CN105007007B - A kind of control method of two-phase switched reluctance motor controller - Google Patents
A kind of control method of two-phase switched reluctance motor controller Download PDFInfo
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Abstract
The invention discloses a kind of two-phase switched reluctance motor controller and its control method, including：Power model, Logic control module, detection module, power module and drive module；The high voltage direct current that power model is produced is converted into the low-voltage DC needed for Logic control module, detection module and drive module by power module；The running status of Logic control module is respectively set as pre-actuated state, starting state, running status and over-current state；In the case of running status, Logic control module exports different control signals according to the difference of motor speed, and the control signal controls the operation of two-phase switched reluctance machines by drive module.Beneficial effect of the present invention：Motor operating state control includes zero-speed running status, and low-speed run state, high-speed cruising state uses different side speed calculation formulas in different conditions, and different control modes is that motor operation output is reliable and stable.
Description
Technical field
The present invention relates to controller technology field, and in particular to a kind of two-phase switched reluctance motor controller and its controlling party
Method.
Background technology
Electric angle grinder electricity consumption is confidential to ask that rotating speed is high, power is big, small volume, generally using series excited machine.Series excited machine turns
There is winding on son, using carbon brush structure, easily abrasion, must frequently change carbon brush, for using making troubles.Switched reluctance machines knot
Structure is simple, firm, there was only silicon steel sheet on rotor, without winding and permanent magnet, and reliability is high, in broad rotating speed and power bracket
Inside has higher efficiency.Switched reluctance machines are electro-mechanical systems, it is necessary to the controller of design specialized, and this is in certain journey
Cost is added on degree, but series excited machine will often change carbon brush, in the long term, switched reluctance motor system has certain
Cost advantage.
Existing switched reluctance motor controller is powered using the insulating power supply of isolation transformer type to control circuit etc., and often
The driving of individual upper bridge arm power switch pipe is all powered by each independent power supply, and motor low speed is cut when running using traditional electric current
Ripple is controlled, it is necessary to which the accurate current detection circuit with isolation, insulating power supply volume occupancy is larger, and cost is higher, current detecting electricity
Detection chip cost is higher needed for road, and the cost of controller limits the application of switched reluctance machines to a certain extent.
The content of the invention
The purpose of the present invention is exactly to solve the above problems, it is proposed that a kind of two-phase switched reluctance motor controller and its
Control method, realizes the long-term safety of two-phase switched reluctance machines, reliable, stable operation, substitutes original electric angle grinder and uses
Series excited machine, reduces production cost.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of two-phase switched reluctance motor controller, including：Power model, Logic control module, detection module, power supply mould
Block and drive module；
The power model is connected with power module, and Logic control module is connected respectively with detection module and drive module；
The high voltage direct current that power model is produced is converted into Logic control module, detection module and drive by the power module
Low-voltage DC needed for dynamic model block；
The running status of Logic control module is respectively set as pre-actuated state, starting state, running status and excessively stream
State；In the case of running status, Logic control module exports different control signals according to the input signal of detection module,
The operation that the control signal passes through drive module controlling switch pipe and then driving two-phase switched reluctance machines.
The power model includes：The rectification circuit that is sequentially connected, electric capacity charging current limiter circuit, filter circuit and asymmetric
Half-bridge power change-over circuit, realizes that exchange is converted to direct current and to the effect of motor and other module for power supply；
The rectification circuit is full bridge rectifier, and electric capacity charging current limiter circuit is two current-limiting resistances being connected in series,
Filter circuit is filter capacitor, and asymmetrical half-bridge circuit for power conversion includes：
Diode series controlled tr tube constitutes series arm one, and resistance is sequentially connected in series controlled tr tube and diode composition
Series arm two, the series arm one is connected in parallel composition parallel branch with series arm two, and two parallel branches are simultaneously
Connection connection.
The Logic control module includes control chip and peripheral minimum circuit, realizes detection signal input processing, and control
The function that signal output processed is normally run so as to controlled motor.The control chip need to possess following input and output pin：Overcurrent
Input interrupt pin 1, position signalling interrupting input pin 2, Control pin 1, low and high level output pin 2
It is individual, PWM output pins 2, two-phase switched reluctance machines can be controlled with 8 chip microcontrollers by amounting to 9 pin chips, the i.e. system
Function.
