CN105375833B - Drive system of electric automobile malfunction monitoring and fault tolerant control method - Google Patents
Drive system of electric automobile malfunction monitoring and fault tolerant control method Download PDFInfo
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- CN105375833B CN105375833B CN201510812175.7A CN201510812175A CN105375833B CN 105375833 B CN105375833 B CN 105375833B CN 201510812175 A CN201510812175 A CN 201510812175A CN 105375833 B CN105375833 B CN 105375833B
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Abstract
The invention discloses drive system of electric automobile malfunction monitoring and fault tolerant control method, the problem of overcoming hybrid encoder increment signal A, B failures of magnetoelectricity to cause drive system to lose accurate location information.Step：1. motor control unit judges permanent-magnetic synchronous motor rotor initial position；2. motor control unit is started according to initial position of rotor using six pulse wave control model controlled motors；3. motor control unit judges whether any height of level all the way of hybrid encoder absolute signal HA, HB, HC level of magnetoelectricity changes, change into step 4, it is no, return step 2；4. changing edge according to the hybrid encoder absolute signal level of magnetoelectricity, accurate rotor absolute location information is obtained；5. motor control unit gathers the hybrid encoder increment signal current state Q (n) of magnetoelectricity；……；9. motor control unit is carried out space vector computing, is completed an Interruption task using step 7 or 8 rotor position informations calculated.
Description
Technical field
The present invention relates to a kind of control method of drive system of electric automobile, it more particularly relates to a kind of electricity
The malfunction monitoring and fault tolerant control method of electrical automobile PMSM Drive System.
Background technology
PMSM Drive System is motor in electric automobile main flow drive system, have power density height, small volume,
The features such as speed-regulating range width.The drive system is mainly moved using Frequency conversion control mode controlled motor, vector control method
Need to detect permanent-magnetic synchronous motor rotor absolute position in real time, therefore one position sensor to be installed in motor body and be used in fact
When measure rotor-position.
PMSM Drive System rotor-position sensor has two kinds of mixed photoelectric encoder, rotary transformer,
The former cost is low compared with the latter, but is not suitable for high temperature, vibration environment, and rotary transformer decoding circuit is complicated, application cost compared with
It is high.
Therefore a kind of hybrid encoder of magnetoelectricity starts to apply, hybrid code device signal processing have circuit it is simple,
The advantages that antivibration, relatively low cost.The hybrid encoder of the magnetoelectricity has two set type signals：One group is increment signal A, B, another group
It is limited absolute position signal HA, HB, HC, this group of signal is only capable of testing six absolute angular positions of rotor, be 0 ° herein,
60 °, 120 °, 180 °, 240 °, 300 ° of 6 absolute positions.PMSM Drive System needs to detect 5 road signals at present,
Permanent-magnet synchronous motor rotor position can be computed correctly out, completes vector controlled computing.
But automotive service bad environments, the hybrid encoder appearance of the magnetoelectricity is short-circuit, breaking electric fault probability is larger,
When sensor fault causes increment signal A, B of magneto-electric hybrid coder to fail, control system can not calculate rotor and appoint
Meaning moment accurate location information, it is impossible to expected control is completed, may in the process of running, rotor can be by locked in fixation
Position, motor will be unable to operate, and easily lead to traffic accident.Therefore will to drive system position sensor carry out malfunction monitoring and
Faults-tolerant control, drive system is continued normal operation, system reliability, support vehicles and occupant safety can be greatly improved.
The content of the invention
The technical problems to be solved by the invention are that hybrid encoder increment signal A, B failures of magnetoelectricity cause drive system
A kind of the problem of losing accurate location information, there is provided hybrid encoder increment signal A, B malfunction monitoring of magnetoelectricity and using having
Limit the fault tolerant control method that absolute position signal HA, HB, HC carry out permanent-magnet synchronous motor rotor position estimation.
