CN108282114A - The control method and system of permanent magnet synchronous motor - Google Patents
The control method and system of permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN108282114A CN108282114A CN201611264974.6A CN201611264974A CN108282114A CN 108282114 A CN108282114 A CN 108282114A CN 201611264974 A CN201611264974 A CN 201611264974A CN 108282114 A CN108282114 A CN 108282114A
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- magnet synchronous
- permanent magnet
- motor
- synchronous motor
- rotor
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application provides a kind of control method and system of permanent magnet synchronous motor, the permanent magnet synchronous motor includes the hall position sensor of three mutual deviations, 120 degree of electrical angles, three hall position sensors are used to detect the position of the permanent-magnetic synchronous motor rotor and export hall sensor signal, the method includes：The electric motor starting stage controls the permanent magnet synchronous motor using 120 degree of square wave current control modes based on hall sensor signal；The low speed operation phase after electric motor starting controls the permanent magnet synchronous motor using 180 degree staircase waveform current control mode based on hall sensor signal；And the high speed operation phase of motor controls the permanent magnet synchronous motor using sine-wave current control mode based on hall sensor signal.Using the above method and system, motor operation course torque pulsation is small, low noise.
Description
Technical field
The present invention relates to a kind of control methods of permanent magnet synchronous motor, and in particular to carries out electricity using hall position sensor
The control method and system of machine driving.
Background technology
With energy crisis and environmental pollution getting worse, conventional fuel oil automobile faces huge challenge, and electric vehicle is more next
More by the concern in market and approval.Light-weight electric automobile captured rapidly public city with its high performance-price ratio and practicability in recent years
, obtain the favor of consumer.Wherein light-weight electric automobile needs to take into account price and performance, to promote all big enterprises as far as possible
Using inexpensive control program.Such as use hall position sensor to make up expensive encoder and rotary transformer, at present
Most of electric vehicle is all made of Hall switch position sensor, due to using brshless DC motor control mode, leads to electricity
The fluctuation of machine output torque, vibration and the problems such as noise, seriously affect the comfort of driving with it is handling.Therefore suddenly using switching mode
Your position sensor realizes that band carries and overload starts and torque steadily exports, and becomes the difficult point of light-weight electric automobile control technology
And emphasis.
Invention content
In view of this, it is necessary to provide a kind of control method of permanent magnet synchronous motor using hall position sensor and controls
System processed can reduce motor output torque fluctuation, vibration and noise problem.
The embodiment of the present invention provides a kind of control method of permanent magnet synchronous motor, and the permanent magnet synchronous motor includes three
The hall position sensor of 120 degree of electrical angles of mutual deviation, three hall position sensors are for detecting the permanent magnet synchronous electric
The position of machine rotor simultaneously exports hall sensor signal, wherein the method includes：
The electric motor starting stage is based on hall sensor signal using 120 degree of square wave current control modes to the permanent magnet synchronous electric
Machine is controlled；
The low speed operation phase after electric motor starting is based on hall sensor signal and uses 180 degree staircase waveform current control mode pair
The permanent magnet synchronous motor is controlled；And
The high speed operation phase of motor is based on hall sensor signal using sine-wave current control mode to the permanent magnetism
Synchronous motor is controlled.
As a preferred embodiment, 120 degree of square wave currents are completed in 60 degree of sectors of electric motor starting to start.
As a preferred embodiment, the permanent magnet synchronous motor includes inverter bridge, and the inverter bridge includes three bridge arms,
The electric motor starting stage, the half-bridge in 60 degree of sectors in the inverter bridge of motor only there are two bridge arm is in running order, in addition
One bridge arm is off state.
As a preferred embodiment, the permanent magnet synchronous motor includes inverter bridge, and the inverter bridge includes three bridge arms,
The low speed operation phase of the motor, three bridge arms in 60 degree of sectors in the inverter bridge of motor are both turned on.
As a preferred embodiment, in the low speed operation phase of the motor, the rotating speed of motor is in Rated motor rotating speed
10% within.
