CN106059405B - Can be torque pulsation inhibited high-power pair turns brshless DC motor phase change method - Google Patents
Can be torque pulsation inhibited high-power pair turns brshless DC motor phase change method Download PDFInfo
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- CN106059405B CN106059405B CN201610369348.7A CN201610369348A CN106059405B CN 106059405 B CN106059405 B CN 106059405B CN 201610369348 A CN201610369348 A CN 201610369348A CN 106059405 B CN106059405 B CN 106059405B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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Abstract
The present invention relates to a kind of can be torque pulsation inhibited high-power pair to turn brshless DC motor phase change method, can be well realized high-power pair and turns the running commutation control of brshless DC motor and Torque Ripple Reduction.Two two-phases or logical process are carried out to hall sensor signal D_HA2_OUT, D_HB2_OUT, D_HC2_OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT in complex programmable logic device (CPLD), signal D_HA_OUT and Z_HA_OUT is obtained to be input in dsp controller, in the case that inner and outer rotors turn over an electric cycle angle in dsp controller, inner and outer rotors position θ is calculatedn、θw, according to hall sensor signal A1, B1, C1, A composite signal state to inner and outer rotors position θn、θwAngle modification processing is carried out, then calculates rotor real-time angular θ, according to drive signal and cp_ii corresponding tables, exports 6 road drive signal UP、UN、VP、VN、WP、WN, in complex programmable logic device (CPLD)s, 6 road drive signals are subjected to PWM modulation, are output to using H_PWM L_ON type modulation systems, then by the 6 road drive signals Jing Guo PWM modulation in inverter.
Description
Technical field
Turn brshless DC motor control field the invention belongs to double, specifically can be torque pulsation inhibited high-power pair turns
Brshless DC motor phase change method.
Background technology
High-power brushless direct current generator has operational efficiency height, good speed adjustment features, high reliability, in aviation, boat
My god, the various fields such as navigation, high-power brushless direct current generator can be used as promoting executing agency.High-power double turns brushless straight
Galvanic electricity machine is what the principle based on active force and reaction force designed, under the promotion of electromagnetic torque inside and outside two rotors at the same time to
Opposite direction rotates.It is this it is high-power it is double turn brshless DC motor and be mainly used in underwater twin shaft to turning in propulsion system, can be with
Effectively prevent roll phenomenon, significantly improve the propulsive efficiency of submarine navigation device.
Brshless DC motor due to use electronics commutation, be inevitably present in the process of running commutation torque ripple and
PWM modulation is pulsed.The nominal torque of high-power brushless direct current generator in the running is larger, if do not pressed down to torque pulsation
System, can seriously affect system lifetim and stability.High-power pair turns brshless DC motor since inner and outer rotors are all rotating, and is
System operation is more complicated, adds the difficulty that commutation control and torque suppress, because the invention is a kind of can be torque pulsation inhibited
High-power pair turns brshless DC motor phase change method and seems particularly significant.
The content of the invention
Technical problems to be solved
In view of the deficiencies of the prior art, present invention proposition can be torque pulsation inhibited high-power pair turns brshless DC motor
Phase change method.
Technical solution
A kind of can be torque pulsation inhibited high-power pair turns brshless DC motor phase change method, it is characterised in that step is such as
Under：
Step 1：To hall sensor signal D_HA2_OUT, D_HB2_OUT, D_ in complex programmable logic device (CPLD)
HC2_OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT carry out two two-phases or logical operation, obtain signal D_HA_OUT and
Z_HA_OUT is input in dsp controller；
D_HA_OUT=D_HA2_OUT | | D_HB2_OUT
+D_HA2_OUT||D_HC2_OUT
+D_HB2_OUT||D_HC2_OUT
Z_HA_OUT=Z_HA2_OUT | | Z_HB2_OUT
+Z_HA2_OUT||Z_HC2_OUT
+Z_HB2_OUT||Z_HC2_OUT
Step 2：In the case that inner and outer rotors turn over a pair of of pole in dsp controller, internal rotor position θ is calculatedn, outer turn
Sub- position θw：
Internal rotor real-time angular
Outer rotor real-time angular
Wherein：TnTime width for internal rotor apart from a upper D_HA1_OUT trailing edge；
TnbFor the time width between two D_HA1_OUT trailing edges of circle on internal rotor；
TwTime width for outer rotor apart from a upper Z_HA1_OUT trailing edge；
TwbFor the time width between two Z_HA1_OUT trailing edges of circle on outer rotor；
Step 3：According to hall sensor signal D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal shape
The internal rotor position of statenCarry out angle modification：
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0101, if θnIt is more than
Equal to 30 degree, then by θnIt is modified to 30 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0100, if θnIt is less than
Equal to 30 degree, then by θnIt is modified to 30 degree；If θnMore than or equal to 60 degree, then by θnIt is modified to 60 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0110, if θnIt is less than