In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：Described electric automobile driving
The system failure monitors and fault tolerant control method comprises the following steps：
1) motor control unit judges permanent-magnetic synchronous motor rotor initial position；
2) motor control unit is started according to initial position of rotor using six pulse wave control model controlled motors；
3) motor control unit judges any level all the way of absolute signal HA, HB, HC level of the hybrid encoder of magnetoelectricity
Whether height changes, and such as changes, into step 4), conversely, return to step 2)；
4) edge is changed according to the hybrid encoder absolute signal level of magnetoelectricity, obtains accurate rotor absolute location information；
5) the motor control unit collection hybrid encoder increment signal current state Q (n) of magnetoelectricity；
6) motor control unit diagnostic program is by the hybrid encoder increment signal current state Q (n) of magnetoelectricity and upper certain
When interrupt task in state Q (n-1) be added and carry out condition adjudgement；
7) counted according to increment signal A, B, accurately calculate rotor position information；
The rotor absolute position obtained according to step 4), the angle calculated plus currently available increment signal, it can just obtain
To rotor accurate location, into step 9)；
8) according to rotor-position absolute information, rotor-position is estimated；
According to hybrid encoder absolute position signal HA, HB, HC signals low and high level change of magnetoelectricity, formula (12) is quoted
Rotor position information is calculated, and fault message is exported to automobile instrument, reminds driver and crew, vehicle enters fault mode；
9) rotor position information that motor control unit is calculated using step 7) or 8), space vector computing is carried out, it is complete
Into an Interruption task.
Motor control unit described in technical scheme judges that permanent-magnetic synchronous motor rotor initial position refers to：
Motor control unit is judged at rotor-position according to absolute position signal HA, HB, HC signal level height relation
In (0 °~60 °) (60 °~120 °) (120 °~180 °) (180 °~240 °) (240 °~300 °) (300 °~360 °) six fans
Initial position in area.
Edge is changed according to position sensor absolute signal level described in technical scheme, obtains the absolute position of accurate rotor
Confidence breath refers to：Motor control unit captures a certain letter in three road absolute signal HA, HB, HC of the hybrid encoder of magnetoelectricity
The change edge of the height conversion of number level, and the level height shape of two-way increment signal A, B according to the hybrid encoder of magnetoelectricity
State, can just obtain rotor absolute position according to unique matching relationship of three road absolute signals, i.e., 0 °, 60 °, 120 °, 180 °,
A certain particular location in 240 °, 300 °, 360 °.
Motor control unit diagnostic program described in technical scheme is by the hybrid current shape of encoder increment signal of magnetoelectricity
State Q (n), which is added with state Q (n-1) in upper timing interrupt task and carries out condition adjudgement, to be referred to：Current time increment signal A,
The state dress that one signal can only occur for B signal Q (n) and Q (n-1) state in upper timing interrupt task changes, or retains former
State is constant, therefore, Q (n)+Q (n-1)=11, then increment signal A, B be in abnormal state, into step 8)；When increment is believed
Number A, B are normal, then into step 7).
Formula (12) described in technical scheme is after the hybrid encoder increment signal failure of magnetoelectricity, is mixed according to magnetoelectricity
Box-like encoder absolute position signal change, the rotor any instant position obtained using Taylor series to rotor-position expansion estimation
Confidence ceases；
Permanent-magnet synchronous motor rotor position θ expression formulas do Taylor expansion, meet following relational expression：
Wherein θkFor 0 ° of absolute position signal jumping moment respective rotor absolute position, 60 °, 120 °, 180 °, 240 °,
A certain particular location in 300 °, 360 °, tkIt is θ for rotor-positionkWhen current time；
Rotor velocity expression formula is as follows：
Wherein ω is rotor velocity, unit rad/s；
Rotor angular accelerometer is as follows up to formula：
Wherein A is acceleration, unit rad/s2；
Because acute variation will not occur at any time for permagnetic synchronous motor speed, and the sampling time is short, therefore Taylor
A rank multinomial and second order polynomial are only obtained in expansion can just meet that estimation requires, so as to obtain rotor position estimation equation.