The detection module includes：Current detection circuit and rotor position detection circuit, detect machine winding current and turn
The effect of sub- position；
The current detection circuit includes：Comparator, diode D1, diode D2, electric capacity C1 and resistance R5；
Compared respectively by comparator with current upper limit value after the sampling of motor biphase current, the output valve difference of comparator
A signal output is merged into after diode D1 and diode D2；Electric capacity C1 one end connects with diode D1 output end
Connect, other end ground connection；Resistance R5 one end is connected with diode D2 output end, other end ground connection.
The rotor position detection circuit includes：First output clamp circuit, the second output clamp circuit, the first Hall member
Part and the second Hall element；
The control signal of Logic control module output is respectively through the first output clamp circuit and the second output clamp circuit
It is grounded later；
Resistance R48 one end is connected with the second output clamp circuit, and the other end connects the second Hall element；
Resistance R49 one end is connected with the first output clamp circuit, and the other end connects the first Hall element；
After resistance R44 and resistance R45 series connection, one end is connected between resistance R48 and the second Hall element, other end connection
Between resistance R49 and the first Hall element.
The drive module includes：PWM, SD control signal of Logic control module output export clamper respectively through output
Circuit is connected with driving chip, and driving chip drives controlled tr tube according to the control signal received.
The output clamp circuit includes the diode of two series aiding connection connections.
The power model, Logic control module, detection module and power supply used in drive module are DC chopped-wave formula power supply
Chip carries out DC chopped-wave supply, without electrical isolation.
A kind of control method of two-phase switched reluctance motor controller, including：
By the running status of motor logic control module be respectively set as pre-actuated state, starting state, running status and
Over-current state；In the case of running status, motor operating state is set in by Logic control module according to the difference of motor speed
Zero-speed state, lower-speed state and high-speed cruising state；Different controls are carried out to different rotating speeds, specifically included：
Under zero-speed state, the relative position of electric machine rotor is reflected by Hall state, come determine to motor certain
One is mutually powered, and conduction time is fixed, and starts motor torque as big as possible, after electric motor starting, into low-speed run state.
Under lower-speed state, inlet highway voltage is, it is known that after motor speed is detected, it is known that motor maximum operating currenbt
(being provided during design of electrical motor) and rotating speed, pass through motor characteristic, it may be determined that maximum electricity of the motor under the maximum current and rotating speed
Pressure value, dutycycle is the ratio between maximum voltage value and bus voltage value and no more than 1 under the rotating speed, may thereby determine that dutycycle,
So that motor ensures that motor output torque is maximum in the case of not excessively stream, under lower-speed state, open shut-off angle and believed by Hall
Number change determine.
At high speeds, give motor normal work rotating speed, the working speed and detected by Hall element
Rotational speed regulation is carried out after motor speed, the control of motor speed outer shroud is formed；
It is determined that the current of electric under current rotating speed and under current duty cycle, carries out current inner loop control and first judges current electricity
Whether flow valuve reaches the maximum current of current rotating speed, if it exceeds the maximum current of current rotating speed then reduces dutycycle, if do not had
There is the maximum current for reaching current rotating speed then to increase dutycycle, the number increasedd or decreased of dutycycle is by current regulator (PI
Adjuster) regulation, and limit largest duty cycle and be output as 1, minimum is output as 0.Now so that it is determined that motor dutycycle, opens pass
The angle of rupture is shifted to an earlier date, wherein turn-on angle shifts to an earlier date 45 degree of electrical angle by rotational speed regulation when shut-off angle is opened when entering high speed compared with low speed,
Shut-off angle shifts to an earlier date 90 degree of electrical angle, is realized by the timer of control chip；
Pre-actuated state, starting state, running status and the over-current state of motor logic control module be specially：
Logic control module accesses power frequency supply, and filter circuit voltage is reached after the operating voltage of switching power source chip, is opened
The operating voltage of the control chip of powered-down source output Logic control module, control chip enters electrification reset state, controlled after reset
Coremaking piece enters pre-actuated state；
Control chip control relay adhesive, pre-actuated state terminates to enter starting state；
In starting state, when motor speed is not zero speed, starting state terminates, into running status；
In motor biphase current, as long as there is phase overcurrent generation, overcurrent signal just is exported to control chip, core is controlled
Piece enters overcurrent condition, in over-current state, and control chip turns off all switching tubes, and PWM duty cycle limit value is set to zero,
Now motor does not have power input, and each phase current can be gradually reduced, and keeps system after the state 2S, 2S to reenter pretrigger shape
State.
