CN111245309A - Brushless motor back electromotive force acquisition phase-changing system for spatial on-orbit replenishment - Google Patents
Brushless motor back electromotive force acquisition phase-changing system for spatial on-orbit replenishment Download PDFInfo
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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Abstract
The invention provides a brushless motor back electromotive force acquisition commutation system for spatial on-orbit replenishment, which comprises: the master control module, it includes: a processor; the FPGA receives the instruction of the processor and feeds back a back electromotive force signal and a motor rotating speed signal to the processor, and the FPGA switches the state; an acquisition module comprising: a back electromotive force acquisition unit; and the counter potential acquisition unit outputs voltage variation to the comparator, and the comparator outputs high and low levels to the FPGA for logic operation according to the voltage variation. The back electromotive force acquisition phase-changing system for the brushless direct current motor for spatial on-orbit replenishment enables the system to more reliably ensure that the brushless direct current motor adopts back electromotive force phase-changing work under the spatial replenishment environment of ionization total dose and single event effect; the defect that a brushless direct current motor position sensor commutation system is added in the traditional space on-track is overcome; the design life is guaranteed to reach 15 years, and the space on-orbit replenishment task is completed more reliably.
Description
Technical Field
The invention relates to the technical field of space on-orbit replenishment equipment, in particular to a brushless motor back electromotive force acquisition phase-changing system for space on-orbit replenishment.
Background
With the development of the space on-track supplement technology, a Brushless direct current Motor (BLDCM) of the conventional space on-track supplement system needs a position sensor to obtain a rotor position signal to perform phase change control on a three-phase winding, and the position sensor in the Motor can only guarantee the service life of 2 years and cannot meet the service life of 15 years of space supplement. The adaptability is poor under severe working environments such as a space ionization total dose effect, a single event effect and the like, single event latch-up and single event upset phenomena are easily generated, a device is easily damaged by the ionization total dose effect, and the reliability of a space supplementing system is reduced. The traditional space on-orbit replenishment system is free of back electromotive force acquisition phase change method, is specifically applied to a Tiangong No. two on-orbit replenishment system, and is short in service life, and the service life is designed only for two years.
Disclosure of Invention
The invention aims to provide a brushless motor back electromotive force acquisition phase-change system for spatial on-orbit replenishment, which solves the problems that the traditional spatial on-orbit replenishment system has poor adaptability under severe working environments such as a spatial ionization total dose effect, a single event effect and the like, is easy to generate a single event latch and a single event upset phenomenon, a device is easy to damage by the ionization total dose effect, and the reliability of the spatial replenishment system is reduced.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a brushless motor back electromotive force acquisition commutation system for spatial on-orbit replenishment, includes: the master control module, it includes: a processor; the FPGA receives an instruction of the processor and feeds back a back electromotive force signal and a motor rotating speed signal to the processor, and the FPGA switches states; an acquisition module comprising: a back electromotive force acquisition unit; and the counter electromotive force acquisition unit outputs voltage variation to the comparator, and the comparator outputs high and low levels to the FPGA for logic operation according to the voltage variation.
Further, the processor is a BM3803MGRH processor.
Further, the BM3803MGRH processor adopts a Harvard structure, is provided with an independent instruction bus and an independent data bus, and is respectively connected with respective Cache controllers.
Further, when the motor is at a low speed and a high speed, counter electromotive force is detected at the PWM turn-off stage and the PWM turn-on stage respectively, counter electromotive force is obtained by adopting two different reference voltages, the terminal voltage counter electromotive force is subtracted from the central point voltage, and the phase change position of the motor is preliminarily obtained by adopting a zero crossing point method.
Further, the processor outputs a phase change signal and a PWM signal to the FPGA in a rotating speed closed-loop mode.
Further, the FPGA needs to be switched among a comparator stage, an autonomous control stage, and a stop working stage according to the control signal output by the processor and the collected back electromotive force signal.
Further, the autonomous control stage is control during motor starting, and after the FPGA receives the processor control instruction, fitting position signals are periodically generated to enable the motor to be started in a blind control mode.
Further, the comparator control stage is control after the motor runs noninductively, when the processor sends an instruction for switching from the autonomous control stage to the comparator stage to the FPGA, the FPGA needs to judge whether a phase sequence output by the current autonomous control is consistent with a phase sequence generated by the comparator control stage, and then switches after the phase sequence is consistent with the phase sequence.