One rank multinomial of rotor-position meets：
θ (t)=θk+ω(t-tk) (4)
The second order polynomial of rotor-position meets：
Motor control unit belongs to digital display circuit, it is therefore desirable to above-mentioned formula (4) and (5) are carried out discretization, in order to
The implementation of numerical calculation method, so as to obtain the first-order expression of rotor：
WhereinFor last moment rotor velocity, unit rad/s；
Second order expression：
According to above-mentioned derivation, the present invention proposes the first-order expression of rotor-position, and the expression formula meets：
Second order expression is as follows：
Rotating speed calculating link uses first-order expression and rotor-position output uses second order expression, i.e.,：
When motor, which is in, to be started or add and subtract load condition, because the change of q shaft currents directly results in the change of motor torque
Change, so as to influence rotor acceleration, to enable rotor to estimate, rotating speed preferably adapts to motor dynamics speed governing introducing with position and turned
Sub- acceleration correction function f (iq)：
f(iq)=K1iq+K2 (11)
Wherein K1、K2To correct tuning parameter；
Rotor position estimation method is as follows in the present invention：
Compared with prior art the beneficial effects of the invention are as follows：
1. drive system of electric automobile malfunction monitoring of the present invention and fault tolerant control method are according to the hybrid volume of magnetoelectricity
Code device increment signal A, B feature, it is proposed that a kind of fault detection method for judging increment signal A, B and whether failing, so as to save
Logic circuit is removed, saves system cost；
2. drive system of electric automobile malfunction monitoring of the present invention and fault tolerant control method are according to the hybrid volume of magnetoelectricity
Code device absolute position signal HA, HB, HC feature, proposes rotor position estimation method, makes full use of the computing of motor control unit
Speed implements this method, more accurately estimates rotor-position, reaches fault-tolerant effect.
3. drive system of electric automobile malfunction monitoring of the present invention and fault tolerant control method are according to 1,2 sides proposed
Method, programme-control flow is devised, therefore can be entered using embedded systems such as digital signal processing chip, central microprocessors
Row control in real time, so as to realize position failure monitoring and faults-tolerant control.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is permanent magnetism involved in drive system of electric automobile malfunction monitoring and fault tolerant control method of the present invention
The structure principle chart of Synchromous machine drive system；
Fig. 2 is magnetoelectricity involved in drive system of electric automobile malfunction monitoring and fault tolerant control method of the present invention
Two groups of signals during hybrid encoder normal work：Absolute position signal HA, HB, HC and increment signal A, B sequential relationship
Figure；
Fig. 3 is magnetoelectricity involved in drive system of electric automobile malfunction monitoring and fault tolerant control method of the present invention
During hybrid encoder normal work, the state change map of increment signal A, B when motor rotates forward or inverts；
Fig. 4 is the FB(flow block) of drive system of electric automobile malfunction monitoring and fault tolerant control method of the present invention；
Embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
The present invention is directed the hybrid encoder increment signal of Over Electric Motor with PMSM drive system magnetoelectricity
A, the fault detect of B failures, and permanent-magnetic synchronous motor rotor angle position is estimated using absolute position signal HA, HB, HC
The faults-tolerant control method of calculation.
Refering to Fig. 1, heretofore described Over Electric Motor with PMSM drive system include motor control unit,
6 drive circuit, three-phase inverting circuit, permagnetic synchronous motor and the hybrid encoder of magnetoelectricity parts.Motor control unit is used for
The various information such as steering instructions signal, position sensor, current sensor, voltage sensor are gathered, obtain rotor-position, electricity
Stream, voltage value, realize Frequency conversion control computing, so as to which motor is run.
Refering to Fig. 2, involved by drive system of electric automobile malfunction monitoring and fault tolerant control method of the present invention
The hybrid encoder of magnetoelectricity, it has absolute position signal HA, HB, HC and one group of increment signal A, B.Wherein absolute position signal
Phase sequence differs 120 degree of electrical angles between HA, HB, HC signal, and their level height relation is divided into rotor-position (0 °~60 °)
(60 °~120 °) (120 °~180 °) (180 °~240 °) (240 °~300 °) (300 °~360 °) six sectors, wherein 0 °,
60 °, 120 °, 180 °, 240 °, the accurate location that 300 ° of 6 absolute positions are rotor.
Increment signal A, B rotor respectively export n pulse for each revolution, therefore each pulse is 360P/n degree electrical angles,
Wherein P is the number of pole-pairs of motor, and increment signal A, B impulse phase relation is orthogonal.
During the hybrid encoder normal work of magnetoelectricity, motor control unit detects absolute position signal HA, HB, HC first
Signal level height, tentatively judges rotor-position, so as to be started with Brush-Less DC motor control mode, motor control unit capture
Any one signal height to three road absolute position signals changes edge；Subsequent time, it can just be believed according to absolute position plus increment
Number incremental angle is detected, obtain any time rotor accurate location, realize vector controlled computing.
