CN105444950A - Method for acquiring mechanical parameters of motor drive system by using sine disturbance signal - Google Patents
Method for acquiring mechanical parameters of motor drive system by using sine disturbance signal Download PDFInfo
- Publication number
- CN105444950A CN105444950A CN201510865074.6A CN201510865074A CN105444950A CN 105444950 A CN105444950 A CN 105444950A CN 201510865074 A CN201510865074 A CN 201510865074A CN 105444950 A CN105444950 A CN 105444950A
- Authority
- CN
- China
- Prior art keywords
- formula
- mechanical
- angular velocity
- drive system
- quadrature axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention discloses a method for acquiring mechanical parameters of a motor drive system by using a sine disturbance signal. The method comprises: injecting a disturbance current in a quadrature axis of a permanent magnet synchronous motor; causing change of the angular velocity of the motor by means of disturbance of the current; and observing the current of the quadrature axis of the motor by means of integration of the velocity and the accelerated velocity during the mechanical angular velocity changing process of the motor to realize independent observation of the moment of inertia and the friction coefficient of the motor. The method for acquiring mechanical parameters of a motor drive system by using a sine disturbance signal can accurately calculate the moment of inertia and the friction coefficient of the permanent magnet synchronous motor drive system, only by knowing about three key points in the measured data: a rotor mechanical angular velocity peak value Omega r (t=tp), an iq (t=tp) corresponding to the rotor mechanical angular velocity Omega r (t=tp), and an iq (t=t0) corresponding to a rotor mechanical angular velocity zero crossing point Omega r (t=t0).
Description
Technical field
The present invention relates to the technical field of mechanical parameter identification, particularly relate to a kind of method utilizing sinusoidal perturbation signal acquisition motor driven systems mechanical parameter.
Background technology
At present, the mechanical parameter discrimination method of conventional PMSM Drive System often needs the acceleration and deceleration process of more complicated, also needs more loaded down with trivial details System Discrimination algorithm and integral differential to calculate mechanical parameter required for aided solving as moment of inertia and viscosity friction coefficient etc. simultaneously.But for a business driver, its core processor tends to the low speed processor of low cost often, therefore be often not suitable for carrying out comparatively complicated identification algorithm and integral differential calculates, and then limit the application of existing machinery parameter identification technique in engineering and popularization.
Summary of the invention
For the weak point existed in above-mentioned technology, the invention provides and a kind ofly obtain the moment of inertia of whole mechanical system and the method utilizing sinusoidal perturbation signal acquisition motor driven systems mechanical parameter of viscosity friction coefficient simply.
In order to achieve the above object, a kind of method utilizing sinusoidal perturbation signal acquisition motor driven systems mechanical parameter of the present invention, by injecting a sinusoidal perturbation electric current in the quadrature axis of permagnetic synchronous motor, understands rotor mechanical angular velocity peak value ω
r(t=t
p), rotor mechanical angular velocity peak value ω
r(t=t
p) corresponding to i
q(t=t
p) and rotor mechanical angular velocity zero crossing ω
r(t=t
0) corresponding to i
q(t=t
0), thus the computing formula obtaining the mechanical rotation inertia of PMSM Drive System is:
---D formula;
The computing formula of viscosity friction coefficient is:
---F formula.