As a preferred embodiment, in the high speed operation phase of motor, according to the rotor of hall sensor signal acquisition
Discrete angular and rotating speed obtain the continuous position of rotor.
As a preferred embodiment, in the high speed operation phase of motor, pass through following formula in motor at the uniform velocity state
Obtain the position of rotor:
θest=θi+ωi-1*Ts；
Wherein ωi-1For speed of the rotor in the previous sector of current sector, Ti-1Fortune for rotor in previous sector
Row time, θestRotor current location, θiFor the initial position of current sector, TsEnter the time of current sector for rotor.
As a preferred embodiment, in the high speed operation phase of motor, lead in motor acceleration mode or deceleration regime
Cross the position that following formula obtains rotor:
ωi=ωi-1+a*Ti-1
θest=θi+ωi*Ts
Wherein, ωiSpeed for rotor in current sector, ωi-1Previous sector initial bit for rotor in current sector
The speed set, a are acceleration, Ti-1Run time for rotor in previous sector, TsEnter the time of current sector for rotor.
As a preferred embodiment, the hall position sensor is switch Hall position sensor.
The embodiment of the present invention also provides a kind of control system of permanent magnet synchronous motor, is applied in permanent magnet synchronous motor,
The permanent magnet synchronous motor includes the hall position sensor of three mutual deviations, 120 degree of electrical angles, three hall positions sensing
Device is used to detect the position of the permanent-magnetic synchronous motor rotor and exports hall sensor signal, wherein the control system includes：
Starting module uses 120 degree of square wave current control modes for being based on hall sensor signal in the electric motor starting stage
The permanent magnet synchronous motor is controlled；
Low speed control module is based on hall sensor signal for the low speed operation phase after electric motor starting and uses 180 degree rank
Terraced wave current control mode controls the permanent magnet synchronous motor；And
High speed control module, the high speed operation phase for motor are based on hall sensor signal and use sine-wave current
Control mode controls the permanent magnet synchronous motor.
The control method and system of permanent magnet synchronous motor provided in an embodiment of the present invention are adopted in the different phase of motor operation
With different control modes, turn as the electric motor starting stage can provide larger startup using 120 degree of square wave current control modes
Square；The current waveform that the low speed operation phase may make using 180 degree staircase waveform current control mode passes through closer to sine wave
Theoretical calculation torque pulsation also accordingly reduces；The high speed operation phase can be further decreased using sine-wave current control mode to be turned
Square is pulsed and noise.And using the control method of embodiment of the present invention, stator current is switched to the mistake of sine wave by square wave
The smooth non-jitter of transient.
Description of the drawings
In attached drawing：
Fig. 1 is the structure diagram of the control system of the permanent magnet synchronous motor of embodiment of the present invention.
Fig. 2 is the flow chart of the control method of the permanent magnet synchronous motor of embodiment of the present invention.
The oscillogram of counter electromotive force and phase current when Fig. 3 is using 120 degree of square wave current control modes.
The oscillogram of counter electromotive force and phase current when Fig. 4 is using 180 ° of staircase waveform current control modes.
Fig. 5 is the schematic diagram that rotor-position is estimated according to the rotor discrete location that hall sensor signal obtains.
Fig. 6 is the curve graph that continuous position signal process is switched to by discrete position signals for minimizing torque.
Fig. 7 is switched to the curve graph that sine-wave current drives process by driven under square wave current.
Main element symbol description
| Clark converters | 53 |
| Rotor-position detects and estimation module | 54 |
| Electric current PI controllers | 57 |
| Park inverse converters | 50 |
| SVPWM modules | 52 |
| Inverter bridge | 12 |
| Control unit | 60 |
| Battery | 11 |
| Capacitance | 13 |
| Hall position sensor | 22 |
Following specific implementation mode will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.It is appreciated that attached drawing is only for reference and description, not it is used for this hair
It is bright to limit.The size shown in attached drawing does not limit proportionate relationship only for ease of clearly describing.
It should be noted that when a component is considered as " connection " another component, it can be directly to separately
One component may be simultaneously present component placed in the middle.Unless otherwise defined, all technologies used herein and section are academic
Language has the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Herein in the description of the invention
Used term, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.