Further, counter electromotive force generated by a winding when the motor rotates is collected, the zero crossing time of the induced counter electromotive force is judged according to the counter electromotive force states of the three-phase winding collected by the three comparator devices, and a position signal is generated through fitting.
Further, the work stopping stage is the state recovery after the noninductive operation of the motor is stopped, when the processor sends a work stopping instruction to the FPGA, the FPGA continuously outputs a position fitting signal according to the reduction of the PWM signal, and when the rotating speed is reduced to a certain value, the FPGA does not send the position fitting signal outwards.
The back electromotive force acquisition phase-changing system for the brushless direct current motor for spatial on-orbit replenishment enables the system to more reliably ensure that the brushless direct current motor adopts back electromotive force phase-changing work under the spatial replenishment environment of ionization total dose and single event effect; the defect that a brushless direct current motor position sensor commutation system is added in the traditional space on-track is overcome; the design life is guaranteed to reach 15 years, and the space on-orbit replenishment task is completed more reliably.
Drawings
The invention is further described with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of a back electromotive force acquisition commutation system of a brushless motor for spatial on-track replenishment according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a back electromotive force acquisition principle of a brushless motor back electromotive force acquisition commutation system for spatial on-track supplement according to an embodiment of the present invention;
FIG. 3 is a back emf zero crossing detection circuit provided by an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a correspondence relationship between a control signal and a phase sequence according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a corresponding relationship between a phase sequence and a comparator acquisition according to an embodiment of the present invention;
fig. 6 is a waveform corresponding relationship diagram of six PWM signals and back-emf zero-crossing signals provided by an embodiment of the present invention;
FIG. 7 is a diagram illustrating a relationship between fitting output position signals according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of a back electromotive force acquisition commutation system of a brushless motor for spatial on-track supplement according to an embodiment of the present invention;
fig. 9 is a schematic waveform diagram of the back electromotive force Eb, the phase current Ib, and the zero crossing point detection signal collected when the rotation speed is 2000r/min according to the embodiment of the present invention;
fig. 10 is a waveform diagram of the back electromotive force Eb, the phase current Ib, and the zero-crossing point detection signal acquired when the rotation speed is 500r/min according to the embodiment of the present invention.
Detailed Description
The back electromotive force acquisition commutation system for the spatial on-track supplement brushless motor proposed by the invention is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
The core idea of the invention is that the back electromotive force acquisition phase-changing system for the brushless DC motor for spatial on-track replenishment provided by the invention ensures that the system can more reliably ensure that the brushless DC motor adopts back electromotive force phase-changing to work under the spatial replenishment environment of ionization total dose and single event effect; the defect that a brushless direct current motor position sensor commutation system is added in the traditional space on-track is overcome; the design life is guaranteed to reach 15 years, and the space on-orbit replenishment task is completed more reliably.
Fig. 1 is a schematic structural diagram of a back electromotive force acquisition commutation system of a brushless motor for spatial on-track supplement according to an embodiment of the present invention. Referring to fig. 1, the invention provides a back electromotive force acquisition commutation system of a brushless motor for spatial on-track supplement, comprising: a master control module 11, comprising: a processor 111; the FPGA112 receives instructions of the processor, and feeds back a back electromotive force signal and a motor rotating speed signal to the processor 111, and the FPGA112 switches states; an acquisition module 12 comprising: a back electromotive force collecting unit 121; the comparator 122 and the counter potential acquisition unit 121 output voltage variation to the comparator 122, and the comparator 122 outputs high and low levels to the FPGA112 according to the voltage variation to perform logic operation.
The reliability of the supplementing process in 15 years on the rail is designed and calculated to reach 0.99.
The processor 111 is used as a core control part and is mainly used for phase change control and motor working mode control, and the functions of the FPGA software include autonomous control, phase sequence identification, comparator control, position fitting, position discrimination, rotating speed detection, phase change control, operation control, fault detection and the like.
The processor mainly outputs a commutation signal and a PWM signal to the FPGA in a rotating speed closed-loop mode, and controls the whole soft start process, the mode switching project, the phase compensation, the normal operation process and the fault judgment and processing. The whole process of controlling the motor comprises the following steps: starting, switching and normally operating. The fault modes to be distinguished in the whole process of the motor operation comprise: overcurrent fault, locked rotor fault and overheat fault.
