CN112230055A - Built-in permanent magnet rotor magnetic field harmonic detection device and detection method - Google Patents
Built-in permanent magnet rotor magnetic field harmonic detection device and detection method Download PDFInfo
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- CN112230055A CN112230055A CN202010645646.0A CN202010645646A CN112230055A CN 112230055 A CN112230055 A CN 112230055A CN 202010645646 A CN202010645646 A CN 202010645646A CN 112230055 A CN112230055 A CN 112230055A
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- 238000001514 detection method Methods 0.000 title claims abstract description 58
- 238000004458 analytical method Methods 0.000 claims abstract description 20
- 238000012805 post-processing Methods 0.000 claims abstract description 5
- 230000006698 induction Effects 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 35
- KXGFMDJXCMQABM-UHFFFAOYSA-N 2-methoxy-6-methylphenol Chemical compound [CH]OC1=CC=CC([CH])=C1O KXGFMDJXCMQABM-UHFFFAOYSA-N 0.000 claims description 16
- 239000005011 phenolic resin Substances 0.000 claims description 16
- 229920001568 phenolic resin Polymers 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 abstract description 9
- 238000012360 testing method Methods 0.000 abstract description 9
- 238000005457 optimization Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 3
- 238000012356 Product development Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
- G01R23/16—Spectrum analysis; Fourier analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/346—Testing of armature or field windings
Abstract
The invention relates to the technical field of motors, in particular to a built-in permanent magnet rotor magnetic field harmonic detection device and a detection method, wherein the device comprises a supporting part for supporting a rotor and a power part for driving the rotor to rotate; and a detection section for detecting a harmonic component of the rotor rotating magnetic field; according to the method, a detection part is used for carrying out signal analysis and post-processing on a rotor to respectively obtain a time-varying curve of the magnetic field intensity of the rotor, a harmonic component of the magnetic field of the rotor and a time-varying curve of specific harmonic, and a corresponding relation between a harmonic peak value and a built-in permanent magnet rotor is obtained; the invention identifies the harmonic wave characteristic of the built-in permanent magnet rotor magnetic field through testing; identifying specific positions causing distortion of the magnetic field of the rotor, and providing a reference for optimization; therefore, the harmonic composition of the rotor is optimized by adjusting the magnetic conductance or magnetic potential of the rotor, the specific reasons that the harmonic characteristics of the magnetic field of the rotor and the harmonic distortion of the rotor are detected by a testing means are realized, and the defects of the traditional simulation means are effectively overcome.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a built-in permanent magnet rotor magnetic field harmonic detection device and a detection method.
Background
The electromagnetic vibration noise of the permanent magnet synchronous motor is caused by the interaction of a stator magnetic field and a rotor magnetic field containing multiple harmonic components and the formation of electromagnetic excitation with time and space characteristics on the top surfaces of stator teeth, and the analysis of the electromagnetic vibration noise of the permanent magnet synchronous motor needs to know the characteristics of a stator magnetic field and a rotor magnetic field of the motor, particularly the harmonic components of the rotor magnetic field and a method for optimizing the harmonic waves of the rotor magnetic field. At present, a motor electromagnetic model is mainly built through electromagnetic analysis software, air gap flux density between a stator and a rotor is extracted, and a motor rotor design scheme is evaluated based on waveform and harmonic composition of the air gap flux density. Due to the reasons of material attribute error, part processing error, algorithm analysis error and the like, the simulation model and the actual model have certain deviation, so that the simulation analysis result can not completely and truly reflect the characteristics of the rotor magnetic field.
The permanent magnet synchronous motor for driving a new energy automobile has higher requirements on electromagnetic vibration noise, and a built-in permanent magnet rotor magnetic field harmonic detection system needs to be designed, so that real rotor magnetic field data are acquired through the detection system, and the rotor magnetic field characteristics and the cause of rotor magnetic field distortion are analyzed based on the detection data of the system, and a direction is provided for rotor optimization design.
