CN105245136A - Control device and control method - Google Patents
Control device and control method Download PDFInfo
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- CN105245136A CN105245136A CN201410330516.2A CN201410330516A CN105245136A CN 105245136 A CN105245136 A CN 105245136A CN 201410330516 A CN201410330516 A CN 201410330516A CN 105245136 A CN105245136 A CN 105245136A
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Abstract
The invention discloses a control device and a control method for controlling a motor. The motor consists of a stator winding and a rotor. The control device comprises an inverter circuit connected with the stator winding and used for providing phase voltage for the stator winding, a position sensing circuit used for sending the position of the rotor and converting the position information into an electrical signal, and a controller connected with the position sensing circuit and the inverter circuit and used for receiving the electrical signal converted by the position sensing circuit and controlling the phase voltage provided by the inverter circuit for the stator winding according to the electrical signal to enable the stator winding to produce magnetic field change so as to change the speed of the rotor.
Description
Technical field
The present invention relates to mechanotronics field, and in particular to a kind of control device for controlling motor.
Background technology
Iron-core-free disc motor adopts without stator core construction, and stator winding can be equivalent to air core inductor, and p-m rotor is nested on the backboard of magnetic conductive material; Its shape is flat structure, and flow direction is axially.
Iron-core-free disc motor has following characteristics: axial dimension is short, is applicable to the occasion requiring strict slim installation; Armature winding coil can be equivalent to air core inductor, slotless, there is not radial flux configurations motor due to teeth groove and reacts the torque pulsation caused; There is not core loss, very high efficiency can be reached; Armature winding inductance is little, is tens uH; Moment of inertia is large.
In the control method of existing iron-core-free disc motor, the direct-flow inverter be made up of power switch pipe produces three-phase alternating current, and then the rotating magnetic field producing pulsation drives p-m rotor to rotate.Because controlled motor adopts iron-core-free structure, armature inductance value is very little, and the Carrier frequency configuration of traditional control method is at about 5K ~ 20KHz, so when adopting existing control method, in armature winding, the waveform of phase current as shown in Figure 1.In figure, waveform presents a lot of spike and burr, and visible circuit produces larger peak current at work.Very large peak current will inevitably produce very large current stress, in transient process, likely can damage power switch pipe.Large peak current causes difficulty can to the collection of motor working current, also can cause current interference simultaneously, thus bring the problems such as electromagnetic interference (EMI), Harmfulness Caused by Harmonics.
The Controlling model of existing control method many employings rotating speed open loop simultaneously or rotating speed and current double closed-loop.The defect of its medium speed open loop is that rotating speed changes with load and busbar voltage fluctuation, and rotating speed and load torque are inversely proportional to, and busbar voltage is directly proportional, and therefore the working point of controlled motor is uncontrollable; And rotating speed and current double closed-loop control strategy are applicable to the accurate control of permagnetic synchronous motor, but its control algolithm and hardware platform complexity, require high to speed and current sensor, considerably increase controller cost like this, in addition because iron-core less motor moment of inertia is large, under the condition that no current ring controls, can accomplish the quick response of rotating speed, therefore double-loop control strategy is not suitable for the control of iron-core-free disc motor yet.
Summary of the invention
The present invention is intended to solve in prior art, in the process that motor is controlled, and cannot to motor, particularly iron-core-free disc motor accurately controls, and the control method adopted and control device complex structure, control cost higher, inefficiency, the technical problems such as poor stability.
For solving the problems of the technologies described above, the invention provides a kind of control device, for controlling motor, described motor comprises stator winding and rotor, and it comprises: inverter circuit, is connected with described stator winding, for providing phase voltage to stator winding; Location sensing circuit, for sensing the position of described rotor, is converted to the signal of telecommunication by described positional information; Controller, be connected with described location sensing circuit and described inverter circuit respectively, receive the signal of telecommunication of described location sensing circuit conversion, and control according to the described signal of telecommunication phase voltage that described inverter circuit provides to described stator winding, make described stator winding produce changes of magnetic field, thus change the rotating speed of rotor.