Beneficial effects of the present invention are：
(1) angle grinder series excited machine is replaced using two-phase switched reluctance machines, non-maintaining, cost is low；
(2) two phase structure is used, the quantity of controller power switch pipe is reduced, reduces cost；
(3) controller power source is realized by DC chopped-wave, without isolating transformer, and small volume is simple in construction, and cost is low.
(4) phase sampler of controller electric current two, synthesizes overcurrent interrupting input signal all the way, reduces controller resource, protects
Card system is safe and reliable；
(5) controlled using system mode, make system safety and stability；Different rotating speeds are carried out not by motor speed grading control
With control, motor safety reliability service is realized；
(6) by motor characteristic, PWM duty cycle maximum is determined by motor speed, it is ensured that motor output torque is most
Bigization meets the requirement of not excessively stream simultaneously, makes motor operation reliable, reduces external detection device.
(7) in order to reduce cost, the method that controller uses fractional hardware circuitry software improves product competitiveness.
Brief description of the drawings
Fig. 1 is a kind of two-phase switched reluctance motor controller power main circuit and control relay circuit structure of the present invention
Principle schematic；
Fig. 2 is a kind of two-phase switched reluctance motor controller power tube drive circuit principle schematic diagram of the present invention；
Fig. 3 is that a kind of two-phase switched reluctance motor controller control of the present invention and detection circuit power supply theory structure show
It is intended to；
A kind of two-phase switched reluctance motor controller that Fig. 4 is the present invention is used for the Hall detection circuit that rotor-position is detected
Theory structure schematic diagram；
Fig. 5 is a kind of two-phase switched reluctance motor controller current detecting theory structure schematic diagram of the present invention；
Fig. 6 is a kind of control structure block diagram of two-phase switch reluctance motor control method of the present invention；
Fig. 7 is that the rotor tooth of the present invention is the two-phase switched reluctance machines structural representation of 8/4 structure；
Fig. 8 is a kind of two-phase switched reluctance motor controller hall signal schematic diagram of the present invention；
Fig. 9 is a kind of motor status switch condition schematic diagram of two-phase switch reluctance motor control method of the present invention；
Figure 10 be the present invention a kind of two-phase switch reluctance motor control method in motor the control mode under zero-speed state
Schematic diagram；
Figure 11 be the present invention a kind of two-phase switch reluctance motor control method motor under lower-speed state control mode
Schematic diagram；
Figure 12 is a kind of motor control mode at high speeds of two-phase switch reluctance motor control method of the present invention
Schematic diagram；
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of two-phase switched reluctance motor controller, including：Power model, Logic control module, detection module, power supply mould
Block and drive module；Power model is connected with power module, and Logic control module is connected respectively with detection module and drive module；
The high voltage direct current that power model is produced is converted into needed for Logic control module, detection module and drive module by power module
Low-voltage DC；
Power model realizes that motor power is supplied, and the high voltage direct current that power model is produced is converted into by the power module
Low-voltage DC needed for Logic control module, detection module and drive module；Detection module is by motor rotor position and motor
Current detection value passes to Logic control module, and Logic control module outputs signal to drive module, and drive module is according to logic
The power switch pipe of control signal driving power module, so as to carry out motor operation.
Two-phase switched reluctance motor controller power model main circuit structure is simple, is inputted by industrial frequency AC, rectified filter
Bus DC voltage is produced after ripple, supply motor controller is used.
The main circuit of controller power model shown in Fig. 1 and relay (JLK1) control circuit, during indirect current, it is rectified after
Charged by resistance to electric capacity (C7), capacitance voltage gradually rises, when busbar voltage reaches switching power source chip operating voltage,
Control chip is started working.