Equal to 60 degree, then by θnIt is modified to 60 degree；If θnMore than or equal to 90 degree, then by θnIt is modified to 90 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0111, if θnIt is less than
Equal to 90 degree, then by θnIt is modified to 90 degree；If θnMore than or equal to 120 degree, then by θnIt is modified to 120 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0011, if θnIt is less than
Equal to 120 degree, then by θnIt is modified to 120 degree；If θnMore than or equal to 150 degree, then by θnIt is modified to 150 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0010, if θnIt is less than
Equal to 150 degree, then by θnIt is modified to 150 degree；If θnMore than or equal to 180 degree, then by θnIt is modified to 180 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1010, if θnIt is less than
Equal to 180 degree, then by θnIt is modified to 180 degree；If θnMore than or equal to 210 degree, then by θnIt is modified to 210 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1011, if θnIt is less than
Equal to 210 degree, then by θnIt is modified to 210 degree；If θnMore than or equal to 240 degree, then by θnIt is modified to 240 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1001, if θnIt is less than
Equal to 240 degree, then by θnIt is modified to 240 degree；If θnMore than or equal to 270 degree, then by θnIt is modified to 270 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1000, if θnIt is less than
Equal to 270 degree, then by θnIt is modified to 270 degree；If θnMore than or equal to 300 degree, then by θnIt is modified to 300 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1100, if θnIt is less than
Equal to 300 degree, then by θnIt is modified to 300 degree；If θnMore than or equal to 330 degree, then by θnIt is modified to 330 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1101, if θnIt is less than
Equal to 330 degree, then by θnIt is modified to 330 degree；If θnMore than or equal to 360 degree, then by θnIt is modified to 0 degree；
It is external according to hall sensor signal Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state
Rotor positionwCarry out angle modification：
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0101, if θwIt is more than
Equal to 30 degree, then by θwIt is modified to 30 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0100, if θwIt is less than
Equal to 30 degree, then by θwIt is modified to 30 degree；If θwMore than or equal to 60 degree, then by θwIt is modified to 60 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0110, if θwIt is less than
Equal to 60 degree, then by θwIt is modified to 60 degree；If θwMore than or equal to 90 degree, then by θwIt is modified to 90 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0111, if θwIt is less than
Equal to 90 degree, then by θwIt is modified to 90 degree；If θwMore than or equal to 120 degree, then by θwIt is modified to 120 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0011, if θwIt is less than
Equal to 120 degree, then by θwIt is modified to 120 degree；If θwMore than or equal to 150 degree, then by θwIt is modified to 150 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0010, if θwIt is less than
Equal to 150 degree, then by θwIt is modified to 150 degree；If θwMore than or equal to 180 degree, then by θwIt is modified to 180 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1010, if θwIt is less than
Equal to 180 degree, then by θwIt is modified to 180 degree；If θwMore than or equal to 210 degree, then by θwIt is modified to 210 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1011, if θwIt is less than
Equal to 210 degree, then by θwIt is modified to 210 degree；If θwMore than or equal to 240 degree, then by θwIt is modified to 240 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1001, if θwIt is less than
Equal to 240 degree, then by θwIt is modified to 240 degree；If θwMore than or equal to 270 degree, then by θwIt is modified to 270 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1000, if θwIt is less than
Equal to 270 degree, then by θwIt is modified to 270 degree；If θwMore than or equal to 300 degree, then by θwIt is modified to 300 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1100, if θwIt is less than
Equal to 300 degree, then by θwIt is modified to 300 degree；If θwMore than or equal to 330 degree, then by θwIt is modified to 330 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1101, if θwIt is less than
Equal to 330 degree, then by θwIt is modified to 330 degree；If θwMore than or equal to 360 degree, then by θwIt is modified to 0 degree；
Step 4：Calculate rotor real-time angular θ：
θ=θn+θw；
If (θ >=360) θ=θ -360；
Cp_ii=θ/60；
Step 5：According to cp_ii and drive signal correspondence, output IGBT conducting corresponding 2 road drive signals：
When cp_ii is 0, UPAnd WNCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 1, VPAnd WNCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 2, UNAnd VPCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 3, UNAnd WPCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 4, VNAnd WPCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 5, UPAnd VNCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
Step 6：In complex programmable logic device (CPLD), 2 road drive signals are subjected to PWM modulation, then PWM will be passed through
2 road drive signal outputs of modulation.