Referring to FIG. 1, Fig. 1 is the structure diagram of the control system of permanent magnet synchronous motor 30 of the present invention.The permanent-magnet synchronous
Motor 30 includes the hall position sensor 22 of three mutual deviations, 120 degree of electrical angles, and three hall position sensors 22 are used for
The position of the rotor of permanent magnet synchronous motor 30 is detected, and exports hall sensor signal.Three hall position sensors use
Hall switch position sensor.Three hall position sensors have 6 kinds of combinations of states in one cycle, detect and turn
The sector of son is 60 degree.6 kinds of combinations of states include 100,101,011,001,010,100, in addition two states combination 111
It is fault-signal with 000, is caused by 22 failure of hall position sensor.In present embodiment, the entire motor operation stage adopts
Use vector control mode.
The control system of the permanent magnet synchronous motor include Clark converters 53, rotor-position detection with estimation module 54,
Electric current PI controllers 57, Park inverse converters 50, SVPWM modules 52, inverter bridge 12, control unit 60 etc..The inverter bridge 12
It is powered by DC power supply such as battery 11,11 both ends parallel filtering capacitance 13 of the battery.The electric machine control system generally comprises
Der Geschwindigkeitkreis and electric current loop, der Geschwindigkeitkreis are outer shroud, and electric current loop is inner ring, to realize the functions such as frequency control.Light-weight electric automobile
In motor control schemes, torque is mainly given by throttle, forms single current loop control.Given torque be obtained by calculation to
Fixed electric current idrefAnd iqref, the electric current i with feedbackdAnd iqMake the difference, by electric current PI controllers 57 carry out proportional integration obtain to
Constant voltage instructs.The Park inverse converters 50 are used to combine hall sensor signal, and given voltage instruction is converted to voltage control
System instruction；Voltage control instructions control permanent magnet synchronous motor 30 with chopping mode by SVPWM modules 52.Above-mentioned control
Variable processed is all completed under rotating coordinate system.The Clark converters 53, rotor-position detection and estimation module 54, electric current PI
The function of controller 57, Park inverse converters 50, SVPWM modules 52, inverter bridge 12 etc. is the state of the art, herein
It repeats no more.
In embodiment of the present invention, hall sensor signal that described control unit 60 is sensed based on hall position sensor 22
Motor is controlled.Because the rotor-position resolution ratio that hall position sensor 22 senses is 60 degree, improper in full speed model
It encloses interior using square wave control mode.Motor control in embodiment of the present invention is divided into startup, low speed operation and high speed operation
Three phases.The hall sensor signal obtained by three hall position sensors is sent to the rotor-position detection and estimation mould
Block 54, described control unit 60 are electric according to rotor-position detection and the rotor-position and velocity estimated of the output of estimation module 54
Which stage machine is in, and the stage residing for motor uses different motor control modes, for example, startup and low speed operation
Stage is started using square wave control mode, and rotor-position is directly obtained by hall sensor signal.When motor operation to higher rotation speed
When such as high speed, torque pulsation and higher losses can be caused using square wave control mode, hall position sensor need to be obtained 6
A discrete position signals for minimizing torque carries out linear process, obtains continuous position signal, and then driving motor is run under high speed.
The hall position that the control method of the permanent magnet synchronous motor of embodiment of the present invention is carried by permanent magnet synchronous motor
Sensor is realized.Referring to FIG. 2, the flow chart of the control method for the permanent magnet synchronous motor of one embodiment of the present invention, institute
Stating control method includes：
S1：It is same to the permanent magnetism using 120 degree of square wave current control modes that the electric motor starting stage is based on hall sensor signal
Step motor is controlled.
