CN111313786B - Three-phase motor driver with current error correction capability and correction method - Google Patents
Three-phase motor driver with current error correction capability and correction method Download PDFInfo
- Publication number
- CN111313786B CN111313786B CN202010091472.8A CN202010091472A CN111313786B CN 111313786 B CN111313786 B CN 111313786B CN 202010091472 A CN202010091472 A CN 202010091472A CN 111313786 B CN111313786 B CN 111313786B
- Authority
- CN
- China
- Prior art keywords
- phase
- current sensor
- error
- current
- formula
- 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.)
- Active
Links
Images
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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
Abstract
The invention provides a three-phase motor driver with current error correction capability, wherein in the three-phase motor driver, an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of a motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through signal acquisition ports of a A, B, C three-phase current sensor in the forward direction, in addition, input cables of a lower circuit of a C-phase bridge arm of the inverter also respectively penetrate through signal acquisition ports of a A, B, C three-phase current sensor in the forward direction, offset errors are estimated and eliminated by using sampling values of the three-phase current sensor in an off-line state, and a gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero voltage vectors under a normal operation condition, so that the gain errors are eliminated. The current sensor error estimation method has the advantages of few signal sampling and recording times, negligible error estimation calculation amount and no influence on the normal operation control of the system.
Description
Technical Field
The invention relates to the field of motor drivers, in particular to a three-phase motor driver and a correction method.
Background
The rapid development of modern power electronic conversion technology greatly promotes the overall performance of an alternating current motor system, and a plurality of high-precision current sensors are required to be installed in a current three-phase alternating current motor driver to realize closed-loop control of three-phase current, so that normal and efficient operation of the system is guaranteed. However, in an actual controller, due to the comprehensive factors such as incomplete coincidence of actual parameters of each device and design parameters, asymmetry between phases, severe operating environment, aging of a driver, and the like, the accuracy of the current sensors is often challenged variously, and an offset error and a gain error which are difficult to avoid in the current sampling process occur. In order to solve the above problems, the prior art mainly adopts an off-line estimation method to eliminate the offset error, but this scheme is difficult to estimate the gain error of the current sensor. Another scheme mainly uses the control variables of the control system to estimate the current sensor error, but this scheme needs the whole control system as a loop for estimating the current sensor error, and thus has certain limitations [ related contents are described in documents 1 to 3, wherein document 1 is young-Cho, Thomas la bella, Jih-shro, "a third-phase current reception structure with online current compensation using a single current sensor," IEEE Transactions on Industrial Electronics, sep.59, No.7, pp.2924-2933, jul.2012, (journal of journal), document 2 is Kwang-Woon Lee, Sang-Il m, "Dynamic resistance of current compensation 6727, IEEE 6766-6736, summary of current sensor, spx-9, etc. 2019. (journal article), document 3 is Negesse Bellate Belayneh, Chang-Hwan Park, Jang-Mok Kim, "compression of arm current sensor errors in modulated multilevel converter," IEEE Transactions on Industrial Applications, vol.55, No.5, pp.5005-5012, Sep./Oct.2019 (journal article) ]. Its main limitations are expressed as: firstly, the current sensor error estimation loop is long, the hardware composition is complex in type and large in quantity, so that the current sensor error estimation time consumption and the accuracy are easily influenced by other factors, such as load fluctuation, load type, system parameter change, operation conditions and the like. Secondly, since this kind of scheme needs to use a large number of complex algorithms such as observers and digital filters to participate in the operation, the calculation amount is usually large, which brings a great operation burden to the system. Finally, this type of solution is not very suitable, and in particular it has its own drawbacks that lead to a considerable reduction in effectiveness for inertial loads, which are subject to current sensor errors, usually in the form of an immeasurable torque ripple component, rather than measurable speed fluctuations. In view of the above problems, the current sensor error correction strategy should have the characteristics of fast estimation speed, small calculation burden, strong applicability, and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the three-phase motor driver with the current error correction capability and the correction method, the driver not only has the necessary normal functions of a normal driver, but also does not need to be changed aiming at the conventional operation control, and the high-precision estimation of the current sensor error can be realized only by additionally adding an off-line estimation process and an on-line current sampling process.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a three-phase motor driver with current error correction capability is characterized in that an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of a motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, in addition, input cables of a lower branch of a C-phase bridge arm of the inverter also respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, offset errors are estimated and eliminated by using sampling values of a three-phase current sensor in an off-line state, the gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero-voltage vectors under a normal operation working condition, and finally the gain errors are eliminated.