Step 6 modulation uses H_PWM-L_ON type modulation systems.
Beneficial effect
It is proposed by the present invention it is a kind of can be torque pulsation inhibited it is high-power it is double turn brshless DC motor phase change method, can be with
Realize that high-power pair turns the running electronics commutation of brshless DC motor and torque suppression well, improve system uses the longevity
Life and job stability.
Brief description of the drawings
Fig. 1 is double to turn brushless DC motor structure schematic diagram
1- interior axles, 2- outer shafts, 3- enameled wires, 4- internal rotors, 5- outer rotors, 6- magnet steel, 7- outer rotors Hall disc, 8- are slided
Ring, 9- internal rotor Hall discs；
Fig. 2 is double to turn Speed Regulation Systems of BLDCM functional block diagram
Fig. 3 is double to turn brshless DC motor " star-like six state of three-phase " schematic diagram
Fig. 4 is double to turn Speed Regulation Systems of BLDCM main program flow chart
Fig. 5 hall sensor signal sequential logic figures
Fig. 6 hall sensor signal photoelectric isolating circuit figures
Fig. 7 drive signals are isolated and amplification circuit diagram
Fig. 8 commutations control program flow diagram
Embodiment
In conjunction with embodiment, attached drawing, the invention will be further described：
The present embodiment is to carry out commutation control to high-power double brshless DC motors that turn in submarine navigation device.
Referring to the drawings 1, double brshless DC motors that turn are by internal rotor 4, outer rotor 5, internal rotor Hall disc 9, outer rotor Hall
Disk 7, interior axle 1, outer shaft 2, slip ring 8 etc. are formed.
Referring to the drawings 2, it is double turn Speed Regulation Systems of BLDCM by dsp controller, complex programmable logic device (CPLD),
Inner and outer rotors hall sensor signal Acquisition Circuit, voltage transformation module, current detecting with protection circuit, inverter, DC power supply,
It is double to turn the composition such as brshless DC motor body, communicating circuit, host computer, commutation control module.
Referring to the drawings 4, double Speed Regulation Systems of BLDCM main programs that turn are by system initialization, initial start, commutation control
The modules such as system, current detecting, Hysteresis Current adjusting, rotating speed calculating, rotating speed PID adjustings, data sending form.
Referring to the drawings 6, hall sensor signal photoelectric isolating circuit is by photoelectric isolating device N2, resistance R9 and R10 and filtering
Capacitance C12 is formed, and D_HA1_IN is one in the 7 road hall sensor signals collected by hall sensor signal Acquisition Circuit
Road, is connected to the cathode of photoelectric isolating device N2 input terminals, the anodes of photoelectric isolating device N2 input terminals by with a resistance
R9 series connection is pulled to 5VH, and a filter capacitor C12 is connected between the cathode and anode of N2 input terminals, and the emitter of output terminal connects
Ground, collector are connected by the resistance R10 that connects with 5V, and the collector output of output terminal is the Hall position after Phototube Coupling
Confidence D_HA1_OUT；
Referring to the drawings 7, drive signal isolation is built with amplifying circuit by high speed photo coupling N1 and resistance R1, R2, R3, UP_IN
For the drive signal for controlling by commutation in dsp and being exported in CPLD after PWM modulation processing, pass through the resistance R1 that connects
5V power supplys are pulled to, while another resistance R2 that connects is connected to the cathode of high speed photo coupling N1 input terminals, the anode of N1 input terminals
Connect with+5V power supplys, the emitter ground connection of N1 output terminals, connect a resistance R3 between its collector and 5VIGBT, while defeated
Go out the IGBT drive signals UP_OUT after isolating enhanced processing.
