CN106787997A - A kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation - Google Patents
A kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation Download PDFInfo
- Publication number
- CN106787997A CN106787997A CN201611235595.4A CN201611235595A CN106787997A CN 106787997 A CN106787997 A CN 106787997A CN 201611235595 A CN201611235595 A CN 201611235595A CN 106787997 A CN106787997 A CN 106787997A
- Authority
- CN
- China
- Prior art keywords
- rotor
- electric machine
- sector
- inductances
- estimation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
Abstract
The present invention discloses a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation, belongs to motor control technology field.The method detects pulse A+C, B+A and C+B to three width identicals of injection in armature winding successively by three-phase full bridge converters first, and sample detecting response current is distinguished in end-of-pulsingi ac、i baAndi cb；It is calculated two-phase series self-inductances value respectively further according to response currentL ac、L baAndL cb；Judge sector where rotor then according to two-phase series self-inductances magnitude relationship；Finally, rotor exact position is estimated according to the geometric similarity relation obtained in " inductance rectangle " that rotor sections and two-phase series self-inductances are constituted.Additionally, estimating that interval time is that can obtain the current rotating speed of motor according to adjacent 2 rotor position estimates and twice.The rotor-position that this method need not increase in the i.e. achievable starting process of additional hardware circuit is accurately estimated, it is ensured that commutation precision, improves system position-sensor-free starting performance.
Description
Technical field
The present invention relates to a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation, belong to electric machines control technology neck
Domain.
Background technology
Electric excitation biconvex electrode electric machine as a kind of new special motor, with simple and reliable for structure, control flexibly, fault-tolerance
The good advantage of energy, receives significant attention in fields such as aviation, generations of electricity by new energy.Machinery in traditional electric excitation biconvex electrode electric machine system
The installation of position sensor not only increases the volume cost of system, also reduces reliability, therefore, its position-sensor-free control
System strategy grinds with important research value, at present the position Sensorless Control strategy both at home and abroad about electric excitation biconvex electrode electric machine
Study carefully and be still in the starting stage.Based on Back-EMF Method is presently the most conventional method for controlling position-less sensor, but starts rank in low speed
Section back-emf amplitude is smaller to be difficult to accurate extraction, and the method is not applied to simultaneously.In fact, the position Sensorless Control of low-speed stage
The difficult point of always all kinds of electric machine without position sensor controls.
Zhao Yao etc. is disclosed, and " a kind of electric excitation biconvex electrode electric machine low cruise based on series inductance slope threshold values is without position
Method " (China, publication date：In March, 2014 No. 26, publication number：103684137A) disclose a kind of based on series self-inductances in patent
The electric excitation biconvex electrode electric machine low cruise position-sensor-free technology of slope threshold values, it passes through detection switch pipe and turns on and off
When bus chopper current slope value be calculated series self-inductances slope value, with threshold values set in advance carry out size multilevel iudge turn
Whether son reaches commutation point.The method is higher to the requirement of current sample moment, and commutation threshold values needs to be chosen according to the parameter of electric machine, increases
Actual enforcement difficulty is added.
Disclosed " a kind of electric excitation biconvex electrode electric machine is without reversion startup method " (China, publication date such as Zhou Xingwei：2015
May 13, publication number：104617832A) disclose a kind of electric according to three-phase induction during initial excitation builds pressure in patent
The method that pressure estimates sector where rotor, and geometric similarity relation in double salient-pole electric machine " inductance rectangle " accurately calculates
To initial position of rotor.The method is being encouraged without that can realize rotor position estimate to injection detection pulse in armature winding
Magnetic build pressure during rotor position estimate method be only applicable to motor it is static when initial position estimation, be not suitable for starting
Journey.
Disclosed " starting method of double-salient-pole electric machine without position sensor control " (China, publication date 2011 such as Cheng Ming
December 21, publication number：A kind of starting side of double-salient-pole electric machine without position sensor control 102291070A) is disclosed in patent
Method, it passes through inverter and applies same time, a pulse voltage for equal magnitude to every kind of stator winding combination respectively,
The estimation of rotor position is carried out according to current-responsive.But doubly salient permanent magnet motor is deposited with electric excitation biconvex electrode electric machine inductance characteristic
It is only capable of estimating sector where rotor in bigger difference, and the method, it is impossible to realize the estimation of accurate location.
