CN105529963A - Software compensation method for phase commutation lag angle of high-speed brushless DC motor - Google Patents

Software compensation method for phase commutation lag angle of high-speed brushless DC motor Download PDF

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Publication number
CN105529963A
CN105529963A CN201610100455.XA CN201610100455A CN105529963A CN 105529963 A CN105529963 A CN 105529963A CN 201610100455 A CN201610100455 A CN 201610100455A CN 105529963 A CN105529963 A CN 105529963A
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motor
interrupt
commutation
brushless dc
dc motor
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CN201610100455.XA
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Chinese (zh)
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魏振
丰向阳
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核工业理化工程研究院
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Publication of CN105529963A publication Critical patent/CN105529963A/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00Climate change mitigation technologies for sector-wide applications
    • Y02P80/10Efficient use of energy
    • Y02P80/11Efficient use of energy of electric energy
    • Y02P80/114Control systems or methods for efficient use of energy
    • Y02P80/116Electronic drive motor controls

Abstract

The present invention discloses a software compensation method for a phase commutation lag angle of a high-speed brushless DC (Direct Current) motor. The compensation method comprises the following steps: (I) starting; (II) initializing; (III) configuring a register; (IV) initializing software parameters; (V) waiting circularly; and (VI) interrupting a program and returning. According to the present invention, the software compensation method can effectively eliminate the phase commutation lag angle of a motor, inhibit current spikes before freewheeling a non-conducting phase and turning off a conducting phase current, and achieve the purposes of reducing a phase current waveform distortion of a DC motor, reducing a heat value of the motor, reducing the loss of the motor and increasing the efficiency of the motor.

Description

高速无刷直流电机换相滞后角软件补偿方法 Software compensation method retarded angle high-speed brushless DC motor commutation

技术领域 FIELD

[0001]本发明属于无刷直流电机控制领域,具体涉及一种高速无刷直流电机换相滞后角软件补偿方法。 [0001] The present invention belongs to the field of brushless DC motor control, particularly relates to a high-speed Commutation software retarded angle phase compensation method.

背景技术 Background technique

[0002]高速无刷直流电机采用Buck(直流降压)变换器加三相逆变桥的方式进行驱动,其换相时刻由位置信号决定,位置信号是通过三个霍尔传感器得到的,由于霍尔传感器受到电机磁场、RC滤波器以及安装位置偏差等影响,其发出的换相信号滞后于真实的换相信号,存在一定的滞后角度。 [0002] High speed brushless DC motor using the Buck (step-down DC) was added a three-phase inverter bridge driving transformer which commutation timing is determined by the position signal, the position signal is obtained by the three Hall sensors, since Hall sensor magnetic field by the motor, an RC filter and a mounting impact positional deviation, for which lags the phase signal emitted commutation real number, there is a certain lag angle. 当电机工作在高速时,该换相滞后角会引起直流电机非导通相绕组出现较大续流,导通相绕组在关断前出现较大的电流尖峰,导致电机相电流波形发生畸变,电机发热量增加,温度升高,从而产生额外的电机损耗。 When the motor operates at high speed, the retarded angle commutation causes the non-conduction phase DC motor winding to a larger freewheel, a larger conduction phase winding is turned off before the current spikes, resulting in the motor phase current waveform distortion, motor heat, increased temperature, thereby generating additional motor losses.

发明内容 SUMMARY

[0003]本发明是为了克服现有技术中存在的缺点而提出的,其目的是提供一种高速无刷直流电机换相滞后角软件补偿方法。 [0003] The present invention is to overcome the disadvantages of the prior art proposed in the present, it is an object to provide a high-speed brushless DC motor commutation software retarded angle compensating method.

[0004]本发明技术方案的原理: [0004] The aspect of the principles of the present invention:

高速无刷直流电机换相滞后角补偿方法通过DSP(数字信号处理器)在换相中断程序中将换相点提前以实现对滞后角的补偿。 High speed brushless DC motor commutation phase lag angle compensation method transducer interrupted by a DSP (Digital Signal Processor) in the program in advance to achieve the commutation point compensates for the lag angle.