Power model includes：Rectification circuit, electric capacity charging current limiter circuit, filter circuit and the asymmetrical half-bridge being sequentially connected
Circuit for power conversion, realizes that exchange is converted to direct current and to the effect of motor and other module for power supply；
Rectification circuit is full bridge rectifier, and electric capacity charging current limiter circuit is two current-limiting resistances being connected in series, filtering
Circuit is filter capacitor, and asymmetrical half-bridge circuit for power conversion includes：Fly-wheel diode series connection controlled tr tube composition series connection branch
Lu Yi, sampling resistor is sequentially connected in series controlled tr tube and fly-wheel diode composition series arm two, the series arm one and string
Connection branch road two is connected in parallel composition parallel branch, and two parallel branches are connected in parallel.
PV1, PV2 shown in Fig. 1 are power frequency supply input interface, and Q1, Q2, Q3, Q4 are controlled tr tube, and Q1, Q2 are two-phases
The two-phase switch on the bridge pipe of motor, Q3, Q4 are the two-phase bridge switch pipes of two-phase induction motor, a phase winding of Q1, Q3 controlled motor,
Another phase winding of Q2, Q4 controlled motor, electric current when being conducted is opened from power supply by switch on the bridge pipe, machine winding, lower bridge
Close pipe and return to power supply, so as to form loop.R6, R7 are sampling resistor, and the electric current of the phase winding of motor two is taken respectively.D2-1、D3-
1st, D6-1, D7-1 are machine winding afterflow diode respectively.
Fig. 2 show the drive circuit of the power controlled tr tube of two-phase switched reluctance motor controller, from control chip
Control signal PWM, SD of output acts on controlled tr tube by driving chip.In order to prevent switching tube from opening shut-off to control
The interference of chip, signal output clamper is controlled using D8, D11 diode, it is ensured that the signal of output is in control chip institute work
In the voltage range of work.U5 is driving chip in figure, and driving chip, according to control signal outputting drive voltage, is that upper bridge drives respectively
Moved end, lower bridge drive end.Upper bridge drive end, lower bridge drive end control the switch on the bridge pipe and bridge switch of a phase winding respectively
Pipe, can be with each phase current of controlled motor by switching tube.
Fig. 3 show two-phase switched reluctance motor controller system power supply power supply, and the power supply uses busbar voltage, by straight
Stream switch chip formation chopper circuit is depressured to required voltage, is isolated with controller power model main circuit using non-electrical
Mode, the switching power source chip simplified in controller driving power supply structure, figure uses LNK306.
Fig. 4, Fig. 5 show controller detection circuit, and Fig. 4 is that rotor detects circuit, and rotor detection circuit uses two
Individual Hall element, rotor direction of rotation is detected while rotor-position is detected.Fig. 5 show each phase current protection electricity of motor
Road, the electric current that motor is respectively mutually detected is compared with current upper limit value, as long as there is a phase overcurrent just to be exported to control chip
Current signal, biphase current detection signal is not interfere with each other, and is merged into two-phase overcurrent signal by diode D1, D2, C1, R5
One signal output.A kind of two-phase switched reluctance motor controller hardware configuration is simple, and detection module and power module obtain pole
Big simplification.Hardware cost is effectively reduced.
Fig. 6 show two-phase switch reluctance motor control method FB(flow block), after controller access power frequency supply, filtering
Capacitance voltage reaches after the operating voltage of switching power source chip that Switching Power Supply o controller chip operating voltage, controller enters
Enter control chip after electrification reset state, reset and enter pre-actuated state, waited under pre-actuated state after 0.1s, control chip
Control relay adhesive, pre-actuated state terminates to enter starting state, in starting state, mainly solves the problems, such as electric motor starting, first
Motor operating state is first defined as zero-speed state, according to Rotating speed measring, when rotating speed is not zero speed, starting state terminates, and enters
Enter running status, in running status, according to motor speed and output needs, carry out different control modes.
Fig. 7, Fig. 8 show the two-phase switched reluctance machines structure that a kind of rotor tooth is 8/4 structure and its Hall detection
Signal.Motor operation structure chart, alternate annulus represents to be fixed on the magnet ring on rotor, and annulus outward flange magnetic is represented respectively
The opposed polarity of pole.
When motor operation, magnet ring is run with rotor, the Hall element reaction magnetic ring output low and high level on stator,
Reflect rotor-position.Two hall positions differ the mechanical angle of 22.5 ± K*45 degree (K is integer).The hall signal cycle is 90
The mechanical angle of degree.The square-wave signal of two hall signal formation 90 degree of phases of mutual deviation, forms 4 states, it is illustrated that motor rotates
Direction performs corresponding operation clockwise, to form different sequence of states according to motor speed direction according to state.
