CN105703684A - Control method and system for starting compressor - Google Patents
Control method and system for starting compressor Download PDFInfo
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- CN105703684A CN105703684A CN201610150247.0A CN201610150247A CN105703684A CN 105703684 A CN105703684 A CN 105703684A CN 201610150247 A CN201610150247 A CN 201610150247A CN 105703684 A CN105703684 A CN 105703684A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/02—Stopping, starting, unloading or idling control
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Abstract
The invention relates to a control method and a system for starting a compressor, which are used for positioning a compressor rotor twice, wherein the compressor rotor can be rotated to a specified position at least once in the two positioning processes to avoid a positioning blind area, a closed-loop vector operation stage is switched in after the rotor is positioned, a modulation voltage instruction value is obtained according to a first feedback current value, a current initial value and a rotor estimated phase value, a second feedback current value of the compressor is obtained after the compressor receives corresponding voltage, a rotor estimated phase value and a compressor estimated rotating speed value at the next moment are obtained according to the second feedback current value and the modulation voltage instruction value, and then the modulation voltage instruction value is obtained again. The compressor can be started stably under various working conditions.
Description
Technical field
The present invention relates to Compressor Technology field, particularly relate to control method and the system of compressor start。
Background technology
Traditional compressor start is generally adopted syllogic and starts, i.e. rotor fixed position stage, rotating speed open loop phase and the speed closed loop operation phase。In the rotor fixed position stage, apply the location current vector of particular phases to compressor winding, compressor drum is rotated to appointment position；Rotating speed open loop phase, adopts V/F or I/F control strategy, direct open-loop start-up compressor；The speed closed loop operation phase, rotor-position observer is started working, and the rotor-position estimated and rotating speed cut two close cycles vector controlled。
The rotor fixed position stage, the angle theta between the location current vector Is1 and the true position of magnetic pole NS of rotor that apply in Fig. 1lmtToo little (region AB and CD), the location torque that location current vector Is1 produces cannot overcome the intrinsic cogging force of compressor and bearing friction power, making compressor drum cannot rotate to appointment position, this rotor fixed position inaccurate region AB and CD is called blind area, location。If compressor drum is in AB region, even if position fixing process rotor does not rotate to the position of location current vector Is1, without producing very big error angle during startup, can normally start, if compressor drum is in CD region, the compressor drum position of acquiescence differs 180 degree with physical location, and open loop operating moment compressor is likely to occur step-out or over current fault causes compressor start failure。
Rotating speed open loop phase, adopting V/F or I/F open loop control strategy, rotor field-oriented angle is unknown, and driven compressor efficiency is low, the change of operation process medium frequency is fast, and open loop phase run is easy to compressor step-out sign occur when compressor load is heavier；Moment in speed closed loop stage is cut by rotating speed open loop; if the torque of open loop phase output is not enough to drag compressor load; there will be very big dash current, and inner compressor rotating speed is uncontrollable during this period of time, it is possible to cause that compressor reverse rotation or compressor are crossed stream and shut down。
Summary of the invention
Based on this, it is necessary in existing method, it is typically all syllogic to start, easily occur that rotor fixed position is inaccurate, open loop operation multistage compressor step-out sign, open loop is cut into operation with closed ring moment and easily occurs that big dash current causes that compressor crosses stream or the frequency discontinuity problem that causes compressor step-out, it is provided that the control method of a kind of compressor start and system。
The control method of a kind of compressor start, comprises the following steps:
It is compressed the one-time positioning of machine rotor by compressor winding is applied the first current phasor；
Being compressed the second positioning of machine rotor by the compressor winding after one-time positioning is applied the second current phasor, the amplitude of the second current phasor and the first current phasor is identical, and phase place is different；
According to the first feedback current, default electric current initial value and default rotor, first feedback current of compressor after acquisition second positioning, estimates that phase value obtains modulation voltage command value；Obtaining compressor second feedback current of feedback after receiving the voltage that modulation voltage command value is corresponding, the rotor obtaining subsequent time according to the second feedback current and modulation voltage command value estimates that tachometer value estimated by the compressor of phase value and subsequent time；
Compressor according to subsequent time estimates that rotating speed and the compressor rotary speed initial value preset update the electric current initial value preset, rotor according to subsequent time estimates that phase value updates the rotor preset and estimates phase value, update the first feedback current according to the second feedback current, be back to the step obtaining modulation voltage command value。
