CN105573304A - Fault diagnosis method for Hall position sensor of permanent magnet synchronous motor - Google Patents
Fault diagnosis method for Hall position sensor of permanent magnet synchronous motor Download PDFInfo
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- CN105573304A CN105573304A CN201610097197.4A CN201610097197A CN105573304A CN 105573304 A CN105573304 A CN 105573304A CN 201610097197 A CN201610097197 A CN 201610097197A CN 105573304 A CN105573304 A CN 105573304A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
- G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention discloses a fault diagnosis method for a Hall position sensor of a permanent magnet synchronous motor and belongs to the technical field of fault diagnosis of the Hall position sensor. The fault diagnosis method comprises the following steps: detecting output state of a Hall sensor in real time during the motor running process; respectively storing the output comprehensive state information of the Hall sensor in the form of binary system array and decimal array; successively eliminating the situations of three Hall elements all in fault, two Hall elements in fault and one Hall element in fault according to the binary system array and decimal information; positioning the Hall element in fault according to the output comprehensive information of the Hall sensor after the fault type is judged; lastly, feeding back the fault information to a controller. According to the scheme, the hardware needs not be modified, the cost is low, the quick diagnosis for the fault type supplies guarantee to the protection for the system and the accurate positioning for the Hall element in fault can supply forceful support to the maintenance and replacement of the Hall element in fault.
Description
Technical field
The invention discloses a kind of hall position sensor method for diagnosing faults, be specifically related to a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, the technical field of the hall position sensor fault diagnosis belonged to.
Background technology
Permagnetic synchronous motor, owing to having the features such as high power, high-level efficiency and low speed high torque, obtains in industry, traffic and field of household appliances and applies more and more widely.In permagnetic synchronous motor control strategy, vector controlled is one of the most frequently used control strategy, this strategy in control procedure in order to prevent the step-out of rotor from needing to detect rotor-position.Roughly two classes can be divided at present: position sensor method and position-sensor-free method to the method that permanent-magnet synchronous motor rotor position detects.Position sensor method is that the contraposition of the application high-precision sensor such as rotary transformer and photoelectric encoder is put and detected, and the rotor-position precision that these class methods obtain is higher, but the use of sensor often increases volume and the cost of system.And although position-sensor-free can not increase volume and the cost of system, the general more complicated of method of position estimation, will certainly increase the calculating pressure of system, and no sensor method generally can have poor starter low-speed performance.And as electric automobile in some specific application backgrounds, it often travels under the operating mode that high temperature, humidity and vibration are stronger, this can limit the use of above-mentioned high-precision sensor, starting that again can be frequent when automobile travels in city simultaneously stops, and this then can hinder the usable range without sensor.Therefore, Hall element obtains increasing application in the environment that some are special.
Hall position sensor is a kind of cheap, and the life-span is long, the low precision position sensors that operating temperature range is wide.This sensor is made up of 3 switching Hall components, be arranged on uniformly electrical angle be 120 ° circumferentially, each Hall element of the rotation along with motor can export different low and high levels, is divided into the sector of 6 60 ° whole 360 ° of electric cycles.In each sector at first, can detect accurately rotor-position, but then need between sectors to calculate rotor-position by certain evaluation method.When utilizing this sensor to carry out position estimation, condition is 3 Hall elements is all normal, but in motor operation course, due to the change of the working environment such as temperature, humidity, Hall element can be caused to break down, and after fault, Hall element output state is always 0 or 1.After Hall breaks down, if also carry out position estimation according to original method, controller can obtain the position signalling of mistake; can send the voltage signal of mistake afterwards, gently then cause electric current excessive, controller is protected; heavy then cause controller out of control, motor burns out.