Further, described controller specifically controls described inverter circuit for generation of pulse width modulating signal and provides phase voltage to described stator winding.
Further, the carrier frequency of described pulse width modulating signal is at more than 50KHz.
Further, described location sensing circuit comprises hall position sensor.
Further, the carrier frequency of described inverter circuit is at more than 50KHz.
Further, in the device described in above-mentioned any one, described controller comprises: the first port, and for receiving preset signals, described preset signals is for reflecting preset rotation speed; Second port, for receiving the signal of telecommunication of described location sensing circuit conversion; Control module, for the signal of telecommunication arrived according to described second port accepts, determine the actual signal of the actual speed reflecting described rotor, and more described preset signals and actual signal, obtain difference signal, the phase voltage utilizing described difference signal to control described inverter circuit to provide to described stator winding, makes the changes of magnetic field that described stator winding produces, to change the rotating speed of rotor to preset range, described preset range is arranged according to described preset rotation speed and acceptable error.
The present invention also provides a kind of control method, for controlling motor, comprises the following steps: the position sensing the rotor of described motor, and described positional information is converted to the signal of telecommunication; The phase voltage provided to the stator winding of described motor is provided according to the described signal of telecommunication, makes the changes of magnetic field that described stator winding produces, thus change the rotating speed of rotor.
Further, the phase voltage controlling to provide to the stator winding of described motor according to the described signal of telecommunication specifically comprises: produce the phase voltage that pulse width modulating signal controls to provide to described stator winding.
Further, the carrier frequency of described pulse width modulating signal is at more than 50KHz.
Further, the control method described in above-mentioned any one also comprises: receive preset signals, described preset signals is for reflecting preset rotation speed; Receive the signal of telecommunication of described position detecting circuit conversion; According to the described signal of telecommunication, determine the actual signal of the actual speed reflecting described rotor, and more described preset signals and actual signal, obtain difference signal, described difference signal is utilized to control the phase voltage provided to described stator winding, make the changes of magnetic field that described stator winding produces, to change the rotating speed of rotor to preset range, described preset range is arranged according to described preset rotation speed and acceptable error.In sum, the control strategy that control device for controlling motor provided by the invention and control method adopt speed closed loop, hyperfrequency carrier wave to drive, by checking that the output pulse of rotor location sensing device calculates motor speed, without the need to special installation rate transducer, just can accomplish that rotating speed accurately controls without the need to increasing hardware cost like this; And adopt hyperfrequency carrier wave to drive the controllable impedance that instead of output stage, also save the cost of inductance like this, further increase overall efficiency and stability.
Accompanying drawing explanation
Figure 1 shows that the oscillogram of phase current in armature winding in prior art;
Figure 2 shows that the structural representation of the control device for controlling motor that the embodiment of the present invention provides;
Figure 3 shows that the particular circuit configurations schematic diagram of the control device for controlling motor that the embodiment of the present invention provides;
Figure 4 shows that the phase current waveform figure of the iron-core-free disc motor of the control device that the application embodiment of the present invention provides;
Figure 5 shows that the speed closed loop of the control device for controlling motor that the embodiment of the present invention provides controls schematic diagram;
Figure 6 shows that the anti-saturated pi regulator schematic diagram of the control device for controlling motor that the embodiment of the present invention provides;
Figure 7 shows that the iron-core-free disc motor of the control device that the application embodiment of the present invention provides is when electric motor load torque changes, rotation speed change schematic diagram;
Figure 8 shows that the equivalent circuit diagram of the single-phase winding that the embodiment of the present invention provides;
Figure 9 shows that the Q-F curve of the single-phase winding that the embodiment of the present invention provides;
Figure 10 shows that the frequency that the embodiment of the present invention provides is 20KHz winding phase current waveform figure;
Figure 11 shows that the frequency that the embodiment of the present invention provides is 35KHz winding phase current waveform figure;
Figure 12 shows that the frequency that the embodiment of the present invention provides is 50KHz winding phase current waveform figure;
Figure 13 shows that the control method flow chart for controlling motor that the embodiment of the present invention provides;
Figure 14 shows that the control method flow chart for controlling motor that the embodiment of the present invention provides.
