CN108574429A - A kind of brshless DC motor wide speed regulating range low torque ripple suppressing method - Google Patents
A kind of brshless DC motor wide speed regulating range low torque ripple suppressing method Download PDFInfo
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- CN108574429A CN108574429A CN201810223555.0A CN201810223555A CN108574429A CN 108574429 A CN108574429 A CN 108574429A CN 201810223555 A CN201810223555 A CN 201810223555A CN 108574429 A CN108574429 A CN 108574429A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/30—Direct torque control [DTC] or field acceleration method [FAM]
-
- 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
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The present invention relates to a kind of brshless DC motor wide speed regulating range low torque ripple suppressing methods, using the control mode of rotating speed and torque two close cycles, the non-commutation moment carries out direct torque, and the commutation moment carries out overlapping commutation and adds the calculating that current forecasting module carries out duty ratio.When the beginning of hall sensor signal saltus step mark commutation, shutdown phase current, which is reduced to zero flag commutation, to be terminated.The method for using overlapping commutation at this time takes shutdown mutually during commutation and non-commutation is synchronised PWM modulation and opens the measure of phase Heng Tong to reflect the electric current of non-commutation phase on the DC bus during be delayed to turn off.The Non-commutation phase current value and motor speed at sample current time simultaneously i.e. k moment, according to the operating status at motor current time, that is, k moment, obtain three-phase windings phase back-emf, Predictive control law D is calculated with predictive current control module, to control inverter circuit output, Torque Ripple Reduction of the brshless DC motor under wide speed regulating range is realized.
Description
Technical field
The present invention relates to the inhibition of brshless DC motor wide speed regulating range low torque ripple, belong to permanent-magnet brushless DC electric machine control
Field processed.
Background technology
Brshless DC motor is as a kind of magneto, not only with ac motor structure is simple, manufacturing cost is low, safeguards
The advantage of economy easy to maintenance also has the advantages that big direct current generator output, startup and good speed adjustment features, while brushless dc
The drawbacks of using electronic commutator in machine, avoiding tradition machinery brush.Therefore brshless DC motor is widely used in aviation boat
It, in the every field of national products such as automotive electronics, industrial production, household electrical appliance.But brshless DC motor most serious
Problem is precisely due to torque pulsation caused by processing technology and motor performance.Torque pulsation can bring vibration, noise, resonance etc.
A series of problems reduces the security and reliability of system operation, limits application of the brshless DC motor in high-precision field.
In order to solve the problems, such as torque pulsation, domestic and international many scholars have carried out a large amount of research.PWM current-modulation skills
The control strategies such as art, self adaptive control, fuzzy control are suggested.These control strategies are mainly between passing through the method for controlling electric current
The control torque connect, belongs to torque opened loop control, and torque response is slow.Direct Torque Control (DTC) belongs to torque closed-loop control, it
Have many advantages, such as that torque dynamic response is fast, simple in structure, strong robustness, is easily achieved.DTC uses stator flux orientation and space
The concept of vector observes the magnetic linkage of motor, torque by detecting stator voltage, electric current directly under stator coordinate, and by this
Observation and given value are compared, and difference obtains controlling signal accordingly through hystersis controller, then comprehensive current magnetic linkage shape
State selects corresponding space vector of voltage, and realization directly controls motor torque.It can functionally be divided into two
Point：The observation of stator magnetic linkage and control section, effect is selection space vector of voltage appropriate, to generate hexagon in the stator
Magnetic linkage；Torque observation and control section, effect are to realize the Instantaneous Control of torque.Since permanent-magnet brushless DC electric machine is equipped with Hall
Position sensor, and the space vector of voltage determined by position sensor in motor operation course is formed by motor stator
Magnetic linkage is hexagon, so when DTC is used for brshless DC motor, its flux observation part on the one hand can be omitted, and is controlled with simplifying
On the other hand the structure of system processed utilizes the high dynamic of its direct torque, the torque ripple of motor is limited in defined model
In enclosing.
Brshless DC motor Strategy of Direct Torque Control generally use two-phase conduction mode, although this mode can simplify
Control system architecture, but when motor operation high-velocity section, as conventional pulse-width modulation current control, to commutation torque arteries and veins
It is dynamic to lose inhibiting effect.
Invention content
In order to solve brshless DC motor Direct Torque Control when high-velocity section is run, commutation torque ripple inhibition
The problem of difference, the present invention propose brshless DC motor wide speed regulating range low torque ripple suppressing method.Directly turn in traditional
Predictive current control is added in square control, it is therefore an objective to so that motor is in low speed, middling speed, high-speed cruising torque ripple minimization.
The technical scheme is that：A kind of brshless DC motor wide speed regulating range low torque ripple suppressing method, reference
The difference of brshless DC motor rotating speed and actual speed is input in the adjuster of PID, and PID regulator exports torque reference Te *,
Torque reference Te *With actual torque TeDifference be input in two point form torque controller, according to the output of torque controller be connected
Predictive current control is added in combination with the motor rotor position angle θ of detection device feedback in corresponding winding, final so that electricity
Machine is in low speed, middling speed, high-speed cruising torque ripple minimization.
Further, in the adjusting of rotating speed and torque, the beginning of hall sensor signal saltus step mark commutation turns off phase current
It reduces to the end of zero flag commutation, non-commutation moment progress torque closed-loop control, commutation moment progress overlapping commutation, and
Shutdown is taken during commutation mutually and non-commutation is synchronised PWM modulation and opens the measure of phase Heng Tong, while it is pre- to add electric current
Survey the calculating that module carries out duty ratio.
Further, current forecasting model includes step control as follows：
The Non-commutation phase current value and motor speed at step 1) commutation instance sample current time, that is, k moment；
Step 2) obtains three-phase windings phase back-emf according to the operating status at motor current time, that is, k moment；
Step 3) is according to the three-phase windings terminal voltage at current time, that is, k moment, three-phase windings counter electromotive force, current time k
The non-converting commutating current value and subsequent time k+1 Non-commutation phase current predicted values at moment calculate budget control rule D, to control
Inverter circuit output processed；
Step 4) repeats step 1) -3), until commutation terminates, carry out torque closed-loop control.
Further, in step 3), current forecasting model calculates Predictive control law D and is：
A) during high-velocity section commutation predictive current control expression formula:
B) during the commutation of low speed section predictive current control expression formula:
Wherein, U(k)It is the voltage for being applied to shutdown the k moment mutually between non-two phase winding of commutation phase, R is winding resistance,
i(k)It is k moment non-commutation winding current, i(k+1)It is k+1 moment non-commutation winding current, L is winding inductance, and T is the sampling period,
E(k)It is the three phase back-emf amplitudes at k moment, UbusIt is DC bus-bar voltage.
Further, it to needing to be observed electromagnetic torque in torque adjusting control, in actual control system, can detect
Amount include stator over the ground terminal voltage, stator current, neutral point voltage (for there is the motor of neutral lead that can directly measure,
, can be by simulating neutral point in stator terminal parallel connection three-phase Y shape balanced load for the motor of no neutral lead), motor
Rotating speed.Using following torque calculation model：
Te=(eaia+ebib+ecic)/Ω
Wherein, ua, ub, ucFor threephase stator terminal voltage over the ground, unFor neutral point voltage, ea, eb, ecIt is anti-electric for threephase stator
Gesture, ia, ib, icFor threephase stator electric current, L is stator self inductance, and M is mutual inductance between stator.
When high speed operation of motor, the rate of descent for turning off phase current is more than the climbing for opening phase current, non-converting commutating current
Electric current is generated to fall, and Strategy of Direct Torque Control can not compensate the reduction of Non-commutation phase current.According to torque calculation formula
It is found that torque at this time reduces, torque pulsation is generated.In order to compensate for falling for Non-commutation phase current, predictive current control is introduced.
Predictive current control is kept constant constant as prediction reference track using Non-commutation phase current, and mutually and phase is opened with control shutdown
Current changing rate unanimously establishes prediction model.
It is mutually used with the change rate of shutdown phase current to turn off phase delay shutdown due to needing while controlling to open
The method of overlapping commutation.It takes to turn off during commutation simultaneously and is mutually synchronised PWM modulation with non-commutation and opens phase Heng Tong
Measure, to reflect the electric current of the non-commutation phase on DC bus during being delayed to turn off.It is changed to B phases when high speed operation of motor
For C phases, B phases are off phase, and C phases are to open phase, and A phases are non-commutation phases.If shutdown phase and conducting phase during overlapping commutation
Duty ratio is DB.When PWM is in ON states, electric current flows into A phases from B phases with C phases；When PWM is in OFF state, B phase currents are logical
Its lower bridge arm diode continuousing flow is crossed, A phase currents pass through bridge arm diode continuousing flow thereon.Three-phase voltage is at this time：
It can be obtained by three-phase voltage equation：
It is obtained by sliding-model control：
Wherein, T is the sampling period, the expression formula of predictive current control, physics during formula (3) is high-velocity section commutation
Meaning is：At the current k moment, apply between shutdown phase B, non-two phase windings of commutation phase A with shown in formula (3) when voltage, so that it may
To force the current value on (k+1) moment non-commutation winding to reach ideal value i*(k+1).PREDICTIVE CONTROL rule is shown as, with non-
Electric current on commutation phase winding is held constant at control targe during commutation, makes to open phase Heng Tong, turns off and applies with formula in phase
(3) duty ratio D shown inBIt compensates.
With current status during reason motor when running at low speed commutation, the expression of PREDICTIVE CONTROL under low speed section can be obtained
Formula：
Its physical significance is：At the current k moment, opens and apply with voltage shown in formula (4) between phase C, non-commutation phase A
When, so that it may to force the current value on (k+1) moment non-commutation winding to reach ideal value i*(k+1).D in formulaCIt is open-minded to be added on
Duty ratio in phase.As it can be seen that motor is when low regime is run, PREDICTIVE CONTROL rule is shown as, with the electricity on non-commutation phase winding
Stream is held constant at control targe during commutation, and shutdown is made mutually to turn off, and opens and applies with duty ratio D shown in formula (4) in phaseC
It compensates.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) Direct Torque predictive current control strategy can preferably inhibit permanent-magnet brushless DC electric machine torque pulsation,
The reduction that commutation torque can be compensated when high-speed cruising, can weaken the increase of commutation torque when low speed is run.
(2) Direct Torque predictive current control strategy need not separately consider motor high speed, low-speed run state, whole
Unified torque pulsation method may be used in a speed adjustable range.It avoids and increases additional hardware circuit and topological structure.
(3) Direct Torque predictive current control strategy is not only simple in structure with Direct Torque Control, torque response is fast, Shandong
The strong advantage of stick also has many advantages, such as that the control accuracy of predictive current control is high, and controllability is strong.
Description of the drawings
Fig. 1 Direct Torque two point form adjustment processes
Fig. 2 commutation period three-phase current waveform diagrams
Measure schematic diagram is modulated during Fig. 3 commutations
Circuit state schematic diagram during Fig. 4 commutations
Fig. 5 predictive current compensation method schematics
Fig. 6 wide speed regulating range low torque ripple suppression system block diagrams
Specific implementation mode
As shown in Figure 1, the present invention is to solve brshless DC motor in wide speed regulating range, Torque Ripple Reduction effect
Undesirable problem.Fig. 1 is Direct Torque two point form adjustment process figure.Wherein TgIt is torque reference value, TfIt is torque feedback value,
Δ T is torque error, TQIt is torque switch signal.The tolerance of adjuster is ± εm, using discrete two point form regulative mode.
Moment t1, Δ T≤- εm, TQIt exports " 1 ".Work as TQWhen=1, binding site signal behavior non-zero voltage space vector, stator at this time
Magnetic linkage rotates forward, TfRise, Δ T increases；To moment t2, Δ T increases to the upper limit+ε of tolerancem, i.e. Δ T >=+εm, TQOutput
“0”.Work as TQWhen=0, zero voltage space vector is added on motor, and stator magnetic linkage is stationary, TfDecline, Δ T is reduced.
As shown in Fig. 2, three-phase current waveform diagram of the motor operation under different rotating speeds.When motor operation is in middling speed area
(4E when sectionm=Ubus), it opens mutually and the change rate of shutdown phase current is almost the same, not will produce torque pulsation.Work as motor operation
(4E when low speed sectionm<Ubus), the climbing for opening phase current is more than the rate of descent of shutdown phase current, and non-converting commutating current increases
Greatly, torque increases, and in order to reduce continuing to increase for torque, Zero voltage vector is selected at this time, is opened phase current and is chopped into, finally
So that opening, phase is consistent with the shutdown change rate of phase current, and torque pulsation is suppressed.(the 4E when motor operation is in high-velocity sectionm>
Ubus), the climbing for opening phase current is less than the rate of descent of shutdown phase current, and Non-commutation phase current falls, and turns off at this time mutually not
Controllably, selected nonzero voltage space vector can not compensate the reduction of Non-commutation phase current, torque pulsation occur.
As shown in figure 3, the present invention needs while the change rate of phase current is opened mutually and turned off in control, therefore use overlapping
The method of commutation turns off phase delay shutdown.In order to reflect the electricity of non-commutation phase on DC bus during being delayed to turn off
Stream takes shutdown mutually during commutation and non-commutation is synchronised PWM modulation and opens the measure of phase Heng Tong.
As shown in figure 4, the circuit state schematic diagram of the used modulation measure of the present invention.With BA phase transformations when high speed operation of motor
It changes to for CA phases, B phases are off phase, and C phases are to open phase, and A phases are non-commutation phases.If shutdown phase and conducting during overlapping commutation
The duty ratio of phase is DB.When PWM is in ON states, electric current flows into A phases from B phases with C phases；When PWM is in OFF state, B phase electricity
Stream passes through bridge arm diode continuousing flow thereon by its lower bridge arm diode continuousing flow, A phase currents.
As shown in figure 5, predictive current compensation method of the present invention.In actual control system, the of commutation section
In one controlling cycle, the duty ratio that predicted current model is calculated does not apply also, and the change rate of converting commutating current can not at this time
Ensure it is equal, so the pulsation of current of non-commutation phase can not be eliminated.It needs to compensate electric current, is still with BA to CA commutations
Example, ia(k-1)For upper period Non-commutation phase current, | Δ ib| to turn off phase current variable quantity, | Δ ic| to open phase current variation
Amount.Specific implementation be will open mutually and the current change quantity of shutdown phase make the difference after be multiplied by proportionality constant K, then will obtain
Numerical value negative-feedback is to predicted current given side.
As shown in fig. 6, the system block diagram that the wide speed regulating range low torque ripple that the present invention designs inhibits.System uses rotating speed
With the control mode of torque two close cycles, torque reference value is adjusted to obtain by speed error by PID controller, and torque passes through at 2 points
Formula torque controller, space vector voltage selection table, inverter control brshless DC motor.The non-commutation moment carries out torque control
System, commutation moment carry out overlapping commutation.The calculating that current forecasting module carries out duty ratio is added simultaneously.Hall sensor signal is jumped
Become the beginning of mark commutation, shutdown phase current, which is reduced to zero flag commutation, to be terminated.
To sum up, a kind of brshless DC motor wide speed regulating range low torque ripple suppressing method of the invention.Its specific method
For：Brshless DC motor Strategy of Direct Torque Control generally use two-phase conduction mode, although this mode can be with simplify control
System structure, but when motor operation high-velocity section, as conventional pulse-width modulation current control, to commutation torque ripple meeting
Inhibiting effect is lost, the present invention adds predictive current control in traditional Direct Torque Control.System is using rotating speed and turns
The control mode of square two close cycles, non-commutation moment carry out direct torque, and the commutation moment carries out overlapping commutation and adds electric current
Prediction module carries out the calculating of duty ratio.When the beginning of hall sensor signal saltus step mark commutation, shutdown phase current is reduced to zero
Mark commutation terminates.The method for using overlapping commutation at this time, it is non-in order to reflect on DC bus during being delayed to turn off
The electric current of commutation phase takes shutdown mutually during commutation and non-commutation is synchronised PWM modulation and opens the measure of phase Heng Tong.Together
When sample current time, that is, k moment Non-commutation phase current value and motor speed, according to the operation at motor current time, that is, k moment
State obtains three-phase windings phase back-emf, finally Predictive control law D is calculated with predictive current control module, to control
Inverter circuit output processed, realizes Torque Ripple Reduction of the brshless DC motor under wide speed regulating range.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (5)
1. a kind of brshless DC motor wide speed regulating range low torque ripple suppressing method, which is characterized in that refer to brushless dc
The difference of machine rotating speed and actual speed is input in the adjuster of PID, and PID regulator exports torque reference Te *, torque reference Te *
With actual torque TeDifference be input in two point form torque controller, according to the output of torque controller conducting accordingly around
Group, in combination with detection device feedback motor rotor position angle θ, be added predictive current control, finally so that motor low speed,
Middling speed, high-speed cruising torque ripple minimization.
2. a kind of brshless DC motor wide speed regulating range low torque ripple suppressing method as described in claim 1, feature exist
In in the adjusting of rotating speed and torque, the beginning of hall sensor signal saltus step mark commutation, shutdown phase current is reduced to zero flag
The end of commutation, non-commutation moment carry out torque closed-loop control, and the commutation moment carries out overlapping commutation, and is taken during commutation
Shutdown is mutually and non-commutation is synchronised PWM modulation and opens the measure of phase Heng Tong, while adding current forecasting module and being accounted for
The calculating of empty ratio.
3. a kind of brshless DC motor wide speed regulating range low torque ripple suppressing method as claimed in claim 2, feature exist
In current forecasting model includes step control as follows：
The Non-commutation phase current value and motor speed at step 1) commutation instance sample current time, that is, k moment；
Step 2) obtains three-phase windings phase back-emf according to the operating status at motor current time, that is, k moment；
Step 3) is according to the three-phase windings terminal voltage at current time, that is, k moment, three-phase windings counter electromotive force, moment at current time k
Non- converting commutating current value and subsequent time k+1 Non-commutation phase current predicted values, calculate budget control rule D, it is inverse to control
Become circuit output；
Step 4) repeats step 1) -3), until commutation terminates, carry out torque closed-loop control.
4. a kind of brshless DC motor wide speed regulating range low torque ripple suppressing method as claimed in claim 3, feature exist
In in step 3), current forecasting model calculates Predictive control law D and is：
A) during high-velocity section commutation predictive current control expression formula:
B) during the commutation of low speed section predictive current control expression formula:
Wherein, U(k)It is the voltage for being applied to shutdown the k moment mutually between non-two phase winding of commutation phase, R is winding resistance, i(k)It is
K moment non-commutation winding current, i(k+1)It is k+1 moment non-commutation winding current, L is winding inductance, and T is sampling period, E(k)It is
The three phase back-emf amplitudes at k moment, UbusIt is DC bus-bar voltage.
5. a kind of brshless DC motor wide speed regulating range low torque ripple suppressing method as claimed in claim 2, feature exist
In to also needing to be observed electromagnetic torque in torque adjusting control, in actual control system, detectable amount includes stator
Terminal voltage, stator current, neutral point voltage, motor speed over the ground, using following torque calculation model：
Te=(eaia+ebib+ecic)/Ω
Wherein, ua, ub, ucFor threephase stator terminal voltage over the ground, unFor neutral point voltage, ea, eb, ecFor threephase stator back-emf,
ia, ib, icFor threephase stator electric current, L is stator self inductance, and M is mutual inductance between stator.
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| CN113966577A (en) * | 2019-06-12 | 2022-01-21 | 罗伯特·博世有限公司 | Method for determining the rotor position of a rotating electrical machine and rotating electrical machine for carrying out such a method |
| CN113966577B (en) * | 2019-06-12 | 2024-01-30 | 罗伯特·博世有限公司 | Method for determining the rotor position of a rotating electrical machine and rotating electrical machine for carrying out such a method |
| CN111092573A (en) * | 2019-12-12 | 2020-05-01 | 深圳市鼎拓达机电有限公司 | Brushless motor servo driver |
| CN111953259A (en) * | 2020-08-13 | 2020-11-17 | 成都卡诺普自动化控制技术有限公司 | Dynamic bus under-voltage protection method applied to driving and controlling all-in-one machine of robot |
| CN111953259B (en) * | 2020-08-13 | 2021-06-01 | 成都卡诺普自动化控制技术有限公司 | Dynamic bus under-voltage protection method applied to driving and controlling all-in-one machine of robot |
| CN112104272A (en) * | 2020-09-14 | 2020-12-18 | 中船重工(重庆)西南装备研究院有限公司 | Position detection method for brushless direct current motor without position sensor |
| CN112953315A (en) * | 2021-01-14 | 2021-06-11 | 山东省科学院自动化研究所 | Real-time torque ripple suppression method and system for switched reluctance motor |
| CN113364371A (en) * | 2021-04-23 | 2021-09-07 | 南京理工大学 | Method for suppressing torque ripple of brushless direct current motor |
| CN113572390A (en) * | 2021-05-07 | 2021-10-29 | 联合汽车电子有限公司 | Driving method for noise suppression of brushless direct current motor |
| CN113541539A (en) * | 2021-06-11 | 2021-10-22 | 东莞理工学院 | Method for suppressing torque ripple of brushless DC motor |
| CN113411014A (en) * | 2021-07-28 | 2021-09-17 | 南京航空航天大学 | Electro-magnetic doubly salient motor control method for inhibiting torque pulsation based on torque closed loop |
| CN114826036A (en) * | 2022-05-30 | 2022-07-29 | 南京凌博电子科技有限公司 | Brushless direct current motor control method capable of reducing phase-change torque pulsation |
| CN114826036B (en) * | 2022-05-30 | 2023-11-03 | 南京凌博电子科技有限公司 | Brushless direct current motor control method capable of reducing commutation torque pulsation |
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| CN117183765A (en) * | 2023-11-06 | 2023-12-08 | 金琥新能源汽车(成都)有限公司 | Control method, system and equipment of permanent magnet synchronous motor |
| CN117183765B (en) * | 2023-11-06 | 2024-01-19 | 金琥新能源汽车(成都)有限公司 | Control method, system and equipment of permanent magnet synchronous motor |
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Application publication date: 20180925 |