Wherein, above-mentioned D formula and E formula are derived by following calculation procedure and are obtained:
S1, obtain drive system mechanical equation A formula: arrange the PMSM Drive System comprising permagnetic synchronous motor, driver, mechanical load and position editing machine based on vector controlled, the mechanical equation of this PMSM Drive System characterizes as follows:
---A formula;
Wherein, J is the moment of inertia of drive system,
F is the viscosity friction coefficient of PMSM Drive System,
ω r is the electromechanics angular velocity of PMSM Drive System,
Te is the electromagnetic torque of PMSM Drive System,
Tm is the applied load torque of PMSM Drive System;
S2, injection current perturbation: the electric current injecting a disturbance in the quadrature axis of permagnetic synchronous motor, at current perturbation i
dwhen=0, electromagnetic torque T
ecan by torque constant K
edirectly calculate
T
e=1.5pψ
mi
q=1.5pK
ei
q
Wherein, ψ
mthe rotor permanent magnet magnetic linkage of permagnetic synchronous motor,
P is the number of pole-pairs of permagnetic synchronous motor,
I
qit is the quadrature axis current of permagnetic synchronous motor;
Wherein, at i
dduring=0 control, ψ
m=K
e;
S3, at T
m=simplify A formula when 0 and obtain B formula: in mechanical parameter identification process, there is no applied load torque T
m=when 0, direct-axis current is set to i
d=0, quadrature axis current is set to sinusoidal perturbation i
q=I
qsin (ω
ht),
Wherein, ω
hthe sinusoidal perturbation frequency of quadrature axis current,
I
qit is the actual measurement amplitude of quadrature axis current;
Therefore, the electromechanics angular velocity of correspondence is characterized by ω
r=ω
psin (ω
ht+ φ),
Wherein, ω
pactual measurement peak value or the valley of mechanical angle speed,
φ is quadrature axis current i
qwith electromechanics angular velocity omega
rbetween phase differential;
By T
m=0, i
q=I
qsin (ω
hand ω t)
r=ω
psin (ω
ht+ φ) substitute in A formula, can obtain:
---B formula;
S4, simplify B formula by angular velocity zero crossing and obtain C formula: by the zero crossing t=t of permanent-magnetic synchronous motor rotor mechanical angle speed
0have
with
, at this zero crossing, the torque component now corresponding to viscous friction is 0, simplifies B formula further, obtains:
---C formula;
The D formula of S5, acquisition calculating machine moment of inertia: the quadrature axis current value corresponding to the zero crossing moment t=t0 of rotor mechanical angular velocity is extracted i
q(t=t
0)=I
qsin (ω
ht
0), the mechanical rotation inertia of PMSM Drive System is calculated by C formula:
---D formula;
The F formula of S6, acquisition calculating viscosity friction coefficient: by mechanical rotor angular velocity peak point t=t
pcorresponding quadrature axis current value extracts i
q(t=t
p)=I
qsin (ω
ht
p), can be obtained by B formula:
---E formula,
And then can in the hope of viscosity friction coefficient by E formula:
---F formula.
Wherein, in S4, for detecting, the zero crossing principle program of metric data as rotor mechanical angular velocity and quadrature axis current is as follows:
fori=1:DataLength
ifData(i)>0;
Polarity(i)=1;
else
Polarity(i)=-1;
end
end
fori=1:DataLength-1
ifabs(Polarity(i+1)-Polarity(i))>0
ZeroCrossing(i)=1;
else
ZeroCrossing(i)=0;
end
In above program, Data, DataLength, Polarity, and ZeroCrossing is measured data, data length, the positive-negative polarity of data and zero crossing zone bit respectively.
The invention has the beneficial effects as follows:
Compared with prior art, the method utilizing sinusoidal perturbation signal acquisition motor driven systems mechanical parameter of the present invention, by injecting a current perturbation in the quadrature axis of permagnetic synchronous motor, and the change of motor angular velocity is caused by this current disturbing, the several feature moment being combined in electromechanics angular velocity change procedure medium velocity and acceleration, to the observation of motor quadrature axis current, realize the independent observation to electric machine rotation inertia, friction factor.When not applying complexity and adding rate process and complication system identification algorithm, can only need three key points known in institute's metric data: rotor mechanical angular velocity peak value ω
r(t=t
p), rotor mechanical angular velocity peak value ω
r(t=t
p) corresponding to i
q(t=t
p), rotor mechanical angular velocity zero crossing ω
r(t=t
0) corresponding to i
q(t=t
0), just can the moment of inertia of accurate Calculation PMSM Drive System and viscosity friction coefficient.
Accompanying drawing explanation
Fig. 1 is the process flow diagram that the present invention utilizes the method for sinusoidal perturbation signal acquisition motor driven systems mechanical parameter;
Fig. 2 is the function relation figure of permanent-magnetic synchronous motor rotor mechanical angle speed and time;
Fig. 3 is the function relation figure of permanent-magnetic synchronous motor rotor quadrature axis current and time;
Fig. 4 is the permanent-magnetic synchronous motor rotor mechanical angle speed zero-crossing examination figure in Fig. 2;
Fig. 5 is the permanent-magnetic synchronous motor rotor quadrature axis current zero-crossing examination figure in Fig. 3.