Embodiment
For making object of the present invention, feature becomes apparent, and is further described the specific embodiment of the present invention below in conjunction with accompanying drawing.
Refer to Fig. 2, it is depicted as the structural representation of the control device for controlling motor that one embodiment of the invention provides.
This control device, for controlling motor, be specially adapted to iron-core-free disc motor in the present embodiment, but the present invention is not limited thereto.Described motor comprises stator winding 110 and rotor 120, and this control device comprises: inverter circuit 210, is connected with described stator winding 110, for providing phase current to stator winding 110; Location sensing circuit 220, for sensing the position of described rotor 120, is converted to the signal of telecommunication by described positional information; Controller 230, be connected with described location sensing circuit 220 and described inverter circuit 210 respectively, receive the signal of telecommunication of described location sensing circuit 220 conversion, and the frequency of the phase current that described inverter circuit 210 provides to described stator winding 110 is controlled according to the described signal of telecommunication, make the changes of magnetic field that described stator winding 110 produces, thus change the rotating speed of rotor 120.
This control device is utilized to carry out Electric Machine Control, adopt the control strategy that speed closed loop, hyperfrequency carrier wave drive, by checking that the output pulse of rotor location sensing device calculates motor speed, without the need to special installation rate transducer, just can accomplish that rotating speed accurately controls without the need to increasing hardware cost like this; And adopt hyperfrequency carrier wave to drive the controllable impedance that instead of output stage, also save the cost of inductance like this, further increase overall efficiency and stability.
In this enforcement, the position of rotor 120 is converted to the signal of telecommunication through amplification, Shape correction by location sensing circuit 220, obtain square-wave signal and give controller 230, controller 230 drives inverter circuit 210 to control machine operation according to the position signalling of current rotor.
In the invention process, described controller 230 is specifically for producing the phase voltage that described in pulse width modulation (PWM) signal controlling, inverter circuit provides to described stator winding, by changing the frequency of phase current, change the power of motor, when motor load changes, enough power outputs are provided, ensure that the stable of motor speed.In the present embodiment, controller 230 can be control chip also can be control circuit.
In the invention process, in order to current of electric can reach peak value, motor output torque reaches maximum simultaneously, and the carrier frequency of described pulse width modulation (PWM) signal, at more than 50KHz, is described as follows:
Parameter of electric machine demand fulfillment following relationship:
k·2πfL＞10R(1)
Wherein f is PWM carrier frequency, and L is winding inductance, and R is winding D.C. resistance, and k is the decay factor of inductance with frequency.
For mower motor, L=25uH, R=0.55 ohms, gets K=0.75; According to relational expression (1), can derive PWM about carrier frequency f>=50KHz, carrier frequency is owing to need be less than 100KHz by the frequency of power switch pipe and power consumption constraints.
Specifically, the control strategy of the iron-core-free disc motor provided in the invention process belongs to square wave and controls, and be that the voltage by changing motor stator armature winding carrys out adjusting rotary speed, it is larger that winding applies the higher rotating speed of voltage, otherwise rotating speed is then less.Refer to, single-phase winding equivalent electric circuit as shown in Figure 8, R
afor winding D.C. resistance, L
safor winding electric sensibility reciprocal, L
sabe a frequency function, with U
athe change of frequency and changing, quality factor q=ω × L
sa/ R, in certain frequency range, R can be approximately equal to R
a, ω is U
aangular frequency, Q represents the selecting frequency characteristic of inductance, directly determines the best operating point of winding; The higher selecting frequency characteristic of winding Q value is better, and it is cleaner that the harmonic component that switching signal produces is eliminated, and the supplementary load loss of motor are then less, work more reliable and more stable.Set up winding simulation model by the mock-up of disc type electric machine known, be illustrated in figure 9 the Q-F curve of winding, F=ω/2 π, when F is near 50KHz frequency, Q reaches maximum, so the frequency optimum traffic point of winding is about 50KHz; As shown in Figure 10, Figure 11, Figure 12, PWM frequency is 20KHz, 35KHz, 50KHz phase current waveform, and by contrast, when PWM frequency is 50KHz, phase current waveform is the most level and smooth, and harmonic content is minimum.