The existing analysis method for building an electromagnetic model based on electromagnetic analysis software cannot reflect the product difference caused by process and assembly, the analysis result and the real situation have deviation caused by material attribute errors, and the simulation mathematical model cannot be modified through a test result, so that the characteristics of the rotor magnetic field cannot be completely and accurately identified and the analysis optimization direction cannot be determined through a simulation analysis means.
At present, no test system is available for realizing the detection of the magnetic field of the built-in permanent magnet rotor and analyzing the harmonic composition of the magnetic field of the rotor according to the detection data.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the built-in permanent magnet rotor magnetic field harmonic detection device and the built-in permanent magnet rotor magnetic field harmonic detection method can accurately identify the rotor magnetic field characteristics and determine the analysis optimization direction.
In order to solve the technical problems, the invention adopts the technical scheme that:
a built-in permanent magnet rotor magnetic field harmonic detection device comprises
A support part for supporting the rotor;
the power part is used for driving the rotor to rotate; and
and a detection unit for detecting harmonic components of the rotor rotating magnetic field.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
the detection method of the built-in permanent magnet rotor magnetic field harmonic detection device comprises
Determining a reference zero position of the surface of the rotor;
the power part drives the rotor to rotate to reach a preset rotating speed;
triggering induction potential signal acquisition of the induction coil at a reference zero position through a photoelectric sensor;
carrying out signal analysis and post-processing on the induced electromotive force of the induction coil to respectively obtain a time-varying curve of the magnetic field intensity of the rotor, a harmonic composition of the magnetic field of the rotor and a time-varying curve of specific harmonic; and according to an included angle alpha between the photoelectric sensor and the induction coil along the circumferential direction of the rotor, converting a specific harmonic variation curve along with time into a variation curve relative to a reference zero position along the circumferential direction, and obtaining a corresponding relation between a harmonic peak value and the built-in permanent magnet rotor.
The invention has the beneficial effects that: identifying harmonic characteristics of a built-in permanent magnet rotor magnetic field through testing; through analysis of feedback signals of the induction coil and the photoelectric sensor, a specific position causing distortion of a rotor magnetic field is identified, and reference is provided for optimization; therefore, the harmonic composition of the rotor is optimized by adjusting the magnetic conductance or magnetic potential of the rotor, the specific reasons that the harmonic characteristics of the magnetic field of the rotor and the harmonic distortion of the rotor are detected by a testing means are realized, and the defects of the traditional simulation means are effectively overcome.
In addition, the detection system is different from a conventional simulation analysis method, a large number of built-in permanent magnet rotor magnetic field detection results can be stored in a database system, product consistency is observed, product technology iteration and correlation identification of key fault factors are facilitated, the whole built-in permanent magnet rotor is designed, produced, detected and optimized to form closed loop iteration, and product development capacity is improved.
Drawings
Fig. 1 is a first angle schematic diagram of an internal permanent magnet rotor magnetic field harmonic detection apparatus according to an embodiment of the present invention;
FIG. 2 is a second angle diagram of an apparatus for detecting a magnetic field harmonic of an interior permanent magnet rotor according to an embodiment of the present invention;
FIG. 3 is a perspective view of a detection portion of an internal permanent magnet rotor magnetic field harmonic detection apparatus according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for detecting magnetic field harmonics of an interior permanent magnet rotor according to an embodiment of the present invention;
description of reference numerals: 1. a rotor; 2. a support portion; 21. a roller; 211. a vertical plate bracket; 212. supporting the magnetic pole; 213. a guide groove; 3. a power section; 31. a power source; 32. a transmission member; 33. an adjustment assembly; 331. a jacking piece; 332. a guide rail; 333. a power support plate; 334. an extension arm; 335. a tension groove; 34. a driving wheel; 35. a tension wheel; 4. a detection unit; 41. a photosensor; 42. an induction coil; 43. a phenolic resin block; 5. a work bench.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 3, a built-in permanent magnet rotor 1 magnetic field harmonic detection device includes
A support portion 2 for supporting the rotor 1;
the power part 3 is used for driving the rotor 1 to rotate; and
and a detection unit 4 for detecting a harmonic component of the rotating magnetic field of the rotor 1.