Refering to Fig. 3, in the state of increment signal A, B are normal, the level of increment signal A, B signal in motor positive and inverse
State relation meets shown in Fig. 3, according to state transition graph during increment signal A, B rotating, when motor rotates, increment signal A, B
Level corresponding states (0,1) can be in 00-10-11-01 (or 00-01-11-10) mechanical periodicity, if signal is unsatisfactory for above-mentioned change
Law, it is possible to conclude that increment signal A, B break down；
Refering to Fig. 4, on motor control unit after electricity, start initialization program and carry out self-test, if detecting operating instruction,
Motor control unit is carried out Interruption task：The malfunction monitoring and faults-tolerant control of position sensor increment signal A, B failure
Program and space vector calculate all to be completed in the Interruption task.
Failure prison of the present invention for PMSM Drive System position sensor increment signal A, B failure
The step of survey and fault tolerant control method, is as follows：
1. motor control unit judges permanent-magnetic synchronous motor rotor initial position
Motor control unit is judged at rotor-position according to absolute position signal HA, HB, HC signal level height relation
Shown in Fig. 2 (0 °~60 °) (60 °~120 °) (120 °~180 °) (180 °~240 °) (240 °~300 °) (300 °~
360 °) rough initial position in six sectors；
2. motor control unit is started according to rotor rough initial position using six pulse wave control model controlled motors；
Motor control unit sector according to where initial position of rotor, utilizes six pulse wave control models of DC brushless motor
Controlled motor starts, in the sector of the control model only on startup effectively；
3. motor control unit judges whether any height of level all the way of absolute position signal HA, HB, HC level becomes
Change, such as change, into step 4, conversely, return to step 2.
4. changing edge according to position sensor absolute signal level, accurate rotor absolute location information is obtained.
Motor control unit captures the change edge of the height conversion of a certain signal level in three road absolute signals, and root
According to the high low state of the level of other two signals, it is exhausted just rotor to be obtained according to unique matching relationship of the road signals of Tu2Zhong tri-
To position, i.e., a certain particular location in 0 °, 60 °, 120 °, 180 °, 240 °, 300 °, 360 °.
5. motor control unit gathers the hybrid encoder increment signal current state Q (n) of magnetoelectricity；
6. motor control unit diagnostic program is by the hybrid encoder increment signal current state Q (n) of magnetoelectricity and upper certain
When interrupt task in state Q (n-1) be added and carry out condition adjudgement；
Refering to Fig. 3, current time increment signal A, B signal Q (n) only can with Q (n-1) state in upper timing interrupt task
The state dress that a signal occurs changes, or reservation original state is constant.Therefore, as Q (n)+Q (n-1)=11, then increment signal A,
B is in abnormal state, into step 8.When increment signal A, B are normal, then into step 7；
7. being counted according to increment signal A, B, rotor position information is accurately calculated；
The rotor absolute position obtained according to step 4, the angle calculated plus currently available increment signal, with regard to that can obtain
Rotor accurate location, into step 9；
8. according to rotor-position absolute information, rotor-position is estimated；
According to hybrid encoder absolute position signal HA, HB, HC signals low and high level change of magnetoelectricity, quote in the present invention
Formula 12 (derivation of formula 12 is seen below), calculate rotor coarse position information, and fault message is exported to automobile instrument,
Driver and crew are reminded, vehicle enters fault mode.
9. motor control unit is carried out space vector computing, completed using step 7 or 8 rotor position informations calculated
Interruption task.
The derivation of formula 12 is as follows：
The formula 12 used in the present invention, it is after the hybrid encoder increment signal failure of magnetoelectricity, is mixed according to magnetoelectricity
Formula encoder absolute position signal changes, the rotor any instant position obtained using Taylor series to rotor-position expansion estimation
Information.
Permanent-magnet synchronous motor rotor position θ expression formulas do Taylor expansion, meet following relational expression：
Wherein θkFor 0 ° of absolute position signal jumping moment respective rotor absolute position, 60 °, 120 °, 180 °, 240 °,
A certain particular location in 300 °, 360 °, tkIt is θ for rotor-positionkWhen current time.
Rotor velocity expression formula is as follows：
Wherein ω is rotor velocity, unit rad/s.
Rotor angular accelerometer is as follows up to formula：
Wherein A is acceleration, unit rad/s2。
Because acute variation will not occur at any time for permagnetic synchronous motor speed, and the sampling time is short, therefore Taylor
A rank multinomial and second order polynomial are only obtained in expansion can just meet that estimation requires, so as to obtain rotor position estimation side roughly
Journey.One rank multinomial of rotor-position meets：
θ (t)=θk+ω(t-tk) (4)
The second order polynomial of rotor-position meets：
Motor control unit belongs to digital display circuit, it is therefore desirable to above-mentioned formula (4) and (5) are carried out discretization, in order to
The implementation of numerical calculation method, so as to obtain the first-order expression of rotor：
WhereinFor last moment rotor velocity, unit rad/s.