Relative to Carrier frequency configuration of the prior art at 5K ~ 20KHz, the frequency that the embodiment of the present invention adopts is at the hyperfrequency carrier wave of more than 50KHz, this hyperfrequency carrier wave drives the many shortcomings overcoming traditional controller and bring because phase current waveform is unsmooth in iron-core-free disc motor controls, comprise drive current harmonic wave and cause electromagnetic interference to control system greatly, torque pulsation causes greatly in motor operation course not steady, also can cause vibrations noise simultaneously; Therefore, greatly reduce stability and the reliability of motor operation, and the useful life of product.In the present invention, adopt speed closed loop to control, when direct current power source voltage changes or fluctuation occurs motor load, the rotating speed of iron-core-free disc motor keeps relative constancy, and namely rotating speed fluctuates in permission tolerance interval.
In embodiments of the present invention, described location sensing circuit comprises hall position sensor.The input information of hall position sensor is that magnetic flux density represents, (operating value) is to a certain degree increased to when the magnetic in chip normal direction is close, the output trigger upset of hall position sensor, the output level state of hall position sensor also overturns as low level thereupon; Otherwise the output level state turnover of hall position sensor is high level; The difference of two action threshold values is called return difference.Output generally adopts collector electrode aperture to export, can with all kinds circuit compatibility.
In the invention process, the carrier frequency of described inverter circuit is at more than 50KHz.
In the invention process, described controller comprises: the first port, and for receiving preset signals, described preset signals is for reflecting preset rotation speed; Second port, for receiving the signal of telecommunication of described location sensing circuit conversion; Control module, for the signal of telecommunication arrived according to described second port accepts, determine the actual signal of the actual speed reflecting described rotor, and more described preset signals and actual signal, obtain difference signal, utilize described difference signal to control the frequency of the phase current that described inverter circuit provides to described stator winding, make the changes of magnetic field that described stator winding produces, to change the rotating speed of rotor to preset range, described preset range is arranged according to described preset rotation speed and acceptable error.This controller adopts velocity close-loop control motor speed, improves the ability of motor opposing bringing onto load change and change in voltage.Its medium speed preset signals can be determined by slide potentiometer, manually can adjust the rotating speed of motor in real time.The rotating speed that the signal of telecommunication of location sensing circuit conversion is converted to current motor obtains feedback speed signal, compare with rotating speed preset signals and obtain the input of velocity deviation as controller, obtain the rotating speed of new pulse pulse width modulation (PWM) policy control motor.
In order to clearly explain the present invention, incorporated by reference to see Fig. 3, specifically describe that the embodiment of the present invention provides for controlling motor, the particularly operation principle of the control device of iron-core-free disc motor.
The present embodiment is for the control device of iron-core-free disc motor, and wherein iron-core-free disc motor adopts the equivalent inpnt voltage of pulse pulse width modulation (PWM) technological adjustment motor, and voltage is higher, and rotating speed is larger.And the amplitude of voltage is relevant with duty ratio to the PWM cycle.Therefore control the rotating speed of motor by PWM technical controlling power switch pipe.
The iron-core-free disc motor of the present embodiment presses three-phase full-wave six operation, needs placement three hall position sensors.
The commutation truth table of three-phase full-wave six operation mode sees the following form.
