CN114614705B - Electro-magnetic doubly salient motor position detection method based on excitation winding high-frequency injection - Google Patents
Electro-magnetic doubly salient motor position detection method based on excitation winding high-frequency injection Download PDFInfo
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- CN114614705B CN114614705B CN202210457811.9A CN202210457811A CN114614705B CN 114614705 B CN114614705 B CN 114614705B CN 202210457811 A CN202210457811 A CN 202210457811A CN 114614705 B CN114614705 B CN 114614705B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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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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Abstract
The invention discloses an electro-magnetic doubly salient motor position detection method based on excitation winding high-frequency injection, which comprises the steps of rotor initial position detection and commutation point detection during electric operation; when the initial position of the rotor is detected, only high-frequency current or voltage signals are injected into the excitation winding to detect phase voltage of the three-phase armature winding, and the magnitude relation of mutual inductance of the phase winding and the excitation winding is determined according to the magnitude relation of the phase voltage of the three-phase armature winding, so that the sector where the rotor is located at the initial position is determined; when the commutation point is detected during electric operation, a constant-frequency and constant-amplitude current or voltage signal is superposed on the direct-current exciting current, band-pass filtering is carried out on the non-conducting phase voltage of the armature winding, response voltage with the same frequency as the superposed signal is filtered out, and commutation point judgment is carried out according to the magnitude relation between the response voltage of the non-conducting phase and the threshold voltage at the commutation point. The invention can realize the detection of the initial position of the rotor of the electro-magnetic doubly salient motor and the phase change point during the electric operation by injecting the high-frequency signal into the excitation winding.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a position detection method of an electro-magnetic doubly salient motor based on high-frequency injection of an excitation winding.
Background
The rotor of the electric excitation doubly salient motor is formed by stacking silicon steel sheets, additional elements such as windings, permanent magnets and the like are not arranged on the rotor, the structure is firm and reliable, and the electric excitation doubly salient motor is suitable for high-speed operation. In addition, the motor structure is free of permanent magnets, the risk of demagnetization of the permanent magnets is avoided, and compared with a permanent magnet motor, the motor can tolerate higher temperature rise. The structural characteristics of the electric excitation doubly salient motor make the electric excitation doubly salient motor suitable for operating under extreme working conditions of high speed, high temperature rise and the like. However, when the motor is operated electrically, an accurate phase-change signal is required, a position sensor is usually required to be installed, and when the motor is in a working environment with strong magnetic interference, high temperature rise and strong vibration, the position sensor becomes the weakest part in the whole motor system; the installation of the position sensor also increases the overall size and manufacturing cost of the motor. Therefore, the research on the position-sensorless control strategy of the electro-magnetic doubly salient motor has important significance for further improving the operation reliability, exerting the inherent advantages of the electro-magnetic doubly salient motor and popularizing the electro-magnetic doubly salient motor to more application fields.
At present, the control of an electro-magnetic doubly salient motor without a position sensor is basically in a phase change point detection stage, continuous rotor position estimation is difficult to realize, and a detection result in the phase change point detection stage has a large error; in addition, most of the existing research focuses on a middle and high rotating speed section, and the available methods for a full speed region operation section are fewer.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a method for detecting a position of an electro-magnetic doubly salient motor based on high-frequency injection of an excitation winding, which can accurately detect an initial position of a rotor and a commutation point during an electric operation.
The technical scheme of the invention is as follows:
a position detection method of an electro-magnetic doubly salient motor based on high-frequency injection of an excitation winding is used for detecting the initial position of a motor rotor, and specifically comprises the following steps:
when the motor is static and has no armature current, only injecting current or voltage signal into the excitation winding of the motor at high frequency, and detecting three-phase voltage U a 、U b 、U c ；
According to the three-phase voltage U a 、U b 、U c Determining the mutual inductance L of the phase winding and the excitation winding af 、L bf 、L cf The magnitude relationship of (1);
according to said phase winding-field winding mutual inductance L af 、L bf 、L cf Determining the initial position interval of the motor rotor according to the size relationship of the rotor and the rotor.
Preferably, when injecting a current or voltage signal into the field winding of the motor at a high frequency, the injected high frequency signal is a sinusoidal current or a square wave voltage.