Second order expression：
According to above-mentioned derivation, the present invention proposes the first-order expression of rotor-position, and the expression formula meets：
Second order expression is as follows：
Rotating speed calculating link uses first-order expression and rotor-position output uses second order expression, i.e.,：
When motor, which is in, to be started or add and subtract load condition, because the change of q shaft currents directly results in the change of motor torque
Change, so as to influence rotor acceleration.To enable rotor to estimate, rotating speed preferably adapts to motor dynamics speed governing introducing with position and turned
Sub- acceleration correction function f (iq)。
f(iq)=K1iq+K2 (11)
Wherein K1、K2To correct tuning parameter.
Rotor position estimation method is as follows in the present invention：
Claims (5)
1. a kind of drive system of electric automobile malfunction monitoring and fault tolerant control method, it is characterised in that described electric automobile drives
Dynamic system failure monitoring and fault tolerant control method comprise the following steps：
1) motor control unit judges permanent-magnetic synchronous motor rotor initial position；
2) motor control unit is started according to initial position of rotor using six pulse wave control model controlled motors；
3) motor control unit judges any height of level all the way of absolute signal HA, HB, HC level of the hybrid encoder of magnetoelectricity
Whether change, such as change, into step 4), conversely, return to step 2)；
4) edge is changed according to the hybrid encoder absolute signal level of magnetoelectricity, obtains accurate rotor absolute location information；
5) the motor control unit collection hybrid encoder increment signal current state Q (n) of magnetoelectricity；
6) motor control unit diagnostic program is by the hybrid encoder increment signal current state Q (n) of magnetoelectricity and a upper timing
State Q (n-1) is added and carries out condition adjudgement in disconnected task；
7) counted according to increment signal A, B, accurately calculate rotor position information；
The rotor absolute position obtained according to step 4), the angle calculated plus currently available increment signal, with regard to that can be turned
Sub- accurate location, into step 9)；
8) according to rotor-position absolute information, rotor-position is estimated；
According to hybrid encoder absolute position signal HA, HB, HC signals low and high level change of magnetoelectricity, quote below equation and calculate
Go out rotor position information, and fault message is exported to automobile instrument, remind driver and crew, vehicle enters fault mode；
Wherein ω (t) is rotor velocity,For the rotor velocity of last moment, iqFor motor q shaft currents, f (iq) it is rotor
Acceleration correction function, tkIt is θ for rotor-positionkWhen current time, θ (t) is rotor-position, and A is rotor angular acceleration；
9) rotor position information that motor control unit is calculated using step 7) or 8), carries out space vector computing, completes one
Secondary Interruption task.
2. according to drive system of electric automobile malfunction monitoring and fault tolerant control method described in claim 1, it is characterised in that institute
The motor control unit stated judges that permanent-magnetic synchronous motor rotor initial position refers to：
Motor control unit judges that rotor-position is according to absolute position signal HA, HB, HC signal level height relation
(0 °~60 °) (60 °~120 °) (120 °~180 °) (180 °~240 °) (240 °~300 °) (300 °~360 °) six sectors
In initial position.
3. according to drive system of electric automobile malfunction monitoring and fault tolerant control method described in claim 1, it is characterised in that
Described changes edge according to position sensor absolute signal level, obtains accurate rotor absolute location information and refers to：
Motor control unit captures a certain signal level in three road absolute signal HA, HB, HC of the hybrid encoder of magnetoelectricity
Height conversion change edge, and the high low state of level of two-way increment signal A, B according to the hybrid encoder of magnetoelectricity, with regard to energy
Rotor absolute position is obtained according to unique matching relationship of three road absolute signals, i.e., 0 °, 60 °, 120 °, 180 °, 240 °,
A certain particular location in 300 °, 360 °.
4. according to drive system of electric automobile malfunction monitoring and fault tolerant control method described in claim 1, it is characterised in that institute
The motor control unit diagnostic program stated is by the hybrid encoder increment signal current state Q (n) of magnetoelectricity and a upper Interruption
State Q (n-1) is added and carries out condition adjudgement and refers in task：
With Q (n-1) state in upper timing interrupt task one signal can only occur for current time increment signal A, B signal Q (n)
State dress change, or retain original state it is constant, therefore, Q (n)+Q (n-1)=11, then increment signal A, B be in abnormal shape
State, into step 8)；When increment signal A, B are normal, then into step 7).
