CN113067509A - Two-phase hybrid stepping motor position closed-loop vector control method and system - Google Patents
Two-phase hybrid stepping motor position closed-loop vector control method and system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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Abstract
The invention discloses a position closed-loop vector control method and a system of a two-phase hybrid stepping motor, wherein the control method comprises the following steps: s1, acquiring the mechanical angle of the rotor of the two-phase hybrid stepping motor; s2, performing PID calculation after the target mechanical angle and the mechanical angle are different, and performing amplitude limiting on the obtained calculation result to obtain a quadrature axis reference voltage in a first coordinate system; s3, acquiring the electrical angle of the rotor; s4, obtaining two-phase voltages of a stator coil of the two-phase hybrid stepping motor under a second coordinate system according to the quadrature axis reference voltage and the electrical angle; s5, obtaining a control quantity according to the two-phase voltage; s6, controlling the two-phase hybrid stepping motor according to the control quantity; and S7, repeating the steps S1 to S6 until the two-phase hybrid stepping motor stops at the position corresponding to the target mechanical angle in the step S2 when the difference value in the step S2 is in the first preset range. The method has the advantages of small algorithm operation amount, stable motor operation and the like.
Description
Technical Field
The invention belongs to the technical field of stepping motors, and particularly relates to a position closed-loop vector control method and system for a two-phase hybrid stepping motor.
Background
The existing two-phase hybrid stepping motor vector control system generally adopts three-loop series control of a position P loop, a speed PI loop and a moment PI loop, when the position of the outermost loop is controlled, the calculation amount is very large, and a microcontroller with high main frequency and high processing speed or a special Digital Signal Processor (DSP) can be used for ensuring the better calculation real-time performance of a control algorithm, so that the motor runs stably.
Secondly, the conventional two-phase hybrid stepping motor vector control system usually adopts an SVPWM (space vector pulse width modulation) modulation mode, so that the vector PWM waveform is not easy to generate in most microcontrollers only with a single-point comparison PWM timer.
In addition, in the existing two-phase hybrid stepping motor vector control system, the control quality of the torque PI ring depends on the identification of motor resistance and inductance parameters, and the operation quality of the motor also depends on the identification of the system on the motor parameters to a great extent because the torque PI ring is used as the innermost ring of motor control.
In the existing two-phase hybrid stepping motor vector control system, the running quality of the motor also depends on the measurement and sampling of the rotating speed of the motor in a speed PI ring, and the existing method generally uses an incremental photoelectric encoder for measuring the rotating speed of the motor and has the defects of complex structure, high cost and the like.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the invention provides a position closed-loop vector control method and system for a two-phase hybrid stepping motor.
The position closed-loop vector control method of the two-phase hybrid stepping motor according to the embodiment of the invention comprises the following steps: s1, acquiring the mechanical angle of the rotor of the two-phase hybrid stepping motor; s2, performing PID calculation after the difference is made between the target mechanical angle and the mechanical angle obtained in the step S1, and performing amplitude limiting on the obtained calculation result to obtain a quadrature axis reference voltage in a first coordinate system; s3, acquiring the electrical angle of the rotor; s4, setting the direct axis reference voltage as 0, and obtaining two-phase voltages of a stator coil of the two-phase hybrid stepping motor under a second coordinate system according to the quadrature axis reference voltage and the electrical angle; s5, obtaining a control quantity according to the two-phase voltage; s6, controlling the two-phase hybrid stepping motor according to the control quantity; and S7, repeating the steps S1 to S6 until the two-phase hybrid stepping motor stops at the position corresponding to the target mechanical angle in the step S2 when the difference value in the step S2 is in a first preset range.
According to the position closed-loop vector control method of the two-phase hybrid stepping motor, which is disclosed by the embodiment of the invention, a plurality of steps are adopted to be matched, and the method has the advantages of small algorithm operand, stable motor operation and the like.
According to an embodiment of the invention, the position closed-loop vector control method for the two-phase hybrid stepping motor involves a control system including an encoder, and step S1 obtains a mechanical angle of a rotor of the two-phase hybrid stepping motor through the encoder.