Specifically, the electric motor starting stage, rotor discrete location that three hall position sensors obtain is 0 °, 60 °,
120 °, 180 °, 240 °, 300 °, determine that the evaluated error of rotor-position is no more than 30 ° by hall position sensor.Starting
Stage is passed through 120 degree of square wave currents in the stator windings according to hall sensor signal, as shown in figure 3, being the electric motor starting stage
The graph of relation of counter electromotive force ex and phase current ix.The permanent magnet synchronous motor includes inverter bridge, if the inverter bridge includes
Dry switching tube, these switching tubes form three bridge arms, within the electric motor starting stage, 60 degree of sectors in the inverter bridge of motor only
There are two bridge arm half-bridge it is in running order, another bridge arm is off state.Using 120 degree of square wave current controlling parties
Formula can provide larger detent torque in electric motor starting, and motor is enable to start with load.
S2：The low speed operation phase after electric motor starting is based on hall sensor signal and uses 180 ° of staircase waveform current control modes
The permanent magnet synchronous motor is controlled.
Specifically, in the low speed operation phase, the discrete location of rotor is 30 °, 90 °, 150 °, 210 °, 270 °, 330 °.
The stage is passed through 180 degree square wave current in the stator windings according to hall sensor signal, as shown in figure 4, running rank for low speed
The graph of relation of section counter electromotive force ex and phase current ix.In the stage, each switching tube is connected 180 ° to obtain in inverter bridge
To 180 degree staircase waveform electric current, three bridge arms of inverter are both turned in 60 ° of sectors, compared to 120 degree square wave currents, are used
180 ° of staircase waveform current control modes, torque output increase.Motor low speed operation phase described in present embodiment, motor
Rotating speed be within the 10% of Rated motor rotating speed.
S3：The high speed operation phase of motor be based on hall sensor signal using sine-wave current control mode to it is described forever
Magnetic-synchro motor is controlled.
After motor enters fair speed, such as continue to will produce larger torque pulsation and noise, meeting with driven under square wave current
Seriously affect the driver comfort of the performance and light-weight electric automobile of motor, in present embodiment, in the high speed operation phase, profit
The motor speed and discrete angular obtained with hall position sensor estimates the continuous position of rotor by position estimation method
It sets, the permanent magnet synchronous motor is controlled using sine-wave current control mode.The high speed operation phase rotor
Position is to travel at the uniform speed and accelerate or the two kinds of situations that run slowly are respectively adopted distinct methods and are calculated according to motor.It please join
Fig. 5 is examined, is that the speed of the method for the invention calculates and angle serialization estimation schematic diagram.
When motor travels at the uniform speed, using the average speed of upper sector i-1 as the speed of current sector i, current sector i
The current location θ of middle rotorestIt is obtained by following formula：
θest=θi+ωi-1*Ts,
Wherein ωi-1For speed of the rotor in the previous sector of current sector, Ti-1Fortune for rotor in previous sector
Row time, θestFor the position of current rotor, θiFor the initial position of current sector, TsEnter the time of current sector for rotor.
When motor is in acceleration or moderating process, the rotating speed in a sector is not construed as at the uniform velocity.Current sector i
The position θ of middle current rotorestIt is obtained by following formula：
θest=θi+ωi*Ts,
ωi=ωi-1+a*Ti-1,
Wherein, ωiFor the speed of current sector, ωi-1For speed of the rotor in previous sector, a is acceleration, Ti-1
Run time for rotor in previous sector.θiFor the initial position of current sector, TsEnter the time of current sector for rotor.
It will be understood by those skilled in the art that the acceleration a can be undergone in acceleration or moderating process according to motor one
In a sector, according to the initial velocity for entering sector and leaves the run time of the speed divided by rotor of sector in a sector and obtain
.
And in the high speed operation phase of motor, often enters a new sector and need to repair current estimated position
Just, the angular error obtained by evaluation method is corrected, the accuracy of rotor-position is further increased.As shown in figure 5, curve S1
For the physical location curve of rotor, curve S2 is the estimated position curve of rotor, and the A points in Fig. 5 are in the ti times by estimation side
The physical location D of the rotor-position of method estimation, the position and rotor has deviation, but after rotor enters sector i, sector i's
Initial position θiValue is carried out according further to the position D of hall position sensor sensing, value will not be carried out according to position A, this
The rotor position error of sample evaluation method estimation will not be accumulated in each sector, keep the control of motor more accurate.
