CN106787988A - A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor - Google Patents

A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor Download PDF

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Publication number
CN106787988A
CN106787988A CN201611197616.8A CN201611197616A CN106787988A CN 106787988 A CN106787988 A CN 106787988A CN 201611197616 A CN201611197616 A CN 201611197616A CN 106787988 A CN106787988 A CN 106787988A
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China
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motor
torque
speed
brshless
module
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CN201611197616.8A
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Chinese (zh)
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花为
周志强
张淦
程明
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东南大学
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Priority to CN201611197616.8A priority Critical patent/CN106787988A/en
Publication of CN106787988A publication Critical patent/CN106787988A/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

Abstract

The invention discloses a kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor, according to the motor speed that speed calculation module draws, it is divided into low cruise and two states of high-speed cruising, and torque pulsation control is carried out as follows respectively for both states.This invention simplifies the existing magnetic linkage based on Direct Torque Control and torque double -loop control, solve the problems, such as to cause that control system is complicated due to torque and magnetic linkage two close cycles;Solve the problems, such as that existing method introduces the systematic control algorithm complexity that sliding mode observer observation back-emf brings;For high speed operation of motor, solve the problems, such as due to open it is different with shut-off phase current rate of change caused by torque pulsation.

Description

A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor
Technical field
The invention belongs to the speed governing field of brshless DC motor, it is related in a kind of brshless DC motor full speed degree range of operation Method for suppressing torque ripple.
Background technology
Direct current generator because of its outstanding speed regulation capacity and startability, be increasingly used in Electric Traction with it is electric In transmission system.However, traditional brushed DC motor uses brush mechanically commutation, thus there is poor reliability, longevity Order that short, failure is more, need to safeguard, noise greatly and commutation spark is a series of problems, such as be also easy to produce electromagnetic interference, largely Limit its application in some special dimensions.What brshless DC motor exactly grew up on brushed DC motor basis A kind of New Type of Direct-current Machine, has the advantages that simple structure, long lifespan, small volume and efficiency high.Due to using electronics commutation, keep away The Mechanical Contact between phase changer and brush is exempted from, so as to eliminate spark, electrical machinery life is extended, non-maintaining;Rotor makes Permanent magnet excitation is used, there is no excitation loss, it is in hgher efficiency;Compact conformation, small volume can be applied to limited space occasion;Speed governing Scope is wide.
However, because the presence of brshless DC motor phase winding inductance and non-ideal unloaded induced potential, positioning teeth groove turn Square, commutation control mode etc., can produce a certain degree of torque pulsation in the process of running, wherein especially with commutation torque ripple most It is protrusion, limits its application in precision transmission system.Therefore, the suppression of torque pulsation is to based on brshless DC motor Servo-drive system performance is improved has highly important theory significance and engineering application value.
Chinese invention patent《The control method directly from control system of brshless DC motor》, Patent No. CN200610037967.2, publication date is 2006.8.16, disclose a kind of brshless DC motor directly from control system Control method.In each controlling cycle, according to the electric current, voltage that detect, calculate stator magnetic linkage and torque, by its with give Determine magnetic linkage, given torque to compare, selected space voltage vector is determined by comparative result, make eventually through power inverter For brshless DC motor, speed governing purpose, i.e., traditional Direct Torque Control are reached.
Chinese invention patent《The magnetic linkage self-control direct torque control method of brshless DC motor》, Patent No. CN201010127885.3, publication date is 2010.7.21, and the magnetic linkage autocontrol for disclosing a kind of brshless DC motor directly turns Square control method.According to the rotor-position signal that position sensor is exported, the rotor angle speed of motor is obtained through speed computing unit Degree;And then winding back emf is estimated by back-emf sliding mode observer according to motor current value, magnitude of voltage and rotor velocity Calculate, then the estimated torque T for obtaining motor is calculated by torque estimating unite, by TeWith given torque Te *Torque is sent into after making comparisons Hysteresis regulator, regulation obtains control parameter τ, and in conjunction with position sensor output signal, input voltage vector select unit is produced The corresponding switching signal of life goes to control inverter, so as to drive brshless DC motor to run.