According to an embodiment of the present invention, in step S3, the mechanical angle of the rotor of the two-phase hybrid stepping motor is obtained again by the encoder, and the electrical angle of the rotor is calculated.
According to an embodiment of the present invention, the control method involves a control system including a PID controller, and in step S2, the difference value is calculated by passing through a proportional unit term, an integral unit term, and a derivative unit term of the PID controller to calculate a clipping output.
According to an embodiment of the present invention, the first coordinate system in step S2 is a rotating coordinate system rotating with the motor rotor, and the second coordinate system in step S4 is a stationary coordinate system stationary with the motor stator.
According to an embodiment of the present invention, the control method relates to a control system including a vector controller, and the step S4 includes the steps of: and (3) making the direct-axis reference voltage under the rotating coordinate system constant to be 0, and passing the quadrature-axis reference voltage obtained in the step (S2) and the electrical angle obtained in the step (S3) through the vector controller to obtain two-phase voltages of the stator coil of the two-phase hybrid stepping motor under the static coordinate system.
According to an embodiment of the present invention, the control method involves a control system including a sinusoidal pulse modulator, and in step S5, the two-phase voltage obtained in step S4 is passed through the sinusoidal pulse modulator to obtain the control quantity, which is a two-phase PWM control quantity.
According to an embodiment of the invention, the control method involves the control system further comprising a two-phase inverter, and in step S6, the two-phase PWM control amount obtained in step S5 drives the two-phase hybrid stepping motor to operate through the two-phase inverter.
According to one embodiment of the present invention, the difference in step S7 is 0.
A two-phase hybrid stepper motor position closed loop vector control system according to an embodiment of a second aspect of the invention, comprises: an encoder capable of acquiring a mechanical angle of a rotor of a two-phase hybrid stepper motor; a difference calculation module, connected to the encoder, and capable of performing difference calculation between a target mechanical angle and the mechanical angle obtained in step S1; the PID controller is connected with the difference value calculation module, can calculate according to the difference value obtained by the difference value calculation module, and limits the amplitude of a calculation result to obtain a quadrature axis reference voltage under a rotating coordinate system; the electric angle calculation module is connected with the encoder to acquire the electric angle of the rotor; the vector controller is respectively connected with the PID controller and the electric angle calculation module to obtain two-phase voltages of stator coils of the two-phase hybrid stepping motor under a static coordinate system; and the two-phase voltage obtains two-phase PWM control quantity through the sine pulse modulator so that the two-phase PWM control quantity drives the two-phase hybrid stepping motor to operate through the two-phase inverter.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a two-phase hybrid stepper motor position closed loop vector control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a two-phase hybrid stepper motor position closed loop vector control system according to an embodiment of the present invention.
Reference numerals:
an encoder 10; a PID controller 20; a vector controller 30;
a two-phase hybrid stepper motor 200.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following describes a two-phase hybrid stepping motor position closed-loop vector control method according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, a two-phase hybrid stepping motor position closed-loop vector control method according to an embodiment of the present invention includes the following steps:
s1, acquiring the mechanical angle of the rotor of the two-phase hybrid stepping motor;
alternatively, the control system involved in the control method includes the encoder 10, and step S1 obtains the mechanical angle of the rotor of the two-phase hybrid stepping motor 200 through the encoder 10. Optionally, the encoder 10 is an angular encoder.
That is, the mechanical angle θ of the rotor of the two-phase hybrid stepping motor 200 is obtained by the encoder 10.
And S2, performing PID calculation after the difference between the target mechanical angle and the mechanical angle obtained in the step S1, and performing amplitude limiting on the obtained calculation result to obtain a quadrature axis reference voltage in the first coordinate system. That is, the target mechanical angle θ ref is calculated by subtracting the mechanical angle θ obtained in step S1 from the target mechanical angle θ ref, and then the calculated value is sent to the PID controller.