[0005]滞后角由中断延迟滞后角、安装误差角、RC滤波滞后角三部分组成,其中中断延迟、霍尔传感器安装误差都是静态误差,可以通过测量获得,霍尔信号经RC滤波器产生的动态误差则通过计算获得。 [0005] from the retarded angle retarded angle interrupt latency, installation error angle, the retarded angle RC filter composed of three parts, wherein the interrupt latency, the Hall sensor mounting errors are static errors, may be obtained by measuring the signal generated by the Hall RC filter the dynamic error is obtained by calculation.

[0006]无刷直流电机以霍尔信号为中断触发信号,按照一定的顺序,每60°电角度(一个换相周期为60°电角度)进行一次换相,由于中断服务程序只能进行中断延时,不能进行中断超前。 [0006] In the brushless DC motor Hall signal as a trigger signal an interrupt, in a certain order, every electrical angle of 60 ° (a commutation cycle of electrical angle 60 °) for a commutation, since only interrupt the interrupt service routine delay can not be interrupted ahead. 为了实现滞后角补偿,必须先根据电机的实时转速计算出60°电角度对应的换相周期,再将换相顺序提前60°电角度(一个换相周期),然后在中断程序中,通过定时程序推迟60°电角度减去滞后角后对应的时间,再进行换相,这样便将换相时刻提前了一定的滞后角,实现了滞后角补偿的目的。 To achieve the lag angle compensation, must be calculated according to the real speed of the motor commutation period corresponding to the electrical angle 60 °, then the commutation sequence of electric angle 60 ° ahead of (a commutation period), then in the interrupt program, through the timing program subtracts the delayed 60 ° in electrical angle corresponding to the angle of lag time, then the commutation, the commutation timing advance so that it puts a certain lag angle, to achieve the purpose of the lag angle compensation.

[0007]本发明的技术方案是: [0007] aspect of the present invention is:

一种高速无刷直流电机换相滞后角软件补偿方法,包括以下步骤: A high speed Commutation software retarded angle phase compensation method, comprising the steps of:

(I)开始 (I) start

从主程序入口开始程序; Start the inlet from the main program;

(Π)初始化 (Π) initialization

进行DSP控制板的初始化,完成DSP控制板外设时钟、看门狗、1 口以及中断向量表的初始化工作; Conducted DSP board initialization, control panel complete DSP peripheral clock, watchdog, an initialization and interrupt vector table;

(m)配置寄存器 (M) Configuration Register

配置DSP控制板的定时器、PWM寄存器、SCI寄存器以及捕捉中断寄存器,并使能相关中断功能(S3); Configure the DSP board timer, the PWM registers, register and capturing the SCI interrupt register, the interrupt enable correlation function (S3);

(IV)初始化软件参数初始化定时器、PWM占空比、延时时间、RS232通讯软件等相关参数; (IV) initialization parameter initialization software timers, PWM duty cycle, delay time, RS232 communication software and other related parameters;

(V)循环等待 (V) waiting loop

进入主循环,等待捕捉中断发生; Enter the main loop, waiting to catch the interrupt occurs;

(VI)中断程序并返回 (VI) interrupt program and returns

执行霍尔信号中断子程序,完成后返回主程序的循环等待; Hall signal interrupt subroutine execution, return to the main program after the completion of the cycle of waiting;

所述霍尔信号中断子程序包括以下步骤: The Hall signal interrupt subroutine comprising the steps of:

(I)中断开始 (I) began to break

发生捕捉中断,进入霍尔信号中断程序; Capture occurred, entered the Hall signal interruption program;

(π)提如换相顺序 ([Pi]) as mentioned commutation sequence

根据电机换相顺序表,将无刷直流电机换相顺序提前60度电角度; The motor commutation sequence table, the brushless DC motor commutation order of 60 electrical degrees in advance;

