CN108448956A - A kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor - Google Patents
A kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor Download PDFInfo
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- CN108448956A CN108448956A CN201810412398.8A CN201810412398A CN108448956A CN 108448956 A CN108448956 A CN 108448956A CN 201810412398 A CN201810412398 A CN 201810412398A CN 108448956 A CN108448956 A CN 108448956A
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention discloses a kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor：Main control module, output DCT control signals control the switch element of two sets of three-phase inverters；Two non-commutation voltage selectors, are connected with the three-phase terminal of corresponding three-phase windings, for selecting the non-commutation end in three-phase windings；Two filter circuits are respectively filtered the non-commutation terminal voltage of two sets of three-phase windings；Two bleeder circuits respectively divide two non-commutation terminal voltages after being filtered；Two voltage comparison modules are respectively used to two non-commutation terminal voltages after dividing and are compared with reference voltage to export the back-emf zero cross signal of non-commutation.Main control module handles the back-emf zero cross signal of non-commutation, obtains rotor-position, so that it is determined that the motor commutation moment.The detection device of the present invention has given up position sensor, obtains the position of rotor indirectly by the various physical quantitys in detecting system by motor is made to carry out commutation.
Description
Technical field
The invention belongs to technical field of motors, are related to a kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor.
Background technology
The driving current of brshless DC motor is alternating current, and the driving current of usual brushless motor is divided into two kinds, one is
Square wave, another kind are sine waves.Brushless direct-current square-wave motor position sensor technology has reached its maturity, but in severe ring
Position sensor will produce wrong signal and generate interference to system under border, so development position-sensor-free detection technique is with regard to ten
That divides is necessary.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of rotor-positions of six phases asymmetrical square wave motor
Detection device.
The present invention provides a kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor, two sets in parallel on DC power supply
Three-phase inverter often covers three-phase inverter and is separately connected a set of three-phase windings, including：
Main control module controls electricity by exporting DCT and controlling the switch element in signal two sets of three-phase inverters of control
Machine commutation；
Two non-commutation voltage selectors, the three-phase terminal phase of each non-commutation voltage selector and corresponding three-phase windings
Connection, for selecting the non-commutation end in every set three-phase windings and exporting the terminal voltage；
Two filter circuits are respectively filtered the non-commutation terminal voltage of two sets of three-phase windings；
Two bleeder circuits respectively divide two non-commutation terminal voltages after being filtered；
Two voltage comparison modules are respectively used to two non-commutation terminal voltages after dividing and are compared with reference voltage
To export the back-emf zero cross signal of non-commutation；
The main control module handles the back-emf zero cross signal of non-commutation, obtains rotor-position, so that it is determined that electric
The machine commutation moment.
The present invention six phase asymmetrical square wave motors detecting apparatus for rotor position in, described device further include respectively at
The reference voltage selection circuit that main control module is connected with voltage comparison module, the reference voltage selection circuit are opened including first
Pass, second switch, eleventh resistor and twelfth resistor；Described eleventh resistor one end connects with DC power anode, another
End is grounded by twelfth resistor；One end of the first switch is connected on the intersection point of the eleventh resistor and twelfth resistor,
The other end is connected with the input terminal of two voltage comparison modules respectively；Described second switch one end and the DC power cathode
It is connected, the other end is connected with the input terminal of two voltage comparison modules respectively；The master control module controls first switch and
Second switch cut-offs and then exports different reference voltages.
In the detecting apparatus for rotor position of the six phase asymmetrical square wave motors of the present invention, the selection mode packet of reference voltage
It includes：
When the DCT that motor is in six phase operating modes and main control module output controls the PWM duty cycle of signal less than 50%
When, second switch is closed while first switch being kept to disconnect by main control module, and the reference voltage selection circuit is by reference voltage
It is selected as no-voltage；
When the DCT that motor is in six phase operating modes and main control module output controls the PWM duty cycle of signal more than 50%
When, second switch disconnection is simultaneously closed off first switch by main control module, and reference voltage is selected as by the reference voltage selection circuit
/ 10th of DC bus-bar voltage；
The larger a set of three-phase windings of back-emf are cut away when motor speed is increased to certain value, motor operation is in three-phase work
The PWM duty cycle of operation mode, the DCT control signals of main control module output at this time is more than 50%, and main control module continues holding second
Switch disconnect, first switch close, the reference voltage selection circuit by reference voltage be selected as DC bus-bar voltage ten/
One.