Further, the device also comprises a workbench 5, and the supporting part 2, the power part 3 and the detection part 4 are arranged on the workbench 5.
Further, the power portion 3 includes a power source 31, a transmission member 32 and an adjusting component 33, wherein the power source 31 drives the rotor 1 to rotate through the transmission member 32.
The adjusting component 33 comprises a jacking piece 331, a guide rail 332 and a power support plate 333, the power source 31 and the transmission piece 32 are arranged on the power support plate 333, the power support plate 333 is arranged on the guide rail 332, the jacking piece 331 drives the power support plate 333 to move, and the moving path of the power support plate 333 is perpendicular to the upper surface of the workbench 5.
As is apparent from the above description, by the arrangement of the adjusting assembly 33, the contact pressure can be adjusted, and the insertion of the rotor 1 can be facilitated.
Further, the adjusting assembly 33 further comprises an extension arm 334, the extension arm 334 is connected to the power support plate 333, and the extension arm 334 extends above the support portion 2;
the power part 3 further comprises at least five transmission wheels 34, and the transmission wheels 34 are distributed on the extension arm 334 and the power support plate 333;
the transmission member 32 is a transmission belt, the transmission belt and five transmission wheels 34 form a closed transmission loop, and the transmission belt and four transmission wheels 34 form a triangular constraint.
From the above description, it can be known that the transmission belt can be attached to the surface of the rotor 1 by forming the triangular constraint, and the stable operation of the high-speed rotor 1 in the test process is ensured.
Further, one driving wheel 34 of the five driving wheels 34 is a tension wheel 35, and the extension arm 334 and/or the power support plate 333 are provided with tension grooves 335 for adjusting the tension wheel 35.
As can be seen from the above description, the mounting and dismounting and adjustment of the drive belt can be facilitated by the provision of the tension pulley 35.
Further, the supporting part 2 comprises a supporting platform of the rotor 1 and two groups of parallel supporting roller groups, and each supporting roller group comprises two rollers 21 which are symmetrically arranged and the central axes of which are overlapped;
the supporting platform comprises a vertical plate support 211 and a magnetic pole support 212, the vertical plate support 211 is fixedly arranged, a guide groove 213 is formed in the vertical plate support 211, and the magnetic pole support 212 is adjustably connected with the guide groove 213;
the roller 21 is rotatably arranged on the pole support 212; the rotor 1 is arranged between two sets of support rollers.
As is apparent from the above description, the interior permanent magnet rotor 1 having different stack lengths can be accommodated by the provision of the guide grooves 213.
Further, the detecting part 4 comprises a photoelectric sensor 41 and an induction coil 42, and the plane of the induction coil 42 is parallel to the magnetic pole section of the rotor 1 and is vertical to the surface of the workbench 5.
Further, the detection part 4 further comprises a phenolic resin block 43, the side surface of the phenolic resin block 43 facing the rotor 1 is an arc surface matched with the surface of the rotor 1, and the distance between the arc surface and the rotating surface is 3mm-8 mm;
the projection of the thickness of the phenolic resin block 43 on the surface of the rotor 1 is more than or equal to the mechanical angle of one magnetic pole of the rotor 1.
As is apparent from the above description, by using the phenolic resin block 43, the photosensor 41 and the induction coil 42 can be encapsulated in the phenolic resin since the phenolic resin does not affect the magnetic circuit of the rotor 1.