Referring to FIG. 6, Fig. 6 is the curve graph for switching to continuous position signal process by discrete position signals for minimizing torque.It can be with from Fig. 6
Find out, B points are the switching point that continuous position signal is switched to by discrete position signals for minimizing torque, corresponding referring to FIG. 7, C points are by side
The driving of wave electric current switches to the switching point of sine-wave current driving, is cut from can be seen that motor in Fig. 6-7 from square wave control mode
Change to sine wave control mode, position signal has continuously and smoothness properties in handoff procedure, it is ensured that output torque is steady,
Reduce torque ripple.180 degree staircase waveform control mode, to start the control strategy for being switched to low speed operation.Obtained current wave
Shape is also accordingly reduced closer to sine wave, by theoretical calculation torque pulsation.
The control method and system of permanent magnet synchronous motor provided in an embodiment of the present invention are adopted in the different phase of motor operation
With different control modes, turn as the electric motor starting stage can provide larger startup using 120 degree of square wave current control modes
Square；The current waveform that the low speed operation phase may make using 180 degree staircase waveform current control mode passes through closer to sine wave
Theoretical calculation torque pulsation also accordingly reduces；The high speed operation phase can be further decreased using sine-wave current control mode to be turned
Square is pulsed and noise.And using the control method of embodiment of the present invention, stator current is switched to the mistake of sine wave by square wave
The smooth non-jitter of transient.
In several specific implementation modes provided by the present invention, it should be understood that disclosed system and method, it can be with
It realizes by another way.For example, system embodiment described above is only schematical, for example, the module
Division, only a kind of division of logic function, formula that in actual implementation, there may be another division manner.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation includes within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in system claims is multiple
Unit, module or device can also be realized by the same unit, module or device by software or hardware.
Embodiment of above is merely illustrative of the technical solution of the present invention and unrestricted, although with reference to the above preferable embodiment party
Formula describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to technical scheme of the present invention
It modifies or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.
Claims (10)
1. a kind of control method of permanent magnet synchronous motor, the permanent magnet synchronous motor include three mutual deviations, 120 degree of electrical angles suddenly
That position sensor, three hall position sensors are used to detect the position of the permanent-magnetic synchronous motor rotor and export suddenly
That position signal, which is characterized in that the method includes：
The electric motor starting stage be based on hall sensor signal using 120 degree of square wave current control modes to the permanent magnet synchronous motor into
Row control；
The low speed operation phase after electric motor starting is based on hall sensor signal using 180 degree staircase waveform current control mode to described
Permanent magnet synchronous motor is controlled；And
The high speed operation phase of motor is based on hall sensor signal using sine-wave current control mode to the permanent-magnet synchronous
Motor is controlled.
2. the control method of permanent magnet synchronous motor as described in claim 1, which is characterized in that in 60 degree of sectors of electric motor starting
It is interior to complete 120 degree of square wave currents startups.
3. the control method of permanent magnet synchronous motor as described in claim 1, which is characterized in that the permanent magnet synchronous motor includes
Inverter bridge, the inverter bridge include three bridge arms, and only there are two bridges in inverter bridge within the electric motor starting stage, 60 degree of sectors
The half-bridge of arm is in running order, another bridge arm is off state.
4. the control method of permanent magnet synchronous motor as described in claim 1, which is characterized in that the permanent magnet synchronous motor includes
Inverter bridge, the inverter bridge include three bridge arms, within the low speed operation phase of the motor, 60 degree of sectors in inverter bridge three
A bridge arm is both turned on.
5. the control method of permanent magnet synchronous motor as described in claim 1, which is characterized in that run in the low speed of the motor
The rotating speed in stage, motor is within the 10% of Rated motor rotating speed.
6. the control method of permanent magnet synchronous motor as described in claim 1, which is characterized in that run rank in the high speed of motor
Section, the discrete angular and rotating speed of the rotor obtained according to hall sensor signal obtain the continuous position of rotor.