The rotor position estimate of electric excitation biconvex electrode electric machine low-speed stage many at present is mostly by injecting detection electricity
Pressure pulse is realized, but the method is only capable of estimation and obtains sector where rotor, it is impossible to realize that rotor exact position is estimated, and should
There is inevitable commutation and postpone in method, influence motor starting performance.
The content of the invention
Regarding to the issue above, the present invention proposes a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation.
The present invention is adopted the following technical scheme that to solve its technical problem：
A kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation, comprises the following steps：
Step 1, detection pulse A+C-, B+ of identical duration are implanted sequentially by three-phase full bridge converters on armature winding
A- and C+B-, and the sample detecting response current i when end-of-pulsing is detectedac、ibaAnd icb, wherein detection pulse A+C- represents A phases
Upper pipe, C phase down tubes are open-minded, and B+A- represents that pipe, A phase down tubes are open-minded in B phases, and C+B- represents that pipe, B phase down tubes are open-minded in C phases；
Step 2, two-phase series self-inductances value L is calculated according to response currentac、LbaAnd Lcb；
Step 3, according to two-phase series self-inductances Lac、LbaWith LcbMagnitude relationship judge sector where rotor；
Step 4, the two-phase series self-inductances L according to electric excitation biconvex electrode electric machineac、LbaWith LcbGeometrical relationship and rotor institute
Accurate rotor position estimate is carried out in sector；
Step 5, in next impulses injection cycle, repeats the above steps 1 --- and 4 carry out the estimation of rotor exact position；Step
6, difference and detection impulses injection interval time according to the accurate rotor-position of estimation twice currently estimate motor current angular velocity；
Step 7, real-time rotor position estimate is carried out by the last accurate rotor estimated location with estimated angular velocity.
Two-phase series self-inductances L is calculated described in step 2ac、LbaAnd LcbExpression formula be respectively
And
Wherein R is the single-phase winding internal resistance of electric excitation biconvex electrode electric machine, and T is detection pulse duration, UdcIt is DC bus-bar voltage.
Rotor place sector is judged described in step 3 according to two-phase series self-inductances magnitude relationship, if Lac≥Lba≥LcbOr Lac
≥Lcb≥Lba, then rotor is positioned at sector 1；If Lba≥Lac≥LcbOr Lba≥Lcb≥Lac, then rotor is positioned at sector 2；If Lcb≥Lba
≥LacOr Lcb≥Lac≥Lba, then rotor is positioned at sector 3.
Two-phase series self-inductances L described in step 4 according to electric excitation biconvex electrode electric machineac、LbaWith LcbGeometry close
It is as follows that sector where system and rotor carries out accurate rotor position estimate method, if rotor is positioned at sector 1, rotor position angle
Expression formula isIf rotor is located at sector 2, rotor position angle expression formula isIf rotor is located at sector 3, rotor position angle expression formula is
Estimate that motor current angular velocity estimates that expression formula is described in step 6K is more than or equal to 1
Integer, wherein θ (k), θ (k-1) be respectively kth, k-1 times injection detection pulse rotor position estimate angle, and define θ (0)
It is the accurate estimated result of initial position of rotor, Δ t detects impulses injection interval time twice for adjacent.
The real-time rotor estimated location expression formula of motor described in the step 7 is θe=θ (k)+ωe(t-k Δs t), θe
For angle is estimated in rotor exact position；T is the time, and θ (k) is the rotor position estimate angle of kth time injection detection pulse, k be more than
Integer equal to 1.
Beneficial effects of the present invention are as follows：
(1) additional hardware circuit need not be increased, just can realizes that electric excitation biconvex electrode electric machine rotor exact position is estimated.
(2) the commutation accuracy of low speed start-up period is improve, electric excitation biconvex electrode electric machine position-sensor-free is improve
Starting performance.