The invention also provides a correction method of the three-phase motor driver with the current error correction capability, which comprises the following steps:
step 1: taking into account the effects of bias error and gain error, iPA、iPB、iPCThe value of (b) is expressed as formula (1):
wherein f isA、fBThe offset errors of the A-phase current sensor and the B-phase current sensor, kA、kBThe gain errors of the A-phase current sensor and the B-phase current sensor are respectively;
according to the circuit topology of the inverter under different switching states, the relation between the three-phase current sampling value and two zero voltage vectors is obtained by combining the formula (1), as shown in the formulas (2) to (4), wherein iPA_0、iPB_0、iPC_0Respectively, three-phase current sensor in each switching period V of the inverter0The current value under action;
at both ends V of the switching cycle0Under the action, the three-phase sensors are respectively sampled to obtain 2 current values of each phase, and V is obtained by utilizing the average algorithm of a formula (4)0Current value i of each phase under actionPA_0、iPB_0、iPC_0；
In the middle V of the switching period7Under the action, the three-phase sensor is respectively sampled to obtain 1 current value i of each phasePA_7、iPB_7、iPC_7；
Firstly, estimating the bias error of a current sensor, and estimating and eliminating the gain error of the current sensor on the basis of obtaining and eliminating the value of the bias error;
step 2: an offset error;
when the system is in a non-running state, six switching tubes of the inverter are in an open circuit state, the current in the three-phase winding of the motor is 0, and the C phaseThe bridge arm lower branch circuit current is also 0, and therefore iPA、iPB、iPCThe actual value at this time is the three-phase offset error shown in formula (5), the three-phase current sensors are respectively sampled, and the obtained three values are respectively used as estimated values of the offset error of the corresponding phase sensor, as shown in formula (5):
and step 3: a gain error;
the estimation of the gain error requires that the estimated bias error is firstly counteracted from the detected current signal, and then the gain error is estimated;
subtracting the corresponding term of formula (3) from each term of formula (2) yields formula (6), where Δ iPA、ΔiPB、ΔiPCIs a defined variable;
from equation (6), the correlation of the gain errors of the three-phase current sensor can be obtained by using three defined variables, as shown in equation (7):
kA:kB:kC＝ΔiPA:ΔiPB:ΔiPC＝(iPA_0-iPA_7):(iPB_0-iPB_7):(iPC_0-iPC_7) (7)
in order to compensate for the gain errors of the three-phase current sensor in a balanced manner, compensation factors x, y, z are defined, as shown in equation (8), where iPA'、iPB'、iPC' is a compensated three-phase current detection value;
the compensation coefficients x, y, z need to satisfy the dual constraint shown in equation (9):
the compensation coefficients x, y, z are obtained by equation (9) as values shown in equation (10):
finally, the gain error of each phase current sensor is eliminated by multiplying the detection value of each phase current sensor by the corresponding compensation coefficient in the formula (10) by using the formula (8) and the formula (10).
The invention has the advantages that aiming at the problem of error correction of the current sensor of the three-phase motor driving system, the invention has the following advantages:
(1) the current sensor error estimation of the invention requires few signal sampling and recording times: because the prior art needs a large amount of system input and output variable information, and estimates the current sensor error through algorithms such as an observer, a filter and the like, a large amount of signal sampling points are often needed to be set and recorded and analyzed, so that the system memory consumption is large, the scheme can realize the accurate estimation of the current sensor error only by respectively sampling current off line and on line once, and the required signal sampling and signal recording times are few;
(2) the error estimation calculated amount of the current sensor can be ignored: because the estimation scheme of the current sensor error in the prior art usually depends on a large number of complex observers, digital filters and the like, the calculation amount of the estimation scheme is very large, and great operation burden is caused to a microprocessor;
(3) the error estimation of the current sensor has no influence on the normal operation control of the system: due to the implementation deficiencies of the prior art, it requires controlThe system carries out a large amount of calculations to realize the estimation capacity of the current sensor error, therefore, the system will bring certain limit or influence to the normal operation control of the system, the scheme only needs to utilize twice current sampling values and can realize the accurate estimation of the current sensor error through a small amount of operations for four times, and when the system operates normally, V is used for calculating the error of the current sensor0And V7Of the current sample values at two zero voltage vectors, V7The situation in the state is not separated from the normal mode, and the control of the normal system can be performed without changing the control mode, V0The sampled value in the state is then used for correction of the current sensor error.
Drawings
Fig. 1 is a three-phase motor drive topology with current error correction capability according to the present invention.
Fig. 2 is a current sampling point setting scheme of the current sensor error correction scheme on-line correction section in sector I of the present invention.
