CN109347374B - Novel brushless direct current motor sensorless control system and method - Google Patents
Novel brushless direct current motor sensorless control system and method Download PDFInfo
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- CN109347374B CN109347374B CN201811262539.9A CN201811262539A CN109347374B CN 109347374 B CN109347374 B CN 109347374B CN 201811262539 A CN201811262539 A CN 201811262539A CN 109347374 B CN109347374 B CN 109347374B
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 4
- 230000003750 conditioning effect Effects 0.000 claims description 6
- 239000003990 capacitor Substances 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
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- 230000007613 environmental effect Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
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- 238000000614 phase inversion technique Methods 0.000 description 1
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Classifications
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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
- H02P6/188—Circuit arrangements for detecting position without separate position detecting elements using the voltage difference between the windings
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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
- H02P6/20—Arrangements for starting
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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
- 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
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a novel brushless direct current motor sensorless control system and a method, wherein hardware comprises a main control chip, a circuit board and a touch display screen; the circuit board is provided with an inversion circuit and a sampling circuit, and the inversion circuit is connected with a power supply and a motor in the main circuit; the sampling circuit is connected with the motor input and the main control chip; the touch display screen has two functions of instruction input and display and is connected with the main control chip; the sampling circuit comprises a motor terminal voltage continuous sampling circuit and a sampling value processing circuit, and converts the voltage value of the terminal voltage continuous sampling circuit into a digital signal and transmits the digital signal to the main control chip; after the PWM generating module in the main control chip acquires the information of the control phase-change module and the current regulating module, the control current is transmitted to the inverter circuit of the main circuit, so that the control of the motor is realized; when the difference value between two adjacent moments of the terminal voltage of the non-conducting phase is in a specific range, the phase is changed, a conducting state is manually given during starting, the next phase changing moment is obtained by the same method, and the quick starting of the motor is realized.
Description
Technical Field
The invention relates to a control system, in particular to a novel brushless direct current motor sensorless control system.
Background
The control modes of the brushless direct current motor mainly comprise two types, namely a control mode with a position sensor and a control mode without a position sensor. The control mode without the position sensor is a control mode which is widely used and novel at present and comprises a back electromotive force control method, a magnetic linkage calculation method, a state observer method, an artificial neural network control method and the like. The traditional back electromotive force control method has a plurality of problems such as inaccurate detection of back electromotive force zero crossing points, unavoidable diode freewheeling, the need of artificial delay of thirty-degree electrical angle commutation, overlong three-stage starting time and the like. The problems can bring great influence to the control performance of the brushless direct current motor, and simultaneously, the work processing capacity of staff on software and hardware is increased.
The back electromotive force waveform of the brushless direct current motor presents a trapezoid wave, and a Pulse Width Modulation (PWM) signal is superimposed on the back electromotive force waveform, so that at the moment close to phase commutation, we can observe that the difference value between the front and rear adjacent PWM midpoints in the non-conducting phase terminal voltage is continuously reduced, and finally the motor is phase commutated in the range of small difference value between the front and rear adjacent PWM midpoints in the non-conducting phase terminal voltage. The torque ripple is exacerbated by non-uniform stator slot gap and current ripple during commutation due to non-ideal flat top wave back emf.
In addition, the traditional three-section type starting method needs to be switched into a program without position control after the motor reaches a certain rotating speed, and the starting mode is greatly discounted on the rapidity of starting the motor, so that corresponding innovation is needed in the starting control of the motor.
The innovation of the key control technology of the brushless direct current motor without the position sensor can solve the problems that the installation of the position sensor brings complex process, is limited by the working operation environment and the like to the system, can improve the reliability and the anti-interference performance of the system, and has very important theoretical research significance and practical application value. With the continuous development of scientific technology in various fields, environmental pollution and other problems, governments around the world realize that the development of new energy electric vehicles is one of effective ways for solving the increasingly serious petroleum resource shortage and environmental problems in recent years, and the electric vehicles are rapidly developed due to the characteristics of small size, convenience, energy conservation and environmental protection. The control technology of the brushless direct current motor in the electric vehicle is the core technology of the electric vehicle, so the design of the novel brushless direct current motor sensorless control system has long-term strategic significance for solving the problems of petroleum resource shortage and environmental pollution.
Disclosure of Invention
Therefore, in order to overcome the defects of the traditional back electromotive force control method and the three-section starting method, the invention provides a novel brushless direct current motor sensorless control system for realizing direct commutation and quick starting of the sensorless brushless direct current motor.
The technical scheme adopted by the invention is as follows: a novel brushless DC motor no-position sensor control system is characterized in that: the hardware comprises a main control chip, a circuit board and a touch display screen.
The main control chip is arranged on the circuit board.
The circuit board is a PCB (printed circuit board) and is printed with a switch circuit and a sampling circuit, and the switch circuit is connected in series in a main circuit connected with the power supply and the motor; the sampling circuit is connected with the motor input and the main control chip.
The touch display screen has two functions of instruction input and display and is connected with the main control chip.
In a main circuit of the power supply and the motor, the positive electrode of the direct current power supply is connected with a fuse and a switch in series and then is connected with a switch tube; the negative electrode of the direct current power supply is directly connected with the switch tube; and the extraction capacitor is connected with the negative electrode of the power supply between the switch and the switching tube.
The sampling circuit comprises a motor terminal voltage continuous sampling circuit and a sampling value processing circuit, wherein the sampling value processing circuit converts the voltage value of the terminal voltage continuous sampling circuit into a digital signal and transmits the digital signal to the main control chip.
The signal conditioning module and the current sampling module in the main control chip collect current information in the main circuit and then transmit the current information to the current conditioning module; the rotating speed estimation module in the main control chip transmits the rotating speed value obtained by controlling the phase-change module to the speed regulation module; the speed adjusting module in the main control chip obtains the numerical value of the given speed and rotating speed estimating module and then transmits the numerical value to the current adjusting module; and after the PWM generating module in the main control chip acquires the information of the control phase-change module and the current regulating module, the control current is transmitted to the switching circuit of the main circuit, so that the control of the motor is realized.
Further, the control mode of the control phase-change module of the main control chip is as follows: the updating interruption of the timer is entered, the sampled terminal voltage values are respectively given to UA, UB and UC, then the difference value between the adjacent two times of the terminal voltage is made, and when the difference value between the adjacent two times of the terminal voltage is within a specific range, the phase is changed and the mark A is recorded; when the difference value between two adjacent terminal voltages is not in a specific range, not phase-changing; and exiting the interrupt after the result is judged.
The control system adopts a novel motor starting method: artificially giving a conducting phase and a state marker bit A, and detecting the terminal voltage of a non-conducting phase; at this time, although the counter electromotive force of the non-conductive phase is small, the difference value of the terminal voltages of the non-conductive phase still satisfies the condition that the difference value of the terminal voltages of the non-conductive phase at the front and rear moments is small and within a certain range when the difference value is near the commutation point, so that the quick start of the motor is realized by quickly establishing the commutation point.
The principle of the invention is as follows: at the moment of commutation of the motor, the difference between the voltages at the non-conducting phase terminals will become very small. The terminal voltage of the non-conducting phase at the commutation moment is in a certain range, and the difference value of the terminal voltage of the non-conducting phase before and after the terminal voltage is in a certain range, when the difference value of the terminal voltage of the non-conducting phase and the terminal voltage meets the conditions, the motor is commutating. Therefore, the direct commutation of the motor can be realized by continuously detecting the terminal voltage and analyzing the terminal voltage.
The novel brushless direct current motor sensorless control system has the following advantages:
(1) The detection of the terminal voltage is selected to realize direct commutation of the motor, the back electromotive force zero crossing detection delay angle commutation of 30 degrees is not used any more, the influence of diode freewheeling on the commutation of the motor can be successfully avoided, and the resistance-capacitance filtering is omitted from the peripheral circuit, so that the simplification and easy operation of a control circuit are realized;
(2) The end voltage of the non-conducting phase directly reflects the back electromotive force and neutral point voltage, and the problem of detecting the switching noise interference of the brushless direct current motor can be avoided by detecting the end voltage of the non-conducting phase;
(3) By the new starting mode, a commutation point can be established when the updating of a timer is interrupted (40 us), and the motor can be started quickly.
Therefore, the novel brushless direct current motor sensorless control system overcomes the defects of the traditional back electromotive force control method and the three-section starting method, realizes direct commutation and quick starting of the sensorless brushless direct current motor, and has very important theoretical research significance and practical application value.
Additional features and advantages of the invention will be set forth in the description which follows, or may be learned by practice of the invention.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
Fig. 1 is a schematic diagram of the connection of hardware components of the present invention.
Fig. 2 is a schematic block diagram of a sensorless control system of the brushless dc motor of the present invention.
Fig. 3 is a circuit diagram of a terminal voltage sampling circuit of the sensorless control system of the brushless dc motor in the present embodiment.
Fig. 4 is a commutation control flow chart of the sensorless control system of the brushless dc motor of the present invention.
Fig. 5 is a flowchart of the start control of the sensorless control system of the brushless dc motor of the present invention.
Fig. 6 is a control flow chart of the sensorless control system of the brushless dc motor in the present embodiment.
Fig. 7 is a waveform diagram of a motor start-up speed response in the conventional back emf zero-crossing method.
Fig. 8 is a waveform diagram of the velocity response of the sensorless control method of the present embodiment.
Fig. 9B shows the actual waveform of the phase terminal voltage.
Fig. 10 is a three-phase terminal voltage analysis chart.
Fig. 11 is a comparative diagram.
The marks in the figure: BLDC-brushless DC motor, DA-D/A conversion, PWM-pulse width modulation, CPU-main control chip, btoC-one-phase conduction state, ea, eb, ec-back electromotive force, ia, ib, ic-current, P1-phase change point with Hall sensor, P2-phase change point of the new method in the invention.
Detailed Description
The novel sensorless control system for brushless DC motor of the present invention will be described in further detail with reference to the accompanying drawings and examples, wherein the control target is 24V rated at 50W rated at 3000 rpm, 4 pole pairs as pole pairs, and brushless DC motor from JieMeukang.
The hardware comprises a main control chip, a circuit board and a touch display screen.
In the embodiment, the main control chip adopts STM32f103c8t6 of ST (schematic semiconductor group) company, is a 32-bit microcontroller based on ARM Cortex-M kernel STM32 series, has a program memory capacity of 64KB, needs voltage of 2V-3.6V, has working temperature of minus 40 ℃ to 85 ℃, and has an ADC (digital-to-analog conversion) sampling rate of 10 ten thousand times per second at maximum; the main control chip is arranged on the circuit board.
The circuit board is a PCB (printed circuit board) and is printed with a switch circuit and a sampling circuit, and the switch circuit is connected in series in a main circuit connected with the power supply and the motor; the sampling circuit is connected with the motor input and the main control chip.
The touch display screen has two functions of instruction input and display, is connected with the main control chip, and in the embodiment, adopts an AK-043AE touch display screen of samkoon company. This touch display is based on the modbus communication protocol. Communication with SK-043AE is successfully realized through a self-written modbus protocol in a program, and man-machine information exchange between a main control board and a touch screen is realized.
In a main circuit of the power supply and the motor, the positive electrode of the direct current power supply is connected with a fuse and a switch in series and then is connected with a switch tube; the negative electrode of the direct current power supply is directly connected with the switch tube; and the extraction capacitor is connected with the negative electrode of the power supply between the switch and the switching tube.
The sampling circuit comprises a motor terminal voltage continuous sampling circuit and a sampling value processing circuit, wherein the sampling value processing circuit converts the voltage value of the terminal voltage continuous sampling circuit into a digital signal and transmits the digital signal to the main control chip.
As shown in fig. 2, after the signal conditioning module and the current sampling module in the main control chip collect the current information in the main circuit, the current information is transmitted to the current conditioning module; the rotating speed estimation module in the main control chip transmits the rotating speed value obtained by controlling the phase-change module to the speed regulation module; the speed adjusting module in the main control chip obtains the numerical value of the given speed and rotating speed estimating module and then transmits the numerical value to the current adjusting module; and after the PWM generating module in the main control chip acquires the information of the control phase-change module and the current regulating module, the control current is transmitted to the switching circuit of the main circuit, so that the control of the motor is realized.
Further, as shown in fig. 4, the control manner of the control phase-change module of the main control chip is as follows: the updating interruption of the timer is entered, the sampled terminal voltage values are respectively given to UA, UB and UC, then the difference value between the adjacent two times of the terminal voltage is made, and when the difference value between the adjacent two times of the terminal voltage is within a specific range, the phase is changed and the mark A is recorded; when the difference value between two adjacent terminal voltages is not in a specific range, not phase-changing; and exiting the interrupt after the result is judged.
The commutation control is to realize commutation by sampling terminal voltage and relying on the difference between non-conductive terminal voltage and non-conductive terminal voltage, and by means of this commutation mode, the terminal voltage of the non-conductive phase after a given conductive state contains a commutation information (commutation point), so long as there is a first commutation point, it realizes the commutation operation of the motor in the following commutation mode.
As shown in fig. 5, the control system adopts a novel motor starting method: artificially giving a conducting phase and a state marker bit A, and detecting the terminal voltage of a non-conducting phase; at this time, although the counter electromotive force of the non-conductive phase is small, the difference value of the terminal voltages of the non-conductive phase still satisfies the condition that the difference value of the terminal voltages of the non-conductive phase at the front and rear moments is small and within a certain range when the difference value is near the commutation point, so that the quick start of the motor is realized by quickly establishing the commutation point.
At the moment of commutation of the motor, the difference between the voltages at the non-conducting phase terminals will become very small. The terminal voltage of the non-conducting phase is in a certain range during phase commutation, the difference value of the terminal voltage of the non-conducting phase before and after the terminal voltage of the non-conducting phase is also in a certain range, and when the difference value of the terminal voltage of the non-conducting phase and the terminal voltage meets the conditions, the motor is in phase commutation. Therefore, the direct commutation of the motor can be realized by continuously detecting the terminal voltage and analyzing the terminal voltage.
In this embodiment, the direct commutation of the motor is realized by processing the sampled terminal voltage data according to the flowchart shown in fig. 6, and immediately after the terminal voltage continuous sampling circuit and the sampled value processing circuit sample the terminal voltage through artificially giving a one-phase on state (BtoC) and a state flag bit a, when the motor is started, the terminal voltage is sampled and then the terminal voltage difference is made through real time after the motor is started, and the terminal voltage difference and the state flag bit value are judged, so that the direct commutation of the motor is realized.
Furthermore, the middle point sampling of PWM is applied in the program in the main control chip, and meanwhile, the sampling of the front and rear moments of the opposite terminal voltage is strictly controlled by the program.
Furthermore, the sampling frequency and the sampling period are too fast or too slow, which can lead to the situation that the sampled data cannot strictly change the voltage of the reaction terminal, the sampling frequency is 8MHZ, and the sampling period is 3us, which is most suitable.
The brushless DC motor is controlled by adopting a mode of conduction in pairs, the conduction electrical angle of each switching tube is 120 degrees, only two phase windings are conducted at each moment, and one phase switching tube is turned off, one phase switching tube is conducted, and the other phase switching tube is kept constant.
As shown in fig. 8, in the present embodiment, it can be found that the response time of the start-up speed is about 0.4s in the new position-sensor-free control method, and it can be seen from fig. 7 that the response time of the start-up speed is about 0.6s in the conventional back emf zero-crossing method. The response time of the starting speed under the new method of brushless direct current motor sensorless control is obviously superior to that under the traditional back electromotive force zero crossing point. It can also be seen that the speed change is more stable in the new method without position sensor control than in the conventional back emf zero crossing method.
As shown in fig. 9, in this embodiment, the terminal voltage waveform actually observed by the oscilloscope is analyzed to obtain the relationship between the commutation point and the terminal voltage, so as to determine the commutation point.
As shown in fig. 10, a three-phase terminal voltage waveform is obtained according to a one-phase terminal voltage waveform, and compared with a back electromotive force waveform, the correctness of the phase inversion method is further determined.
As shown in fig. 11, the accuracy of the method of the present invention is illustrated by observing in a motor experiment with a position sensor (hall sensor) that the phase-change signal output by the position sensor is consistent with the phase-change signal achieved by the method of the present invention.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (3)
1. Novel brushless direct current motor does not have position sensor control system, its characterized in that: the hardware comprises a main control chip, a circuit board and a touch display screen;
the circuit board is a printed circuit board, an inverter circuit and a sampling circuit are printed on the circuit board, and the inverter circuit is connected with a power supply and a motor in a main circuit; the sampling circuit is connected with the motor input and the main control chip;
the touch display screen has two functions of instruction input and display and is connected with the main control chip;
in a main circuit, wherein the power supply is connected with the motor, the positive pole of the direct current power supply is connected with a fuse and a switch in series and then is connected with an upper bridge arm of a switching tube in the inverter circuit; the negative electrode of the direct current power supply is directly connected with the lower bridge arm of the switching tube; a capacitor is arranged between the switch and the switch tube;
the sampling circuit comprises a motor end voltage continuous sampling circuit and a sampling value processing circuit, and the sampling value processing circuit converts the voltage value of the end voltage continuous sampling circuit into a digital signal and transmits the digital signal to the main control chip;
the signal conditioning module and the current sampling module in the main control chip collect current information in the main circuit and then transmit the current information to the current conditioning module; the rotating speed estimation module in the main control chip transmits the rotating speed value obtained by controlling the phase-change module to the speed regulation module; the speed adjusting module in the main control chip obtains the numerical value of the given speed and rotating speed estimating module and then transmits the numerical value to the current adjusting module; after the PWM generating module in the main control chip acquires the information of the control phase-change module and the current regulating module, the control current is transmitted to the switching circuit of the main circuit, so that the control of the motor is realized;
the novel brushless direct current motor no-position sensor control system is characterized in that: the middle point sampling of PWM is applied in the program in the main control chip, and meanwhile, sampling at the front and rear moments of the opposite terminal voltage is strictly controlled by the program;
the novel brushless direct current motor no-position sensor control system is characterized in that: the sampling frequency of the sampling circuit at the motor terminal voltage is 8MHz, and the sampling period is 3us.
2. The novel sensorless control system of a brushless dc motor of claim 1, wherein: the control mode of the control phase-change module of the main control chip is as follows: the updating interruption of the timer is entered, the sampled terminal voltage values are respectively given to UA, UB and UC, then the difference value between the adjacent two times of the terminal voltage is made, and when the difference value between the adjacent two times of the terminal voltage is within a specific range, the phase is changed and the mark A is recorded; when the difference value between two adjacent terminal voltages is not in a specific range, not phase-changing; and exiting the interrupt after the result is judged.
3. The novel sensorless control system of a brushless dc motor of claim 1, wherein: the motor starting mode is as follows: artificially giving a conducting phase and a state marker bit A, and detecting the terminal voltage of a non-conducting phase; at this time, although the counter electromotive force of the non-conductive phase is small, the difference value of the terminal voltages of the non-conductive phase still satisfies the condition that the difference value of the terminal voltages of the non-conductive phase at the front and rear moments is small and within a certain range when the difference value is near the commutation point, so that the quick start of the motor is realized by quickly establishing the commutation point.
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| CN111541406A (en) * | 2020-04-01 | 2020-08-14 | 华帝股份有限公司 | Control method of brushless direct current motor control system |
| CN115360940A (en) * | 2022-10-18 | 2022-11-18 | 四川荣讯通科技有限公司 | BLDC driving system and method based on MM32SPIN360C |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004304905A (en) * | 2003-03-31 | 2004-10-28 | Mitsuba Corp | Drive circuit for sensor-less brushless motor |
| CN102545749A (en) * | 2012-01-06 | 2012-07-04 | 上海大学 | Wide-speed-regulation-range brushless direct current motor position sensorless control device and method |
| CN103633904A (en) * | 2013-12-09 | 2014-03-12 | 国网上海市电力公司 | Control method and control system for sensorless brushless direct-current motor |
| CN107681930A (en) * | 2017-09-11 | 2018-02-09 | 西北工业大学 | A kind of brushless direct current motor sensorless rotor-position bearing calibration |
| CN209419518U (en) * | 2018-10-27 | 2019-09-20 | 宁德职业技术学院 | A kind of novel brushless direct current motor sensorless control system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004304905A (en) * | 2003-03-31 | 2004-10-28 | Mitsuba Corp | Drive circuit for sensor-less brushless motor |
| CN102545749A (en) * | 2012-01-06 | 2012-07-04 | 上海大学 | Wide-speed-regulation-range brushless direct current motor position sensorless control device and method |
| CN103633904A (en) * | 2013-12-09 | 2014-03-12 | 国网上海市电力公司 | Control method and control system for sensorless brushless direct-current motor |
| CN107681930A (en) * | 2017-09-11 | 2018-02-09 | 西北工业大学 | A kind of brushless direct current motor sensorless rotor-position bearing calibration |
| CN209419518U (en) * | 2018-10-27 | 2019-09-20 | 宁德职业技术学院 | A kind of novel brushless direct current motor sensorless control system |
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