More existing Chinese patents propose the method for Hall element fault diagnosis at present.Application number be 201310312121.5 patent of invention propose method for diagnosing faults by judging electric machine rotation time whether occurred that all normal states judge, but the method is not to the concrete grammar of Hall element location of being out of order, and the method can not carry out fault detect in real time in electric machine rotation process; Application number be 201310395718.0 the method that provides of patent of invention be by judging whether Hall order electrical angle that is whether correct and that pass by certain sector confirms within the scope of maximal and minmal value whether fault occurs, but the method does not specifically provide the choosing method of maximin, and when Selecting parameter is improper, applicability is poor; Application number be 201510533218.8 patent of invention give the computation process of threshold time in a kind of detailed hall position sensor method for diagnosing faults and its deterministic process, relative to upper two kinds of methods more comprehensively, in detail, but the method implementation has much room for improvement and the computation process of threshold time is relatively complicated for the method.
Summary of the invention
Technical matters to be solved by this invention is the deficiency for above-mentioned background technology, provide a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, achieve the quick diagnosis of Hall element fault type and the accurate location of fault Hall element, solve that existing Hall element method for diagnosing faults applicability is poor, computation process relative complex, the technical matters of fault detect of can not carrying out in real time in electric machine rotation process.
The present invention adopts following technical scheme for achieving the above object:
A kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, hall position sensor comprises Hall element A, Hall element B, the Hall element C of arranged counterclockwise, 360 ° of electric cycles are divided into the sector of 6 60 ° by Hall element A, Hall element B, Hall element C
Method for diagnosing faults comprises the steps:
I, motor is run after initialization Hall element output integrated status information;
II, the output state information of each Hall element is detected, with the output state of Hall element A for most significant digit, with the output state of Hall element C for lowest order, the scale-of-two array that binary coding obtains recording Hall element output integrated state in each sector is carried out to each Hall element output state, and stores the decimal data that in each sector, Hall element output integrated state is corresponding;
III, the situation of three equal faults of Hall element is got rid of:
When Hall element output integrated state, in threshold time or threshold values angle, saltus step occurs, enter step IV and continue tracing trouble type,
Otherwise Hall element is to controller feedback error signal, and controller controls permagnetic synchronous motor and shuts down;
IV, the situation of two Hall element faults is got rid of:
When Hall element output integrated state is more than two kinds within the whole electricity cycle, enters step V and continue tracing trouble type,
Otherwise, be determined with two Hall element faults and by the Hall element of decimal data localizing faults corresponding to Hall element output integrated state in adjacent two sectors, Hall element feedback comprises the fault type information of fault Hall element number and position to controller;
V, the situation of a Hall element fault is got rid of:
When Hall element output integrated state is not containing zero vector, judges Hall element non-fault and return step II,
Otherwise, be determined with a Hall element fault and by the Hall element of the Hall element output integrated state localizing faults of after zero vector, Hall element feedback comprises the fault type information of fault Hall element number and position to controller.
As the non-further prioritization scheme of described a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, by the Hall element of decimal data localizing faults corresponding to Hall element output integrated state in adjacent two sectors described in step IV, be specially:
When the absolute value of the difference of decimal data corresponding to Hall element output integrated state in adjacent two sectors is 4, judge Hall element A non-fault, Hall element B and the equal fault of Hall element C;
When the absolute value of the difference of decimal data corresponding to Hall element output integrated state in adjacent two sectors is 2, judge Hall element B non-fault, Hall element A and the equal fault of Hall element C;
When the absolute value of the difference of decimal data corresponding to Hall element output integrated state in adjacent two sectors is 1, judge Hall element C non-fault, Hall element A and the equal fault of Hall element B.
Further, in the step V of described a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, by the Hall element of the Hall element output integrated state localizing faults of after zero vector state, be specially when turning over sector counterclockwise:
When a Hall element output integrated state after zero vector state is 010 or 101, judge that Hall element A is as fault Hall element;
When a Hall element output integrated state after zero vector state is 001 or 110, judge that Hall element B is as fault Hall element;
When a Hall element output integrated state after zero vector state is 100 or 011, judge that Hall element C is as fault Hall element.