The control system of a kind of compressor start, including current control module, rotational speed control module, position detection module；
Current control module is for being compressed the one-time positioning of machine rotor by compressor winding is applied the first current phasor；Being compressed the second positioning of machine rotor by the compressor winding after one-time positioning is applied the second current phasor, the amplitude of the second current phasor and the first current phasor is identical, and phase place is different；
Current control module is additionally operable to obtain the first feedback current of compressor after second positioning, estimates that phase value obtains modulation voltage command value according to the first feedback current, default electric current initial value and default rotor；Obtain compressor second feedback current of feedback after receiving the voltage that modulation voltage command value is corresponding；
For the rotor obtaining subsequent time according to the second feedback current and modulation voltage command value, position detection module estimates that tachometer value estimated by the compressor of phase value and subsequent time；
According to the compressor of subsequent time, rotational speed control module estimates that rotating speed and the compressor rotary speed initial value preset update the electric current initial value preset；
Current control module is additionally operable to the rotor according to subsequent time and estimates that phase value updates the rotor preset and estimates phase value, updates the first feedback current according to the second feedback current, reacquires modulation voltage command value。
Scheme according to the invention described above, it is that compressor drum is performed twice at location, no matter compressor load what state, such twice position fixing process has at least compressor drum once can be made to rotate to appointment position, avoid the occurrence of blind area, location AB and the CD shown in Fig. 1, and, after rotor fixed position, it is cut directly into the closed-loop vector operation phase, according to the first feedback current, the electric current initial value preset and the rotor preset estimate that phase value obtains modulation voltage command value, the second feedback current of compressor is obtained after compressor receives corresponding voltage, the rotor obtaining subsequent time according to the second feedback current and modulation voltage command value estimates that tachometer value estimated by phase value and compressor, reacquire modulation voltage command value afterwards。This programme adopt two-part start, it is cut directly into closed-loop vector after rotor fixed position to run, save the open loop phase run in traditional scheme and can effectively shorten the compressor start time, and it is cut directly into speed closed loop operation after rotor fixed position and can reduce startup moment impact electric current, it is achieved compressor smooth starting under various operating modes。
Accompanying drawing explanation
Fig. 1 is the location schematic diagram of compressor drum in prior art；
Fig. 2 is the schematic flow sheet of the control method of compressor start in one of them embodiment；
Fig. 3 is the electrical block diagram of the control method of compressor start in one of them embodiment；
Fig. 4 is compressor start current waveform schematic diagram in prior art；
Fig. 5 is compressor start current waveform schematic diagram in one of them embodiment；
Fig. 6 is the structural representation of the control system of compressor start in one of them embodiment。
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail。Should be appreciated that detailed description of the invention described herein is only in order to explain the present invention, does not limit protection scope of the present invention。
Shown in Figure 2, for the embodiment of control method of the compressor start of the present invention。The control method of the compressor start in this embodiment, comprises the following steps:
Step S101: be compressed the one-time positioning of machine rotor by compressor winding is applied the first current phasor；
Step S102: by the compressor winding after one-time positioning is applied the second current phasor, being compressed the second positioning of machine rotor, the amplitude of the second current phasor and the first current phasor is identical, phase place is different；
According to the first feedback current, default electric current initial value and default rotor, step S103: the first feedback current of compressor after acquisition second positioning, estimates that phase value obtains modulation voltage command value；
Step S104: obtain compressor second feedback current of feedback after receiving the voltage that modulation voltage command value is corresponding, the rotor obtaining subsequent time according to the second feedback current and modulation voltage command value estimates that tachometer value estimated by the compressor of phase value and subsequent time；
Step S105: estimate that rotating speed and the compressor rotary speed initial value preset update the electric current initial value preset according to the compressor of subsequent time, rotor according to subsequent time estimates that phase value updates the rotor preset and estimates phase value, update the first feedback current according to the second feedback current, be back to the step S103 obtaining modulation voltage command value。