As shown in Figure 3, control circuit, according to position signalling rotor being detected, drives VT1-VT4 conducting, VT1-VT6 conducting, VT3-VT6 conducting, VT3-VT2 conducting, VT5-VT2 conducting, VT5-VT4 conducting successively.Each switching tube conducting 120 ° of electrical degrees.Each on off state only changing a power switch pipe, because should reduce on off state in systems in practice to change the switching loss caused as far as possible.So when diverter switch state, each only switching power switch tube device, can meet the principle of minimum switch losses.According to the turn-on sequence of above-mentioned power switch pipe, DC bus-bar voltage is added on AB phase, AC phase, BC phase, BA phase, CA phase, CB phase armature winding successively.Rotor like this does not turn over a pair N-S pole, and 6 power switch pipes are according to said sequence successively conducting.It is the magnetic field axis that 60 ° of electrical degree transition rotate that stator winding produces in space, and the magnetic field axis rotation that stator produces followed by rotor.Each rotor is detected by position transducer in new position and produces one group of new position signalling, known by control circuit, control circuit according to new position signalling change power switch pipe according to new compound mode conducting, the magnetic field that stator winding is produced is transition 60 ° of electrical degrees forward.Circulation like this, motor will produce continuous print torque, drag load continuous rotation.
Under in the present embodiment, 6 power switch pipe VT1 ~ VT6 of above-mentioned direct-flow inverter are operated in the carrier frequency of 50KHz.As shown in Figure 4, in figure, the operating current of visible motor is curved for the phase current waveform of the actual iron-core-free disc motor recorded in the present invention, the phase current waveform figure of contrast and traditional iron-core-free disc motor, and in the present invention, current waveform pulsation is less, impulse-free robustness.
Speed closed loop controls schematic diagram as shown in Figure 5, and in figure, the rotor-position signal of motor obtains current motor rotary speed information as calculated, and using actual speed information with given rotating speed compare make difference after input as the deviation of the speed pi regulator in control circuit.The output modulation (PWM) signal of pi regulator, makes motor speed keep set point.Speed pi regulator rotating speed changes with Setting signal change, static error free.Improve the ability of the change of opposing bringing onto load and change in voltage.Wherein rotational speed setup signal is determined by slide potentiometer, manually can adjust the rotating speed of motor in real time.The rotating speed that rotor-position signal is converted to current motor through software obtains feedback speed signal, compares obtain the input of velocity deviation as pi regulator with speed preset signal, obtains the rotating speed of new PWM policy control motor after PI algorithm.
Simulation pi regulator can be represented by following formula:
e(t)＝r(t)-y(t)
Wherein r (t) is set-point, and y (t) is the real output value of system, e (t) as the input of pi regulator, the output of u (t) as pi regulator and the input of controlled device, u
0it is the crude initial values starting to carry out PI adjustment.
Because in the present invention, the control system of iron-core-free disc motor adopts digital control, therefore by above-mentioned formula discretization.Digital P I after discrete is divided into position model PI and increment type PI.The formula of position model PI is as follows:
From position model PI formula, position model PI algorithm exports relevant with whole past state at every turn, will use the accumulated value of mistake error in calculating formula, so be easy to produce the larger accumulation error of calculation.Therefore the control strategy of invention adopts increment type PI to regulate, and only need calculate increment, less on the calculating impact of controlled quentity controlled variable when the error of calculation or precision deficiency, formula is expressed as:
Δu
n＝u
n-u
n-1
So
Visible increment type PI regulates and only current time need be kept with the error in first three moment.The output valve of pi regulator can be calculated fast by the multiplication of limited number of time and addition.
Traditional PI regulates the problem that can produce saturation integral in actual applications.Because introduce integral element mainly in order to eliminate static receiver error, provide control precision.But when electric motor starting or when stopping, in the short time, cause system input deviation very large, the integration accumulation of PI integral operation can be impelled very large, cause exporting controlled quentity controlled variable very large.This controlled quentity controlled variable is easy to the limit controlled quentity controlled variable exceeding actuator, thus causes the strong saturation integral effect of system.The duty ratio of PWM likely can reach 100%, and control mode so can occur through being everlasting the phenomenon burning out power switch pipe.Therefore for eliminating the adverse effect that this saturation integral brings, in the control device of the embodiment of the present invention, adopt effective deviation method.