Alternatively, the first coordinate system in step S2 is a rotational coordinate system that rotates with the motor rotor. That is, the target mechanical angle θ ref is calculated as a difference from the mechanical angle θ obtained in step S1, and after calculation and amplitude limitation by the PID controller, the quadrature reference voltage Uq _ ref in the rotating coordinate system rotating together with the rotor of the motor is obtained.
Alternatively, the control method involves a control system including the PID controller 20, and in step S2, the difference value is subjected to the proportional unit term (P term), the integral unit term (I term), and the derivative unit term (D term) of the PID controller 20 to calculate the clipping output.
And S3, acquiring the electrical angle of the rotor.
Alternatively, in step S3, the mechanical angle of the rotor of the two-phase hybrid stepping motor 200 is obtained again by the encoder 10, and the electrical angle of the rotor is calculated. That is, the mechanical angle of the rotor of the two-phase hybrid stepping motor 200 is obtained again by the encoder 10, and the electrical angle theta of the rotor is further calculated.
Alternatively, the first coordinate system in step S2 is a rotating coordinate system rotating with the motor rotor, and the second coordinate system in step S4 is a stationary coordinate system stationary with the motor stator.
S4, setting the direct-axis reference voltage to 0, and obtaining the two-phase voltage of the stator coil of the two-phase hybrid stepping motor 200 in the second coordinate system according to the quadrature-axis reference voltage and the electrical angle.
According to an embodiment of the present invention, the control method involves a control system including the vector controller 30, and the step S4 includes the steps of:
the direct-axis reference voltage in the rotating coordinate system is constantly set to 0, and the quadrature-axis reference voltage obtained in step S2 and the electrical angle obtained in step S3 are passed through the vector controller 30, so that the two-phase voltage of the stator coil of the two-phase hybrid stepping motor 200 in the stationary coordinate system is obtained. When the first coordinate system is a rotating coordinate system and the second coordinate system is a stationary coordinate system, optionally, the step S4 includes the following specific steps: the direct-axis reference voltage Ud in the rotating coordinate system is constantly set to 0, and the two-phase voltages U α and U β of the stator coil of the two-phase hybrid stepping motor 200 in the stationary coordinate system are obtained by passing Uq _ ref obtained in step S2 and the electrical angle theta obtained in step S3 through the vector controller 30.
And S5, obtaining a control quantity according to the two-phase voltages U alpha and U beta.
In some embodiments of the present invention, the control method involves a control system including a sinusoidal pulse modulator (SPWM), and in step S5, the two-phase voltages U α and U β obtained in step S4 are passed through the sinusoidal pulse modulator (SPWM) to obtain a control variable, which is a two-phase PWM control variable. According to the control method provided by the embodiment of the invention, an SPWM modulation mode is adopted, and the control method is easy to realize.
S6, the two-phase hybrid stepping motor 200 is controlled according to the control amount.
Optionally, the control system related to the control method further includes a two-phase inverter, and in step S6, the two-phase PWM control amount obtained in step S5 drives the two-phase hybrid stepper motor 200 to operate through the two-phase inverter.
S7, repeating steps S1 to S6 until the two-phase hybrid stepping motor 200 stops at the position corresponding to the target mechanical angle in step S2 when the difference value in step S2 is within the first preset range.
Alternatively, the difference in step S2 is 0. In other words, steps S1 to S6 are repeated until the motor is stopped at the target mechanical angle θ ref of step S2 when the difference between the target mechanical angle θ ref of step S2 and the mechanical angle θ obtained in step S1 is 0.
The two-phase hybrid stepping motor position closed-loop vector control system according to the embodiment of the invention comprises: an encoder 10, a difference calculation module, a PID controller 20, an electrical angle calculation module, a vector controller 30 and a sinusoidal pulse modulator.