(ΙΠ)计算电机转速 (ΙΠ) calculates the motor speed

实时计算无刷直流电机的转速及电机换相周期; Real-time computing speed and the motor commutation period brushless DC motor;

(IV)计算延时时间计算无刷直流电机换相推迟角度对应的时间; (IV) calculating a delay time calculation brushless DC motor commutation angle corresponding to the delayed time;

(V)执行换相 (V) performs commutation

进入主循环,等待捕捉中断发生; Enter the main loop, waiting to catch the interrupt occurs;

(VI)中断完成返回主程序 (VI) returns to the main interrupt completed

调用延时程序进行延时,延时后进行电机换相。 Delay procedure calls to delay, perform motor commutation after the delay.

[0008]本发明的有益效果是: [0008] Advantageous effects of the present invention are:

本发明能有效消除电机换相滞后角,抑制非导通相续流及导通相电流关断前的电流尖峰,达到减小直流电机相电流波形畸变,减少电机发热量,降低电机损耗,提高电机效率的目的。 The present invention can effectively eliminate the retarded angle phase motor commutation, a current spike suppressing non-conductive before the freewheeling current conduction phase and off, to reduce the direct current motor phase current waveform distortion, reduce motor heat, reducing the motor loss and improving the purpose motor efficiency.

附图说明 BRIEF DESCRIPTION

[0009]图1是本发明高速无刷直流电机换相滞后角软件补偿方法应用于的控制系统的结构示意图; [0009] FIG. 1 is a schematic structural diagram of the present invention, high-speed brushless commutation retarded angle control system software compensation method is applied to the DC motor;

图2是本发明中霍尔信号值与无刷直流电机的导通相对应图; FIG 2 is turned on according to the present invention, the Hall signal value corresponding to a brushless DC motor of FIG;

图3是本发明高速无刷直流电机换相滞后角软件补偿方法的主程序流程示意图; FIG. 3 is a high-speed brushless DC motor according to the present invention, changing software compensation method of the phase retarded angle schematic flow diagram of the main program;

图4是本发明中霍尔信号中断子程序的流程示意图。 FIG 4 is a schematic flow diagram of the present invention, the Hall signal interrupt subroutine.

[0010]其中: [0010] wherein:

I直流电源 2 Buck变换器 2 Buck Converter DC power I

3三相逆变桥 4无刷直流电机 3-phase brushless DC motor inverter bridge 4

5 DSP控制板。 5 DSP board.

具体实施方式 Detailed ways

[0011]下面结合实施例对说明书附图对本发明高速无刷直流电机换相滞后角软件补偿方法及其控制系统进行详细说明: 如图3所示,一种高速无刷直流电机换相滞后角软件补偿方法,包括以下步骤: [0011] The following description in conjunction with the accompanying drawings of embodiments of the present invention, high-speed brushless DC motor commutation lag angle compensation method and control system software is described in detail: As shown in FIG. 3, a high-speed brushless DC motor commutation retarded angle software compensation method, comprising the steps of:

(I)开始 (I) start

从主程序入口开始程序(SI); Start the inlet from the main routine program (the SI);

(Π )初始化 (Π) initialization

进行DSP控制板5的初始化,完成DSP控制板5外设时钟、看门狗、1 口以及中断向量表的初始化工作(S2); DSP board 5 for initialization to complete the DSP peripheral clock control board 5, the watchdog, and an interrupt vector table initialization (S2);

(m)配置寄存器 (M) Configuration Register

配置DSP控制板5的定时器、PffM寄存器、SCI寄存器以及捕捉中断寄存器,并使能相关中断功能(S3); Configure the DSP timer control board 5, PffM register, capture registers, and the SCI interrupt register, the interrupt enable correlation function (S3);

(IV)初始化软件参数初始化定时器、PWM占空比、延时时间、RS232通讯软件等相关参数(S4); (IV) software initialization parameter initialization parameters timers, PWM duty cycle, delay time, RS232 communications software (S4);