5. according to drive system of electric automobile malfunction monitoring and fault tolerant control method described in claim 1, it is characterised in that public
Formula (12) is after the hybrid encoder increment signal failure of magnetoelectricity, is become according to the hybrid encoder absolute position signal of magnetoelectricity
Change, the rotor any instant positional information obtained using Taylor series to rotor-position expansion estimation；
Permanent-magnet synchronous motor rotor position θ expression formulas do Taylor expansion, meet following relational expression：
Wherein θkFor 0 ° of absolute position signal jumping moment respective rotor absolute position, 60 °, 120 °, 180 °, 240 °, 300 °,
A certain particular location, t in 360 °kIt is θ for rotor-positionkWhen current time；
Rotor velocity expression formula is as follows：
Wherein ω is rotor velocity, unit rad/s；
Rotor angular accelerometer is as follows up to formula：
Wherein A is acceleration, unit rad/s2；
Because acute variation will not occur at any time for permagnetic synchronous motor speed, and the sampling time is short, therefore Taylor expansion
In only obtain a rank multinomial and second order polynomial and just can meet to estimate requirement, so as to obtain rotor position estimation equation, rotor
One rank multinomial of position meets：
θ (t)=θk+ω(t-tk) (4)
The second order polynomial of rotor-position meets：
Motor control unit belongs to digital display circuit, it is therefore desirable to above-mentioned formula (4) and (5) is carried out discretization, in order to numeral
The implementation of computational methods, so as to obtain the first-order expression of rotor：
WhereinFor last moment rotor velocity, unit rad/s；
Second order expression：
According to above-mentioned derivation, the first-order expression of rotor-position is proposed, the expression formula meets：
Second order expression is as follows：
Rotating speed calculating link uses first-order expression and rotor-position output uses second order expression, i.e.,：
When motor, which is in, to be started or add and subtract load condition, because the change of q shaft currents directly results in the change of motor torque, from
And rotor acceleration is influenceed, to enable rotor to estimate, rotating speed preferably adapts to motor dynamics speed governing with position and introduces rotor acceleration
Spend correction function f (iq)：
f(iq)=K1iq+K2 (11)
Wherein K1、K2To correct tuning parameter；
Rotor position estimation method is as follows：
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| CN105915123B (en) * | 2016-06-02 | 2018-11-23 | 智车优行科技（北京）有限公司 | Motor control fault-tolerance processing method, device, motor and electric vehicle |
| CN106849810A (en) * | 2017-03-31 | 2017-06-13 | 深圳市伟创电气有限公司 | The initial position detection method and device of AC permanent magnet synchronous motor rotor |
| CN108400726A (en) * | 2018-03-31 | 2018-08-14 | 湖南明康中锦医疗科技发展有限公司 | Motor controller assistant starting method |
| CN108847793A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of rotor position estimation method of self-correcting |
| CN108988724A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of compound rotor position estimation method of hall position sensor variable weight value |
| CN108847792A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of method of hall position sensor estimation rotor-position |
| CN109194206B (en) * | 2018-10-10 | 2020-11-06 | 常州宝龙电机有限公司 | Fault-tolerant control method for brushless direct current motor |
| CN109484392B (en) * | 2018-11-26 | 2020-03-10 | 吉林大学 | Integrated fault diagnosis method for multi-wheel distributed hybrid power system |
| CN111293930B (en) * | 2018-12-07 | 2023-07-11 | 施耐德电气工业公司 | Method and device for controlling an electric machine |
| CN111106768B (en) * | 2019-12-26 | 2021-06-29 | 峰岹科技(深圳)股份有限公司 | Starting control method and device of motor |
| CN114465534B (en) * | 2022-02-21 | 2022-10-11 | 小米汽车科技有限公司 | Motor rotor position determining method and device, medium and vehicle |
| CN114643870B (en) * | 2022-03-01 | 2022-10-21 | 浙江科技学院 | Fault-tolerant control method and system for failure of position sensor of vehicle hub driving unit |
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| CN103475294A (en) * | 2013-09-03 | 2013-12-25 | 清华大学 | Fault-tolerant control algorithm for hall sensors of permanent magnet synchronous motor |
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