Specifically, the encoder 10 may obtain a mechanical angle of the rotor of the two-phase hybrid stepping motor 200, the difference calculation module is connected to the encoder 10, the difference calculation module may perform difference calculation on the target mechanical angle and the mechanical angle obtained in step S1, the PID controller 20 is connected to the difference calculation module, and may perform calculation according to the difference obtained by the difference calculation module, perform amplitude limiting output on a calculation result, obtain a quadrature axis reference voltage in a rotating coordinate system, and input the quadrature axis reference voltage and a constant 0 direct axis reference voltage as control quantities of a torque loop into the vector controller for coordinate transformation. That is to say, two-stage series control of a position PID closed loop and a moment open loop is adopted, the output value of the position PID closed loop is directly used as the control quantity of the moment loop and is input into a vector controller for coordinate transformation, and therefore the control quantity required by the subsequent control of the motor stator is obtained. Therefore, the control of the torque open loop is adopted without depending on the identification of motor parameters, the use is convenient, the output value of the position PID closed loop is directly used as the control quantity of the torque loop, the middle part does not pass through the speed loop in the prior method any more, and the influence caused by the inaccurate measurement of the rotating speed of the motor in the speed PI closed loop in the prior method can be avoided. The electrical angle calculation module is connected with the encoder 10 to obtain the electrical angle of the rotor, the vector controller 30 is connected with the PID controller 20 and the electrical angle calculation module respectively to obtain two-phase voltages of the stator coils of the two-phase hybrid stepping motor 200 in the stationary coordinate system, the sine pulse modulator is connected with the vector controller 30, and the two-phase voltages obtain two-phase PWM control quantities through the sine pulse modulator, so that the two-phase PWM control quantities drive the two-phase hybrid stepping motor 200 to operate through the two-phase inverter.
It should be noted that the vector controller 30 is the inverse Park transform part in fig. 2.
In summary, according to the control method and system of the embodiment of the invention, two-stage series control of the position PID closed loop and the moment open loop is adopted, and the output value after the position PID closed loop control is directly used as the control quantity of the moment loop, so that the method is not dependent on the identification of motor parameters, is convenient to use, and can also avoid the influence caused by inaccurate measurement of the motor rotating speed in the speed PI closed loop in the existing method. Meanwhile, the algorithm has small operand, and an SPWM modulation mode is adopted, so that the method can be easily realized on most general microcontrollers. And, cooperate with the encoder 10 of high accuracy to do position PID closed-loop control, can not only overcome the open-loop control and lose the step scheduling problem, obtain good position control accuracy, also can obtain better control quality in the rotational speed range of broad at the same time, have advantages such as the motor operates steadily, the noise is little.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A position closed-loop vector control method for a two-phase hybrid stepping motor is characterized by comprising the following steps:
s1, acquiring the mechanical angle of the rotor of the two-phase hybrid stepping motor;
s2, performing PID calculation after the difference is made between the target mechanical angle and the mechanical angle obtained in the step S1, and performing amplitude limiting on the obtained calculation result to obtain a quadrature axis reference voltage in a first coordinate system;
s3, acquiring the electrical angle of the rotor;
s4, setting the direct axis reference voltage as 0, and obtaining two-phase voltages of a stator coil of the two-phase hybrid stepping motor under a second coordinate system according to the quadrature axis reference voltage and the electrical angle;
s5, obtaining a control quantity according to the two-phase voltage;
s6, controlling the two-phase hybrid stepping motor according to the control quantity;
and S7, repeating the steps S1 to S6 until the two-phase hybrid stepping motor stops at the position corresponding to the target mechanical angle in the step S2 when the difference value in the step S2 is in a first preset range.
2. The two-phase hybrid stepping motor position closed-loop vector control method as claimed in claim 1, wherein the control system involved in the control method comprises an encoder, and step S1 is implemented by the encoder to obtain the mechanical angle of the rotor of the two-phase hybrid stepping motor.
3. The two-phase hybrid stepping motor position closed-loop vector control method according to claim 2, wherein in step S3, the mechanical angle of the rotor of the two-phase hybrid stepping motor is obtained again by the encoder, and the electrical angle of the rotor is calculated.
4. The two-phase hybrid stepping motor position closed-loop vector control method as claimed in claim 1, wherein the control system involved in the control method comprises a PID controller, and in step S2, the difference value is calculated by a proportional unit term, an integral unit term and a differential unit term of the PID controller to obtain a limited output.