In the figure VDCIs the DC bus voltage of the motor drive system iA、iB、iCThe actual values of the phase A current, the phase B current and the phase C current, iPA、iPB、iPCThe sampled values of the A-phase current, B-phase current and C-phase current, iCLIs the current value of the input cable of the lower branch of the C-phase bridge arm, TsIs the switching period of the inverter, T0、T1、T2、T7Are respectively the basic voltage vector V0、V1、V2、V7Duration of action, S, in each inverter switching cycleA、SB、SCThree-phase arm switching states, i, of inverter A, B, CPA_0_1、iPB_0_1、iPC_0_1Respectively the current sample value, i, of the three-phase current sensor at the beginning of each switching cycle of the inverterPA_0_2、iPB_0_2、iPC_0_2Respectively the current sample value, i, of the three-phase current sensor at the end of each switching cycle of the inverterPA_7、iPB_7、iPC_7Current sampling values of three-phase current sensors in the middle of each switching period of the inverter。
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
A three-phase motor driver with current error correction capability is characterized in that an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of a motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, in addition, input cables of a lower branch of a C-phase bridge arm of the inverter also respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, offset errors are estimated and eliminated by using sampling values of a three-phase current sensor in an off-line state, the gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero-voltage vectors under a normal operation working condition, and finally the gain errors are eliminated.
Step 1: in FIG. 1, the effects of bias error and gain error are taken into account, iPA、iPB、iPCThe value of (b) is expressed as formula (1):
wherein f isA、fBThe offset errors of the A-phase current sensor and the B-phase current sensor, kA、kBThe gain errors of the A-phase current sensor and the B-phase current sensor are respectively;
according to the circuit topology of the inverter under different switching states, the relation between the three-phase current sampling value and two zero voltage vectors is obtained by combining the formula (1), as shown in the formulas (2) to (4), wherein iPA_0、iPB_0、iPC_0Respectively, three-phase current sensor in each switching period V of the inverter0The current value under action;
at both ends of the switching cycle (V)0Under the action) respectively sampling the three-phase sensors to obtain 2 current values of each phase, and obtaining V by using an average algorithm of a formula (4)0Current value i of each phase under actionPA_0、iPB_0、iPC_0；
In the middle of the switching cycle (V)7Under the action) respectively sampling the three-phase sensors to obtain 1 current value i of each phasePA_7、iPB_7、iPC_7。
Firstly, estimating the bias error of a current sensor, and estimating and eliminating the gain error of the current sensor on the basis of obtaining and eliminating the value of the bias error;
step 2: an offset error;
when the system is in a non-operation state, six switching tubes of the inverter are in an open circuit state, currents in three-phase windings of the motor are all 0, and currents in a lower branch circuit of the C-phase bridge arm are also 0, so that iPA、iPB、iPCThe actual value at this time is the three-phase offset error shown in formula (5), the three-phase current sensors are respectively sampled, and the obtained three values are respectively used as estimated values of the offset error of the corresponding phase sensor, as shown in formula (5):
and step 3: a gain error;
the estimation of the gain error requires that the estimated bias error is firstly counteracted from the detected current signal, and then the gain error is estimated;
subtracting the corresponding term of formula (3) from each term of formula (2) yields formula (6), where Δ iPA、ΔiPB、ΔiPCIs a defined variable;
from equation (6), the correlation between the gain errors of the three-phase current sensor can be obtained by using three defined variables, as shown in equation (7):
kA:kB:kC＝ΔiPA:ΔiPB:ΔiPC＝(iPA_0-iPA_7):(iPB_0-iPB_7):(iPC_0-iPC_7) (7)
in order to compensate for the gain errors of the three-phase current sensor in a balanced manner, compensation factors x, y, z are defined, as shown in equation (8), where iPA'、iPB'、iPC' is a compensated three-phase current detection value;
the compensation coefficients x, y, z need to satisfy the dual constraint shown in equation (9):
the compensation coefficients x, y, z are obtained by equation (9) as values shown in equation (10):
finally, the gain error of each phase current sensor is eliminated by multiplying the detection value of each phase current sensor by the corresponding compensation coefficient in the formula (10) by using the formula (8) and the formula (10).
Claims (2)
1. A three-phase motor driver having current error correction capability, comprising:
in the three-phase motor driver with the current error correction capability, an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of the motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through A, B, C signal acquisition ports of a three-phase current sensor in the forward direction, in addition, input cables of a lower branch of a C-phase bridge arm of the inverter also respectively penetrate through A, B, C signal acquisition ports of the three-phase current sensor in the forward direction, offset errors are estimated and eliminated by using sampling values of the three-phase current sensor in an off-line state, the gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero voltage vectors under a normal operation working condition, and finally the gain errors are eliminated.