(3) the response current amplitude of detection pulse is smaller, and rotor position estimate is not influenceed by magnetic circuit saturation.
Brief description of the drawings
Fig. 1 is the double salient-pole electric machine that the present invention is provided and its control topology diagram.
Fig. 2 is 12/8 pole electric excitation biconvex electrode electric machine sectional view.
Fig. 3 is electric excitation biconvex electrode electric machine three-phase self-induction curve and energization rule schema.
Equivalent circuit diagram when Fig. 4 is injection detection pulse A+C-.
Fig. 5 is electric excitation biconvex electrode electric machine two-phase series self-inductances curve map.
Fig. 6 is " inductance rectangle " figure that electric excitation biconvex electrode electric machine two-phase series self-inductances when rotor is located at sector 1 are constituted.
Specific embodiment
The invention is described in further details below in conjunction with the accompanying drawings.
System architecture diagram of the invention is as shown in figure 1, mainly include：Electric excitation biconvex electrode electric machine, three phase full bridge conversion
Device, excitation control circuit etc., wherein electric excitation biconvex electrode electric machine section are as shown in Fig. 2 three-phase self-induction curve is as shown in Figure 3.Tool
Body implementation steps are as follows：
1st, the switching tube Q in Fig. 1 is opened successively respectively1And Q2、Q3And Q4、Q5And Q6It is one section of equal time, complete by three-phase
Bridging parallel operation is implanted sequentially detection pulse A+C-, B+A- and C+B- of identical duration on armature winding, wherein detection pulse A+
C- represents that pipe, C phase down tubes are open-minded in A phases, and B+A- represents that pipe, A phase down tubes are open-minded in B phases, and C+B- represents pipe, B phase down tubes in C phases
It is open-minded, and the difference sample detecting response current i when end-of-pulsing is detectedac、ibaAnd icb。
2nd, two-phase series self-inductances value L is calculated according to response currentac、LbaAnd Lcb, two-phase series self-inductances expression formula difference
ForAndWherein R is double electrical excitation
The single-phase winding internal resistance of salient-pole machine, T is injection detection pulse duration, UdcIt is DC bus-bar voltage.
The two-phase series self-inductances Computing Principle is as follows, is illustrated as a example by detecting pulse A+C-, anti-in low-speed stage motor
Potential amplitude is smaller can be ignored, and equivalent circuit when detection pulse A+C- injects is as shown in figure 4, now, response current can table
It is shown as
Wherein τ is time constant, and expression formula is
Response when therefore, according to detection end-of-pulsing, just can resolve and obtain A, C two-phase series self-inductances expression formula
Other two-phase series self-inductances can be calculated by similar approach.
3rd, according to two-phase series self-inductances Lac、LbaAnd LcbMagnitude relationship judge sector where rotor.According to Fig. 5
The curve that two-phase series self-inductances change with rotor-position, it can be seen that according to two-phase series self-inductances Lac、LbaAnd LcbMagnitude relationship
Just sector where rotor is can determine whether, specific corresponding relation is as shown in the table.
The two-phase series self-inductances of table 1 and rotor sections relation table
4th, the two-phase series self-inductances L according to electric excitation biconvex electrode electric machineac、LbaWith LcbGeometrical relationship and rotor where sector carry out
Accurate rotor position estimate.If rotor is located at sector 1, rotor position angle expression formula is
If rotor is located at sector 2, rotor position angle expression formula isIf rotor is located at
Sector 3, then rotor position angle expression formula be
Rotor exact position angular estimation principle is as follows, is illustrated so that rotor is located at sector 1 as an example, now two-phase series self-inductances
Lac、LbaWith LcbGeometrical relationship as shown in fig. 6, in " inductance rectangle " ABCD for constituting, △ AEH and △ ACD geometric similarities,
Therefore there is following correspondence proportionate relationship
Wherein：AH, AD, EH, CD, EG and HF represent the length of 2 points of correspondence in " inductance rectangle " ABCD in Fig. 6.Additionally,
As shown in " inductance rectangle " in Fig. 6, rotor position, two-phase series self-inductances meet formula (5) and formula (6) respectively.