Referring to fig. 4, a method for detecting the magnetic field harmonic detection device of the built-in permanent magnet rotor 1 includes
Determining a reference zero position of the surface of the rotor 1;
the power part 3 drives the rotor 1 to rotate to reach a preset rotating speed;
triggering the induction potential signal acquisition of the induction coil 42 at the reference zero position by the photoelectric sensor 41;
the induced electromotive force of the induction coil 42 is subjected to signal analysis and post-processing to respectively obtain a time-varying curve of the magnetic field intensity of the rotor 1, a harmonic composition of the magnetic field of the rotor 1 and a time-varying curve of specific harmonic; and according to an included angle alpha between the photoelectric sensor 41 and the induction coil 42 along the circumferential direction of the rotor 1, converting a specific harmonic variation curve along with time into a variation curve along the circumferential direction relative to a reference zero position, and obtaining a corresponding relation between a harmonic peak value and the built-in permanent magnet rotor 1.
Further, the "signal analysis" includes:
storing coil induced electromotive force time domain data;
the magnetic induction intensity of the rotor 1 is subjected to time-frequency conversion;
inverse time-frequency transformation of the specific order harmonic component;
the phase result of the harmonic component relative to the reference null.
From the above description, the beneficial effects of the present invention are: the harmonic characteristics of the magnetic field of the built-in permanent magnet rotor 1 are identified through testing; through analysis of feedback signals of the induction coil 42 and the photoelectric sensor 41, a specific position causing magnetic field distortion of the rotor 1 is identified, and reference is provided for optimization; therefore, the harmonic composition of the rotor 1 is optimized by adjusting the magnetic conductance or the magnetic potential of the rotor 1, the detection of the harmonic characteristics of the magnetic field of the rotor 1 and the specific reasons for causing the harmonic distortion of the rotor 1 by a test means are realized, and the defects of the traditional simulation means are effectively overcome.
In addition, the detection system is different from a conventional simulation analysis method, a large number of magnetic field detection results of the built-in permanent magnet rotor 1 can be stored in a database system, the consistency of products is observed, product technology iteration and correlation identification of key fault factors are facilitated, the whole built-in permanent magnet rotor 1 is designed, produced, detected and optimized to form closed loop iteration, and the product development capacity is improved. The design, production, detection and optimization of the permanent magnet rotor form closed loop iteration, and the product development capacity is improved.
Example one
A built-in permanent magnet rotor magnetic field harmonic detection device comprises
A support part for supporting the rotor;
the power part is used for driving the rotor to rotate; and
a detection unit for detecting a harmonic component of a rotor rotating magnetic field;
the supporting part, the power part and the detection part are arranged on the workbench.
The power part comprises a power source, a transmission part and an adjusting component, and the power source drives the rotor to rotate through the transmission part. The power source is a servo motor.
The adjusting part comprises a jacking part, a guide rail and a power supporting plate, the power source and the transmission part are arranged on the power supporting plate, the power supporting plate is arranged on the guide rail, the jacking part drives the power supporting plate to move, and the moving path of the power supporting plate is perpendicular to the upper surface of the workbench. The jacking piece is a hydraulic cylinder.
The adjusting assembly further comprises an extension arm, the extension arm is connected to the power support plate, and the extension arm extends to the upper part of the support part;
the power part also comprises at least five driving wheels, and the driving wheels are distributed on the extension arm and the power supporting plate;
the transmission part is a transmission belt, the transmission belt and five transmission wheels form a closed transmission loop, and the transmission belt and four of the transmission wheels form triangular constraint.
One of the five driving wheels is a tension wheel, and the extension arm and/or the power support plate is/are provided with a tension groove for the tension wheel to adjust.
The supporting part comprises a rotor supporting platform and two groups of parallel supporting roller groups, and each supporting roller group comprises two rollers which are symmetrically arranged and the central axes of the rollers are overlapped;
the supporting platform comprises a vertical plate bracket and a magnetic pole support, the vertical plate bracket is fixedly arranged, a guide groove is formed in the vertical plate bracket plate, and the magnetic pole support is adjustably connected with the guide groove;
the roller is rotatably arranged on the magnetic pole support; the rotor is arranged between the two groups of supporting rollers.