Scheme according to the invention described above, it is that compressor drum is performed twice at location, no matter compressor load what state, such twice position fixing process has at least compressor drum once can be made to rotate to appointment position, avoid the occurrence of blind area, location AB and the CD shown in Fig. 1, and, after rotor fixed position, it is cut directly into the closed-loop vector operation phase, according to the first feedback current, the electric current initial value preset and the rotor preset estimate that phase value obtains modulation voltage command value, the second feedback current of first collect and process machine is obtained after compressor receives corresponding voltage, the rotor obtaining subsequent time according to the second feedback current and modulation voltage command value estimates that tachometer value estimated by phase value compressor, reacquire modulation voltage command value afterwards。This programme adopt two-part start, it is cut directly into closed-loop vector after rotor fixed position to run, save the open loop phase run in traditional scheme and can effectively shorten the compressor start time, and it is cut directly into speed closed loop operation after rotor fixed position and can reduce startup moment impact electric current, it is achieved compressor smooth starting under various operating modes。
Wherein in an embodiment, the first current phasor and the second current phasor are mutually perpendicular to。
In the present embodiment, first current phasor and the second current phasor are mutually perpendicular to, phase contrast is 90 degree, and orthogonal first current phasor and the second current phasor are conducive to compressor drum is performed twice at location, and are also beneficial to the calculating of compressor relevant parameter。
Wherein in an embodiment, after obtaining second positioning, the step of the first feedback current of compressor comprises the following steps:
After acquisition second positioning, the three-phase electricity flow valuve of compressor, carries out Clark conversion to three-phase electricity flow valuve, it is thus achieved that the first feedback current。
In the present embodiment, the three-phase electricity flow valuve of compressor can be obtained behind compressor secondary location, in utilizing the process of feedback current of compressor, be not convenient to use three-phase electricity flow valuve, it is thus desirable to it is carried out Clark conversion, thus obtaining the first feedback current of easily application。
Wherein in an embodiment, estimate that according to the first feedback current, default electric current initial value and default rotor the step of phase value acquisition modulation voltage command value comprises the following steps:
Estimate that the first feedback current is carried out Park conversion by phase value by default rotor, obtain the first feedback current operation values, the difference of default electric current initial value and the first feedback current operation values is carried out proportional integral computing, obtain modulation voltage value, estimate that modulation voltage is carried out Park inverse transformation by phase value by default rotor, it is thus achieved that modulation voltage command value。
In the present embodiment, comprehensively utilize the first feedback current, default electric current initial value and default rotor and estimate phase value, it is possible to obtain modulation voltage command value, put on compressor。
Wherein in an embodiment, estimate that the step that rotating speed and the compressor rotary speed initial value preset update the electric current initial value preset comprises the following steps according to the compressor of subsequent time:
The compressor of subsequent time is estimated that the difference of rotating speed and default compressor rotary speed initial value carries out proportional integral computing, it is thus achieved that electric current reference value, update electric current initial value with electric current reference value。
In the present embodiment, estimate that according to compressor the difference of rotating speed and default both compressor rotary speed initial values computing can obtain electric current reference value, and update electric current initial value with this, in electric current initial value, so just include the rotary speed information of compressor feedback, it is possible to be controlled compressor start adjusting。
Wherein in an embodiment, the electric current initial value preset includes the torque current initial value preset and the exciting current initial value preset。
In the present embodiment, electric current initial value includes torque current initial value and exciting current initial value, accordingly, first feedback current and the second feedback current also include feedback torque electric current and the feedback excitation electric current of correspondence respectively, and modulation voltage command value also includes the modulation voltage command value corresponding to torque current and the modulation voltage command value corresponding to exciting current。
In a preferred embodiment, it is compressed the one-time positioning of machine rotor by compressor winding being applied the first current phasor Is1, then pass through and compressor winding is applied the secondary electric potential identical with the first current phasor Is1 amplitude, the orthogonal second current phasor Is2 of phase place is compressed machine rotor, after second positioning, compressor provides three-phase electricity flow valuve, this three-phase electricity flow valuve is carried out Clark conversion, and the formula of conversion is:
Wherein, Iu, Iv, Iw are three-phase electricity flow valuve, I α, I β respectively convert after the first feedback excitation current value and the first feedback excitation current value。
The rotor preset estimates that phase value θ can be 90 °, estimate that the first feedback excitation current value I α and the first feedback torque current value I β is carried out Park conversion by phase value θ according to default rotor, obtaining the first feedback excitation current operator value Id and the first feedback torque current operator value Iq, formula is:
In this conversion, Id is Idset, in implementation process, it is possible to rationally arrange the first current phasor Is1 and the second current phasor Is2, makes Idset be sized to compressor and allows to run 0.1～0.5 times of maximum current, is generally 0.3 times, and Iq is sized to 0；It addition, the phase place of the first current phasor Is1 and the second current phasor Is2 is not necessarily intended to and is mutually perpendicular to, both phase contrasts can also be the angle that other are suitable；
The difference of default exciting current initial value IdRef and the first feedback excitation current operator value Id is carried out proportional integral computing, obtain the modulation voltage value Ud of corresponding exciting current, the difference of default torque current initial value IqRef and the first feedback torque current operator value Iq is carried out proportional integral computing, obtain the modulation voltage value Uq of corresponding torque current, wherein, IdRef is sized to 0, IqRef be sized to compressor permission operation maximum current 0.4～0.8 times, is generally 0.6 times；Then the modulation voltage value Uq of the modulation voltage value Ud of corresponding exciting current and corresponding torque current being carried out Park inverse transformation, it is thus achieved that corresponding modulation voltage command value U α and U β, formula is:
As shown in Figure 3, modulation voltage command value U α and U β inputs to SVPWM device (space vector pulse width modulation device), and through the converter corresponding voltage of output to compressor, compressor feedback three-phase current, the second feedback current is obtained after Clark converts, including the second feedback current I α ' and the second feedback current I β ', modulation voltage command value U α according to corresponding exciting current and the modulation voltage command value U β and the second feedback current I α ' of corresponding torque current and the second feedback current I β ', the rotor obtaining subsequent time estimates that tachometer value SpdFb estimated by the compressor of phase value θ ' and subsequent time；The process obtaining θ ' and SpdFb is to carry out in the observer of position, and concrete calculating process belongs to prior art, does not repeat them here。
The compressor of subsequent time is estimated that the difference of rotating speed SpdFb and default compressor rotary speed initial value SpdRef carries out proportional integral computing, obtain electric current reference value, it is torque current reference value IqRef in figure 3, update the torque current initial value preset with torque current reference value IqRef, default exciting current initial value is constant；Estimate that phase value θ ' updates the rotor preset and estimates phase value θ with the rotor of subsequent time, the first feedback excitation current value Id is updated according to the second feedback excitation current value Id ', update the first feedback torque current value Iq according to the second feedback torque current value Iq ', be back to the step of the modulation voltage command value of the modulation voltage command value obtaining corresponding exciting current and corresponding torque current。In said process, being cut directly into the closed-loop vector operation phase after rotor fixed position, the closed-loop vector operation phase refers to that above-mentioned control current/voltage exports and feeds back, the process of circular flow。
Fig. 4 is prior art compressor start current waveform schematic diagram, stage one applies the location current vector of a linear increase makes rotor rotate to appointment position, stage two enters rotating speed open loop phase, frequency rapid increase, is cut directly into the closed loop operating entrance stage three when frequency arrives and sets threshold value。
Fig. 5 realizes starting current waveform diagram under weight of compressor loading condition for adopting the inventive method, stage one applies two different location current vectors of phase place continuously and realizes compressor drum and be accurately positioned, stage two is cut directly into operation with closed ring, in heavy duty situation, start moment impact electric current be about about 8A, compressor over current fault will not be triggered, and in handoff procedure, the change of compressor current frequency is smooth, will not trigger step-out fault, it is possible to achieve compressor smooth starting。
The solution of the present invention can be applied in various electric equipment, such as air-conditioning, refrigerator etc.。
According to the control method that above-mentioned compressor starts, the present invention also provides for the control system of a kind of compressor start, and the embodiment with regard to the control system of the compressor start of the present invention is described in detail below。
Shown in Figure 6, for the embodiment of control system of the compressor start of the present invention。The control system of the compressor start in this embodiment includes current control module 201, rotational speed control module 202 and position detection module 203；
Current control module 201, for being compressed the one-time positioning of machine rotor by compressor winding is applied the first current phasor；Being compressed the second positioning of machine rotor by the compressor winding after one-time positioning is applied the second current phasor, the amplitude of the second current phasor and the first current phasor is identical, and phase place is different；