The processor 111 is a BM3803MGRH processor, which is a radiation-resistant 32-bit RISC processor based on a SPARC V8 architecture, the kernel comprises an integer processing unit, a floating point processing unit, an independent instruction and data Cache and a hardware multiplier/divider, the peripheral comprises an interrupt controller, a timer, a watchdog, a UART, a universal I/O interface, an external memory controller, a PCI bus controller and the like, can meet the radiation-resistant, long-life and high-reliability index requirements of the application in the severe space environment, is connected with a memory and related peripheral circuits, and can form a complete embedded single-board computer system.
The processor core IU implements the integer instruction set defined by the SPARC V8 standard, with the following characteristics: level 5 instruction pipelining; 8 register windows; a hardware multiplier/divider; register triple modular redundancy structure, register file EDAC fault tolerance.
BM3803MGRH instructions are divided into 6 functional categories: load/store, arithmetic/logic/shift, control transfer, read/write control registers, floating point operations, and other instructions.
The BM3803MGRH processor adopts a Harvard structure, is provided with an independent instruction bus and an independent data bus, and is respectively connected with respective Cache controllers. To increase the speed of the core processor, a multi-set-associative (multi-set-Caches) technique is used for both the instruction Cache and the data Cache. The replacement criteria for Cache is based on the LRU (least recently used) algorithm. And when new data is to be stored into the Cache, replacing the LRU part in the Cache.
The floating point processing unit can process single-precision and double-precision, and realizes all SPARC V8 floating point instructions. The floating point instruction is executed in serial with the IU, and when the instruction in the FPU is not executed, the IU is in a waiting state. Any operation attempting to execute the STDFQ instruction generates a floating point execution exception.
BM3803MGRH may access PROM, memory mapped I/O devices, SRAM, and SDRAM through an external memory controller. The system can be provided with two PROMs, one I/O device, 5 SRAMs and two SDRAMs.
At low speed and high speed, counter electromotive force is detected at the PWM turn-off and turn-on stages respectively, 2 different reference voltages are adopted to obtain the counter electromotive force, the terminal voltage counter electromotive force is subtracted from the central point voltage, interference on counter electromotive force acquisition in the phase change process is reduced, and then a zero crossing point method is adopted to preliminarily obtain the phase change position of the motor. Because the voltage amplitude on the winding is large, the voltage needs to be reduced to a range capable of being collected, and then the back electromotive force method adopts a partial pressure collection mode. Fig. 2 is a schematic structural diagram of a back electromotive force acquisition principle of the brushless motor back electromotive force acquisition commutation system for spatial on-track supplement according to the embodiment of the present invention. Referring to fig. 2, the terminal voltage and the three-phase center voltage are divided into Ua, Ub, Uc, and Un, respectively. The back electromotive force acquisition circuit method is different from other three-phase central point voltage acquisition methods in that the method can reduce the interference generated by the power tube switch to be low so as not to introduce the interference into the subsequent zero-crossing judgment. In fig. 2, when Ra, Rb, Rc, and Rn, R5+ R6 are defined, V is defined asn＝RnIn. Known from kirchhoff's law:
In＝Ia+Ib+Ic(1)
and, instead,
VAN+VBN+VCN＝RaIa+RbIb+RcIc＝R(Ia+Ib+Ic) (2)
v mentioned in the above formulaAN、VBN、VCNRespectively representing the potential difference between corresponding points, VnRepresents the potential of N point, Ra、Rb、Rc、RnRepresents the corresponding resistance, Ia、Ib、Ic、InRespectively representing the current flowing through each resistor, wherein R is a constant value and N is a central point.
The following can be obtained from formula (1) and formula (2):
s is a neutral point on the three-phase winding, and comprises the following components:
VAS+VSN＝VAN
VBS+VSN＝VBN
VCS+VSN＝VCN(4)
in the above formula VAS、VBS、VCS、VSNRespectively representing the potential difference between the points.
When the winding A, B is conducted to work, it is known that: vAS+VBSWhen 0 is obtained, reassociate formula (3) and formula (4):
and due to VCS+VSN＝VCN＝VC-VNThe following can be obtained:
in the formula (6), VCS is the non-conducting opposite potential to be detected.