The detection part comprises a photoelectric sensor and an induction coil, and the plane of the induction coil is parallel to the tangent plane of the magnetic pole of the rotor and is vertical to the surface of the workbench. The induction coil is a multi-turn induction coil;
the detection part also comprises a phenolic resin block, the induction coil and the photoelectric sensor are packaged in the phenolic resin block, two long sides of the induction coil are 10mm away from the side wall of the phenolic resin block, and the electric sensor is close to the upper surface of the phenolic resin block, so that the magnetic field distribution at the induction coil is prevented from being influenced; and calculating an included angle alpha of the two components along the circumferential direction according to the arc length of the photoelectric sensor and the winding coil along the circumferential direction of the rotor so as to convert the phase information of the harmonic component relative to the zero reference position.
The side face, facing the rotor, of the phenolic resin block is an arc-shaped face matched with the surface of the rotor, and the distance between the arc-shaped face and the rotating surface is 5 mm;
the projection of the thickness of the phenolic resin block on the surface of the rotor is more than or equal to the mechanical angle of one rotor magnetic pole.
Example two
A detection method using the built-in permanent magnet rotor magnetic field harmonic detection device comprises
Determining a reference zero position of the surface of the rotor;
the power part drives the rotor to rotate to reach a preset rotating speed (1000 rpm);
triggering induction potential signal acquisition of the induction coil at a reference zero position through a photoelectric sensor;
carrying out signal analysis and post-processing on the induced electromotive force of the induction coil to respectively obtain a time-varying curve of the magnetic field intensity of the rotor, a harmonic composition of the magnetic field of the rotor and a time-varying curve of specific harmonic; and according to an included angle alpha between the photoelectric sensor and the induction coil along the circumferential direction of the rotor, converting a specific harmonic variation curve along with time into a variation curve relative to a reference zero position along the circumferential direction, and obtaining a corresponding relation between a harmonic peak value and the built-in permanent magnet rotor.
Wherein "signal analysis" includes:
storing coil induced electromotive force time domain data;
rotor magnetic induction time domain data;
rotor magnetic induction time-frequency conversion;
inverse time-frequency transformation of the specific order harmonic component;
the phase result of the harmonic component relative to the reference null.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A built-in permanent magnet rotor magnetic field harmonic detection device is characterized by comprising
A support part for supporting the rotor;
the power part is used for driving the rotor to rotate; and
and a detection unit for detecting harmonic components of the rotor rotating magnetic field.
2. The internal permanent magnet rotor magnetic field harmonic detection device according to claim 1, further comprising a worktable, wherein the support portion, the power portion and the detection portion are disposed on the worktable.
3. The built-in permanent magnet rotor magnetic field harmonic detection device according to claim 2, wherein the power part comprises a power source, a transmission member and an adjusting component, and the power source drives the rotor to rotate through the transmission member;
the adjusting part comprises a jacking part, a guide rail and a power supporting plate, the power source and the transmission part are arranged on the power supporting plate, the power supporting plate is arranged on the guide rail, the jacking part drives the power supporting plate to move, and the moving path of the power supporting plate is perpendicular to the upper surface of the workbench.
4. The interior permanent magnet rotor magnetic field harmonic detection device of claim 3, wherein the adjustment assembly further comprises an extension arm connected to the power support plate, the extension arm extending above the support portion;
the power part also comprises at least five driving wheels, and the driving wheels are distributed on the extension arm and the power supporting plate;
the transmission part is a transmission belt, the transmission belt and five transmission wheels form a closed transmission loop, and the transmission belt and four of the transmission wheels form triangular constraint.
5. The internal permanent magnet rotor magnetic field harmonic detection device according to claim 4, wherein one of the five transmission wheels is a tension wheel, and the extension arm and/or the power support plate is provided with a tension groove for adjusting the tension wheel.