In the detecting apparatus for rotor position of the six phase asymmetrical square wave motors of the present invention, the main control module includes mutual
The dsp chip and CPLD chips of connection, the dsp chip control signal and control instruction for exporting DCT, and to non-commutation
Back-emf zero cross signal is handled to obtain rotor-position；The letter that the CPLD chips are used to output and input dsp chip
Number and control instruction carry out signal processing.
In the detecting apparatus for rotor position of the six phase asymmetrical square wave motors of the present invention, the filter circuit includes：The
One resistance, second resistance, 3rd resistor, the first capacitance, the second capacitance and third capacitance；The first resistor, the second capacitance and
3rd resistor is sequentially connected in series between non-commutation voltage selector and bleeder circuit；After first capacitance and second resistance concatenation
It is connected in parallel again with the second capacitance；One end of the third capacitance is connected on 3rd resistor and the point of intersection of bleeder circuit, the other end
Ground connection.
In the detecting apparatus for rotor position of the six phase asymmetrical square wave motors of the present invention, the bleeder circuit includes：The
Seven resistance, the 8th resistance and the 7th capacitance, described 7th resistance one end are connected with filter circuit, and the other end passes through the 8th resistance
Ground connection, the 7th capacitance connect with the 8th resistor coupled in parallel；After the 7th resistance and the 8th electric resistance partial pressure, the 7th resistance and
The intersection point of 8th resistance is connected as the non-commutation terminal voltage output end after partial pressure with the input terminal of voltage comparison module.
Back-emf mistake when the detecting apparatus for rotor position of the six phase asymmetrical square wave motors of the present invention can improve low speed segment
Zero detection sensitivity, at the same by high speed sampling circuit improvement can improve low speed segment when back-emf zero passage detection sensitivity,
Simultaneously by can also effectively avoid back-emf amplitude is excessively high from being damaged high speed sampling circuit improvement to detection circuit, ensure six
Mutually asymmetric motor works in the broader range of speeds, simplifies system, reduces noise when system operation, system is made to exist
Run relatively reliable under adverse circumstances, big torque ground starting operation, this six novel phase square-wave motor control strategies are electronic
Automotive field has good effect.
Description of the drawings
Fig. 1 is a kind of block diagram of the detecting apparatus for rotor position of six phases asymmetrical square wave motor of the present invention.
Specific implementation mode
A kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor of the present invention is illustrated with reference to attached drawing.
As shown in Figure 1, the detecting apparatus for rotor position of the six phase asymmetrical square wave motor of kind of the present invention is passed for no position
Sensor detects the position of rotor.In the present embodiment, six phase asymmetrical square wave motors include two sets of asymmetric three-phase windings, Yi Taosan
Phase winding includes U, and V, W three-phases, another set of three-phase windings include R, S, T three-phases.Two sets of three-phase windings are connected by being in direct contact device Q
It connects.DC power supply UdUpper two sets of three-phase inverters 7 in parallel often cover three-phase inverter 7 and are separately connected a set of three-phase windings.
As shown in Figure 1, the detecting apparatus for rotor position of the present invention includes：1, two non-commutation voltage selector of main control module
2, two voltage comparison modules 5 of bleeder circuit 4, two of filter circuit 3, two and reference voltage selection circuit 6.
As shown, first set three-phase inverter 7 includes six thyristors T1, T2, T3, T4, T5 and T6.Specifically, brilliant
Brake tube T1, T3, T5 are connected to the anode of DC power supply, and thyristor T2, T4 and T6 are connected to the cathode of DC power supply.Another set of three
Phase inverter 7 includes six thyristors T7, T8, T9, T10, T11 and T12.Specifically, thyristor T7, T9 and T11 is connected to directly
The anode in galvanic electricity source, thyristor T8, T10 and T12 are connected to the cathode of DC power supply.Three-phase inverter 7 is by DC power supply UdTurn
Change alternating voltage into.