The basic thought of effective deviation method is controlled quentity controlled variable that PI algorithm calculates when exceeding limited field, and controlled quentity controlled variable in fact only gets boundary value, namely gets maximum or minimum value.The essence of effective deviation method is that the effective deviate being equivalent to controlled quentity controlled variable is made integration, instead of actual deviation value is carried out integration.Effective deviation method prevents that saturated pi regulator schematic diagram is as shown below.
Through reality test, refer to Fig. 7, in the embodiment of the present invention, the control device of iron-core-free disc motor is when electric motor load torque changes, and its rotating speed only fluctuates in small scope.
In addition, refer to Figure 13, the embodiment of the present invention additionally provides a kind of control method, and for controlling motor, it comprises the following steps:
Step S110: the position sensing the rotor of described motor, is converted to the signal of telecommunication by described positional information.
Step S120: the phase voltage provided to the stator winding of described motor is provided according to the described signal of telecommunication, makes the changes of magnetic field that described stator winding produces, thus change the rotating speed of rotor.
In embodiments of the present invention, the phase voltage controlling to provide to the stator winding of described motor according to the described signal of telecommunication specifically comprises: produce the phase voltage that pulse width modulating signal controls to provide to described stator winding.
In addition, refer to Figure 14, the control method that the embodiment of the present invention also provides also comprises:
Step S210: receive preset signals, described preset signals is for reflecting preset rotation speed;
Step S220: the signal of telecommunication receiving the conversion of described position detecting circuit;
Step S230: according to the described signal of telecommunication, determine the actual signal of the actual speed reflecting described rotor, and more described preset signals and actual signal, obtain difference signal, described difference signal is utilized to control the phase voltage provided to described stator winding, make the changes of magnetic field that described stator winding produces, to change the rotating speed of rotor to preset range, described preset range is arranged according to described preset rotation speed and acceptable error.
The concrete explaination of the control method that the embodiment of the present invention provides, incorporated by reference to above-described embodiment, does not repeat them here.
In sum, the control strategy that control device for controlling motor provided by the invention and control method adopt speed closed loop, hyperfrequency carrier wave to drive, by checking that the output pulse of rotor location sensing device calculates motor speed, without the need to special installation rate transducer, just can accomplish that rotating speed accurately controls without the need to increasing hardware cost like this; And adopt hyperfrequency carrier wave to drive the controllable impedance that instead of output stage, also save the cost of inductance like this, further increase overall efficiency and stability.
Although the present invention discloses as above with preferred embodiment; so itself and be not used to limit the present invention; have in any art and usually know the knowledgeable; without departing from the spirit and scope of the present invention; when being used for a variety of modifications and variations, therefore protection scope of the present invention is when being as the criterion depending on those as defined in claim.
Claims (10)
1. a control device, for controlling motor, described motor comprises stator winding and rotor, it is characterized in that, comprising:
Inverter circuit, is connected with described stator winding, for providing phase voltage to stator winding;
Location sensing circuit, for sensing the position of described rotor, is converted to the signal of telecommunication by described positional information;
Controller, be connected with described location sensing circuit and described inverter circuit respectively, receive the signal of telecommunication of described location sensing circuit conversion, and control according to the described signal of telecommunication phase voltage that described inverter circuit provides to described stator winding, make described stator winding produce changes of magnetic field, thus change the rotating speed of rotor.
2. device according to claim 1, is characterized in that, described controller specifically controls described inverter circuit for generation of pulse width modulating signal and provides phase voltage to described stator winding.
3. device according to claim 2, is characterized in that, the carrier frequency of described pulse width modulating signal is at more than 50KHz.
4. the device according to any one of claims 1 to 3, is characterized in that, described location sensing circuit comprises hall position sensor.
5. the device according to any one of Claims 1-4, is characterized in that, the carrier frequency of described inverter circuit is at more than 50KHz.