Let K be R2/(R1+ R2), then:
let KnR5/(R5+ R6), then
Thus, there are: u shapen＝VnKn，Uc＝VcK, then:
va, Vb, Vc and Vn respectively represent potentials of A, B, C, N points to 100V ground, K, Kn respectively represents a set constant, Un and Uc respectively represent voltages of corresponding points, R1, R2, R3, R4, R5, R6 and R7 respectively represent corresponding resistors, and due to the fact that the resistance of each measuring resistor in the counter potential testing circuit is different from the resistance of a motor winding by a plurality of orders of magnitude, the influence of introduced testing current on the electromagnetic state and the voltage value of each winding is small. The counter potential voltage division acquisition circuit shown in fig. 2 adopts a high-reliability resistor, has the characteristics of high precision, small temperature coefficient and high long-term on-orbit stability, and is suitable for severe space environments. The circuit divides the three-phase voltage and the voltage of the central point of the motor to collect, and guarantees the accuracy of back electromotive force collection through the space environment resistance of each precision resistor.
Fig. 3 is a counter potential zero crossing detection circuit according to an embodiment of the present invention. Referring to fig. 3, the counter potential of the winding is reduced to a range of-5V- +5V through the acquisition circuit, is isolated through the primary operational amplifier, reduces interference generated in the phase change process, is compared with the reference zero potential through the comparator, judges the zero crossing point, is fitted by the FPGA according to the zero crossing signal to generate a position phase change signal, and performs phase change point compensation on the fitted signal, so that a more accurate position signal is obtained. The design adopts devices resisting space environments such as space ionization total dose, single particle and the like, and can prevent the influence of ionization total dose effect, single particle effect and vacuum effect on the functional performance of the circuit. The operational amplifier adopts AD620 produced by AD company, the comparator adopts LM139 of NSC company, the FPGA adopts antifuse device A54SX72A-1CQ208B of Actel company, the interior of the FPGA adopts triple-modular redundancy to position signals and control signals, so that single particles are prevented from turning over the interior signals, and the phase sequence of the motor is prevented from being out of control.
The FPGA needs to be switched among a comparator stage, an autonomous control stage and a working stopping stage according to a control signal output by the processor and a collected back electromotive force signal.
The autonomous control phase is used for controlling the motor during starting. After receiving the control instruction of the processor, the FPGA periodically generates a fitting position signal for the blind control starting of the motor.
The comparator control stage is used for controlling the motor after the non-inductive operation. After the processor sends an instruction for switching from the autonomous control stage to the comparator stage to the FPGA, the FPGA needs to judge whether the phase sequence output by the current autonomous control is consistent with the phase sequence generated by the comparator control stage, and the switching can be performed after the phase sequence is consistent. In the phase, the counter electromotive force generated by the winding when the motor rotates is collected, the zero crossing time of the induced counter electromotive force is judged according to the counter electromotive force states of the three-phase winding collected by the three comparator devices, and a position signal is generated through fitting.
And the work stopping stage is used for recovering the state of the motor after the noninductive running is stopped. After the processor sends a stop work instruction to the FPGA, the FPGA continuously outputs a position fitting signal according to the reduction of the PWM signal, and the position fitting signal is not sent outwards any more after the rotating speed is reduced to a certain value.
Fig. 4 is a schematic diagram illustrating a correspondence relationship between a control signal and a phase sequence according to an embodiment of the present invention. Referring to fig. 4, the FPGA generates a corresponding control signal according to the parameter written by the processor and outputs the control signal to the load driving module. And 6 PWM control signals are output to the motor power driving circuit according to the duty ratio of the PWM, and if invalid signals are acquired, the previous state is kept. PWMHA-1, PWMHB-1 and PWMHC-1 respectively represent an A-phase upper bridge arm control signal, a B-phase upper bridge arm control signal and a C-phase upper bridge arm control signal; PWMLA-1, PWMLB-1, PWMLC-1 represent A phase lower arm control signal, B phase lower arm control signal, C phase lower arm control signal, respectively.
Fig. 5 is a schematic diagram of a corresponding relationship between a phase sequence and a comparator acquisition according to an embodiment of the present invention. Referring to fig. 5, after the FPGA is powered on and reset (initial output control is 0), the FPGA controls and acquires 3 sets of comparator signals, controls and acquires the comparator signals according to the current control phase sequence, and determines the zero crossing point (0, 1 jump) timing. Fig. 6 is a waveform corresponding relationship diagram of six PWM signals and a back-emf zero-crossing signal provided by an embodiment of the present invention. UA, UB and UC denote signals output by the comparator to the FPGA, whose period coincides with the period of the PWM signal. According to the PWM chopping signal, the current phase sequence can be accurately identified, and the zero crossing position and the phase change position are judged.