Wherein, main control module 1 controls 12 switch elements in signal two sets of three-phase inverters 7 of control by output DCT,
The state of i.e. 12 thyristor T1-T12 controls motor commutation in turn.The three phase terminals of non-commutation voltage selector 2 and three-phase windings
Son is connected, for selecting the non-commutation end in three-phase windings and exporting the terminal voltage.
Detection object in the present embodiment is six phase asymmetrical square wave motors, therefore two non-commutation voltage selectors are arranged
2, the U of one of them non-commutation voltage selector 2 and first set three-phase windings, V, W tri- are connected, another non-commutation voltage choosing
The R of device 2 and second set of three-phase windings is selected, S, T tri- is connected.When it is implemented, non-commutation voltage selector 2 uses 8 channel moulds
Quasi- multiplexer is the theme, model hef4051b, carries out circuit expansion on its basis.It is run when motor just starts
Under six phase states, contactor Q is closed at this time, and DC power supply forward current flows through U phase windings by thyristor T1, using V
Phase winding and thyristor T6 flow to the negative side of DC power supply；Simultaneously DC power supply forward current by thyristor T7 flow through R phases around
Group flows to the negative side of DC power supply using S phase windings and thyristor T12, and W phases and T-phase winding are non-commutation phase at this time, are passed through
Non- commutation phase voltage selector 2 is chosen.
Filter circuit 3 is connected with non-commutation voltage selector 2, is filtered for the non-commutation terminal voltage to three-phase windings
Wave processing.As shown in Figure 1, two filter circuits 3 are arranged respectively to the non-commutation end of two sets of three-phase windings in detection device of the present invention
Voltage is filtered.First filter circuit 3 include：First resistor R1, second resistance R2,3rd resistor R3, the first electricity
Hold C1, the second capacitance C2 and third capacitance C3.Wherein, first resistor R1, the second capacitance C2 and 3rd resistor R3 are sequentially connected in series
Between non-commutation voltage selector 2 and bleeder circuit 4.After the first capacitance C1 and second resistance R2 concatenations again with the second capacitance
C2 is connected in parallel.An end of the third capacitance C3 is connected on the point of intersection of 3rd resistor R3 and bleeder circuit 4, other end ground connection.
Second filter circuit 3 include：4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 4th capacitance C4, the 5th capacitance C5 and
6th capacitance C6.Wherein, the 4th resistance R4, the 5th capacitance C5 and the 6th resistance R6 are sequentially connected in series in non-commutation voltage selector 2
Between bleeder circuit 4.It is connected in parallel again with the 5th capacitance C5 after the 4th capacitance C4 and the 5th resistance R5 concatenations.Described
An end of six capacitance C6 is connected on the point of intersection of the 6th resistance R6 and bleeder circuit 4, other end ground connection.
Bleeder circuit 4 is connected with filter circuit 3, for dividing two non-commutation terminal voltages after being filtered
Pressure.As shown in Figure 1, two bleeder circuits 4 are arranged in detection device of the present invention, respectively to two non-commutation end electricity after being filtered
Pressure is divided.First bleeder circuit 4 include：7th resistance R7, the 8th resistance R8 and the 7th capacitance C7.7th resistance
The one end R7 is connected with filter circuit 3, and the other end is grounded by the 8th resistance R8, and the 7th capacitance C7 and the 8th resistance R8 is simultaneously
Connection connects；After the 7th resistance R7 and the 8th resistance R8 partial pressures, the intersection point of the 7th resistance R7 and the 8th resistance R8, which are used as, to be divided
Non- commutation terminal voltage output end after pressure is connected with the input terminal of voltage comparison module 5.Another bleeder circuit 4 includes：The
Nine resistance R9, the tenth resistance R10 and the 8th capacitance C8.Described 9th one end resistance R9 is connected with filter circuit 3, and the other end is logical
The tenth resistance R10 ground connection is crossed, the 8th capacitance C8 and the tenth resistance R10 is connected in parallel；Through the 9th resistance R9 and the tenth
After resistance R10 partial pressures, the intersection point of the 9th resistance R9 and the tenth resistance R10 are as the non-commutation terminal voltage output end and electricity after partial pressure
The input terminal of pressure comparison module 5 is connected.