In this way, high-power, double to turn brshless DC motor commutation control system operational process as follows：It is double to turn brshless DC motor
Inner and outer rotors rotate at the same time during operation, and inner and outer rotors Hall disc senses that the change in location of inner and outer rotors produces real-time Hall position
Confidence number, each rotor one share 7 road hall sensor signals, its sequential logic is as shown in Figure 5.Pass through inner and outer rotors Hall position
Inner and outer rotors totally 14 road hall sensor signal D_HA1_IN, D_HB1_IN, D_HC1_ can be collected by putting signal acquisition circuit
IN、D_HA2_IN、D_HB2_IN、D_HC2_IN、D_HZ_IN、Z_HA1_IN、Z_HB1_IN、Z_HC1_IN、Z_HA2_IN、Z_
HB2_IN, Z_HC2_IN, Z_HZ_IN, this 14 road hall sensor signal can be every by hall sensor signal photoelectric isolating circuit
Separate out 14 road signal D_HA1_OUT, D_HB1_OUT, D_HC1_OUT, D_HA2_OUT, D_HB2_OUT, D_HC2_OUT, D_HZ_
OUT, Z_HA1_OUT, Z_HB1_OUT, Z_HC1_OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT, Z_HZ_OUT, input
To complex programmable logic device (CPLD), it is input to after corresponding logical process is completed in complex programmable logic device (CPLD)
In dsp controller, 6 road IGBT drive signals, this 6 road IGBT drivings are exported after actuating motor commutation program in dsp controller
Signal is input in complex programmable logic device (CPLD) again, and PWM modulation is carried out in CPLD, exports final process PWM tune
6 road IGBT drive signals of system realize that high-power pair turns brshless DC motor commutation control to inverter.
Referring to the drawings 8, commutation control program is implemented to be divided into following steps：
(1) to hall sensor signal D_HA2_OUT, D_HB2_OUT, D_HC2_ in complex programmable logic device (CPLD)
OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT carry out two two-phases or logical process, obtain signal D_HA_OUT and Z_HA_
OUT is input in dsp controller；
D_HA_OUT=D_HA2_OUT | | D_HB2_OUT
+D_HA2_OUT||D_HC2_OUT
+D_HB2_OUT||D_HC2_OUT
Z_HA_OUT=Z_HA2_OUT | | Z_HB2_OUT
+Z_HA2_OUT||Z_HC2_OUT
+Z_HB2_OUT||Z_HC2_OUT
(2) in the case that inner and outer rotors turn over an electric cycle in dsp controller, inner and outer rotors position θ is calculatedn、θw
Internal rotor real-time angular
Outer rotor real-time angular
Wherein：TnTime width for internal rotor apart from a upper D_HA1_OUT trailing edge；
TnbFor the time width between two D_HA1_OUT trailing edges of circle on internal rotor；
TwTime width for outer rotor apart from a upper Z_HA1_OUT trailing edge；
TwbFor the time width between two Z_HA1_OUT trailing edges of circle on outer rotor；
(3) according to hall sensor signal A1, B1, C1, A composite signal state to inner and outer rotors position θn、θwAngle is carried out to repair
Positive processing；
(4) rotor real-time angular θ is calculated
θ=θn+θw；
If (θ >=360) θ=θ -360；
Cp_ii=θ/60；
(5) according to 1 drive signal of table and cp_ii corresponding tables, output drive signal UP、UN、VP、VN、WP、WNThe 2 of middle conducting
Road.
1 drive signal of table and cp_ii corresponding tables
(6) in complex programmable logic device (CPLD), 2 road drive signals are subjected to PWM modulation, using H_PWM-L_ON
Type modulation system, then the 2 road drive signal outputs Jing Guo PWM modulation, so processing can significantly be reduced into motor torque arteries and veins
It is dynamic.
Claims (1)
1. a kind of can be torque pulsation inhibited high-power pair turns brshless DC motor phase change method, it is characterised in that step is such as
Under：
Step 1：To hall sensor signal D_HA2_OUT, D_HB2_OUT, D_HC2_ in complex programmable logic device (CPLD)
OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT carry out two two-phases or logical operation, obtain signal D_HA_OUT and Z_HA_
OUT is input in dsp controller；
D_HA_OUT=D_HA2_OUT | | D_HB2_OUT
+D_HA2_OUT||D_HC2_OUT
+D_HB2_OUT||D_HC2_OUT
Z_HA_OUT=Z_HA2_OUT | | Z_HB2_OUT
+Z_HA2_OUT||Z_HC2_OUT
+Z_HB2_OUT||Z_HC2_OUT
Step 2：In the case that inner and outer rotors turn over a pair of of pole in dsp controller, internal rotor position θ is calculatedn, outer rotor position
Put θw：
Internal rotor real-time angular
Outer rotor real-time angular
Wherein：TnTime width for internal rotor apart from a upper D_HA1_OUT trailing edge；
TnbFor the time width between two D_HA1_OUT trailing edges of circle on internal rotor；
TwTime width for outer rotor apart from a upper Z_HA1_OUT trailing edge；
TwbFor the time width between two Z_HA1_OUT trailing edges of circle on outer rotor；
Step 3：According to hall sensor signal D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state pair
Internal rotor position θnCarry out angle modification：
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0101, if θnIt is more than or equal to
30 degree, then by θnIt is modified to 30 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0100, if θnIt is less than or equal to
30 degree, then by θnIt is modified to 30 degree；If θnMore than or equal to 60 degree, then by θnIt is modified to 60 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0110, if θnIt is less than or equal to
60 degree, then by θnIt is modified to 60 degree；If θnMore than or equal to 90 degree, then by θnIt is modified to 90 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0111, if θnIt is less than or equal to