5. The two-phase hybrid stepping motor position closed-loop vector control method as claimed in claim 1, wherein the first coordinate system in step S2 is a rotating coordinate system rotating with the motor rotor, and the second coordinate system in step S4 is a stationary coordinate system stationary with the motor stator.
6. The two-phase hybrid stepping motor position closed-loop vector control method as claimed in claim 5, wherein the control system involved in the control method comprises a vector controller, and step S4 comprises the following steps:
and (3) making the direct-axis reference voltage under the rotating coordinate system constant to be 0, and passing the quadrature-axis reference voltage obtained in the step (S2) and the electrical angle obtained in the step (S3) through the vector controller to obtain two-phase voltages of the stator coil of the two-phase hybrid stepping motor under the static coordinate system.
7. The two-phase hybrid stepping motor position closed-loop vector control method according to claim 1, wherein the control system involved in the control method comprises a sine pulse modulator, and in step S5, the two-phase voltage obtained in step S4 is passed through the sine pulse modulator to obtain the control quantity, which is a two-phase PWM control quantity.
8. The two-phase hybrid stepping motor position closed-loop vector control method as claimed in claim 7, wherein the control system involved in the control method further comprises a two-phase inverter, and in step S6, the two-phase PWM control amount obtained in step S5 drives the two-phase hybrid stepping motor to operate through the two-phase inverter.
9. The two-phase hybrid stepper motor position closed loop vector control method of claim 1, wherein the difference in step S7 is 0.
10. A two-phase hybrid stepper motor position closed loop vector control system, comprising:
an encoder capable of acquiring a mechanical angle of a rotor of a two-phase hybrid stepper motor;
a difference calculation module, connected to the encoder, and capable of performing difference calculation between a target mechanical angle and the mechanical angle obtained in step S1;
the PID controller is connected with the difference value calculation module, can calculate according to the difference value obtained by the difference value calculation module, and limits the amplitude of a calculation result to obtain a quadrature axis reference voltage under a rotating coordinate system;
the electric angle calculation module is connected with the encoder to acquire the electric angle of the rotor;
the vector controller is respectively connected with the PID controller and the electric angle calculation module to obtain two-phase voltages of stator coils of the two-phase hybrid stepping motor under a static coordinate system;
and the two-phase voltage obtains two-phase PWM control quantity through the sine pulse modulator so that the two-phase PWM control quantity drives the two-phase hybrid stepping motor to operate through the two-phase inverter.
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| CN101615876A (en) * | 2009-08-07 | 2009-12-30 | 北京和利时电机技术有限公司 | A kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor and method |
| US20110243793A1 (en) * | 2010-04-06 | 2011-10-06 | Kaelin Remo | Drive device for use in a laboratory device |
| CN106961233A (en) * | 2017-03-29 | 2017-07-18 | 广州智能装备研究院有限公司 | A kind of two-phase hybrid stepping motor closed loop control method |
| CN107040178A (en) * | 2017-04-21 | 2017-08-11 | 浙江理工大学 | Two-phase hybrid stepping motor closed-loop control device and method |
| CN108544044A (en) * | 2018-06-26 | 2018-09-18 | 宁波科路机械设备有限公司 | A kind of special composite stepper motor driver of wire cutting machine tool |
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- 2021-03-30 CN CN202110342385.XA patent/CN113067509B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101615876A (en) * | 2009-08-07 | 2009-12-30 | 北京和利时电机技术有限公司 | A kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor and method |
| US20110243793A1 (en) * | 2010-04-06 | 2011-10-06 | Kaelin Remo | Drive device for use in a laboratory device |
| CN106961233A (en) * | 2017-03-29 | 2017-07-18 | 广州智能装备研究院有限公司 | A kind of two-phase hybrid stepping motor closed loop control method |
| CN107040178A (en) * | 2017-04-21 | 2017-08-11 | 浙江理工大学 | Two-phase hybrid stepping motor closed-loop control device and method |
| CN108544044A (en) * | 2018-06-26 | 2018-09-18 | 宁波科路机械设备有限公司 | A kind of special composite stepper motor driver of wire cutting machine tool |
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