Voltage comparison module 5 is for the non-commutation terminal voltage and reference voltage U after dividingrefIt is compared non-to export
The back-emf zero cross signal of commutation.Two voltage comparison modules 5, two be respectively used to after dividing are arranged in detection device of the present invention
A non-commutation terminal voltage is compared with reference voltage to export the back-emf zero cross signal of non-commutation.
Reference voltage UrefIt is generated by reference to voltage selecting circuit 6.The reference voltage selection circuit 6 is respectively at master control
Module 1 is connected with voltage comparison module 5, and the reference voltage selection circuit 6 includes first switch S1, second switch S2, the
11 resistance R11 and twelfth resistor R12；The one end the eleventh resistor R11 and DC power supply UdAnode connects, and the other end is logical
Cross twelfth resistor R12 ground connection；Mono- ends first switch S1 are connected to the eleventh resistor R11's and twelfth resistor R12
On intersection point, the other end is connected with the input terminal of two voltage comparison modules 5 respectively；The one end the second switch S2 with it is described straight
Galvanic electricity source UdCathode is connected, and the other end is connected with the input terminal of two voltage comparison modules 5 respectively；The main control module 1
Control first switch S1's and second switch S2 cut-offs and then exports different reference voltages.Wherein, DC bus, that is, direct current
Source UdVoltage is made by 1/10th that eleventh resistor R11 and twelfth resistor R12 is divided to obtain DC bus-bar voltage
For reference value, another reference value is directly connected to ground wire.The selection mode of reference voltage includes：
The PWM duty cycle of signal is controlled less than 50% when motor is in the DCT that six phase operating modes and main control module 1 export
When, second switch S2 is closed while first switch S1 being kept to disconnect by main control module 1, and the reference voltage selection circuit 6 will join
It examines voltage and is selected as no-voltage；
The PWM duty cycle of signal is controlled more than 50% when motor is in the DCT that six phase operating modes and main control module 1 export
When, second switch S2 disconnections are simultaneously closed off first switch S1 by main control module 1, and the reference voltage selection circuit 6 will refer to electricity
Pressure is selected as 1/10th of DC bus-bar voltage；
The larger a set of three-phase windings of back-emf are cut away when motor speed is increased to certain value, motor operation is in three-phase work
The PWM duty cycle of operation mode, the DCT control signals that main control module 1 exports at this time is more than 50%, and main control module 1 continues holding the
Two switch S2 are disconnected, and first switch S1 is closed, and reference voltage is selected as DC bus-bar voltage by the reference voltage selection circuit 6
1/10th.
The main control module 1 handles the back-emf zero cross signal for the non-commutation that voltage comparison module 5 exports, and obtains
Rotor-position, so that it is determined that the motor commutation moment.When it is implemented, main control module 1 includes the dsp chip and CPLD being connected with each other
Chip.Dsp chip is handled the back-emf zero cross signal of non-commutation for exporting DCT control signals and control instruction
To obtain rotor-position.Signal and control instruction of the CPLD chips for being output and input to dsp chip carry out at signal
Reason.
Motor has high speed and low speed operation at runtime, and higher PWM duty cycle is needed when rotating speed is higher to be carried for motor
For energy, and when rotating speed is relatively low, need to reduce the duty ratio of PWM to limit extra energy.
The detection device of the present invention is at high speed that foundation is detected with H_PWM_ON-L_ON modulation systems, at this time
Reference voltage is selected as 1/10th of DC bus-bar voltage.H_PWM_OFF-L_ON modulation systems are according to progress under the low speed
Detection, is selected as no-voltage by reference voltage at this time.Detection 7 back-emf zero passages tool is detected and compared to the AD in dsp chip in this way
There is better effect.