Further, in the step V of described a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, by the Hall element of the Hall element output integrated state localizing faults of after zero vector state, be specially when turning over sector clockwise:
When a Hall element output integrated state after zero vector state is 001 or 110, judge that Hall element A is as fault Hall element;
When a Hall element output integrated state after zero vector state is 100 or 011, judge that Hall element B is as fault Hall element;
When a Hall element output integrated state after zero vector state is 010 or 101, judge that Hall element C is as fault Hall element.
Further, in the step III of described a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, threshold time calculates according to minimum speed when permagnetic synchronous motor does not start, and threshold time calculates according to the average velocity turning over a sector after permagnetic synchronous motor starts to rotate; Threshold values angle is 60 ° and an angle surplus sum.
As the further prioritization scheme of described a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults, the method of the Hall element of initialization described in step I output integrated status information is: the comprehensive state information chosen beyond six Hall element normal operation is the initial value of Hall element output integrated status information, and the comprehensive state information value beyond described six Hall element normal operation is different.
The present invention adopts technique scheme, there is following beneficial effect: utilize a kind of Software-only method achieve the detection real-time of Hall element fault simply and accurately locate, whole scheme by detecting in real time the output state of Hall element in electric machine rotation process, Hall element output integrated status information is preserved respectively with the form of scale-of-two and decimal system array, three equal faults of Hall element are got rid of successively according to scale-of-two array and decimal system information, two Hall element faults, the situation of a Hall element fault, and by Hall element output integrated Information locating fault Hall element after judgement fault type, final feedback failure message is to controller, the program does not need to change hardware, with low cost, be that protection system provides guarantee to the quick diagnosis of fault type, the maintenance accurately orientating fault Hall element as of fault Hall element and replacing are provided and provides powerful support for.
The aspect that the present invention adds and advantage will part provide in the following description, and these will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Fig. 1 is permagnetic synchronous motor hall position sensor method for diagnosing faults block diagram;
Hall position interval graph when Fig. 2 (a) is Hall element A, Hall element B, Hall element C are all normal;
Each hall element output signal and relevant array storing value schematic diagram when Fig. 2 (b) is Hall element A, Hall element B, Hall element C are all normal;
Fig. 3 (a) is Hall element A, Hall element B, the equal fault of Hall element C and Hall element A export is 1, and it is 1 that Hall element B exports, the hall position interval graph that Hall element C exports when being 0;
Fig. 3 (b) is Hall element A, Hall element B, the equal fault of Hall element C and Hall element A export is 1, and it is 1 that Hall element B exports, Hall element C exports when being 0 each hall element output signal and relevant array storing value schematic diagram;
Fig. 4 (a) for Hall element A and Hall element C fault and Hall element A to export be 1, Hall element C exports hall position interval graph when being 0;
Fig. 4 (b) for Hall element A to Hall element C fault and Hall element A to export be 1, Hall element C export be 0 time each hall element output signal and relevant array storing value schematic diagram;
Fig. 5 (a) is for Hall element A fault and the hall position interval graph exported when being 1;
Fig. 5 (b) is for Hall element A fault and export each hall element output signal and relevant array storing value schematic diagram when being 1.
Embodiment
Being described below in detail embodiments of the present invention, is exemplary below by the embodiment be described with reference to the drawings, and only for explaining the present invention, and can not be interpreted as limitation of the present invention.
The present invention proposes a kind of permagnetic synchronous motor Hall element method for diagnosing faults as shown in Figure 1, hall position sensor comprises Hall element A, Hall element B, the Hall element C of arranged counterclockwise, and 360 ° of electric cycles are divided into the sector of 6 60 ° by Hall element A, Hall element B, Hall element C.Diagnostic method specifically comprises following four large steps.
The first step: variable-definition and system initialization.In electric machine rotation process, Hall element can export 6 kinds of comprehensive states, can be expressed as (100) with the form of (ABC), (110), (010), (011), (001), (101), the whole electricity cycle is divided into 6 sectors, as shown in Figure 2 (a) shows, so first need definition array Hall (j) for storing the comprehensive state that in motor operation course, in each sector, Hall element exports, this array length is that 6(is identical with sector sum), simultaneously in order to prevent the starting stage from occurring wrong report fault, in array, the initial value of all elements is all set as the value beyond above-mentioned 6 kinds of situations, and it is not all identical.Simultaneously for the ease of localization of fault afterwards, with Hall element C output state for lowest order, with Hall element A output state for most significant digit, binary data each in above-mentioned array is converted into the decimal system, define an array Hall_dl (j) simultaneously and store above-mentioned decimal data, setting and the array Hall (j) of its initial value adopt identical principle.When Hall element is normal, the value of the state of each Hall element and Hall (j), Hall_dl (j) is as shown in Fig. 2 (b).
Second step: Hall element input.After controller starts drive motor work, the mode that system adopts edge to catch gathers the output state of Hall element in Hall element, the binary message of its correspondence is stored in array Hall (j), decimal data corresponding for each binary data is stored in corresponding Hall_dl (j) array simultaneously.
3rd step: after collecting the signal of Hall element, adopts the type of mode to fault progressively judged judge and position fault Hall element.Can be divided into polytype according to the difference of the Hall element number broken down and position after Hall element fault, the present invention, by the difference by fault Hall element number, judges by three phases:
1, judge whether that three Hall elements all break down.When 3 Hall elements all break down, Hall element only has a kind of state in electric machine rotation process, hall position interval graph is now as shown in Fig. 3 (a), the storing value of what Fig. 3 (b) provided is corresponding each hall element output signal and array Hall (j), Hall_dl (j), now Hall element A exports is 1, it is 1 that Hall element B exports, and it is 0 that Hall element C exports.Here separately a time variable is defined
and the angle passed by each sector
, after time or angle reach threshold values, if Hall element state does not also change, so can regard as 3 Halls and all break down.Threshold time can be divided into two kinds, and one is when motor does not also rotate, and can obtain the time by providing a minimum speed, one be electric machine rotation after, obtain the time by the average velocity turning over a upper sector.The angle of each sector is then that the integration of speed obtains, if this angle is after reaching 60 ° and adding an angle surplus (being threshold values angle), Hall element output integrated state does not still change, and can also assert that 3 Hall elements all break down.The threshold values computation process that the application relates to is relatively simple, is conducive to improving efficiency of algorithm.
2, determine whether that two Hall elements all break down.When two Hall elements break down, the state of a Hall element is only had to change, so Hall element only can export two comprehensive states, Hall interval graph after Hall element A, Hall element C fault as shown in Figure 4 (a), Fig. 4 (b) is the storing value of corresponding each hall element output signal and array Hall (j), Hall_dl (j), now Hall element A exports is 1, it is 0 that Hall element C exports, and can determine whether that two Hall elements break down according to this feature.Whether meet Hall (j)=Hall (j+2) according to Hall element output integrated state to judge, once meet this condition, two Hall element faults can be judged to be.And be the decimal data that Hall (j) is corresponding due to what store in array Hall_dl (j), localizing faults Hall element can be carried out by the absolute value of Hall_dl (j+1)-Hall_dl (j), when its absolute value is 4, can determine that Hall element A does not break down, contrary fault be Hall element B, Hall element C; When its absolute value is 2, can determine that Hall element B does not break down, contrary fault be Hall element A, Hall element C; When its absolute value is 1, can determine that Hall element C does not break down, fault be Hall element A, Hall element B.
3, determine whether that a Hall element breaks down.During a Hall element fault, Hall element output integrated state can be left four kinds, it is the same that a kind of state wherein must be had to be the output state of three Hall elements, be called zero vector state, when after being judged as not being three or two Hall faults, just can (namely the state of three Hall elements be the same by judging whether to there will be zero vector, this kind of state also may occur when two Hall elements are made mistakes, but this kind of situation is got rid of) judge whether to only have a Hall element to make mistakes, if there is zero vector, so can be judged to be that fault has appearred in a Hall element, Fig. 5 (a) gives the Hall interval graph after Hall element A fault, Fig. 5 (b) is corresponding each hall element output signal and array Hall (j), the storing value of Hall_dl (j), now Hall element A exports is 1.Therefore under upper two kinds of situations are all false situation, when in array Hall (j) once there is zero vector, 1 Hall element fault can be regarded as.For the location of fault, when being rotated counterclockwise by Fig. 2 (a), after Hall element A fault, if Hall element A output state is 0, a state so after zero vector is 010, if Hall element A output state is 1, a state so after zero vector is 101; If state corresponding after in like manner can obtaining Hall element B fault is 001(Hall element B output state is 0, a state so after zero vector is 001) if, 110(Hall element B output state is 1, a state so after zero vector is 110), if for 100(Hall element C output state is 0 after Hall element C fault, a state so after zero vector is 100) if, 011(Hall element C output state is 1, a state so after zero vector is 011).When turning clockwise, after Hall element A fault, if Hall element A output state is 0, a state so after zero vector is 001, if Hall element A output state is 1, a state so after zero vector is 110; If state corresponding after in like manner can obtaining Hall element B fault is 100(Hall element B output state is 0, a state so after zero vector is 100) if, 011(Hall element B output state is 1, a state so after zero vector is 011), if for 010(Hall element C output state is 0 after Hall element C fault, a state so after zero vector is 010) if, 101(Hall element C output state is 1, a state so after zero vector is 101).
4th step: after carrying out above-mentioned several step, if it is determined that for not break down, then repeat second and third step; If it is determined that there occurs the fault of one of above-mentioned three kinds of situations, then return corresponding fault type to controller, comprise number and the position of fault Hall element, controller needs to take corresponding countermeasure for different fault types.
In sum, the present invention utilizes a kind of Software-only method achieve the detection real-time of Hall element fault simply and accurately locate, whole scheme by detecting in real time the output state of Hall element in electric machine rotation process, Hall element output integrated status information is preserved respectively with the form of scale-of-two and decimal system array, three equal faults of Hall element are got rid of successively according to scale-of-two array and decimal system information, two Hall element faults, the situation of a Hall element fault, and by Hall element output integrated Information locating fault Hall element after judgement fault type, final feedback failure message is to controller, the program does not need to change hardware, with low cost, be that protection system provides guarantee to the quick diagnosis of fault type, the maintenance accurately orientating fault Hall element as of fault Hall element and replacing are provided and provides powerful support for.
As seen through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add required general hardware platform by software and realizes.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in fact in other words, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprise the method some part described in of some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform embodiments of the invention or embodiment.
Claims (6)
1. a permagnetic synchronous motor hall position sensor method for diagnosing faults, hall position sensor comprises Hall element A, Hall element B, the Hall element C of arranged counterclockwise, 360 ° of electric cycles are divided into the sector of 6 60 ° by Hall element A, Hall element B, Hall element C
It is characterized in that, method for diagnosing faults comprises the steps:
I, motor is run after initialization Hall element output integrated status information;
II, the output state information of each Hall element is detected, with the output state of Hall element A for most significant digit, with the output state of Hall element C for lowest order, the scale-of-two array that binary coding obtains recording Hall element output integrated state in each sector is carried out to each Hall element output state, and stores the decimal data that in each sector, Hall element output integrated state is corresponding;
III, the situation of three equal faults of Hall element is got rid of:
When Hall element output integrated state, in threshold time or threshold values angle, saltus step occurs, enter step IV and continue tracing trouble type,
Otherwise Hall element is to controller feedback error signal, and controller controls permagnetic synchronous motor and shuts down;
IV, the situation of two Hall element faults is got rid of:
When Hall element output integrated state is more than two kinds within the whole electricity cycle, enters step V and continue tracing trouble type,
Otherwise, be determined with two Hall element faults and by the Hall element of decimal data localizing faults corresponding to Hall element output integrated state in adjacent two sectors, Hall element feedback comprises the fault type information of fault Hall element number and position to controller;
V, the situation of a Hall element fault is got rid of:
When Hall element output integrated state is not containing zero vector, judges Hall element non-fault and return step II,
Otherwise, be determined with a Hall element fault and by the Hall element of the Hall element output integrated state localizing faults of after zero vector, Hall element feedback comprises the fault type information of fault Hall element number and position to controller.
2. a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 1, it is characterized in that, by the Hall element of decimal data localizing faults corresponding to Hall element output integrated state in adjacent two sectors described in step IV, be specially:
When the absolute value of the difference of decimal data corresponding to Hall element output integrated state in adjacent two sectors is 4, judge Hall element A non-fault, Hall element B and the equal fault of Hall element C;
When the absolute value of the difference of decimal data corresponding to Hall element output integrated state in adjacent two sectors is 2, judge Hall element B non-fault, Hall element A and the equal fault of Hall element C;
When the absolute value of the difference of decimal data corresponding to Hall element output integrated state in adjacent two sectors is 1, judge Hall element C non-fault, Hall element A and the equal fault of Hall element B.
3. a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 2, it is characterized in that, by the Hall element of the Hall element output integrated state localizing faults of after zero vector state described in step V, be specially when turning over sector counterclockwise:
When a Hall element output integrated state after zero vector state is 010 or 101, judge that Hall element A is as fault Hall element
When a Hall element output integrated state after zero vector state is 001 or 110, judge that Hall element B is as fault Hall element;
When a Hall element output integrated state after zero vector state is 100 or 011, judge that Hall element C is as fault Hall element.
4. a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 2, it is characterized in that, by the Hall element of the Hall element output integrated state localizing faults of after zero vector state described in step V, be specially when turning over sector clockwise:
When a Hall element output integrated state after zero vector state is 001 or 110, judge that Hall element A is as fault Hall element;
When a Hall element output integrated state after zero vector state is 100 or 011, judge that Hall element B is as fault Hall element;
When a Hall element output integrated state after zero vector state is 010 or 101, judge that Hall element C is as fault Hall element.
5. according to a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults described in any one in Claims 1-4, it is characterized in that, threshold time described in step III calculates according to the minimum speed of a setting when permagnetic synchronous motor does not start, and threshold time calculates according to the average velocity turning over a sector after permagnetic synchronous motor starts to rotate; Described threshold values angle is 60 ° and an angle surplus sum.
6. a kind of permagnetic synchronous motor hall position sensor method for diagnosing faults according to claim 1, it is characterized in that, the method of the Hall element of initialization described in step I output integrated status information is: the comprehensive state information chosen beyond six Hall element normal operation is the initial value of Hall element output integrated status information, and the comprehensive state information value beyond described six Hall element normal operation is different.
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| CN106787992A (en) * | 2017-03-24 | 2017-05-31 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN106787992B (en) * | 2017-03-24 | 2019-08-02 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN110391770A (en) * | 2018-04-17 | 2019-10-29 | 德昌电机(深圳)有限公司 | Electric machine, motor-drive circuit and driving method |
| CN108775857A (en) * | 2018-07-09 | 2018-11-09 | 西北工业大学 | Permanent magnetic brushless hall position sensor method for diagnosing faults |
| CN108775857B (en) * | 2018-07-09 | 2019-11-22 | 西北工业大学 | Permanent magnetic brushless hall position sensor method for diagnosing faults |
| CN113359032A (en) * | 2021-07-02 | 2021-09-07 | 杭州海康威视数字技术股份有限公司 | Permanent magnet synchronous motor testing method, device and equipment |
| CN116543053A (en) * | 2023-07-05 | 2023-08-04 | 南京中旭电子科技有限公司 | Hall sensor production method and production system |
| CN116543053B (en) * | 2023-07-05 | 2023-09-08 | 南京中旭电子科技有限公司 | Hall sensor production method and production system |
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