Embodiment
In order to more clearly state the present invention, below in conjunction with accompanying drawing, the present invention is further described.
Consult Fig. 1, the method utilizing sinusoidal perturbation signal acquisition motor driven systems mechanical parameter of the present invention, comprises following derivation step:
Calculation procedure is derived and is obtained:
S1, obtain drive system mechanical equation A formula: arrange the PMSM Drive System comprising permagnetic synchronous motor, driver, mechanical load and position editing machine based on vector controlled, the mechanical equation of this PMSM Drive System characterizes as follows:
---A formula;
Wherein, J is the moment of inertia of drive system,
F is the viscosity friction coefficient of PMSM Drive System,
ω r is the electromechanics angular velocity of PMSM Drive System,
Te is the electromagnetic torque of PMSM Drive System,
Tm is the applied load torque of PMSM Drive System;
S2, injection current perturbation: the electric current injecting a disturbance in the quadrature axis of permagnetic synchronous motor, at current perturbation i
dwhen=0, electromagnetic torque T
ecan by torque constant K
edirectly calculate
T
e=1.5pψ
mi
q=1.5pK
ei
q
Wherein, ψ
mthe rotor permanent magnet magnetic linkage of permagnetic synchronous motor,
P is the number of pole-pairs of permagnetic synchronous motor,
I
qit is the quadrature axis current of permagnetic synchronous motor;
Wherein, at i
dduring=0 control, ψ
m=K
e;
S3, at T
m=simplify A formula when 0 and obtain B formula: in mechanical parameter identification process, there is no applied load torque T
m=when 0, direct-axis current is set to i
d=0, quadrature axis current is set to sinusoidal perturbation i
q=I
qsin (ω
ht),
Wherein, ω
hthe sinusoidal perturbation frequency of quadrature axis current,
I
qit is the actual measurement amplitude of quadrature axis current;
Therefore, the electromechanics angular velocity of correspondence is characterized by ω
r=ω
psin (ω
ht+ φ),
Wherein, ω
pactual measurement peak value or the valley of mechanical angle speed,
φ is quadrature axis current i
qwith electromechanics angular velocity omega
rbetween phase differential;
By T
m=0, i
q=I
qsin (ω
hand ω t)
r=ω
psin (ω
ht+ φ) substitute in A formula, can obtain:
---B formula;
S4, simplify B formula by angular velocity zero crossing and obtain C formula: by the zero crossing t=t of permanent-magnetic synchronous motor rotor mechanical angle speed
0have
with
, at this zero crossing, the torque component now corresponding to viscous friction is 0, simplifies B formula further, obtains:
---C formula;
The D formula of S5, acquisition calculating machine moment of inertia: the quadrature axis current value corresponding to the zero crossing moment t=t0 of rotor mechanical angular velocity is extracted i
q(t=t
0)=I
qsin (ω
ht
0), the mechanical rotation inertia of PMSM Drive System is calculated by C formula:
---D formula;
The F formula of S6, acquisition calculating viscosity friction coefficient: by mechanical rotor angular velocity peak point t=t
pcorresponding quadrature axis current value extracts i
q(t=t
p)=I
qsin (ω
ht
p), can be obtained by B formula:
---E formula,
And then can in the hope of viscosity friction coefficient by E formula:
---F formula.