Make motor since six-phase motor can cut away the three-phase windings that wherein back-emf is larger when rotating speed is increased to certain value
Operate in remaining three-phase operating mode, thus when motor when three-phase works rotating speed higher for six phases, so using
Reference voltage is selected as 1/10th of DC bus-bar voltage by H_PWM_ON-L_ON modulation systems at this time.DCT signals are used herein
To be respectively controlled according to the duty ratio of PWM and three or six phase operating statuses.It is specifically as follows：
(1) it is operated in after six-phase motor just starts under six phase windings, motor speed less than threshold value and works as PWM duties at this time
When than being less than 50%, using H_PWM_OFF-L_ON modulation systems, reference voltage being selected as no-voltage at this time and is compared to obtain
Negate potential zero passage detection signal.
(2) as motor speed continues to increase, and PWM duty cycle be more than 50% when, using H_PWM_ON-L_ON modulation methods
Reference voltage is selected as 1/10th of DC bus-bar voltage by formula at this time, is compared to obtain back-emf zero passage detection signal；
(3) six phase asymmetrical square wave motors are operated in six phase winding states when rotating speed is relatively low, when rotating speed is increased to threshold value
When, switching off the larger three-phase windings of back emf coefficient (R, S, T three-phase) makes square-wave motor be operated in three-phase state, in this way can be with
The rotating speed of motor is set to continue to increase.Reference voltage is selected as 1/10th of DC bus-bar voltage at this time, is compared to obtain
Back-emf zero passage detection signal.
(4) when motor reduction of speed under three-phase high speed, when motor speed is dropped to threshold value, three-phase windings that motor is cut away
(R, S, T three-phase) takes back again makes motor be operated under six phase winding patterns, and the duty ratio of PWM is still more than 50% at this time, uses
H_PWM_ON-L_ON modulation systems, reference voltage, which remains unchanged, selects 1/10th of DC bus-bar voltage, under motor speed continues
When dropping to PWM duty cycle less than 50%, using H_PWM_OFF-L_ON modulation systems, reference voltage is selected as no-voltage.
The difference of different rotating speeds and three or six phase winding states, square-wave motor position-sensor-free rotor are worked according to motor
Position detecting circuit also changes correspondingly.By DCT signal distinguishings high and low rotating speed and differentiate three or six phase operating modes, makes system more
It is perfect.Back-emf zero passage detection new method both distinguished the back-EMF determination of the high low speed of motor, and worked three or six phases
Pattern differentiation is treated, and keeps the detection of winding back emf more accurate, and motor is prevented to cause to damage to circuit when running at high speed
It is bad.
The foregoing is merely the preferred embodiments of the present invention, the thought being not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (6)
1. a kind of detecting apparatus for rotor position of six phases asymmetrical square wave motor, two sets of three-phase inverters in parallel on DC power supply,
Often set three-phase inverter is separately connected a set of three-phase windings, which is characterized in that including：
Main control module, control motor changes by exporting DCT and controlling the switch element in signal two sets of three-phase inverters of control
Phase；
Two non-commutation voltage selectors, each non-commutation voltage selector are connected with the three-phase terminal of corresponding three-phase windings
It connects, for selecting the non-commutation end in every set three-phase windings and exporting the terminal voltage；
Two filter circuits are respectively filtered the non-commutation terminal voltage of two sets of three-phase windings；
Two bleeder circuits respectively divide two non-commutation terminal voltages after being filtered；
Two voltage comparison modules are respectively used to two non-commutation terminal voltages after dividing and are compared with defeated with reference voltage
Go out the back-emf zero cross signal of non-commutation；
The main control module handles the back-emf zero cross signal of non-commutation, obtains rotor-position, so that it is determined that motor changes
The phase moment.
2. the detecting apparatus for rotor position of six phases asymmetrical square wave motor as described in claim 1, which is characterized in that the dress
It further includes the reference voltage selection circuit being connected respectively with main control module and voltage comparison module to set, the reference voltage selection
Circuit includes first switch, second switch, eleventh resistor and twelfth resistor, and the wherein resistance value of eleventh resistor is the 12nd
9 times of resistance；Described eleventh resistor one end connects with DC power anode, and the other end is grounded by twelfth resistor；
One end of the first switch is connected on the intersection point of the eleventh resistor and twelfth resistor, the other end respectively with two voltage ratios
Input terminal compared with module is connected；Described second switch one end is connected with the DC power cathode, and the other end is respectively with two
The input terminal of a voltage comparison module is connected；The master control module controls first switch and the second switch is cut-off and then is exported
Different reference voltages.