(V)循环等待 (V) waiting loop

进入主循环,等待捕捉中断发生(S5); Main loop is entered, waiting for the capture interrupt occurs (S5);

(VI)中断程序并返回 (VI) interrupt program and returns

执行霍尔信号中断子程序,完成后返回主程序的循环等待(S6); Hall signal interrupt subroutine execution, the main program returns to wait after the completion of the cycle (S6);

如图4所示,所述霍尔信号中断子程序包括以下步骤: 4, the Hall signal interrupt subroutine comprising the steps of:

(I)中断开始 (I) began to break

发生捕捉中断,进入霍尔信号中断程序(S7); Capture occurred, entered the Hall signal interruption program (S7);

(Π )提如换相顺序 ([Pi) as mentioned commutation sequence

根据电机换相顺序表,将无刷直流电机4换相顺序提前60度电角度(S8); The motor commutation sequence table, the brushless DC motor commutation order of 4 60 electrical degrees ahead (S8);

(ΙΠ)计算电机转速 (ΙΠ) calculates the motor speed

实时计算无刷直流电机4的转速及电机换相周期(S9); Real-time computing speed brushless DC motor 4 and the motor commutation period (S9);

(IV)计算延时时间计算无刷直流电机4换相推迟角度对应的时间(SlO); Calculated (IV) is calculated delay time 4 brushless DC motor commutation angle corresponding delayed time (SlO);

(V)执行换相 (V) performs commutation

进入主循环,等待捕捉中断发生(S11); Main loop is entered, waiting for the capture interrupt occurs (S11);

(VI)中断完成返回主程序 (VI) returns to the main interrupt completed

调用延时程序进行延时,延时后进行电机换相(S12)。 Perform motor commutation (S12) after the call to delay the program to delay, delay.

[0012]如图1所示,按照高速无刷直流电机换相滞后角软件补偿方法所使用的控制系统,包括直流电源1、Buck变换器2、三相逆变桥3、无刷直流电机4和DSP控制板5;所述Buck变换器2由可控硅Tl、二极管Dl、电感LI以及电容Cl组成,所述三相逆变桥3由三个桥臂的六个可控硅Ql- Q6组成。 [0012] As shown, the control system in accordance with the high-speed brushless DC motor commutation retarded angle used software compensation method 1, comprises a DC power source 1, the Buck converter 2, three-phase inverter bridge, a brushless DC motor 4 DSP and the control board 5; 2 by the Buck converter the thyristor Tl, a diode Dl, the inductor LI and capacitor Cl form, the 3-phase inverter bridge composed of six thyristors Ql- Q6 three bridge arms composition.

[0013]所述直流电源I的正端与可控硅TI的集电极连接;直流电源I的负端与二极管DI的阳极、电容CI的负极连接,电感LI一端同时与可控硅TI的发射极、二极管DI的阴极连接,电感LI的另一端与电容Cl的正极连接;电容Cl的正极与可控硅Ql、可控硅Q3、可控硅Q5的集电极连接,电容Cl的负极与可控硅Q2、可控硅Q4、可控硅Q6的发射极连接,可控硅Ql的发射极与可控硅Q2的集电极连接,可控硅Q3的发射极与可控硅Q4的集电极连接,可控硅Q5的发射极与可控硅Q6的集电极连接;无刷直流电机4的A相与可控硅QI的发射极、可控硅Q2的集电极连接,无刷直流电机4的B相与可控硅Q3的发射极、可控硅Q4的集电极连接,无刷直流电机4的C相与可控硅Q5的发射极、可控硅Q6的集电极连接。 [0013] The positive terminal of the DC power source I is connected to the collector of TI thyristor; an anode connected to the negative electrode and the negative terminal of the diode DI I DC power supply, the capacitance CI, the inductance LI emitting thyristor while an end of the TI of the diode DI is connected to a cathode connected to the positive inductor LI and the other end of the capacitor Cl; negative capacitance of the positive electrode and the SCR Ql, Cl, SCR Q3, Q5 is connected to the collector thyristor, the capacitor Cl may be thyristor Q2, SCR Q4, Q6 is connected emission thyristor, the thyristor emitter connected to the collector of Ql and Q2 of the thyristor, the thyristor Q3 at the emitter to the collector of Q4 and thyristor connection, the emission thyristor Q5 is connected to the collector of Q6 thyristor; a 4 of the brushless DC motor QI phase thyristor emitter, the collector of Q2 is connected to the thyristor, the brushless DC motor 4 B-phase thyristor Q3 at the emitter, a collector connected to the thyristor, the brushless DC motor 4 is C Q4 phase thyristor emitter of Q5, Q6 connected to the collector of the thyristor. 无刷直流电机4产生的三个霍尔信号Hal lA、Hal IB和Hal IC由DSP控制板5接收;DSP控制板5产生的PffM信号由Buck变换器2接收。 Hal lA three Hall signals generated by the brushless DC motor 4, Hal IB and Hal IC board is received by the DSP 5; PffM DSP signal generated is received by the control board 5 2 Buck converter.