6. The built-in permanent magnet rotor magnetic field harmonic detection device of claim 1,
the supporting part comprises a rotor supporting platform and two groups of parallel supporting roller groups, and each supporting roller group comprises two rollers which are symmetrically arranged and the central axes of the rollers are overlapped;
the supporting platform comprises a vertical plate bracket and a magnetic pole support, the vertical plate bracket is fixedly arranged, a guide groove is formed in the vertical plate bracket plate, and the magnetic pole support is adjustably connected with the guide groove;
the roller is rotatably arranged on the magnetic pole support; the rotor is arranged between the two groups of supporting rollers.
7. The internal permanent magnet rotor magnetic field harmonic detection device according to claim 2, wherein the detection part comprises a photoelectric sensor and an induction coil, and the plane of the induction coil is parallel to the rotor magnetic pole tangent plane and perpendicular to the surface of the workbench.
8. The built-in permanent magnet rotor magnetic field harmonic detection device according to claim 7, wherein the detection part further comprises a phenolic resin block, the side surface of the phenolic resin block facing the rotor is an arc surface matched with the surface of the rotor, and the distance between the arc surface and the rotating surface is 3mm-8 mm;
the projection of the thickness of the phenolic resin block on the surface of the rotor is more than or equal to the mechanical angle of one rotor magnetic pole.
9. A detection method using the built-in permanent magnet rotor magnetic field harmonic detection device as claimed in any one of claims 1-8, characterized by comprising
Determining a reference zero position of the surface of the rotor;
the power part drives the rotor to rotate to reach a preset rotating speed;
triggering induction potential signal acquisition of the induction coil at a reference zero position through a photoelectric sensor;
carrying out signal analysis and post-processing on the induced electromotive force of the induction coil to respectively obtain a time-varying curve of the magnetic field intensity of the rotor, a harmonic composition of the magnetic field of the rotor and a time-varying curve of specific harmonic; and according to an included angle alpha between the photoelectric sensor and the induction coil along the circumferential direction of the rotor, converting a specific harmonic variation curve along with time into a variation curve relative to a reference zero position along the circumferential direction, and obtaining a corresponding relation between a harmonic peak value and the built-in permanent magnet rotor.
10. The interior permanent magnet rotor field harmonic detection method of claim 9, wherein the "signal analysis" comprises:
storing coil induced electromotive force time domain data;
rotor magnetic induction time domain data;
rotor magnetic induction time-frequency conversion;
inverse time-frequency transformation of the specific order harmonic component;
the phase result of the harmonic component relative to the reference null.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010645646.0A CN112230055A (en) | 2020-07-07 | 2020-07-07 | Built-in permanent magnet rotor magnetic field harmonic detection device and detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010645646.0A CN112230055A (en) | 2020-07-07 | 2020-07-07 | Built-in permanent magnet rotor magnetic field harmonic detection device and detection method |
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| CN108051739A (en) * | 2017-11-20 | 2018-05-18 | 清华大学 | For monitoring the method and system of permanent magnet machine rotor loss of excitation failure |
| CN108680878A (en) * | 2018-05-23 | 2018-10-19 | 江苏大学 | A kind of rotor magnetic field of permanent magnet uniformity test system and method |
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2020
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| GB590564A (en) * | 1943-05-28 | 1947-07-22 | Bendix Aviat Corp | Electrical means for reproducing motion |
| CN101149423A (en) * | 2007-11-02 | 2008-03-26 | 清华大学 | Permanent-magnetism synchronous motor permanent magnetic field aberration real-time detection and analysis method and device |
| DE102009040332A1 (en) * | 2008-12-07 | 2010-07-29 | Lenze Automation Gmbh | Rotor's rotation variable e.g. rotation angle, determining method for drive control of synchronous electric motor, involves determining angular variable i.e. difference between characteristics of induction and determined induction |
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| CN204992831U (en) * | 2015-09-21 | 2016-01-20 | 宁波大和铁芯有限公司 | Rotor punching, rotor core and motor |
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