2. A correction method using the three-phase motor driver with current error correction capability of claim 1, characterized by comprising the steps of:
step 1: taking into account the effects of bias error and gain error, iPA、iPB、iPCThe value of (b) is expressed as formula (1):
wherein iA、iB、iCRespectively true values of three-phase currents, iCLIs C-phase bridge arm lower branch current, fA、fB、fCOffset error, k, of A, B, C phase current sensors, respectivelyA、kB、kCThe gain error of the A, B, C phase current sensor, iPA、iPB、iPCCurrent sampling values of the three current sensors are respectively obtained;
depending on the circuit topology in the different switching states of the inverter,the relation between the three-phase current sampling value and two zero voltage vectors is obtained by combining the formula (1), as shown in the formulas (2) to (4), wherein iPA_0、iPB_0、iPC_0Respectively, three-phase current sensor in each switching period V of the inverter0The current value under action;
at both ends V of the switching cycle0Under the action, the three-phase sensors are respectively sampled to obtain 2 current values of each phase, and V is obtained by utilizing the average algorithm of a formula (4)0Current value i of each phase under actionPA_0、iPB_0、iPC_0；
In the middle V of the switching period7Under the action, the three-phase sensor is respectively sampled to obtain 1 current value i of each phasePA_7、iPB_7、iPC_7；
Firstly, estimating the bias error of a current sensor, and estimating and eliminating the gain error of the current sensor on the basis of obtaining and eliminating the value of the bias error;
step 2: an offset error;
when the system is in a non-operation state, six switching tubes of the inverter are in an open circuit state, currents in three-phase windings of the motor are all 0, and currents in a lower branch circuit of the C-phase bridge arm are also 0, so that iPA、iPB、iPCThe actual values at this time are three-phase offset errors shown in formula (5), the three-phase current sensors are respectively sampled, and the obtained three values are respectively transmitted as corresponding phasesThe estimate of the sensor bias error is shown in equation (5):
and step 3: a gain error;
the estimation of the gain error requires that the estimated bias error is firstly counteracted from the detected current signal, and then the gain error is estimated;
subtracting the corresponding term of formula (3) from each term of formula (2) yields formula (6), where Δ iPA、ΔiPB、ΔiPCIs a defined variable;
from equation (6), the correlation of the gain errors of the three-phase current sensor can be obtained by using three defined variables, as shown in equation (7):
kA:kB:kC＝△iPA:△iPB:△iPC＝(iPA_0-iPA_7):(iPB_0-iPB_7):(iPC_0-iPC_7) (7)
in order to compensate for the gain errors of the three-phase current sensor in a balanced manner, compensation factors x, y, z are defined, as shown in equation (8), where iPA'、iPB'、iPC' is a compensated three-phase current detection value;
the compensation coefficients x, y, z need to satisfy the dual constraint shown in equation (9):
the compensation coefficients x, y, z are obtained by equation (9) as values shown in equation (10):
finally, the gain error of each phase current sensor is eliminated by multiplying the detection value of each phase current sensor by the corresponding compensation coefficient in the formula (10) by using the formula (8) and the formula (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010091472.8A CN111313786B (en) | 2020-02-13 | 2020-02-13 | Three-phase motor driver with current error correction capability and correction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010091472.8A CN111313786B (en) | 2020-02-13 | 2020-02-13 | Three-phase motor driver with current error correction capability and correction method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111313786A CN111313786A (en) | 2020-06-19 |
| CN111313786B true CN111313786B (en) | 2022-02-18 |
Family
ID=71147058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010091472.8A Active CN111313786B (en) | 2020-02-13 | 2020-02-13 | Three-phase motor driver with current error correction capability and correction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111313786B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112104271B (en) * | 2020-08-13 | 2022-08-16 | 四川虹美智能科技有限公司 | Method and device for detecting initial position and initial rotating speed of motor and readable medium |
| CN113489386B (en) * | 2021-06-25 | 2022-07-29 | 西北工业大学 | Topology and method for mutual correction of double-motor current sensors |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005261130A (en) * | 2004-03-12 | 2005-09-22 | Nippon Soken Inc | Apparatus for measuring current of battery |
| WO2010045965A1 (en) * | 2008-10-21 | 2010-04-29 | Abb Technology Ab | A method and a device for compensating gain errors of current sensors in a three-phase inverter |
| CN108199634A (en) * | 2018-01-08 | 2018-06-22 | 哈尔滨工业大学 | A kind of direct current biasing error inhibition method of phase current reconstruction technology |
| CN109275351A (en) * | 2016-05-17 | 2019-01-25 | 日立汽车系统株式会社 | Control device for inverter and power inverter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108155840A (en) * | 2018-01-08 | 2018-06-12 | 哈尔滨工业大学 | A kind of sensor sample phase error suppressing method of phase current reconstruction technology |
-
2020
- 2020-02-13 CN CN202010091472.8A patent/CN111313786B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005261130A (en) * | 2004-03-12 | 2005-09-22 | Nippon Soken Inc | Apparatus for measuring current of battery |
| WO2010045965A1 (en) * | 2008-10-21 | 2010-04-29 | Abb Technology Ab | A method and a device for compensating gain errors of current sensors in a three-phase inverter |
| CN109275351A (en) * | 2016-05-17 | 2019-01-25 | 日立汽车系统株式会社 | Control device for inverter and power inverter |
| CN108199634A (en) * | 2018-01-08 | 2018-06-22 | 哈尔滨工业大学 | A kind of direct current biasing error inhibition method of phase current reconstruction technology |
Non-Patent Citations (3)
| Title |
|---|
| A compensation method for a motor phase current sensor offset error using a voltage-source-inverter output voltage reference value;Hiroshi Tamura et al.;《2014 16th European Conference on Power Electronics and Applications》;20140929;第1-10页 * |
| Detrimental Effect Elimination of Current Sensor Accuracy Uncertainty for High-Precision Position Sensorless Control of Interior Permanent Magnet Synchronous Motor Drives;Jiadong Lu et al.;《IEEE Transactions on Industrial Electronics》;20190905;第67卷(第7期);第6101－6111页 * |
| 无磁芯霍尔效应电流传感器1C的共模场抑制技术;Alexander Latham;《电子技术应用》;20160831;第43卷(第8期);第8-10页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111313786A (en) | 2020-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109167545B (en) | Permanent magnet synchronous generator flux linkage online identification method and system | |
| CN111555680B (en) | Dead-beat prediction current control method for permanent magnet synchronous motor | |
| CN110441643B (en) | Inverter power tube open circuit fault diagnosis method in permanent magnet synchronous motor control system | |
| CN111313786B (en) | Three-phase motor driver with current error correction capability and correction method | |
| CN111239661B (en) | Three-phase current sensor error correction system and method based on fixed point sampling | |
| CN108377117B (en) | Permanent magnet synchronous motor composite current control system and method based on predictive control | |
| CN109039199B (en) | Bus current estimation method and system for EPS controller | |
| CN112886901B (en) | Position-free intelligent controller for vehicle switched reluctance motor | |
| CN110429895B (en) | Construction method of switched reluctance BSG (magnetic reluctance generator) optimized linear controller for hybrid electric vehicle | |
| CN113114078A (en) | Position-sensorless control method of multiphase permanent magnet synchronous motor | |
| CN109510539B (en) | Model prediction flux linkage control system and method based on gain matrix | |
| CN114944801A (en) | PMSM (permanent magnet synchronous motor) position sensorless control method based on innovation self-adaptive extended Kalman | |
| CN112217434B (en) | Fault protection control system and method for position sensor of permanent magnet synchronous motor | |
| CN113437909A (en) | Hall position correction method of brushless motor based on Hall sensor | |
| CN111404428B (en) | Phase-shifting motor group current sensor cooperation system based on chopped wave period and correction method | |
| CN113364371A (en) | Method for suppressing torque ripple of brushless direct current motor | |
| CN108649849B (en) | Simple sensorless permanent magnet synchronous motor speed estimation method | |
| Stănică et al. | A brief review of sensorless AC motors control | |
| CN112311289A (en) | SRM variable magnetic linkage direct torque controller construction method with extended Kalman filtering | |
| CN111277176B (en) | Double-motor group cooperative control system and control method based on double current sensors | |
| CN111181462B (en) | Surface-mounted permanent magnet synchronous motor parameter identification method based on variable step size neural network | |
| CN111211723B (en) | Current error system without position sensor control and online correction method | |
| Ciabattoni et al. | Adaptive extended Kalman filter for robust sensorless control of PMSM drives | |
| CN112234877A (en) | Brushless direct current motor phase commutation error compensation method based on trapezoidal wave back electromotive force | |
| CN108923673B (en) | Control method of parallel control structure of linear controller and model predictive controller |
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 |