[0014]所述直流电源I为无刷直流电机提供直流电,Buck变换器2将直流电变换为可调的直流电压,三相逆变桥3用于无刷直流电机的换相,DSP控制板5用于霍尔信号的采集、PffM信号生成、电机控制算法实现以及人机通讯等功能,DSP控制板5选用TI公司生产的以TMS320F2812芯片为核心的系统控制板,TMS320F2812芯片是32位定点数字信号处理器,运算频率高达150MHz,具有运算精度高,系统处理能力强等特点,同时芯片内部集成了A/D转换模块、串口通信模块和事件管理器等模块,可方便实现信号的采集输出、霍尔信号捕获、PWM信号生成以及电机控制等功能。 [0014] I said DC power supply DC brushless DC motor, the Buck converter 2 is converted into direct current adjustable DC voltage, three-phase inverter bridge for reversing the phase brushless DC motor, the DSP control board 5 for acquisition of the Hall signal, PffM signal generator, the motor control algorithm, and the man-machine communication functions, the DSP control panel 5 to use TI produced TMS320F2812 chip as the core of the panel system, is 32 chips TMS320F2812 fixed-point digital signal processor, the operating frequency of up to 150MHz, a high operational precision, system capacity and other characteristics, while the integrated chip a / D converter module, a serial communication module and an event manager module, etc., can easily realize the collection of the output signal, Huo Seoul capture signal, PWM signal generator and motor control functions.

[0015] 如图2所示,图中HallA、HallB、HallC分别代表无刷直流电机的三个霍尔位置信号,其中I代表高电平,O代表低电平,A、B、C代表无刷直流电机的三相绕组,Ql- Q6代表三相逆变桥的可控硅,根据同一时刻三个霍尔信号的值,控制三相逆变桥相应可控硅的导通,便可实现无刷直流电机的换相功能。 [0015] As shown in FIG 2, FIG HallA, HallB, HallC representing the brushless DC motor shown three Hall position signal, wherein I represents high level, a low level representative of O, A, B, C represents no brush DC motor three-phase windings, Ql- Q6 representative of thyristor three-phase inverter bridge, according to three values ​​of the same time the Hall signal, controlling a respective phase inverter bridge SCR conduction, can be realized commutation brushless DC motor function. 无刷直流电机4的位置信号是通过三个霍尔传感器检测得到的,三个霍尔器环绕在转子周围,在空间上间隔120°,转子经过霍尔传感器时,霍尔传感器会产生一个180°脉宽的输出信号,三个霍尔传感器的输出信号互差120°,在每个旋转周期中共有6个上升沿或下降沿,分别对应6个换相时刻,根据三个霍尔信号的值,便可驱动相应的开关管,实现电机的正确换相。 4 brushless DC motor position signal is obtained by the three Hall sensor, three Hall devices surrounds the rotor, in spaced-apart 120 °, the rotor passes the Hall sensor, a Hall sensor 180 will produce a ° pulse width of the output signal, the output signal of the difference between each of three hall sensors 120 °, a total of six rising or falling at each rotation cycle, corresponding to the six commutation timing signals in accordance with the three Hall value, the corresponding switch can be driven to achieve correct commutation of the motor phases.