90 degree, then by θnIt is modified to 90 degree；If θnMore than or equal to 120 degree, then by θnIt is modified to 120 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0011, if θnIt is less than or equal to
120 degree, then by θnIt is modified to 120 degree；If θnMore than or equal to 150 degree, then by θnIt is modified to 150 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x0010, if θnIt is less than or equal to
150 degree, then by θnIt is modified to 150 degree；If θnMore than or equal to 180 degree, then by θnIt is modified to 180 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1010, if θnIt is less than or equal to
180 degree, then by θnIt is modified to 180 degree；If θnMore than or equal to 210 degree, then by θnIt is modified to 210 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1011, if θnIt is less than or equal to
210 degree, then by θnIt is modified to 210 degree；If θnMore than or equal to 240 degree, then by θnIt is modified to 240 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1001, if θnIt is less than or equal to
240 degree, then by θnIt is modified to 240 degree；If θnMore than or equal to 270 degree, then by θnIt is modified to 270 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1000, if θnIt is less than or equal to
270 degree, then by θnIt is modified to 270 degree；If θnMore than or equal to 300 degree, then by θnIt is modified to 300 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1100, if θnIt is less than or equal to
300 degree, then by θnIt is modified to 300 degree；If θnMore than or equal to 330 degree, then by θnIt is modified to 330 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state are 0x1101, if θnIt is less than or equal to
330 degree, then by θnIt is modified to 330 degree；If θnMore than or equal to 360 degree, then by θnIt is modified to 0 degree；
According to hall sensor signal Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state to outer rotor
Position θwCarry out angle modification：
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0101, if θwIt is more than or equal to
30 degree, then by θwIt is modified to 30 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0100, if θwIt is less than or equal to
30 degree, then by θwIt is modified to 30 degree；If θwMore than or equal to 60 degree, then by θwIt is modified to 60 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0110, if θwIt is less than or equal to
60 degree, then by θwIt is modified to 60 degree；If θwMore than or equal to 90 degree, then by θwIt is modified to 90 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0111, if θwIt is less than or equal to
90 degree, then by θwIt is modified to 90 degree；If θwMore than or equal to 120 degree, then by θwIt is modified to 120 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0011, if θwIt is less than or equal to
120 degree, then by θwIt is modified to 120 degree；If θwMore than or equal to 150 degree, then by θwIt is modified to 150 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x0010, if θwIt is less than or equal to
150 degree, then by θwIt is modified to 150 degree；If θwMore than or equal to 180 degree, then by θwIt is modified to 180 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1010, if θwIt is less than or equal to
180 degree, then by θwIt is modified to 180 degree；If θwMore than or equal to 210 degree, then by θwIt is modified to 210 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1011, if θwIt is less than or equal to
210 degree, then by θwIt is modified to 210 degree；If θwMore than or equal to 240 degree, then by θwIt is modified to 240 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1001, if θwIt is less than or equal to
240 degree, then by θwIt is modified to 240 degree；If θwMore than or equal to 270 degree, then by θwIt is modified to 270 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1000, if θwIt is less than or equal to
270 degree, then by θwIt is modified to 270 degree；If θwMore than or equal to 300 degree, then by θwIt is modified to 300 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1100, if θwIt is less than or equal to
300 degree, then by θwIt is modified to 300 degree；If θwMore than or equal to 330 degree, then by θwIt is modified to 330 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state are 0x1101, if θwIt is less than or equal to
330 degree, then by θwIt is modified to 330 degree；If θwMore than or equal to 360 degree, then by θwIt is modified to 0 degree；
Step 4：Calculate rotor real-time angular θ：
θ=θn+θw；
If (θ >=360) θ=θ -360；
Cp_ii=θ/60；
Step 5：According to cp_ii and drive signal correspondence, output IGBT conducting corresponding 2 road drive signals：
When cp_ii is 0, UPAnd WNCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 1, VPAnd WNCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 2, UNAnd VPCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 3, UNAnd WPCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 4, VNAnd WPCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
When cp_ii is 5, UPAnd VNCorresponding IGBT conducting, the corresponding IGBT cut-offs of other drive signals；
Step 6：In complex programmable logic device (CPLD), 2 road drive signals are subjected to PWM modulation, then PWM modulation will be passed through
2 road drive signals outputs.
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