Fig. 7 is a schematic diagram of a corresponding relationship of the fitting output position signals according to an embodiment of the present invention. Referring to fig. 7, the FPGA fits the back emf zero-crossing determination information to generate and output a position sensor signal. The corresponding relation needs to be adjusted according to different motors.
And the FPGA determines position signal output generated by fitting acquired by the comparator according to the instruction (working mode) of the processor.
Fig. 8 is a schematic flow chart of a brushless motor back electromotive force acquisition commutation system for spatial on-track supplement according to an embodiment of the present invention. Referring to fig. 8, the initial position of the rotor is determined by first predetermining the initial position, i.e., by first energizing any two-phase winding and continuing for a period of time to draw the rotor poles to a position where the magnetic potential is synthesized with the stator of the motor. When the motor is started automatically, the rotating speed of the motor begins to increase after the rotor is accurately sucked to a preset position. If the rotating speed is larger than a given value, the zero crossing point of the counter electromotive force starts to be detected, in order to ensure that the motor has a sufficiently large rotating speed so as to detect the counter electromotive force, the motor is started by a PWM driving signal with a fixed and high duty ratio, the motor is switched to the next phase sequence after the zero crossing point is detected and delayed by 30 degrees of electric angle, the FPGA judges whether the phase sequences are matched, if the phase sequences are matched, the FPGA switches to a comparator mode, the FPGA discriminates position information according to an output signal of the comparator, adjusts a phase change point to an accurate position, the motor starts to accelerate, runs stably at a constant speed after reaching a set speed, and stops the motor after sending a stop instruction.
Fig. 9 is a schematic waveform diagram of the back electromotive force Eb, the phase current Ib, and the zero crossing point detection signal collected when the rotation speed is 2000r/min according to the embodiment of the present invention; fig. 10 is a waveform diagram of the back electromotive force Eb, the phase current Ib, and the zero-crossing point detection signal acquired when the rotation speed is 500r/min according to the embodiment of the present invention. Referring to fig. 9 and 10, a waveform far from the x axis is a counter potential, an intermediate waveform is a phase current, a waveform near the x axis is a zero-crossing point signal, the counter potential is compared by a comparator to generate a zero-crossing point signal, only one counter potential waveform and the zero-crossing point signal are shown in the figure, and a three-phase counter potential waveform and the zero-crossing point signal are shown in the figure, and the conversion relationship refers to fig. 5.
The waveform far away from the x axis is back emf, the middle waveform is phase current, the waveform close to the x axis is a position fitting signal, the back emf is compared by a comparator to generate a zero crossing point detection signal, the three-phase zero crossing point detection signal adopts specific coding to generate the position fitting signal for motor rotation phase change, and the conversion relation is shown in fig. 7.
The parameters of the brushless direct current motor for the test are as follows: supply voltage: 90V to 110 VDC; rated output power: not less than 600W; rated input power: less than or equal to 850W; rated operating current: 8A; the number of pole pairs: 10 pairs of the above-mentioned raw materials; internal resistance of the motor: 0.5 omega.
The counter electromotive force zero crossing point detection signals (the rising edge and the falling edge in the figure) appear at the middle position of the counter electromotive force waveform of the non-conducting phase winding, and the position fitting signals are obtained after phase compensation, so that the accurate phase change of the motor is ensured, the reliable and stable operation of the motor is ensured, the motor is not easy to step out, and the smooth operation of the space on-track supplementing function is better ensured.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A brushless motor back electromotive force acquisition commutation system for spatial on-track replenishment, comprising:
the master control module includes:
a processor;
the FPGA receives the instruction of the processor and feeds back a back electromotive force signal and a motor rotating speed signal to the processor, and the FPGA switches states;
an acquisition module comprising:
a back electromotive force acquisition unit;
and the counter electromotive force acquisition unit outputs voltage variation to the comparator, and the comparator outputs high and low levels to the FPGA for logic operation according to the voltage variation.