[0016]本发明能有效消除电机换相滞后角,抑制非导通相续流及导通相电流关断前的电流尖峰,达到减小直流电机相电流波形的畸变,减少电机损耗,进一步降低了电机发热量,提高了电机效率的目的。 [0016] The present invention can effectively eliminate the retarded angle phase motor commutation, a current spike suppressing non-conductive before the freewheeling current conduction phase and off, to reduce the distortion of the phase current waveform of the DC motor to reduce motor loss, to further reduce the the motor heat, improves motor efficiency purposes.

Claims (1)

1.一种高速无刷直流电机换相滞后角软件补偿方法,其特征在于:包括以下步骤: (I)开始从主程序入口开始程序(SI); (Π)初始化进行DSP控制板(5 )的初始化,完成DSP控制板(5 )外设时钟、看门狗、1 口以及中断向量表的初始化工作(S2); (m)配置寄存器配置DSP控制板(5)的定时器、PffM寄存器、SCI寄存器以及捕捉中断寄存器,并使能相关中断功能(S3); (IV)初始化软件参数初始化定时器、PWM占空比、延时时间、RS232通讯软件等相关参数(S4); (V)循环等待进入主循环,等待捕捉中断发生(S5 ); (VI)中断程序并返回执行霍尔信号中断子程序,完成后返回主程序的循环等待(S6); 所述霍尔信号中断子程序包括以下步骤: (I)中断开始发生捕捉中断,进入霍尔信号中断程序(S7); (Π )提如换相顺序根据电机换相顺序表,将无刷直流电机(4)换相顺序提前60度电角度(S8); (ΙΠ)计算电机转速实时 1. A high speed brushless DC motor commutation retarded angle software compensation method, characterized by: comprising the steps of: (the I) starting from the beginning of the program main inlet (SI); (Π) initialization DSP board (5) initialization complete DSP board (5) peripheral clock, watchdog, an initialization and interrupt vector table (S2); (m) that configure the DSP board configuration registers (5) of the timer, PffM register, SCI capture register and interrupt register, the interrupt enable correlation function (S3); (IV) parameter initialization software to initialize the timer, the PWM duty cycle, delay time, RS232 communication software and other related parameters (S4); (V) loop waiting to enter the main loop, waiting for the capture interrupt occurs (S5); (VI) the interrupt program and returns execution Hall signal interrupt subroutine and returns the main program to wait after the completion of the cycle (S6); the Hall signal interrupt subroutine comprising step: (I) starts capture occurred interrupt, the interrupt routine into the Hall signal (S7); (Π) as mentioned commutation motor commutation sequence according to the sequence table, the brushless DC motor (4) in advance of the commutation order of 60 electrical angle (S8); (ΙΠ) calculates the motor speed in real time 算无刷直流电机(4)的转速及电机换相周期(S9); (IV)计算延时时间计算无刷直流电机(4)换相推迟角度对应的时间(S10); (V)执行换相进入主循环,等待捕捉中断发生(SI I); (VI)中断完成返回主程序调用延时程序进行延时,延时后进行电机换相(SI 2 )。 Computer brushless DC motor (4) and the rotational speed of the motor commutation period (S9); (IV) calculate the delay time calculation brushless DC motor (4) corresponding to the angle of commutation to delay time (S10); (V) performs change phase enters the main loop, waiting for the capture interrupt occurs (SI I); (VI) completion of the interrupt program returns to the main calling delay time delay, perform motor commutation (SI 2) after the delay.
CN201610100455.XA 2016-02-24 2016-02-24 Software compensation method for phase commutation lag angle of high-speed brushless DC motor CN105529963A (en)

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