Consult Fig. 2-5 further, when carrying out parameter detecting, the current perturbation form that quadrature axis is injected can have multiple, it is characterized in that causing electromechanics angular velocity to change, possess the moment that peak velocity is zero and velocity peak values point, this example adopts cycle sinusoidal current perturbation, and specific implementation process is, first to measured disturbing signal as rotor mechanical angular velocity and quadrature axis current measure, as shown in Figures 2 and 3.In theory, as long as the disturbing signal measuring a complete cycle can obtain desired zero crossing and peak point data.For detecting, the zero crossing principle program of metric data as rotor mechanical angular velocity and quadrature axis current is as follows:
fori=1:DataLength
ifData(i)>0;
Polarity(i)=1;
else
Polarity(i)=-1;
end
end
fori=1:DataLength-1
ifabs(Polarity(i+1)-Polarity(i))>0
ZeroCrossing(i)=1;
else
ZeroCrossing(i)=0;
end
end
In above program, Data, DataLength, Polarity, and ZeroCrossing is measured data, data length, the positive-negative polarity of data and zero crossing zone bit respectively.As shown in Figure 4 and Figure 5, sample sequence (samplingsequence) zero crossing corresponding when zero crossing zone bit is 1.Meanwhile, by the sample sequence number of adjacent two zero crossings, the difference of two sample sequences number can be corresponded in the hope of the length in half sinusoidal perturbation cycle.For Fig. 4, the length in half sinusoidal perturbation cycle is 289-90=199, and the length in half sinusoidal perturbation cycle of Fig. 5 gained is 369-169=200.Consider that forcing frequency is 5Hz, sample frequency is 2kHz, and it is 200 sample sequences that actual half sinusoidal perturbation cycle finally can correct.Therefore, the sample sequence number of the peak value (or valley) of sinusoidal perturbation signal, corresponding is that zero crossing sample sequence number adds 100.For Fig. 2 and Fig. 4, when zero crossing is 90, its sample sequence that valley is corresponding next time number is 90+100=190.For Fig. 3 and Fig. 5, when zero crossing is 169, its sample sequence that peak value is corresponding next time number is 169+100=269.
After the above sample sequence number of acquisition, just can obtain three key points calculating moment of inertia and viscosity friction coefficient: rotor mechanical angular velocity peak value ω
r(t=t
p), rotor mechanical angular velocity peak value ω
r(t=t
p) corresponding to i
q(t=t
p), rotor mechanical angular velocity zero crossing ω
r(t=t
0) corresponding to i
q(t=t
0).For Fig. 1, the sampling period is T
s=0.0005s, then rotor mechanical angular velocity peak point is ω
r(t=t
p=269T
s), rotor mechanical angular velocity peak point ω
r(t=t
p=269T
s) corresponding to quadrature axis current be i
q(t=t
p=269T
s), rotor mechanical angular velocity zero crossing ω
r(t=t
0=169T
s) corresponding to quadrature axis current be i
q(t=t
0=169T
s).
Be only several specific embodiment of the present invention above, but the present invention is not limited thereto, the changes that any person skilled in the art can think of all should fall into protection scope of the present invention.
Claims (2)
1. utilizing a method for sinusoidal perturbation signal acquisition motor driven systems mechanical parameter, it is characterized in that, by injecting a sinusoidal perturbation electric current in the quadrature axis of permagnetic synchronous motor, understanding rotor mechanical angular velocity peak value ω
r(t=t
p), rotor mechanical angular velocity peak value ω
r(t=t
p) corresponding to i
q(t=t
p) and rotor mechanical angular velocity zero crossing ω
r(t=t
0) corresponding to i
q(t=t
0), thus the computing formula obtaining the mechanical rotation inertia of PMSM Drive System is:
---D formula;
The computing formula of viscosity friction coefficient is:
---F formula;
Wherein, ψ
mthe rotor permanent magnet magnetic linkage of permagnetic synchronous motor,
P is the number of pole-pairs of permagnetic synchronous motor,
I
qthe quadrature axis current of permagnetic synchronous motor,
ω
hthe sinusoidal perturbation frequency of quadrature axis current,
ω
pactual measurement peak value or the valley of mechanical angle speed.