Hall orientation mode is：A phase windings to two-phase switched reluctance machines are powered, and rotor is solid due to magnetic pull position
It is fixed, Hall element is fixed on stator, the magnet ring on the rotor of direction normally run along rotor, now rotor due to
Magnetic pull is remained stationary as, and is the position that magnet ring is fixed when the signal of Hall element 1 is just changed into high level from low level, should
Motor commutation point when position is also low speed.
In zero-speed, directly read Hall state to determine the conducting of A, B phase, in low speed, by entering Hall interrupt,
Hall state is read in Hall interrupt program to determine the turn-on and turn-off of A, B phase, in zero-speed and low speed, Hall element 1
It is powered, is powered in high level to B phases to A phases in low level.
In high speed, A, B are calculated by speed and hall signal and turns on and off angle, each phase turn-on angle shifts to an earlier date
11.25 degree of mechanical angles (45 degree of electrical angles), the mechanical angle of 33.75 degree of conducting；It is implemented as follows, Hall state is changed into
When 3：Logic control chip passes through known speed timing A phase on time.When Hall state is changed into 2：Logic control chip passes through
It is open-minded that program ensures that B phases have been switched off A phases, while the timing A phase turn-off times.Hall state is changed into logic control core when 0
Piece is conducted the angle time by known speed timing B.When Hall state is changed into 1：Logic control chip has ensured A phases by program
It is open-minded through turning off B phases, while the timing B phase turn-off times.
Wherein, when Hall state is 0, represent that Hall element 1 and Hall element 2 are in low level state；Hall state
For 1 when, represent Hall element 1 be in high level state, Hall element 2 be in low level state；When Hall state is 2, represent
Hall element 1 is in low level state, and Hall element 2 is in high level state；When Hall state is 3, the He of Hall element 1 is represented
Hall element 2 is in high level state.
Fig. 9 show the speed state transition diagram of two-phase switch reluctance motor control method, wherein conversion speed point r
By motor characteristic and control it needs to be determined that, can change in a program.The two-phase that a kind of rotor tooth is 8/4 structure is illustrated as to open
Close the rotating speed transformational structure point of reluctance motor.From zero-speed to low speed, from low speed to high speed conversion speed point be respectively 139rpm and
3750rpm.It is respectively 125rpm and 1500rpm from low speed to zero-speed, from high speed to low speed conversion speed point.
Figure 10 show the motor control schematic flow sheet under zero-speed state, under zero-speed, and according to reading, Hall state is true
Fixed to give motor different mutually energizations, conduction time is fixed, and starts motor torque as big as possible, after electric motor starting, into low speed
Running status.
Figure 11 show the motor control schematic flow sheet under lower-speed state, ensures that motor output torque reaches under the low speed
Maximum, inlet highway voltage is, it is known that after motor speed is detected, it is known that motor maximum operating currenbt (is given during design of electrical motor
Go out) and rotating speed, pass through motor characteristic, it may be determined that maximum voltage value of the motor under the maximum current and rotating speed, dutycycle is
The ratio between maximum voltage value and bus voltage value and no more than 1, may thereby determine that dutycycle, so that motor is not under the rotating speed
Ensure that motor output torque is maximum under overcurrent condition, under lower-speed state, open shut-off angle and determined by the change of hall signal.
