to following formula, calculates the current estimation rotational speed omega of rotor _{c}:
ω _{c}＝K _{p}(0Δθ _{PLL})+T _{s}K _{I}(0Δθ _{PLL})
Wherein, K _{p}for the scale parameter that PI regulates, K _{i}for the integral parameter that PI regulates, T _{s}for computing cycle, △ θ _{pLL}for speed estimating unit input value.
Subsequently, system is according to the current estimation rotational speed omega of rotor _{c}, calculate the current estimated location θ of rotor _{c}, formula used is:
θ _{c}＝θ _{c1}+ω _{c}T _{c}
Wherein, T _{c}for computing cycle, θ _{c1}for a upper phase angle, ω _{c}for the current estimation rotating speed of rotor.
θ _{c}the current estimated location of rotor.By ω _{c}with the current estimated location θ of the current rotational speed omega of given rotor, rotor _{c}and the d shaft current component I of phase current that current detection arrives _{d}and q shaft current component I _{q}, be input to vector control and direct current machine pulse width modulation (PWM) ripple control unit, this element is except exporting given voltage V _{d}there is provided outside axis error estimation unit, the threephase DC motor pulse width modulation (PWM) ripple that also output duty cycle is adjustable, under the control of three phase inverter bridge, control the rotating speed of motor, realize controlling permanentmagnet synchronous DC brushless motor, and make axis error △ θ fluctuate to reduce when low frequency, system stability, control convergence.
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CN101237209A (en) *  20061228  20080806  株式会社日立产机系统  Highly responsive permanent magent motor controller 
CN101295953A (en) *  20070425  20081029  株式会社日立制作所  Field weakening control apparatus for permanent magnet motor and electric power steering using same 
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CN101902186A (en) *  20081212  20101201  日立空调·家用电器株式会社  Speed controller of magnetic motor 
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CN101237209A (en) *  20061228  20080806  株式会社日立产机系统  Highly responsive permanent magent motor controller 
CN101295953A (en) *  20070425  20081029  株式会社日立制作所  Field weakening control apparatus for permanent magnet motor and electric power steering using same 
CN101459401A (en) *  20071210  20090617  株式会社日立产机系统  Position sensorless controller for permanent magnet motor 
CN101902186A (en) *  20081212  20101201  日立空调·家用电器株式会社  Speed controller of magnetic motor 
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