2. The brushless motor back emf acquisition commutation system for spatial on-orbit replenishment of claim 1, wherein the processor is a BM3803MGRH processor.
3. The brushless motor back electromotive force acquisition commutation system for spatial on-track replenishment according to claim 2, wherein the BM3803MGRH processor adopts a harvard structure, has an independent instruction bus and a data bus, and is respectively connected with respective Cache controllers.
4. The brushless motor back electromotive force collection and phase change system for spatial on-track replenishment according to claim 1, wherein at low speed and high speed, back electromotive force is detected at PWM turn-off and turn-on stages, respectively, back electromotive force is obtained by using two different reference voltages, and the terminal voltage back electromotive force is subtracted from the center point voltage, and the motor phase change position is preliminarily obtained by using a zero-crossing point method.
5. The counter-electromotive force acquisition commutation system for the spatial on-track supplement of the brushless motor as claimed in claim 1, wherein the processor outputs commutation signals, PWM signals, to the FPGA in a rotational speed closed-loop manner.
6. The system of claim 1, wherein the FPGA is configured to switch between a comparator phase, an autonomous control phase, and a shutdown phase according to the control signal output by the processor and the collected back EMF signal.
7. The system for spatially supplementing brushless motor back electromotive force acquisition and commutation according to claim 6, wherein the autonomous control phase is control during motor startup, and the FPGA periodically generates a fitting position signal to enable the motor to be started in a blind control mode after receiving the processor control instruction.
8. The system of claim 7, wherein the comparator control stage is control after the motor is in non-inductive operation, and after the processor sends an instruction to the FPGA to switch from the autonomous control stage to the comparator stage, the FPGA needs to determine whether a phase sequence output by the current autonomous control is consistent with a phase sequence generated by the comparator control stage, and then switches after the phase sequence is consistent with the phase sequence.
9. The brushless motor back electromotive force acquisition and phase change system for spatial on-track replenishment according to claim 8, wherein back electromotive forces generated by windings when the motor rotates are acquired, and the zero crossing time of the induced back electromotive forces is judged according to the back electromotive force states of the three-phase windings acquired by the three comparator devices, and position signals are generated by fitting.
10. The brushless motor back electromotive force acquisition and commutation system for spatial on-track replenishment according to claim 6, wherein the shutdown phase is a state recovery after the motor non-inductive operation is stopped, when the processor sends a shutdown instruction to the FPGA, the FPGA continuously outputs a position fitting signal according to the reduction of the PWM signal, and when the rotating speed is reduced to a certain value, the FPGA does not send the position fitting signal outwards.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0130435A1 (en) * | 1983-06-30 | 1985-01-09 | Borg-Warner Corporation | System for starting a motor-commutated SCR inverter |
| CN1538613A (en) * | 2003-10-23 | 2004-10-20 | 华东理工大学 | Positionless brushless direct eurrent electric machine control circuit and its intelligent control method |
| CN103018541A (en) * | 2012-11-06 | 2013-04-03 | 中南林业科技大学 | Counter-potential zero-crossing detection circuit and counter-potential zero-crossing detection method for brushless direct-current motor |
| CN105391364A (en) * | 2015-11-24 | 2016-03-09 | 哈尔滨理工大学 | Position-sensor-free control system and control method for brushless direct current motor |
| US20160276965A1 (en) * | 2015-03-17 | 2016-09-22 | Minebea Co., Ltd. | Motor drive controller and method for controlling motor |
-
2020
- 2020-01-15 CN CN202010039686.0A patent/CN111245309A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0130435A1 (en) * | 1983-06-30 | 1985-01-09 | Borg-Warner Corporation | System for starting a motor-commutated SCR inverter |
| CN1538613A (en) * | 2003-10-23 | 2004-10-20 | 华东理工大学 | Positionless brushless direct eurrent electric machine control circuit and its intelligent control method |
| CN103018541A (en) * | 2012-11-06 | 2013-04-03 | 中南林业科技大学 | Counter-potential zero-crossing detection circuit and counter-potential zero-crossing detection method for brushless direct-current motor |
| US20160276965A1 (en) * | 2015-03-17 | 2016-09-22 | Minebea Co., Ltd. | Motor drive controller and method for controlling motor |
| CN105391364A (en) * | 2015-11-24 | 2016-03-09 | 哈尔滨理工大学 | Position-sensor-free control system and control method for brushless direct current motor |
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