2. the method utilizing sinusoidal perturbation signal acquisition motor driven systems mechanical parameter according to claim 1, is characterized in that, above-mentioned D formula and E formula are derived by following calculation procedure and obtained:
S1, obtain drive system mechanical equation A formula: arrange the PMSM Drive System comprising permagnetic synchronous motor, driver, mechanical load and position editing machine based on vector controlled, the mechanical equation of this PMSM Drive System characterizes as follows:
---A formula;
Wherein, J is the moment of inertia of drive system,
F is the viscosity friction coefficient of PMSM Drive System,
ω r is the electromechanics angular velocity of PMSM Drive System,
Te is the electromagnetic torque of PMSM Drive System,
Tm is the applied load torque of PMSM Drive System;
S2, injection current perturbation: the electric current injecting a disturbance in the quadrature axis of permagnetic synchronous motor, at current perturbation i
dwhen=0, electromagnetic torque T
ecan by torque constant K
edirectly calculate
T
e=1.5pψ
mi
q=1.5pK
ei
q
Wherein, ψ
mthe rotor permanent magnet magnetic linkage of permagnetic synchronous motor,
P is the number of pole-pairs of permagnetic synchronous motor,
I
qit is the quadrature axis current of permagnetic synchronous motor;
Wherein, at i
dduring=0 control, ψ
m=K
e;
S3, at T
m=simplify A formula when 0 and obtain B formula: in mechanical parameter identification process, at applied load torque T
m=when 0, direct-axis current is set to i
d=0, quadrature axis current is set to sinusoidal perturbation i
q=I
qsin (ω
ht),
Wherein, ω
hthe sinusoidal perturbation frequency of quadrature axis current,
I
qit is the actual measurement amplitude of quadrature axis current;
Therefore, the electromechanics angular velocity of correspondence is characterized by ω
r=ω
psin (ω
ht+ φ),
Wherein, ω
pactual measurement peak value or the valley of mechanical angle speed,
φ is quadrature axis current i
qwith electromechanics angular velocity omega
rbetween phase differential;
By T
m=0, i
q=I
qsin (ω
hand ω t)
r=ω
psin (ω
ht+ φ) substitute in A formula, can obtain:
---B formula;
S4, simplify B formula by angular velocity zero crossing and obtain C formula: by the zero crossing t=t of permanent-magnetic synchronous motor rotor mechanical angle speed
0have
with
, at this zero crossing, the torque component now corresponding to viscous friction is 0, simplifies B formula further, obtains:
---C formula;
The D formula of S5, acquisition calculating machine moment of inertia: the quadrature axis current value corresponding to the zero crossing moment t=t0 of rotor mechanical angular velocity is extracted i
q(t=t
0)=I
qsin (ω
ht
0), the mechanical rotation inertia of PMSM Drive System is calculated by C formula:
---D formula;
The F formula of S6, acquisition calculating viscosity friction coefficient: by mechanical rotor angular velocity peak point t=t
pcorresponding quadrature axis current value extracts i
q(t=t
p)=I
qsin (ω
ht
p), can be obtained by B formula:
---E formula,
And then can in the hope of viscosity friction coefficient by E formula:
---F formula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510865074.6A CN105444950A (en) | 2015-12-01 | 2015-12-01 | Method for acquiring mechanical parameters of motor drive system by using sine disturbance signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510865074.6A CN105444950A (en) | 2015-12-01 | 2015-12-01 | Method for acquiring mechanical parameters of motor drive system by using sine disturbance signal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105444950A true CN105444950A (en) | 2016-03-30 |
Family
ID=55555410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510865074.6A Pending CN105444950A (en) | 2015-12-01 | 2015-12-01 | Method for acquiring mechanical parameters of motor drive system by using sine disturbance signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105444950A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733311A (en) * | 2017-10-16 | 2018-02-23 | 武汉英弗耐斯电子科技有限公司 | PMSM Drive System mechanical parameter discrimination method based on sinusoidal perturbation |
| CN111780906A (en) * | 2020-07-02 | 2020-10-16 | 北京信息科技大学 | Frictional force testing method for sine force system |
| CN112821834A (en) * | 2021-03-29 | 2021-05-18 | 潍柴动力股份有限公司 | Online parameter identification method and device for permanent magnet synchronous motor |
| CN115165211A (en) * | 2022-06-02 | 2022-10-11 | 哈尔滨理工大学 | Single-Hall encoder rotational inertia calculation method and device for mechanical arm |