6. the device according to any one of claim 1 to 5, is characterized in that, described controller comprises:
First port, for receiving preset signals, described preset signals is for reflecting preset rotation speed;
Second port, for receiving the signal of telecommunication of described location sensing circuit conversion;
Control module, for the signal of telecommunication arrived according to described second port accepts, determine the actual signal of the actual speed reflecting described rotor, and more described preset signals and actual signal, obtain difference signal, the phase voltage utilizing described difference signal to control described inverter circuit to provide to described stator winding, makes the changes of magnetic field that described stator winding produces, to change the rotating speed of rotor to preset range, described preset range is arranged according to described preset rotation speed and acceptable error.
7. a control method, for controlling motor, is characterized in that, comprising the following steps:
Sense the position of the rotor of described motor, described positional information is converted to the signal of telecommunication;
The phase voltage provided to the stator winding of described motor is provided according to the described signal of telecommunication, makes the changes of magnetic field that described stator winding produces, thus change the rotating speed of rotor.
8. control method according to claim 7, is characterized in that, specifically comprises according to the phase voltage that the described signal of telecommunication controls to provide to the stator winding of described motor: produce the phase voltage that pulse width modulating signal controls to provide to described stator winding.
9. control method according to claim 8, is characterized in that, the carrier frequency of described pulse width modulating signal is at more than 50KHz.
10. the control method according to any one of claim 7 to 9, is characterized in that, also comprises:
Receive preset signals, described preset signals is for reflecting preset rotation speed;
Receive the signal of telecommunication of described position detecting circuit conversion;
According to the described signal of telecommunication, determine the actual signal of the actual speed reflecting described rotor, and more described preset signals and actual signal, obtain difference signal, described difference signal is utilized to control the phase voltage provided to described stator winding, make the changes of magnetic field that described stator winding produces, to change the rotating speed of rotor to preset range, described preset range is arranged according to described preset rotation speed and acceptable error.
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| CN201410330516.2A CN105245136A (en) | 2014-07-11 | 2014-07-11 | Control device and control method |
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| CN201410330516.2A CN105245136A (en) | 2014-07-11 | 2014-07-11 | Control device and control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106992721A (en) * | 2016-01-21 | 2017-07-28 | 佳能株式会社 | Motor driving apparatus |
| CN108333506A (en) * | 2018-04-08 | 2018-07-27 | 杭州欣美成套电器制造有限公司 | A kind of nearly zero-signal extraction and alternating-current switch position detecting circuit |
| CN110277943A (en) * | 2018-03-14 | 2019-09-24 | 现代自动车株式会社 | The control method and control system of motor speed |
| CN112350622A (en) * | 2020-11-12 | 2021-02-09 | 北京卫星制造厂有限公司 | Lunar soil drilling sampling load driven motor control system and method |
| CN114157209A (en) * | 2021-11-02 | 2022-03-08 | 深圳市创荣发电子有限公司 | Motor adjusting method, system, computer readable storage medium and electronic device |
-
2014
- 2014-07-11 CN CN201410330516.2A patent/CN105245136A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106992721A (en) * | 2016-01-21 | 2017-07-28 | 佳能株式会社 | Motor driving apparatus |
| US10591893B2 (en) | 2016-01-21 | 2020-03-17 | Canon Kabushiki Kaisha | Motor driving apparatus |
| CN106992721B (en) * | 2016-01-21 | 2020-07-21 | 佳能株式会社 | Motor driving apparatus |
| CN110277943A (en) * | 2018-03-14 | 2019-09-24 | 现代自动车株式会社 | The control method and control system of motor speed |
| CN108333506A (en) * | 2018-04-08 | 2018-07-27 | 杭州欣美成套电器制造有限公司 | A kind of nearly zero-signal extraction and alternating-current switch position detecting circuit |
| CN112350622A (en) * | 2020-11-12 | 2021-02-09 | 北京卫星制造厂有限公司 | Lunar soil drilling sampling load driven motor control system and method |
| CN114157209A (en) * | 2021-11-02 | 2022-03-08 | 深圳市创荣发电子有限公司 | Motor adjusting method, system, computer readable storage medium and electronic device |
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