According to formula (4), (5) and (6), can obtain
Therefore, rotor be located at sector 1 when exact position expression formula be
Rotor has the computational methods of all fours when being located at other sectors.
5th, in next impulses injection cycle, the 1-4 that repeats the above steps carries out rotor exact position angular estimation.
6th, according to the current accurate rotor-position of estimation twice difference and detection impulses injection interval time estimates that motor is worked as
Preceding angular speed.
Note initial position angle of rotor estimated result is θ (0), and kth (k is the integer more than or equal to 1), k-1 rotor are accurate
Location estimation result is respectively θ (k), θ (k-1), and adjacent detection impulses injection interval time twice is Δ t, then motor estimates angle
Speed is
7th, real-time rotor position estimate is carried out by the last accurate rotor estimated location and estimated angular velocity, its expression
Formula is
θe=θ (k)+ωe·(t-k·Δt) (10)
It is that the position-sensor-free for being capable of achieving electric excitation biconvex electrode electric machine is started by above-mentioned steps, and rotor can be carried out
Exact position estimation, reduces commutation error, it is ensured that the position-sensor-free starting performance of system.
Above example is only explanation technological thought of the invention, it is impossible to limit protection scope of the present invention with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme each falls within the scope of the present invention
Within.
Claims (6)
1. a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation, it is characterised in that：Comprise the following steps：
Step 1, be implanted sequentially on armature winding by three-phase full bridge converters identical duration detection pulse A+C-, B+A- and
C+B-, and the sample detecting response current i when end-of-pulsing is detectedac、ibaAnd icb, wherein detection pulse A+C- is represented in A phases
Pipe, C phase down tubes are open-minded, and B+A- represents that pipe, A phase down tubes are open-minded in B phases, and C+B- represents that pipe, B phase down tubes are open-minded in C phases；
Step 2, two-phase series self-inductances value L is calculated according to response currentac、LbaAnd Lcb；
Step 3, according to two-phase series self-inductances Lac、LbaWith LcbMagnitude relationship judge sector where rotor；
Step 4, the two-phase series self-inductances L according to electric excitation biconvex electrode electric machineac、LbaWith LcbGeometrical relationship and rotor where fan
Area carries out accurate rotor position estimate；
Step 5, in next impulses injection cycle, repeats the above steps 1 --- and 4 carry out the estimation of rotor exact position；
Step 6, difference and detection impulses injection interval time according to the accurate rotor-position of estimation twice currently estimate that motor is worked as
Preceding angular speed；
Step 7, real-time rotor position estimate is carried out by the last accurate rotor estimated location with estimated angular velocity.
2. a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation according to claim 1, it is special
Levy and be：Two-phase series self-inductances L is calculated described in step 2ac、LbaAnd LcbExpression formula be respectivelyWherein R is electricity
The single-phase winding internal resistance of excitation biconvex electrode electric machine, T is detection pulse duration, UdcIt is DC bus-bar voltage.
3. a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation according to claim 1, it is characterised in that：
Rotor place sector is judged described in step 3 according to two-phase series self-inductances magnitude relationship, if Lac≥Lba≥LcbOr Lac≥Lcb≥
Lba, then rotor is positioned at sector 1；If Lba≥Lac≥LcbOr Lba≥Lcb≥Lac, then rotor is positioned at sector 2；If Lcb≥Lba≥LacOr
Lcb≥Lac≥Lba, then rotor is positioned at sector 3.
4. a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation according to claim 1, it is special
Levy and be：Two-phase series self-inductances L described in step 4 according to electric excitation biconvex electrode electric machineac、LbaWith LcbGeometry close
It is as follows that sector where system and rotor carries out accurate rotor position estimate method, if rotor is positioned at sector 1, rotor position angle
Expression formula isIf rotor is located at sector 2, rotor position angle expression formula isIf rotor is located at sector 3, rotor position angle expression formula is
5. a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation according to claim 1, it is characterised in that：
Estimate that motor current angular velocity estimates that expression formula is described in step 6K is the integer more than or equal to 1,
Wherein θ (k), θ (k-1) are respectively kth, the rotor position estimate angle of k-1 injection detection pulse, and it is initial turn to define θ (0)
The sub- accurate estimated result in position, Δ t detects impulses injection interval time twice for adjacent.