| CN115655577A (en) * | 2022-12-13 | 2023-01-31 | 中海油田服务股份有限公司 | Method and device for measuring rotor rotational inertia and viscous friction coefficient of pulser |
| RU2789985C1 (en) * | 2022-06-07 | 2023-02-14 | Сергей Иванович Малафеев | Method for identification of friction characteristics |
-
2015
- 2015-12-01 CN CN201510865074.6A patent/CN105444950A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733311A (en) * | 2017-10-16 | 2018-02-23 | 武汉英弗耐斯电子科技有限公司 | PMSM Drive System mechanical parameter discrimination method based on sinusoidal perturbation |
| CN111780906A (en) * | 2020-07-02 | 2020-10-16 | 北京信息科技大学 | Frictional force testing method for sine force system |
| CN112821834A (en) * | 2021-03-29 | 2021-05-18 | 潍柴动力股份有限公司 | Online parameter identification method and device for permanent magnet synchronous motor |
| CN115165211A (en) * | 2022-06-02 | 2022-10-11 | 哈尔滨理工大学 | Single-Hall encoder rotational inertia calculation method and device for mechanical arm |
| CN115165211B (en) * | 2022-06-02 | 2023-08-08 | 哈尔滨理工大学 | Single Hall encoder moment of inertia calculation method for mechanical arm |
| RU2789985C1 (en) * | 2022-06-07 | 2023-02-14 | Сергей Иванович Малафеев | Method for identification of friction characteristics |
| CN115655577A (en) * | 2022-12-13 | 2023-01-31 | 中海油田服务股份有限公司 | Method and device for measuring rotor rotational inertia and viscous friction coefficient of pulser |
| CN115655577B (en) * | 2022-12-13 | 2023-03-10 | 中海油田服务股份有限公司 | Method and device for measuring rotor rotational inertia and viscous friction coefficient of pulser |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105444950A (en) | Method for acquiring mechanical parameters of motor drive system by using sine disturbance signal | |
| Qiu et al. | Sensorless control of permanent magnet synchronous motor using extended Kalman filter | |
| CN106533295B (en) | Permanent magnet synchronous motor method for controlling position-less sensor and device | |
| CN103825525B (en) | A kind of permagnetic synchronous motor without sensor speed estimation method of improvement | |
| CN106953568B (en) | Method for estimating parameters of an induction machine | |
| CN105262394A (en) | MTPA control method of built-in PMSM and MTPA control system | |
| CN102236074B (en) | Apparatus used for identifying parameters of induction motor and method thereof | |
| CN103066913B (en) | Parameter identification system, method and controlling device of permanent magnet synchronous motor | |
| CN104836499B (en) | The cross, straight axle inductance on-line parameter identification method and system of permagnetic synchronous motor | |
| CN108233807A (en) | Dead beat Direct Torque Control based on the identification of permanent magnet flux linkage sliding formwork | |
| CN107579690B (en) | A kind of ultrahigh speed permanent magnet synchronous motor method for estimating rotating speed based on sliding formwork observation | |
| CN104539211A (en) | Motor parameter identification method and device | |
| CN103051271A (en) | Permanent magnet synchronous motor unposition sensor control method | |
| CN106602952B (en) | A kind of PMSM permanent magnet flux linkage full rank discrimination method | |
| CN107276479A (en) | A kind of two-phase orthogonal winding permagnetic synchronous motor rotating speed determines method | |
| Ezzat et al. | Sensorless speed control of permanent magnet synchronous motor by using sliding mode observer | |
| CN107681937B (en) | A kind of ultrahigh speed permanent magnet synchronous motor speed observation method neural network based | |
| US9441943B2 (en) | Method of determining the position and the speed of a rotor in a synchronous electric machine using state observers | |
| Qian et al. | Fusion of position estimation techniques for a swing servo by a permanent-magnet synchronous machine | |
| US20180287536A1 (en) | Method for controlling a synchronous electric machine with a wound rotor | |
| Agrawal et al. | Low speed sensorless control of PMSM drive using high frequency signal injection | |
| Yong et al. | Sensorless control at low speed based on HF signal injection and a new signal processing method | |
| CN106953569A (en) | Induction electromotor rotor resistance method of estimation and system | |
| CN110690838A (en) | Online self-tuning method and system for magnetic declination of motor | |
| Ohnuma et al. | Signal injection method without torque ripple based on maximum torque control frame |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160330 |
|
| WD01 | Invention patent application deemed withdrawn after publication |