Figure 12 show the motor control schematic flow sheet under fast state, at high speeds, gives the normal work of motor
Make rotating speed, the working speed carries out rotational speed regulation after being compared with the motor speed detected by Hall element, form motor
Rotating speed outer shroud is controlled；
It is determined that the current of electric under current rotating speed and under current duty cycle, carries out current inner loop control, i.e.,：First judge current
Whether current value reaches the maximum current of current rotating speed, if it exceeds the maximum current of current rotating speed then reduces dutycycle, if
Being not reaching to the maximum current of current rotating speed then increases dutycycle, and the number increasedd or decreased of dutycycle is by current regulator
(pi regulator) is adjusted, and is limited largest duty cycle and be output as 1, and minimum is output as 0.So that it is determined that motor dutycycle, opens pass
The angle of rupture is shifted to an earlier date, wherein turn-on angle shifts to an earlier date 45 degree of electric angle by rotational speed regulation when shut-off angle is opened when entering high speed compared with low speed
Degree, shut-off angle shifts to an earlier date 90 degree of electrical angle, is realized by the timer of control chip；Run motor stabilizing, this method is reduced
The current sample module of motor, simplifies hardware circuit, makes fractional hardware circuitry software.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (3)
1. a kind of control method of two-phase switched reluctance motor controller, it is characterized in that,
Two-phase switched reluctance motor controller includes：Power model, Logic control module, detection module, power module and driving
Module；The power model is connected with power module, and Logic control module is connected respectively with detection module and drive module；Institute
State power module the high voltage direct current that power model is produced is converted into needed for Logic control module, detection module and drive module
Low-voltage DC；The running status of Logic control module is respectively set as pre-actuated state, starting state, running status
And over-current state；In the case of running status, Logic control module exports different controls according to the input signal of detection module
Signal, the operation that the control signal passes through drive module controlling switch pipe and then driving two-phase switched reluctance machines；
Control method includes：By the running status of motor logic control module be respectively set as pre-actuated state, starting state,
Running status and over-current state；In the case of running status, Logic control module is according to the difference of motor speed, by motor operation
State is set in zero-speed state, lower-speed state and high-speed cruising state；Different controls are carried out to different rotating speeds, specifically included：
Under zero-speed state, a certain phase energization to motor is determined according to the relative position of electric machine rotor, conduction time is fixed, and makes electricity
Machine torque as big as possible starts, after electric motor starting, into low-speed run state；Under lower-speed state, motor turn is being detected
After speed, maximum voltage value of the motor under maximum current and rotating speed is determined, according to the maximum voltage value and inlet highway voltage
Value, determines dutycycle, motor is ensured that motor output torque is maximum in the case of not excessively stream；At high speeds, motor is given
Normal work rotating speed, the working speed carries out rotational speed regulation, shape after being compared with the motor speed detected by Hall element
Into the control of motor speed outer shroud；The current of electric under the rotating speed and under current duty cycle is determined respectively, carries out current inner loop control,
Determine motor dutycycle and open shut-off angle.
2. a kind of control method of two-phase switched reluctance motor controller as claimed in claim 1, it is characterized in that, carry out electric current
When inner ring is controlled, first judge whether present current value reaches the maximum current of current rotating speed, if it exceeds the maximum of current rotating speed
Electric current then reduces dutycycle, increases dutycycle if the maximum current for being not reaching to current rotating speed, dutycycle is increasedd or decreased
Number adjusted by pi regulator, and limit largest duty cycle and be output as 1, minimum is output as 0；Shut-off angle is opened to be adjusted by rotating speed
Section, shifts to an earlier date, wherein turn-on angle shifts to an earlier date 45 degree of electrical angle, shut-off when shut-off angle is opened when entering fast state compared with lower-speed state
Angle shifts to an earlier date 90 degree of electrical angle.
3. a kind of control method of two-phase switched reluctance motor controller as claimed in claim 1, it is characterized in that, motor logic
Pre-actuated state, starting state, running status and the over-current state of control module be specially：Logic control module accesses power frequency
Power supply, filter circuit voltage reaches after the operating voltage of switching power source chip that Switching Power Supply exports the control of Logic control module
The operating voltage of chip, control chip enters electrification reset state, and control chip enters pre-actuated state after reset；Control core
Piece control relay adhesive, pre-actuated state terminates to enter starting state；In starting state, when motor speed is not zero speed,
Starting state terminates, into running status；In motor biphase current, as long as having phase overcurrent generation, just to logic control mould
Block exports overcurrent signal, and Logic control module enters overcurrent condition；In over-current state, all switching tubes are turned off, PWM
Duty cycle limit definite value is set to zero, and now motor does not have power input, and each phase current can be gradually reduced, and keeps the state setting time
System reenters pre-actuated state afterwards.
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| CN105978418B (en) * | 2016-05-06 | 2018-11-09 | 江苏曼淇威电气产品有限公司 | A kind of detection method and detection device of brshless DC motor three-phase windings phase sequence |
| CN107046388B (en) * | 2017-03-07 | 2019-08-30 | 湖南大学 | A kind of switched reluctance machines curren tracing control method, controller and speed-regulating system |
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