3. the detecting apparatus for rotor position of six phases asymmetrical square wave motor as claimed in claim 2, which is characterized in that with reference to electricity
The selection mode of pressure includes：
It is main when motor is in the PWM duty cycle of six phase operating modes and the DCT control signals of main control module output less than 50%
Second switch is closed while first switch being kept to disconnect by control module, and reference voltage is selected as zero by the reference voltage selection circuit
Voltage；
It is main when motor is in the PWM duty cycle of six phase operating modes and the DCT control signals of main control module output more than 50%
Second switch disconnection is simultaneously closed off first switch by control module, and reference voltage is selected as direct current mother by the reference voltage selection circuit
/ 10th of line voltage；
The larger a set of three-phase windings of back-emf are cut away when motor speed is increased to certain value, motor operation is in three-phase Working mould
The PWM duty cycle of formula, the DCT control signals of main control module output at this time is more than 50%, and main control module continues to keep second switch
It disconnects, first switch is closed, and reference voltage is selected as 1/10th of DC bus-bar voltage by the reference voltage selection circuit.
4. the detecting apparatus for rotor position of six phases asymmetrical square wave motor as described in claim 1, which is characterized in that the master
Control module includes the dsp chip being connected with each other and CPLD chips, and the dsp chip refers to for exporting DCT control signals and control
It enables, and the back-emf zero cross signal of non-commutation is handled to obtain rotor-position；The CPLD chips are used for dsp chip
The signal and control instruction output and input carries out signal processing.
5. the detecting apparatus for rotor position of six phases asymmetrical square wave motor as described in claim 1, which is characterized in that the filter
Wave circuit includes：First resistor, second resistance, 3rd resistor, the first capacitance, the second capacitance and third capacitance；First electricity
Resistance, the second capacitance and 3rd resistor are sequentially connected in series between non-commutation voltage selector and bleeder circuit；First capacitance and
It is connected in parallel again with the second capacitance after second resistance concatenation；One end of the third capacitance is connected on 3rd resistor and bleeder circuit
Point of intersection, other end ground connection.
6. the detecting apparatus for rotor position of six phases asymmetrical square wave motor as described in claim 1, which is characterized in that described point
Volt circuit includes：7th resistance, the 8th resistance and the 7th capacitance, described 7th resistance one end is connected with filter circuit, another
End is connected by the 8th resistance eutral grounding, the 7th capacitance with the 8th resistor coupled in parallel, wherein the resistance value of the 8th resistance is the 7th electricity
Hinder resistance value 4 times, the resistance value of the tenth resistance are 4 times of the 9th resistance；After the 7th resistance and the 8th electric resistance partial pressure,
Input terminal of the intersection point of 7th resistance and the 8th resistance as non-commutation terminal voltage output end and voltage comparison module after partial pressure
It is connected.
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| CN201810412398.8A CN108448956B (en) | 2018-05-03 | 2018-05-03 | Rotor position detection device of six-phase asymmetric square wave motor |
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| CN201810412398.8A CN108448956B (en) | 2018-05-03 | 2018-05-03 | Rotor position detection device of six-phase asymmetric square wave motor |
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| CN109194204A (en) * | 2018-10-19 | 2019-01-11 | 东北大学 | A kind of asymmetric double three-phase square wave electric machine control systems |
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| CN109194204A (en) * | 2018-10-19 | 2019-01-11 | 东北大学 | A kind of asymmetric double three-phase square wave electric machine control systems |
| CN114688953A (en) * | 2020-12-30 | 2022-07-01 | 华润微集成电路(无锡)有限公司 | Circuit structure for realizing non-inductive BLDC rotor position detection based on MCU detection commutation signal |
| CN113489389A (en) * | 2021-06-22 | 2021-10-08 | 深圳市航顺芯片技术研发有限公司 | Motor three-phase current sampling circuit, method, chip and computer equipment |
| CN113489389B (en) * | 2021-06-22 | 2023-01-03 | 深圳市航顺芯片技术研发有限公司 | Motor three-phase current sampling circuit, method, chip and computer equipment |
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