Current control module 201 is additionally operable to obtain the first feedback current of compressor after second positioning, estimates that phase value obtains modulation voltage command value according to the first feedback current, default electric current initial value and default rotor；Obtain compressor second feedback current of feedback after receiving the voltage that modulation voltage command value is corresponding；
For the rotor obtaining subsequent time according to the second feedback current and modulation voltage command value, position detection module 203 estimates that tachometer value estimated by the compressor of phase value and subsequent time；
According to the compressor of subsequent time, rotational speed control module 202 estimates that rotating speed and the compressor rotary speed initial value preset update the electric current initial value preset；
Current control module 201 is additionally operable to the rotor according to subsequent time and estimates that phase value updates the rotor preset and estimates phase value, updates the first feedback current according to the second feedback current, reacquires modulation voltage command value, enters the closed-loop vector operation phase。
Wherein in an embodiment, the first current phasor and the second current phasor are mutually perpendicular to。
Wherein in an embodiment, current control module 201 obtains the three-phase electricity flow valuve of compressor after second positioning, three-phase electricity flow valuve is carried out Clark conversion, it is thus achieved that the first feedback current。
Wherein in an embodiment, by the rotor preset, current control module 201 estimates that the first feedback current is carried out Park conversion by phase value, obtain the first feedback current operation values, the difference of default electric current initial value and the first feedback current operation values is carried out proportional integral computing, obtain modulation voltage value, estimate that modulation voltage is carried out Park inverse transformation by phase value by default rotor, it is thus achieved that modulation voltage command value。
Wherein in an embodiment, the compressor of subsequent time is estimated that the difference of rotating speed and default compressor rotary speed initial value carries out proportional integral computing by rotational speed control module 202, it is thus achieved that electric current reference value, updates electric current initial value with electric current reference value。
Wherein in an embodiment, the electric current initial value preset includes the torque current initial value preset and the exciting current initial value preset。
The control method one_to_one corresponding of the control system of the compressor start of the present invention and the compressor start of the present invention, the technical characteristic set forth in the embodiment of the control method of above-mentioned compressor startup and beneficial effect thereof are all suitable in the embodiment of the control system of compressor start。
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics is absent from contradiction, all it is considered to be the scope that this specification is recorded。
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent。It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention。Therefore, the protection domain of patent of the present invention should be as the criterion with claims。
Claims (12)
1. the control method of a compressor start, it is characterised in that comprise the following steps:
The one-time positioning of described compressor drum is carried out by compressor winding is applied the first current phasor；
Carrying out the second positioning of described compressor drum by the compressor winding after one-time positioning applies the second current phasor, described second current phasor is identical with the amplitude of described first current phasor, and phase place is different；
According to described first feedback current, default electric current initial value and default rotor, first feedback current of compressor after acquisition second positioning, estimates that phase value obtains modulation voltage command value；Obtaining described compressor second feedback current of feedback after receiving the voltage that described modulation voltage command value is corresponding, the rotor obtaining subsequent time according to described second feedback current and described modulation voltage command value estimates that tachometer value estimated by the compressor of phase value and subsequent time；
Compressor according to described subsequent time estimates that rotating speed and the compressor rotary speed initial value preset update described default electric current initial value, rotor according to described subsequent time estimates that phase value updates described default rotor and estimates phase value, update described first feedback current according to described second feedback current, be back to the step of described acquisition modulation voltage command value。
2. the control method of compressor start according to claim 1, it is characterised in that described first current phasor and described second current phasor are mutually perpendicular to。
3. the control method of compressor start according to claim 1, it is characterised in that after described acquisition second positioning, the step of the first feedback current of compressor comprises the following steps:
After acquisition second positioning, the three-phase electricity flow valuve of compressor, carries out Clark conversion to described three-phase electricity flow valuve, it is thus achieved that described first feedback current。
4. the control method of compressor start according to claim 1, it is characterised in that the described step according to described first feedback current, default electric current initial value and default rotor estimation phase value acquisition modulation voltage command value comprises the following steps:
Estimate that described first feedback current is carried out Park conversion by phase value by described default rotor, obtain the first feedback current operation values, the difference of described default electric current initial value Yu described first feedback current operation values is carried out proportional integral computing, obtain modulation voltage value, estimate that described modulation voltage is carried out Park inverse transformation by phase value by described default rotor, it is thus achieved that described modulation voltage command value。
5. the control method of compressor start according to claim 1, it is characterised in that the described compressor according to described subsequent time estimates that the step of rotating speed and the default compressor rotary speed initial value described default electric current initial value of renewal comprises the following steps:
The compressor of described subsequent time is estimated that the difference of rotating speed and described default compressor rotary speed initial value carries out proportional integral computing, it is thus achieved that electric current reference value, update described electric current initial value with described electric current reference value。
6. the control method of compressor start as claimed in any of claims 1 to 5, it is characterised in that described default electric current initial value includes the torque current initial value preset and the exciting current initial value preset。
7. the control system of a compressor start, it is characterised in that include current control module, rotational speed control module, position detection module；
Described current control module is for carrying out the one-time positioning of described compressor drum by compressor winding is applied the first current phasor；Carrying out the second positioning of described compressor drum by the compressor winding after one-time positioning applies the second current phasor, described second current phasor is identical with the amplitude of described first current phasor, and phase place is different；
Described current control module is additionally operable to obtain the first feedback current of compressor after second positioning, estimates that phase value obtains modulation voltage command value according to described first feedback current, default electric current initial value and default rotor；Obtain described compressor second feedback current of feedback after receiving the voltage that described modulation voltage command value is corresponding；
For the rotor obtaining subsequent time according to described second feedback current and described modulation voltage command value, described position detection module estimates that tachometer value estimated by the compressor of phase value and subsequent time；
According to the compressor of described subsequent time, described rotational speed control module estimates that rotating speed and the compressor rotary speed initial value preset update described default electric current initial value；
Described current control module is additionally operable to the rotor according to described subsequent time and estimates that phase value updates described default rotor and estimates phase value, updates described first feedback current according to described second feedback current, reacquires modulation voltage command value。
8. the control system of compressor start according to claim 7, it is characterised in that described first current phasor and described second current phasor are mutually perpendicular to。
9. the control system of compressor start according to claim 7, it is characterised in that the three-phase electricity flow valuve of compressor after described current control module acquisition second positioning, carries out Clark conversion to described three-phase electricity flow valuve, it is thus achieved that described first feedback current。
10. the control system of compressor start according to claim 7, it is characterized in that, by described default rotor, described current control module estimates that described first feedback current is carried out Park conversion by phase value, obtain the first feedback current operation values, the difference of described default electric current initial value Yu described first feedback current operation values is carried out proportional integral computing, obtain modulation voltage value, estimate that described modulation voltage is carried out Park inverse transformation by phase value by described default rotor, it is thus achieved that described modulation voltage command value。
11. the control system of compressor start according to claim 7, it is characterized in that, the compressor of described subsequent time is estimated that the difference of rotating speed and described default compressor rotary speed initial value carries out proportional integral computing by described rotational speed control module, obtain electric current reference value, update described electric current initial value with described electric current reference value。
12. the control system of the compressor start according to any one in claim 7 to 11, it is characterised in that described default electric current initial value includes the torque current initial value preset and the exciting current initial value preset。
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| CN109194232B (en) * | 2018-08-22 | 2022-03-18 | 惠州市蓝微电子有限公司 | Method for starting permanent magnet synchronous motor |
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| CN113839605A (en) * | 2020-06-23 | 2021-12-24 | 苏州宝时得电动工具有限公司 | Motor rotating speed control method and device |
| CN113839605B (en) * | 2020-06-23 | 2024-03-15 | 苏州宝时得电动工具有限公司 | Motor rotation speed control method and device |
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