6. a kind of electric excitation biconvex electrode electric machine rotor exact position method of estimation according to claim 1, it is characterised in that：Institute
The real-time rotor estimated location expression formula of motor described in step 7 is stated for θe=θ (k)+ωe(t-k Δs t), θeIt is the accurate position of rotor
Put estimation angle；T is the time, and θ (k) is the rotor position estimate angle of kth time injection detection pulse, and k is the integer more than or equal to 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235595.4A CN106787997B (en) | 2016-12-28 | 2016-12-28 | A kind of electric excitation biconvex electrode electric machine rotor exact position estimation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235595.4A CN106787997B (en) | 2016-12-28 | 2016-12-28 | A kind of electric excitation biconvex electrode electric machine rotor exact position estimation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106787997A true CN106787997A (en) | 2017-05-31 |
| CN106787997B CN106787997B (en) | 2019-05-10 |
Family
ID=58924667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611235595.4A Active CN106787997B (en) | 2016-12-28 | 2016-12-28 | A kind of electric excitation biconvex electrode electric machine rotor exact position estimation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106787997B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108649856A (en) * | 2018-04-12 | 2018-10-12 | 南京航空航天大学 | Electric excitation biconvex electrode electric machine energy feedback system and control method |
| CN110190783A (en) * | 2019-06-05 | 2019-08-30 | 南京航空航天大学 | The electric excitation biconvex electrode electric machine loaded starting method of three condition standard angle control |
| CN110247591A (en) * | 2019-06-19 | 2019-09-17 | 河海大学 | A kind of two-step electric excitation biconvex electrode electric machine initial position of rotor estimation method |
| CN111934588A (en) * | 2020-08-03 | 2020-11-13 | 苏州崧崧智能控制技术有限公司 | Rotor position detection system and method under static state of brushless direct current motor without position sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5291115A (en) * | 1992-09-25 | 1994-03-01 | The Texas A&M University System | Method and apparatus for sensing the rotor position of a switched reluctance motor without a shaft position sensor |
| CN102291070A (en) * | 2011-08-30 | 2011-12-21 | 东南大学 | Position sensorless control starting method of double-salient pole motor |
| CN103595313A (en) * | 2013-11-21 | 2014-02-19 | 南京航空航天大学 | Electro-magnetic doubly-salient-motor low-speed operation non-position sensor method based on terminal voltage |
| CN103595329A (en) * | 2013-11-21 | 2014-02-19 | 南京航空航天大学 | Three-phase electro-magnetic doubly-salient-motor initial position estimation method based on series inductance coordinate transformation |
| CN104348385A (en) * | 2014-10-20 | 2015-02-11 | 南京航空航天大学 | Double-salient-pole motor position-free starting method |
| CN104617832A (en) * | 2015-01-22 | 2015-05-13 | 南京航空航天大学 | Electric excitation doubly salient motor no-reversal starting method |
-
2016
- 2016-12-28 CN CN201611235595.4A patent/CN106787997B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5291115A (en) * | 1992-09-25 | 1994-03-01 | The Texas A&M University System | Method and apparatus for sensing the rotor position of a switched reluctance motor without a shaft position sensor |
| CN102291070A (en) * | 2011-08-30 | 2011-12-21 | 东南大学 | Position sensorless control starting method of double-salient pole motor |
| CN103595313A (en) * | 2013-11-21 | 2014-02-19 | 南京航空航天大学 | Electro-magnetic doubly-salient-motor low-speed operation non-position sensor method based on terminal voltage |
| CN103595329A (en) * | 2013-11-21 | 2014-02-19 | 南京航空航天大学 | Three-phase electro-magnetic doubly-salient-motor initial position estimation method based on series inductance coordinate transformation |
| CN104348385A (en) * | 2014-10-20 | 2015-02-11 | 南京航空航天大学 | Double-salient-pole motor position-free starting method |
| CN104617832A (en) * | 2015-01-22 | 2015-05-13 | 南京航空航天大学 | Electric excitation doubly salient motor no-reversal starting method |
Non-Patent Citations (1)
| Title |
|---|