7. the control method of permanent magnet synchronous motor as claimed in claim 6, which is characterized in that run rank in the high speed of motor
Section obtains the position of rotor in motor at the uniform velocity state by following formula:
θest=θi+ωi-1*Ts；
Wherein, ωi-1For speed of the rotor in the previous sector of current sector, Ti-1It is rotor in the operation of previous sector
Between, θestFor rotor current location, θiFor the initial position of current sector, TsEnter the time of current sector for rotor.
8. the control method of permanent magnet synchronous motor as claimed in claim 6, which is characterized in that run rank in the high speed of motor
Section obtains the position of rotor in motor acceleration mode or deceleration regime by following formula:
ωi=ωi-1+a*Ti-1,
θest=θi+ωi*Ts,
Wherein, ωiSpeed for rotor in current sector, ωi-1Previous sector initial position for rotor in current sector
Speed, a are acceleration, Ti-1Run time for rotor in previous sector, TsEnter the time of current sector for rotor.
9. the control method of permanent magnet synchronous motor as described in claim 1, which is characterized in that the hall position sensor is
Switch Hall position sensor.
10. a kind of control system of permanent magnet synchronous motor is applied in permanent magnet synchronous motor, the permanent magnet synchronous motor includes three
The hall position sensor of 120 degree of electrical angles of a mutual deviation, three hall position sensors are for detecting the permanent-magnet synchronous
The position of rotor simultaneously exports hall sensor signal, which is characterized in that the control system includes：
Starting module, for being based on hall sensor signal using 120 degree of square wave current control modes to institute in the electric motor starting stage
Permanent magnet synchronous motor is stated to be controlled；
Low speed control module is based on hall sensor signal for the low speed operation phase after electric motor starting and uses 180 degree staircase waveform
Current control mode controls the permanent magnet synchronous motor；And
High speed control module, the high speed operation phase for motor are based on hall sensor signal and are controlled using sine-wave current
Mode controls the permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611264974.6A CN108282114A (en) | 2016-12-30 | 2016-12-30 | The control method and system of permanent magnet synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611264974.6A CN108282114A (en) | 2016-12-30 | 2016-12-30 | The control method and system of permanent magnet synchronous motor |
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| CN201611264974.6A Pending CN108282114A (en) | 2016-12-30 | 2016-12-30 | The control method and system of permanent magnet synchronous motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110299883A (en) * | 2019-07-03 | 2019-10-01 | 河北工业大学 | The control method of permanent magnet synchronous motor based on hall position sensor |
| EP3557754A1 (en) * | 2018-04-17 | 2019-10-23 | Johnson Electric International AG | Motor driving circuit, motor driving method and motor device using the same |
| CN112910363A (en) * | 2021-01-22 | 2021-06-04 | 北京航空航天大学 | Square wave and sine wave integrated control system for magnetic suspension permanent magnet motor |
| CN114465533A (en) * | 2022-01-26 | 2022-05-10 | 山东新一代信息产业技术研究院有限公司 | Method and tool for measuring speed of ultralow rotating speed of brushless direct current motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3557754A1 (en) * | 2018-04-17 | 2019-10-23 | Johnson Electric International AG | Motor driving circuit, motor driving method and motor device using the same |
| CN110299883A (en) * | 2019-07-03 | 2019-10-01 | 河北工业大学 | The control method of permanent magnet synchronous motor based on hall position sensor |
| CN110299883B (en) * | 2019-07-03 | 2021-03-30 | 河北工业大学 | Control method of permanent magnet synchronous motor based on Hall position sensor |
| CN112910363A (en) * | 2021-01-22 | 2021-06-04 | 北京航空航天大学 | Square wave and sine wave integrated control system for magnetic suspension permanent magnet motor |
| CN112910363B (en) * | 2021-01-22 | 2022-06-03 | 北京航空航天大学 | Square wave and sine wave integrated control system for magnetic suspension permanent magnet motor |
| CN114465533A (en) * | 2022-01-26 | 2022-05-10 | 山东新一代信息产业技术研究院有限公司 | Method and tool for measuring speed of ultralow rotating speed of brushless direct current motor |
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Application publication date: 20180713 |
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