Above-mentioned technology is disadvantageous in that:Patent CN200610037967.2 employs torque ring and the double of magnetic linkage ring close Ring is controlled, and the acquisition of wherein motor magnetic linkage needs to be estimated using certain algorithm.And for brshless DC motor, Obtain preferable control performance, stator magnetic linkage amplitude it is given should be position a function, this causes that system is complex, control It is made and originally greatly increases.Although patent CN201010127885.3 employs torque list closed-loop control, realizes brushless dc Machine without magnetic linkage control, but due to torque calculation module TeEstimation need to use sliding mode observer observation back-emf, increase The calculating cost of system;Further, since the program only mutually carries out chop control to opening, and during high speed operation of motor, shut-off The decrease speed of phase current is more than the electric current rate of climb of opening phase, it is necessary to mutually carry out being delayed to turn off treatment to shut-off, otherwise Can cause to open different from the current change rate of shut-off phase, and then cause larger torque pulsation, motor operation performance compared with Difference, thus the method that is carried of above-mentioned patent only to motor low cruise when it is effective.
The content of the invention
Technical problem:The invention provides a kind of back-emf calculating observation low cost, can apply in high-speed cruising occasion Brshless DC motor full speed adjustable range internal torque pulsation suppressing method.
Technical scheme:The full speed adjustable range internal torque pulsation suppressing method of brshless DC motor of the invention, according to speedometer Calculate the motor speed that draws of module, be divided into low cruise and two states of high-speed cruising, and for both states respectively according to Following manner carries out torque pulsation control:
1. when motor low cruise, the rotor velocity signal of brshless DC motor is detected using position feedback module, And the rotational speed omega of motor is calculated according to the angular velocity signal of the rotor by speed calculation module, by itself and given rotating speed ω*Differ from, the reference electromagnetic torque T of motor is obtained after gained speed discrepancy input PI speed regulatorse *;Meanwhile, motor is any The value of feedback i of biphase currentj、ikInput to the electromagnetic torque T that torque calculation module estimates motore
By the electromagnetic torque TeWith given torque Te *Differ from, the torque difference of gained is adjusted through torque hysteresis regulator To control parameter τ, switch list selecting module is input to, in conjunction with the output signal of sector judge module, currently should determined The switching signal of applying is to control inverter, so as to drive brshless DC motor to run, realizes brshless DC motor low cruise When without magnetic linkage Direct Torque Control;
2. when high speed operation of motor, the rotor velocity signal of brshless DC motor is detected using position feedback module, And the rotational speed omega of motor is calculated according to the angular velocity signal of the rotor by speed calculation module, by itself and given rotating speed ω*Differ from, the reference electromagnetic torque T of motor is obtained after gained speed discrepancy input PI speed regulatorse *;Meanwhile, motor is any The value of feedback i of biphase currentj、ikInput to the electromagnetic torque T that torque calculation module estimates motore
By the electromagnetic torque TeWith given torque Te *Differ from, the torque difference of gained is adjusted through torque hysteresis regulator To control parameter τ, switch list selecting module is input to, by the value of feedback i of any biphase current of motorj、ikIt is input into commutation Judge module, when it is output as zero, is conducted switch list using two, when output is not zero, shut-off is mutually delayed to turn off, 3 switching tubes can be simultaneously turned on so during turning off, i.e., is conducted switch list using three;
It is last by switch list selecting module according to torque hysteresis regulator output signal τ, sector judge module output signal Q The switching signal that should currently apply is determined to control inverter module with commutation judging unit output signal K, so as to drive brushless Direct current generator, when realizing brshless DC motor high-speed cruising without magnetic linkage Direct Torque Control.
Further, in the inventive method, the position feedback module is using photoelectric encoder, Hall element or without position Put sensor.
Further, in the inventive method, during the low-speed run state is controlled with the torque pulsation of high-speed cruising state, Torque TeCalculated according to following formula:
Te=Ke (| ij|+|ik|+|ij+ik|)
Wherein KeIt is empty load of motor back electromotive-force constant, ij, ikAny biphase current in for motor three-phase current.
Further, in the inventive method, in the torque pulsation control of the high-speed cruising state, commutation judge module is pressed Formed according to following methods and exported:Biphase current is detected at any time and third phase electric current is calculated, and obtains Ia, Ib, IcThree-phase electricity Stream, then by three-phase current, phase adduction takes absolute value two-by-two, obtains minimum value k, when the minimum value k is 0, switch list selection mould During block judges that now motor is in non-commutation, commutation judge module output 0, when the minimum value k is not 0, switch list selection During module judges that now motor is in commutation, commutation judge module output 1.
Further, in the inventive method, during the low-speed run state is controlled with the torque pulsation of high-speed cruising state, The switching signal that switch list selecting module determines currently apply according to following table:
In table, S1~S66 switching tubes of inverter module are represented, 1 represents open-minded in table, and 0 represents shut-off.
The present invention is first by supply and AC power supply by obtaining direct current after rectifier rectification, then after filtering after capacitor filtering Power supply, finally by the dc source is converted into AC power to be powered to brshless DC motor, its control method by inverter For:
According to the motor speed that speed calculation module draws, be divided into two states of low cruise and high-speed cruising carry out it is corresponding Control:
1. when motor low cruise, the rotor velocity signal of brshless DC motor is detected using position feedback module, And the rotational speed omega of motor is calculated according to the angular velocity signal of the rotor by speed calculation module, with given rotating speed ω*Make Difference, obtains the reference electromagnetic torque T of motor after gained speed discrepancy input PI speed regulatorse *;Meanwhile, by any two-phase electricity of motor The value of feedback i of streamj、ikInput to the electromagnetic torque T that torque calculation module estimates motore;By the electromagnetic torque TeWith it is given Torque Te *Differ from, the torque difference of gained obtains control parameter τ through the regulation of torque hysteresis regulator, is input to switch list choosing Module is selected, in conjunction with the output signal of sector judge module, corresponding switching signal control inverter is selected, so as to drive brushless Direct current generator runs, when realizing brshless DC motor low cruise without magnetic linkage Direct Torque Control;
2. when high speed operation of motor, the rotor velocity signal of brshless DC motor is detected using position feedback module, And the rotational speed omega of motor is calculated according to the angular velocity signal of the rotor by speed calculation module, with given rotating speed ω*Make Difference, obtains the reference electromagnetic torque T of motor after gained speed discrepancy input PI speed regulatorse *;Meanwhile, by any two-phase electricity of motor The value of feedback i of streamj、ikInput to the electromagnetic torque T that torque calculation module estimates motore;By the electromagnetic torque TeWith it is given Torque Te *Differ from, the torque difference of gained obtains control parameter τ through the regulation of torque hysteresis regulator, is input to switch list choosing Module is selected, the commutation judge module in addition, during low speed being not involved in effect participates in control.By the anti-of any biphase current of motor Feedback value ij、ikWhether input is whether zero judgement currently needs mutually to postpone shut-off to commutation judge module according to its output Shut-off control, if desired, be then mutually delayed to turn off to shut-off, 3 switching tubes, low speed can be simultaneously turned on so during turning off When two be conducted switch list just become in order to three-phase turn on switch list, finally by switch list selecting module according to torque block ring regulation Device output signal τ, sector judge module output signal Q and commutation judging unit output signal K determine the switch that should currently apply Signal is to control inverter module, so as to drive brshless DC motor, when realizing brshless DC motor high-speed cruising without magnetic linkage Direct Torque Control.
The present invention is suitable for the Speed Regulation Systems of BLDCM that any number of phases, any rotor teeth groove number coordinate.
Beneficial effect:The present invention compared with prior art, with advantages below:
1. monocyclic torque hysteresis regulator is used, the defeated of binding site sensor is exported by torque hysteresis regulator Go out, the output of the output of speed calculation module and commutation judging unit determines to put on the stator voltage arrow of brshless DC motor Amount, because stator voltage vector is oriented to rotor field position, thus, it is possible to realize controlling certainly for stator magnetic linkage, eliminates tradition Magnetic linkage closed-loop part, has simplified control system in two close cycles Direct Torque Control, optimizes control cost;
2. the estimation of pair motor torque, by the detailed derivation of the torque calculation formula to brshless DC motor, draws Only needing to the participation of biphase current can just estimate the computational methods of real-time torque, solve existing apparatus and use sliding mode observer Cause to calculate complicated problem, reduce the control cost of system.
3. for control method in high speed the in the case of of failing, being additionally arranged commutation judge module be delayed to turn off control, During by low cruise two switch lists that are conducted are replaced by high-speed cruising hour hands and are conducted to the three of the commutation moment switch list, solve The problem that existing algorithm fails in brshless DC motor high-speed cruising.
Control method to motor of the present invention, can effectively suppress in the full speed adjustable range of motor due to current commutation The torque pulsation for causing;More existing brshless DC motor Direct Torque Control, using monocyclic control, simplifies system, Overcome flux estimate algorithm and give difficult problem;Secondly, derivation optimizes torque calculation formula, solves existing method introducing The problem of the systematic control algorithm complexity that sliding mode observer observation back-emf brings;Finally, for high speed operation of motor, it is solved Due to open it is different with shut-off phase current rate of change caused by torque pulsation problem.Therefore, the present invention is solved The big problem of the full speed adjustable range internal torque pulsation of brushless DC motor control system.
Brief description of the drawings
Fig. 1 is patrolling for the brshless DC motor Direct Torque Control of traditional use torque and magnetic linkage double-closed-loop control Collect block diagram;
Fig. 2 is the signal of the brshless DC motor full speed degree range of operation internal torque pulsation suppressing method control block diagram Figure;
Fig. 3 is control flow chart of the present invention;
Fig. 4 is the topology diagram of inverter of the present invention;
Fig. 5 is the space voltage vector distribution map that control method of the present invention is used;
Torque simulation waveform when Fig. 6 is brshless DC motor low cruise under traditional Hysteresis control mode;
Fig. 7 be it is proposed by the present invention without magnetic linkage Direct Torque Control mode in low speed torque simulation waveform;
Fig. 8 is rotating speed simulation waveform when rising up into high speed by low speed using rotating speed after method proposed by the present invention;
When the rotating speed of method for suppressing torque ripple rises up into high speed by low speed when Fig. 9 is not using high speed proposed by the invention Torque simulation waveform;
Torque simulation waveform during high speed is risen up into using the rotating speed of institute's extracting method of the present invention when Figure 10 is high speed by low speed.
Specific embodiment
With reference to embodiment and Figure of description, the present invention is further illustrated.
Using the present invention for brshless DC motor power when, first by supply and AC power supply 1 by after the rectification of rectifier 2, Electric capacity 3 obtains dc source after filtering after filtering again, and the dc source finally is converted into AC power by by inverter 4 Powered to brshless DC motor, the full speed adjustable range internal torque ripple control method of brshless DC motor of the invention is:
According to the motor speed that speed calculation module 12 draws, being divided into two states of low cruise and high-speed cruising carries out phase Should control:
1. when motor low cruise, the rotor velocity signal of brshless DC motor is detected using position feedback module 5, And the rotational speed omega of motor is calculated according to the angular velocity signal of the rotor by speed calculation module 11, with given rotating speed ω * Differ from, the reference electromagnetic torque Te* of motor is obtained after gained speed discrepancy input PI speed regulators 6;Meanwhile, by motor any two Value of feedback ij, ik of phase current inputs to the electromagnetic torque Te that torque calculation module 10 estimates motor;
The electromagnetic torque Te is poor with given torque Te*, and the torque difference of gained is adjusted through torque hysteresis regulator 7 Control parameter τ is obtained, switch list selecting module 8 is input to, in conjunction with the output signal of sector judge module 9, phase is selected The switching signal control inverter 4 answered, so as to drive brshless DC motor to run, when realizing brshless DC motor low cruise Without magnetic linkage Direct Torque Control;
2. when high speed operation of motor, the rotor velocity signal of brshless DC motor is detected using position feedback module 5, And the rotational speed omega of motor is calculated according to the angular velocity signal of the rotor by speed calculation module 11, with given rotating speed ω * Differ from, the reference electromagnetic torque Te* of motor is obtained after gained speed discrepancy input PI speed regulators 6;Meanwhile, by motor any two The value of feedback i of phase currentj、ikInput to the electromagnetic torque Te that torque calculation module 10 estimates motor;
The electromagnetic torque Te is poor with given torque Te*, and the torque difference of gained is adjusted through torque hysteresis regulator 7 Control parameter τ is obtained, switch list selecting module 8 is input to, the commutation in addition, during low speed being not involved in effect judges mould Block participates in control.Value of feedback ij, ik of any biphase current of motor is input into commutation judge module 12, according to its output whether It is whether zero judgement currently needs that shut-off is mutually carried out to be delayed to turn off control, if desired, then shut-off is mutually delayed to turn off, this Sample can simultaneously turn on 3 switching tubes during turning off, and during low speed two switch lists that are conducted just become in order to three-phase turns on switch list, It is last by switch list selecting module 8 according to the output signal τ of torque hysteresis regulator 7, the output signal Q of sector judge module 9 and change The output signal K of phase judging unit 12 determines the switching signal that should currently apply to control inverter module 4, so as to drive brushless straight Stream motor, when realizing brshless DC motor high-speed cruising without magnetic linkage Direct Torque Control.
The position feedback module 5 can use photoelectric encoder, Hall element or position-sensor-free;With reference to electromagnetism The computational methods of torque Te* are that motor speed ω and given rotating speed ω * is poor, and speed discrepancy is input into speed regulator 6 To the reference electromagnetic torque of brshless DC motor.
During the low-speed run state is controlled with the torque pulsation of high-speed cruising state, torque Te is calculated according to following formula:
Te=Ke (| ij|+|ik|+|ij+ik|)
Wherein Ke is empty load of motor back electromotive-force constant, and ij, ik are any biphase current in motor three-phase current.
The specific implementation method of commutation judge module 12 is:Biphase current is detected at any time and calculates third phase electricity Stream, obtains Ia, Ib, Ic three-phase current, and then by three-phase current, phase adduction takes absolute value two-by-two, obtains minimum value m.In non-commutation Period, non-conduction phase current is 0, and remaining biphase current sum is also 0.And during commutation, due to conducting phase current with The rate of change for turning off phase current is different, and three current values are not 0, then the value of m is not 0 yet.Switch list selecting module 8 is led to Cross and judge whether m is 0, it is possible to during judging now whether motor is in commutation.If during non-commutation, using low speed During operation two are conducted table;If during the commutation, being conducted table using change three, High-speed Control mode is carried out, from And drive brshless DC motor.
During the low-speed run state is controlled with the torque pulsation of high-speed cruising state, switch list selecting module 8 is according to defeated The data for entering produce corresponding switching signal, and switch list selecting module 8 according to the output signal τ of torque hysteresis regulator 7, sentence by sector The disconnected output signal Q of the module 9 and output signal K of commutation judging unit 12, brshless DC motor to be applied to is selected according to following table Voltage vector, and produce corresponding switching signal:
In table, S1~S66 switching tubes of inverter module 4 are represented, 1 represents open-minded in table, and 0 represents shut-off.
Space voltage vector used by the present invention:
Define space vector of voltage UsFor:
Wherein Uan、Ubn、UcnRespectively machine phase voltages.
Torque simulation waveform when Fig. 6 is brshless DC motor low cruise under traditional Hysteresis control mode;Fig. 7 is the present invention Propose without magnetic linkage Direct Torque Control mode in low speed torque simulation waveform;Fig. 8 is using after method proposed by the present invention Rotating speed is risen up into rotating speed simulation waveform during high speed by low speed;Fig. 9 is torque pulsation when not applying high speed proposed by the invention The rotating speed of suppressing method is risen up into torque simulation waveform during high speed by low speed;Institute's extracting method of the present invention is used when Figure 10 is high speed Torque simulation waveform of rotating speed when rising up into high speed by low speed;
It is effective that torque result figure according to emulation can be seen that the method for the invention.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that:For the ordinary skill of the art For personnel, under the premise without departing from the principles of the invention, some improvement and equivalent can also be made, these are to the present invention Claim be improved with the technical scheme after equivalent, each fall within protection scope of the present invention.

Claims (5)

1. a kind of brshless DC motor full speed adjustable range internal torque pulsation suppressing method, it is characterised in that the method is according to speed The motor speed that computing module (11) draws, is divided into low cruise and two states of high-speed cruising, and for both states point Do not carry out torque pulsation control as follows:
1. when motor low cruise, the rotor velocity signal of brshless DC motor is detected using position feedback module (5), and By speed calculation module (11) according to the angular velocity signal of the rotor, the rotational speed omega of motor is calculated, it is turned with given Fast ω*Differ from, the reference electromagnetic torque T of motor is obtained after gained speed discrepancy input PI speed regulators (6)e *;Meanwhile, by motor The value of feedback i of any biphase currentj、ikInput to the electromagnetic torque T that torque calculation module (10) estimates motore
By the electromagnetic torque TeWith given torque Te *Differ from, the torque difference of gained is adjusted through torque hysteresis regulator (7) To control parameter τ, switch list selecting module (8) is input to, in conjunction with the output signal of sector judge module (9), determined The switching signal that should currently apply so as to drive brshless DC motor to run, realizes brshless DC motor to control inverter (4) During low cruise without magnetic linkage Direct Torque Control;
2. when high speed operation of motor, the rotor velocity signal of brshless DC motor is detected using position feedback module (5), and By speed calculation module (11) according to the angular velocity signal of the rotor, the rotational speed omega of motor is calculated, it is turned with given Fast ω*Differ from, the reference electromagnetic torque T of motor is obtained after gained speed discrepancy input PI speed regulators (6)e *;Meanwhile, by motor The value of feedback i of any biphase currentj、ikInput to the electromagnetic torque T that torque calculation module (10) estimates motore
By the electromagnetic torque TeWith given torque Te *Differ from, the torque difference of gained is adjusted through torque hysteresis regulator (7) To control parameter τ, switch list selecting module (8) is input to, by the value of feedback i of any biphase current of motorj、ikInput is extremely Commutation judge module (12), when it is output as zero, is conducted switch list using two, when output is not zero, shut-off is mutually carried out It is delayed to turn off, 3 switching tubes can be simultaneously turned on so during turning off, i.e., is conducted switch list using three;
It is last to be exported according to torque hysteresis regulator (7) output signal τ, sector judge module (9) by switch list selecting module (8) Signal Q and commutation judging unit (12) output signal K determines the switching signal that should currently apply to control inverter module (4), So as to drive brshless DC motor, when realizing brshless DC motor high-speed cruising without magnetic linkage Direct Torque Control.
2. a kind of brshless DC motor according to claim 1 full speed adjustable range internal torque pulsation suppressing method, its feature It is:The position feedback module (5) is using photoelectric encoder, Hall element or position-sensor-free.
3. a kind of brshless DC motor according to claim 1 full speed adjustable range internal torque pulsation suppressing method, its feature It is:During the low-speed run state is controlled with the torque pulsation of high-speed cruising state, torque TeCalculated according to following formula:
Te=Ke (| ij|+|ik|+|ij+ik|)
Wherein KeIt is empty load of motor back electromotive-force constant, ij, ikAny biphase current in for motor three-phase current.
4. the full speed adjustable range internal torque pulsation suppressing method of a kind of brshless DC motor according to claim 1,2 or 3, its It is characterised by:In the torque pulsation control of the high-speed cruising state, commutation judge module (12) forms defeated in accordance with the following methods Go out:Biphase current is detected at any time and third phase electric current is calculated, and obtains Ia, Ib, IcThree-phase current, then by three-phase electricity Phase adduction takes absolute value stream two-by-two, obtains minimum value k, and when the minimum value k is 0, switch list selecting module (8) judges now electricity During machine is in non-commutation, commutation judge module (12) output 0, when the minimum value k is not 0, switch list selecting module (8) During judging that now motor is in commutation, commutation judge module (12) output 1.
5. brshless DC motor according to claim 4 full speed adjustable range internal torque pulsation suppressing method, it is characterised in that: During the low-speed run state is controlled with the torque pulsation of high-speed cruising state, switch list selecting module (8) is determined according to following table The switching signal that should currently apply:
In table, S1~S66 switching tubes of inverter module (4) are represented, 1 represents open-minded in table, and 0 represents shut-off.
CN201611197616.8A 2016-12-22 2016-12-22 A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor CN106787988A (en)

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CN111464080A (en) * 2020-05-06 2020-07-28 长安大学 Three-direct-current motor series system and torque control method
CN111464079A (en) * 2020-05-06 2020-07-28 长安大学 Fault-tolerant control method and system for multiple direct current motors connected in series
CN111464078A (en) * 2020-05-06 2020-07-28 长安大学 Fault-tolerant control system and control method for four-direct-current motor series system
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CN111641358A (en) * 2020-05-06 2020-09-08 西北工业大学 Direct current motor system, torque control method and application

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CN108054962A (en) * 2017-12-21 2018-05-18 天津大学 A kind of brushless direct current motor sensorless control method
CN108054962B (en) * 2017-12-21 2019-09-06 天津大学 A kind of brushless direct current motor sensorless control method
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Application publication date: 20170531