| JUN DU ET AL: "A New Starting Method for 12/8-pole Doubly Salient Permanent-Magnet Motors without Position Sensor", 《2011 INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108649856A (en) * | 2018-04-12 | 2018-10-12 | 南京航空航天大学 | Electric excitation biconvex electrode electric machine energy feedback system and control method |
| CN108649856B (en) * | 2018-04-12 | 2021-06-22 | 南京航空航天大学 | Doubly salient electro-magnetic motor function feedback system and control method |
| CN110190783A (en) * | 2019-06-05 | 2019-08-30 | 南京航空航天大学 | The electric excitation biconvex electrode electric machine loaded starting method of three condition standard angle control |
| CN110247591A (en) * | 2019-06-19 | 2019-09-17 | 河海大学 | A kind of two-step electric excitation biconvex electrode electric machine initial position of rotor estimation method |
| CN111934588A (en) * | 2020-08-03 | 2020-11-13 | 苏州崧崧智能控制技术有限公司 | Rotor position detection system and method under static state of brushless direct current motor without position sensor |
| CN111934588B (en) * | 2020-08-03 | 2022-02-15 | 苏州崧崧智能控制技术有限公司 | Rotor position detection system and method under static state of brushless direct current motor without position sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106787997B (en) | 2019-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101262196B (en) | Method for detecting rotor location of no location sensor brushless DC motor | |
| CN101442289B (en) | Control method for direct torsion of staircase waveform backemf brushless dc motor | |
| CN109462348B (en) | SRM position sensorless control method and device based on line inductance characteristic points | |
| CN106787997B (en) | A kind of electric excitation biconvex electrode electric machine rotor exact position estimation method | |
| CN106787988A (en) | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor | |
| Kim et al. | A new sensorless drive scheme for a BLDC motor based on the terminal voltage difference | |
| CN102332862B (en) | The evaluation method of low salient pole embedded permanent magnet synchronous rotor initial position | |
| CN110247591B (en) | Two-step electro-magnetic doubly salient motor rotor initial position estimation method | |
| CN103236807A (en) | Electro-magnetic doubly salient motor rotor position identification method based on three-phase six-state start | |
| CN103986393A (en) | Method for detecting initial position of rotor of permanent magnet synchronous motor | |
| CN106961234A (en) | Become the three-level electric excitation type brushless synchronous machine rotor position estimation method of salient pole nature | |
| CN103684143B (en) | A kind of electric excitation biconvex electrode electric machine based on commutation point current response starts acceleration position-sensor-free method | |
| CN101409524A (en) | Control method for electric excitation double-salient-pole motor without position sensor | |
| CN103684137B (en) | A kind of electric excitation biconvex electrode electric machine low cruise based on series inductance slope threshold value is without position method | |
| CN109687779B (en) | Brushless direct current motor rotor position detection method based on single-phase inductance detection | |
| CN105871276B (en) | The three-level formula motor rotor position estimation method of salient pole nature variation | |
| CN105071716B (en) | Double winding brshless DC motor frequency multiplication control circuit of chopping and back-emf zero-crossing examination method | |
| Wang et al. | A novel sensorless control method for brushless DC motor | |
| CN104348385B (en) | A kind of double-salient-pole electric machine without position starting method | |
| CN105515470A (en) | Rotor position detection circuit for direct-current brushless motors | |
| Ahfock et al. | Sensorless commutation of printed circuit brushless direct current motors | |
| CN111934588B (en) | Rotor position detection system and method under static state of brushless direct current motor without position sensor | |
| Zhao et al. | Sensorless control of doubly salient electromagnetic machine based on coordinate transformation | |
| CN103684121A (en) | Hybrid motor | |
| CN205792321U (en) | Oil-extracting screw pump drive system with inceptive positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |