CN110086399A - A kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method - Google Patents
A kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method Download PDFInfo
- Publication number
- CN110086399A CN110086399A CN201910395111.XA CN201910395111A CN110086399A CN 110086399 A CN110086399 A CN 110086399A CN 201910395111 A CN201910395111 A CN 201910395111A CN 110086399 A CN110086399 A CN 110086399A
- Authority
- CN
- China
- Prior art keywords
- rotor
- signal
- magnet synchronous
- synchronous motor
- permanent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
-
- 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 permanent-magnet synchronous motor rotor position compound detection and starting operation methods, belong to Motor Control Field.The present invention is based on sine and cosine type composite coding devices, orthogonal subdivision processing is carried out to absolute type and increment type operating mode output signal, and the positive number K by introducing a non-integer reflects the case where rotor is between two pulses, improve rotor-position detection accuracy, then in conjunction with torque maximum vector control strategy, it proposes the electric motor starting operating scheme under rotor-position compound detection scheme, efficiently solves the problems, such as that permanent magnet synchronous motor starts and the detection of operation phase rotor-position is inaccurate.
Description
Technical field
The present invention relates to a kind of permanent-magnet synchronous motor rotor position compound detection and starting operation methods, belong to motor control
Field.
Background technique
In high performance application, incremental optical-electricity encoder, magnetic coder, rotation transformation are widely used at present
The mechanical sensors such as device, hall position sensor detect rotor information, these mechanical sensors can detecte rotor rotation
Turn the rotor-position and rotary speed information of state.High-precision rotor-position detection is to realize the good control performance of permanent magnet synchronous motor
Premise, only accurately know permanent-magnet synchronous motor rotor position information, just can be by vector control method, by permanent-magnet synchronous
Motor is controlled according to the control method of separately excited DC machine, while simplified control, reaches separately excited DC machine transmission
The performance indicator of system.
The various methods of current position detection can be divided into electromagnetic type, Mageneto-sensitive type, photo-electric and indirect type etc. from principle,
The implementation of each method can be divided into position sensor and position-sensor-free.Position-sensor-free detection is by algorithm to fixed
Electron current and voltage are analyzed, and therefrom obtain the location information of rotor, and the quality of algorithm directly affects rotor-position inspection
The precision of survey, but that there are algorithms is excessively complicated for position-sensor-free detection at present, low-speed situations lower rotor part position detection inaccuracy
And to parameter of electric machine dependence it is strong the problems such as, therefore, position sensor detect at present still in dominant position.
Position sensor detection can be divided into the detection of absolute type rotor-position and the detection of increment type rotor-position.Absolute type turns
The voltage signal or encoded radio that sub- position detection usually utilizes position sensor to export directly detect rotor-position, since voltage is believed
Number or encoded radio and rotor angle in certain mathematical relationship (such as sinusoidal or cosine), therefore can directly obtain the position of rotor
Confidence breath.This rotor-position detection mode does not have accumulated error, but with the raising of rotor-position detection accuracy, cost is big
Amplitude increases.The orthogonal pulses signal and reference zero marking signal that the detection of increment type rotor-position is exported using position sensor
Rotor-position is calculated to start to count orthogonal pulses signal, count results are anti-after detecting reference zero marking signal
Position of the rotor relative to reference zero marking signal has been reflected, in conjunction with the physical location of reference zero marking signal, can have been found out
The position of rotor.The detection of increment type rotor-position can obtain high-precision rotor-position with lower cost, but must examine
It measures reference zero marking signal to carry out later, which results in the undetectable problems of initial position of rotor.
In order to solve problem above, scholars have carried out a large amount of research.Dynamic wherein based on Magnetic oriented principle is fixed
Position method is the current phasor by applying series to motor, exports pulse detection direction of motor rotation using incremental encoder,
According to the relationship of current phasor and rotation direction, constantly adjustment current phasor, until motor stabilizing.But this method positioning time
Long, motor will appear rotation in position fixing process, be unfavorable for the application of some special occasions.
Therefore, need that a kind of permanent magnet synchronous motor starts and the operation phase accurately detects the side of rotor-position at present
Case.
Summary of the invention
The object of the present invention is to provide a kind of permanent-magnet synchronous motor rotor position compound detection and starting operation methods, with solution
Certainly current permanent magnet synchronous motor starts and the problem of operation phase rotor-position detection inaccuracy.
The present invention provides a kind of permanent-magnet synchronous motor rotor position compound detection and starting to solve above-mentioned technical problem
Operation method, comprising the following steps:
(1) C signal and D signal of acquisition sine and cosine encoder absolute mode output；
(2) the preliminary mechanical angle that rotor is calculated according to the C signal of step (1) acquisition and D signal, uses the first of rotor
Walk the starting that mechanical angle carries out permanent magnet synchronous motor；
(3) after the zero mark signal R for detecting sine and cosine encoder output, sine and cosine encoder incremental mode is acquired
The a-signal and B signal of output, the corresponding mechanical angle θ of record zero mark signal RRAnd the quantity M of pulse signal；
(4) the accurate mechanical angle, θ of incremental mode lower rotor part is calculatednew, θnewCalculation formula are as follows:
Wherein, N is the line number of sine and cosine encoder, and k is the fractional part of intermediate variable K；
The calculation formula of intermediate variable K are as follows:
K=θ0(s)·N/2π
Wherein, θ0It (s) is intermediate variable, its calculation formula is:
Wherein, VAFor the output valve at a-signal s moment, VBFor the output valve at B signal s moment；
(5) the accurate mechanical angle, θ of rotor is usednewNormal operation for permanent magnet synchronous motor.
Further, in step (2), calculate the process of the preliminary mechanical angle of rotor the following steps are included:
1) positive cotangent type curve y, specific formula are generated are as follows:
Wherein, θ (t) is the absolute position angle of t moment rotor, and sin θ (t) is that the absolute position angle of rotor is θ (t)
When C signal output valve, the output valve of cos θ (t) is the absolute position angle of rotor when being θ (t) D signal；
2) the positive cotangent type curve y is divided into 8 sections with π/4, finds out the corresponding angle of all tangent values, established
The orthogonal subdivision table of preliminary mechanical angle information comprising rotor.
Further, the relative position θ between the s moment, rotor and zero mark signal RsCalculation formula is
The invention has the benefit that
The present invention is based on sine and cosine type composite coding devices, carry out to absolute type and increment type operating mode output signal orthogonal
Subdividing Processing, and the positive number K by introducing a non-integer reflects the case where rotor is between two pulses, improves rotor position
Detection accuracy is set, then in conjunction with torque maximum vector control strategy, proposes the electric motor starting under rotor-position compound detection scheme
Operating scheme efficiently solves the problems, such as that permanent magnet synchronous motor starts and the detection of operation phase rotor-position is inaccurate.
Detailed description of the invention
Fig. 1 is the process of a kind of permanent-magnet synchronous motor rotor position compound detection of the present invention and starting operation method embodiment
Figure；
Fig. 2 is the absolute of a kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method embodiment of the invention
Signal and rotor mechanical angle relational graph:
Fig. 3 is the just remaining of a kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method embodiment of the invention
Cut sampling curve and distribution map:
Fig. 4 is the increment of a kind of permanent-magnet synchronous motor rotor position compound detection of the present invention and starting operation method embodiment
Signal and rotor mechanical angle relational graph:
Fig. 5 is the θ of a kind of permanent-magnet synchronous motor rotor position compound detection of the present invention and starting operation method embodiment0
(s) with the relational graph of umber of pulse:
Fig. 6 is the rotor of a kind of permanent-magnet synchronous motor rotor position compound detection of the present invention and starting operation method embodiment
The sub- mechanical angle simulation waveform of position detection transfer:
Fig. 7 is the rotor of a kind of permanent-magnet synchronous motor rotor position compound detection of the present invention and starting operation method embodiment
Threephase stator current simulations waveform diagram in position detection:
Fig. 8 is the revolving speed of a kind of permanent-magnet synchronous motor rotor position compound detection of the present invention and starting operation method embodiment
Simulation waveform.
Specific embodiment
To illustrate the solution of the present invention, the present embodiment builds simulation model in Simulink, emulates electricity consumption equipment
Body parameter setting are as follows: stator phase resistance is 2 Ω；Electronics phase inductance is 8.35x10-4H；Rotor inertia is 1x10-3kg·m2；It is extremely right
Number is 4；Torque coefficient is 1.05Nm/A；Rated speed is 1000r/min；Load is 15Nm.Combined type photoelectricity in model
Encoder design parameter are as follows: line number 2048；Using 4 frequencys multiplication, i.e. the pulse sum of rotor each rotation output is 8192；Signal
R and A axle clamp angle is π/3 (value can arbitrary value) between 0~2 π, and corresponding encoder corrected value is 1365.
As shown in Figure 1 be the present embodiment flow chart, specifically by following steps come detect permanent magnet synchronous motor start and
The exact position of operation phase rotor.
Step 1: permanent magnet synchronous motor is powered, the C signal V of acquisition sine and cosine encoder absolute mode outputCWith D signal VD,
The C signal V collectedCWith D signal VDChange curve is as shown in Figure 2.
Step 2: positive cotangent type curve y is generated using formula (1),
Wherein, θ (t) is the absolute position angle of t moment rotor, and sin θ (t) is that the absolute position angle of rotor is θ (t)
When C signal output valve, the output valve of cos θ (t) is the absolute position angle of rotor when being θ (t) D signal.
Step 3: as shown in figure 3, be divided equally into 8 sections in 2 section π of positive cotangent type curve, then design 0~π/
The corresponding table of 4 angle and its tangent table, i.e. orthogonal subdivision table are found out all according to the positive and negative and size relation of sine and cosine value
The corresponding angle of tangent value, the angle are the preliminary mechanical angle of rotor.
Step 4: after the zero mark signal R for detecting sine and cosine encoder output, acquiring sine and cosine encoder increment
The a-signal V of mode outputAWith B signal VB, the a-signal V that collectsAWith B signal VBChange curve is as shown in figure 4, record zero
The corresponding mechanical angle θ of point marking signal RRAnd the quantity M of pulse signal.
Step 5: when being counted using double edge detection method to delta pulse signal, at the s moment, rotor and R signal
Between relative position θsCalculation formula are as follows:
In conjunction with the corresponding mechanical angle θ of zero mark signal RRAnd θs, it will be able to determine the mechanical angle of rotor, but should
Angle still has that accuracy is inadequate when M is non-integer, and step below is exactly to improve rotor mechanical angle
Accuracy.
Step 6: introducing variable θ0(s) V at s moment is describedAAnd VB, θ0(s)、VA、VBPass between rotor mechanical angle θ
System are as follows:
Step 7: according to the orthogonal subdivision table established in formula (3) and step 3, finding out variable θ0(s)。
Step 8: introducing constant K to describe variable θ0(s), calculation formula are as follows:
K=θ0(s)·N/2π (4)
Step 9: as shown in figure 5, the fractional part k of constant K can describe the case where rotor is located at non-integer pulse, therefore
K can be used to accurately calculate increment type mode detection lower rotor part position, the accurate mechanical angle, θ of incremental mode lower rotor partnew's
Calculation formula are as follows:
So far, permanent magnet synchronous motor starting and operation phase rotor-position has been effectively detected out in the present embodiment.
It is illustrated in figure 6 the comparison diagram of increment type and the detection of absolute type rotor-position.In figure, when t=0.04367s, detection
To signal R, rotor-position detection mode switchs to increment type by absolute type, in this sub- mechanical angle of conversion process transfer without prominent
Become；In the detection of absolute type rotor-position, the variation of rotor mechanical angle is uneven, and burr is more；The detection of increment type rotor-position
In, mechanical angle even variation.Fig. 6 shows that the present embodiment is capable of detecting when rotor-position and smoothly completes rotor-position detection
The conversion of mode.
The threephase stator current vs' waveform being illustrated in figure 7 under increment type and absolute type rotor-position detection mode.Figure
In, under absolute type rotor-position detection mode, threephase stator curent change burr is more；It was detected in increment type rotor-position
Cheng Zhong, threephase stator current waveform are smooth.Fig. 7 the result shows that, the detection of increment type rotor-position is conducive to long-time in motor
Operation.
It is illustrated in figure 8 revolving speed simulation waveform.Wherein, stabilization of speed is in rated speed.As shown in Figure 8, the present embodiment can
To guarantee motor normal starting and stable operation.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (3)
1. a kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method, which comprises the following steps:
(1) C signal and D signal of acquisition sine and cosine encoder absolute mode output；
(2) the preliminary mechanical angle that rotor is calculated according to the C signal of step (1) acquisition and D signal, uses the preliminary machine of rotor
The starting of tool angle progress permanent magnet synchronous motor；
(3) after the zero mark signal R for detecting sine and cosine encoder output, acquisition sine and cosine encoder incremental mode output
A-signal and B signal, the corresponding mechanical angle θ of record zero mark signal RRAnd the quantity M of pulse signal；
(4) the accurate mechanical angle, θ of incremental mode lower rotor part is calculatednew, θnewCalculation formula are as follows:
Wherein, N is the line number of sine and cosine encoder, and k is the fractional part of intermediate variable K；
The calculation formula of intermediate variable K are as follows:
K=θ0(s)·N/2π
Wherein, θ0It (s) is intermediate variable, its calculation formula is:
Wherein, VAFor the output valve at a-signal s moment, VBFor the output valve at B signal s moment；
(5) the accurate mechanical angle, θ of rotor is usednewNormal operation for permanent magnet synchronous motor.
2. permanent-magnet synchronous motor rotor position compound detection according to claim 1 and starting operation method, feature exist
In, in step (2), calculate the process of the preliminary mechanical angle of rotor the following steps are included:
1) positive cotangent type curve y, specific formula are generated are as follows:
Wherein θ (t) is the absolute position angle of t moment rotor, sin θ (t) be the absolute position angle of rotor C letter when being θ (t)
Number output valve, the output valve of cos θ (t) is the absolute position angle of rotor when being θ (t) D signal；
2) the positive cotangent type curve y is divided into 8 sections with π/4, finds out the corresponding angle of all tangent values, foundation includes
The orthogonal subdivision table of the preliminary mechanical angle information of rotor.
3. permanent-magnet synchronous motor rotor position compound detection according to claim 1 or 2 and starting operation method, feature
It is, the relative position θ at the s moment, between rotor and zero mark signal RsCalculation formula are as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395111.XA CN110086399B (en) | 2019-05-13 | 2019-05-13 | Permanent magnet synchronous motor rotor position composite detection and starting operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395111.XA CN110086399B (en) | 2019-05-13 | 2019-05-13 | Permanent magnet synchronous motor rotor position composite detection and starting operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110086399A true CN110086399A (en) | 2019-08-02 |
| CN110086399B CN110086399B (en) | 2020-09-11 |
Family
ID=67419939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910395111.XA Active CN110086399B (en) | 2019-05-13 | 2019-05-13 | Permanent magnet synchronous motor rotor position composite detection and starting operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110086399B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030724A (en) * | 2021-03-17 | 2021-06-25 | 东莞市鸿盈电子科技有限公司 | Method and device for testing starting dead angle of multi-pole motor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203251268U (en) * | 2013-05-17 | 2013-10-23 | 浙江大学 | Permanent magnet synchronous motor control system based on automatic zero set of encoder |
| CN103449268A (en) * | 2013-09-23 | 2013-12-18 | 哈尔滨工业大学 | Weighing-sensor-free self-adaption starting torque compensation method of elevator permanent-magnet dragging guiding system |
| CN106712612A (en) * | 2017-02-09 | 2017-05-24 | 上海理工大学 | Quick-response stepping motor pole speed drive system and method |
| CN107919830A (en) * | 2016-10-11 | 2018-04-17 | 上海汽车集团股份有限公司 | The scaling method and device of a kind of motor position sensor |
| CN107994833A (en) * | 2017-12-29 | 2018-05-04 | 徐州中矿大传动与自动化有限公司 | A kind of initial position of rotor detection device of permanent magnet synchronous motor |
| KR20180091332A (en) * | 2017-02-06 | 2018-08-16 | (주)디제이테크 | Encoder apparatus of the motor, motor driver using the encoder and BLDC motor |
-
2019
- 2019-05-13 CN CN201910395111.XA patent/CN110086399B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203251268U (en) * | 2013-05-17 | 2013-10-23 | 浙江大学 | Permanent magnet synchronous motor control system based on automatic zero set of encoder |
| CN103449268A (en) * | 2013-09-23 | 2013-12-18 | 哈尔滨工业大学 | Weighing-sensor-free self-adaption starting torque compensation method of elevator permanent-magnet dragging guiding system |
| CN107919830A (en) * | 2016-10-11 | 2018-04-17 | 上海汽车集团股份有限公司 | The scaling method and device of a kind of motor position sensor |
| KR20180091332A (en) * | 2017-02-06 | 2018-08-16 | (주)디제이테크 | Encoder apparatus of the motor, motor driver using the encoder and BLDC motor |
| CN106712612A (en) * | 2017-02-09 | 2017-05-24 | 上海理工大学 | Quick-response stepping motor pole speed drive system and method |
| CN107994833A (en) * | 2017-12-29 | 2018-05-04 | 徐州中矿大传动与自动化有限公司 | A kind of initial position of rotor detection device of permanent magnet synchronous motor |
Non-Patent Citations (2)
| Title |
|---|
| R. M. KENNEL ET AL.: "New developments in capacitive encoders for servo drives", 《2008 INTERNATIONAL SYMPOSIUM ON POWER ELECTRONICS, ELECTRICAL DRIVES, AUTOMATION AND MOTION》 * |
| 王要强 等: "PMSM转子位置复合检测与编码器校正方法", 《电机与控制学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030724A (en) * | 2021-03-17 | 2021-06-25 | 东莞市鸿盈电子科技有限公司 | Method and device for testing starting dead angle of multi-pole motor |
| CN113030724B (en) * | 2021-03-17 | 2023-11-21 | 东莞市鸿盈电子科技有限公司 | Method and device for testing starting dead angle of multipole motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110086399B (en) | 2020-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105119549B (en) | A kind of motor stator resistance discrimination method | |
| CN109831137B (en) | Permanent magnet synchronous motor rotor position detection and initial position calibration method | |
| CN101247104B (en) | Conjecture method of stator magnetic linkage oriented AC motor rotation velocity and rotor position | |
| CN104079215B (en) | The accurate Detection and adjustment method of automobile permanent magnet synchronous motor initial position of rotor | |
| CN108196213A (en) | Zero-bit angle test device, the method and system of a kind of rotary transformer | |
| CN102938628A (en) | Method for positioning permanent magnet synchronous motor rotor initial position | |
| CN101237213A (en) | Control apparatus for AC rotary machine and method for measuring electrical constant of ac rotary machine using the control apparatus | |
| Shang et al. | The effects of stator and rotor eccentricities on measurement accuracy of axial flux variable-reluctance resolver with sinusoidal rotor | |
| CN101286725A (en) | Deriving method of motor rotative velocity and location of rotor in synchronous electric machine vector control system | |
| CN102401626A (en) | Estimating method of installment deviation of rotor-position sensor of permanent magnet synchronous motor | |
| CN109873587A (en) | A kind of permanent magnet synchronous motor multi-parameter automatic identification method | |
| CN207780217U (en) | A kind of zero-bit angle test device of rotary transformer | |
| CN103560724A (en) | Method for determining initial position of synchronous motor | |
| CN104065319B (en) | The scaling method of permanent magnet synchronous motor zero-bit initial angle | |
| CN101526823B (en) | Control method of constant torque of switched reluctance motor | |
| CN109217758A (en) | Rotation becomes zero point on-line identification method, electric machine controller and storage medium | |
| CN102611383A (en) | On-line identifying method and device for stator resistor | |
| CN106357187A (en) | Electrically-excited synchronous motor rotor initial position identifying system and method | |
| CN103997262B (en) | Based on the electric bicycle sine wave control method without sensor wheel hub motor | |
| CN110086399A (en) | A kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method | |
| CN101841297A (en) | Method for predicting rotational velocity of synchronous motor and rotor position in rotor flux linkage orientation vector system | |
| CN107276481B (en) | Vector control method, system and electric system based on rotary transformer | |
| CN206077268U (en) | For the cosine and sine signal process circuit that speed and position are fed back | |
| CN106169895B (en) | A kind of permanent magnet linear synchronous motor measurement of electric parameter method | |
| CN110690838B (en) | Online self-tuning method and system for magnetic declination of motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Yaoqiang Inventor after: Li Minghui Inventor after: Sun Shiwei Inventor after: Han Yunfei Inventor after: Liu Yanhong Inventor after: Feng Yutao Inventor after: Ma Xiaoyong Inventor after: Wu Zhenlong Inventor after: Zhu Zhiwei Inventor after: Si Jikai Inventor after: Cheng Zhiping Inventor after: Qi Ge Inventor before: Wang Yaoqiang Inventor before: Feng Yutao Inventor before: Ma Xiaoyong Inventor before: Si Jikai Inventor before: Cheng Zhiping Inventor before: Qi Ge Inventor before: Li Minghui Inventor before: Sun Shiwei Inventor before: Han Yunfei |