Preferably, the specific relationship among the three-phase voltage, the phase winding-excitation winding mutual inductance, and the rotor initial position interval of the rotor motor is as follows:
if U is present a ＞U b ≥U c Then L is af ＞L bf ≥L cf At the moment, the electric angle interval is [0,60 degrees ], and the rotor is positioned in the first sector;
if U is present b ≥U a ＞U c Then L is bf ≥L af ＞L cf At the moment, the electric angle interval is [60 degrees, 120 degrees ], and the rotor is positioned in the first sector;
if U is b ＞U c ≥U a Then L is bf ＞L cf ≥L af At the moment, the electric angle interval is [120 degrees and 180 degrees ], and the rotor is positioned in the second sector;
if U is c ≥U b ＞U a Then L is cf ≥L bf ＞L af At the moment, the electric angle interval is [180 degrees, 240 degrees ], and the rotor is positioned in a second sector;
if U is c ＞U a ≥U b Then L is cf ＞L af ≥L bf At the moment, the electric angle interval is [240 degrees and 300 degrees ], and the rotor is positioned in a third sector;
if U is a ≥U c ＞U b Then L is af ≥L cf ＞L bf At this time, the electrical angle interval is [300 °,360 °), and the rotor is located in the third sector.
Preferably, the detection method is further used for detecting a commutation point when the motor runs electrically, and specifically includes the following steps:
when the motor runs electrically, current or voltage signals with fixed frequency and fixed amplitude are superposed on the direct current exciting current;
carrying out band-pass filtering on the non-conducting phase voltage, and filtering out a response voltage with the same frequency as the superposed signal;
and judging whether the phase change point is reached or not according to the magnitude relation between the response voltage of the non-conducting phase and the threshold voltage at the phase change point.
Preferably, when a constant-frequency and constant-amplitude current or voltage signal is superimposed on the dc excitation current, the superimposed signal is a sinusoidal current or a square-wave voltage.
Preferably, when a high-frequency signal is superimposed on the dc excitation winding, the excitation winding is composed of two sets of parallel coils, one set of the coils is used as an excitation coil through which a dc excitation current is injected, and the other set of the coils is used as a position detection auxiliary coil through which a high-frequency signal is injected.
Preferably, the threshold voltage is a threshold range that can be adjusted according to the frequency of the injected high-frequency signal and the requirement for the accuracy of phase-change point detection, and the phase-change point is reached when the response voltage of the non-conducting phase is within the threshold range.
The invention has the beneficial effects that:
the invention can accurately detect the initial position of the rotor of the electric excitation doubly salient motor and the commutation point during electric operation; when the motor is static and has no armature current, high-frequency signals are injected into the excitation winding, and the initial position interval of the motor rotor is determined according to the magnitude relation of the response voltage of each phase winding, so that correct initial acceleration pulse is obtained, and non-reversal starting is realized; when the motor runs electrically, a signal with a fixed frequency and a fixed amplitude is injected into the exciting winding, band-pass filtering is carried out on the non-conducting phase voltage, response voltage with the same frequency as the injected signal is filtered out, and whether the phase change point is reached is determined by comparing the response voltage with the threshold value of the phase change point by utilizing the characteristic that the amplitude of the response voltage changes along with the change of the position of the rotor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of the principle of the method for detecting the position of an electro-magnetic doubly-salient motor based on high-frequency injection of an excitation winding according to the invention;
fig. 2 is a schematic plan structure diagram of an electrically excited doubly salient motor according to an embodiment of the present invention;
FIG. 3 is a schematic voltage waveform diagram of the rotor with sinusoidal current injected into the field winding at an electrical angle of 0 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a waveform of a phase voltage of a rotor with sinusoidal current injected by an excitation winding at an electrical angle of 50 degrees according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a phase winding-field winding mutual inductance curve in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a non-conducting phase voltage of a constant-frequency and constant-amplitude sinusoidal current superimposed on a DC exciting current when an electric motor operates according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating the result of harmonic analysis of the no-load back emf according to an embodiment of the present invention;
fig. 8 is a diagram illustrating a relationship between a non-conducting phase sinusoidal response voltage and a phase winding-excitation winding mutual inductance according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the drawings. It should be noted that, in the present application, the embodiments and the technical features of the embodiments may be combined with each other without conflict. It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "comprising" or "including" and the like in the present disclosure is intended to mean that the elements or items listed before that term include the elements or items listed after that term and their equivalents, without excluding other elements or items.
As shown in fig. 1, the present invention provides a method for detecting a position of an electro-magnetic doubly salient motor based on high-frequency injection of an excitation winding, where the method is used to detect an initial position of a rotor of the motor, and specifically includes the following steps:
s1: when the motor is at rest and no armature current exists, only the direction of the current is changedHigh-frequency injection of current or voltage signals into the field winding of an electric machine and detection of the three-phase voltage U a 、U b 、U c ；
In a specific embodiment, when injecting a current or voltage signal into the excitation winding of the motor at a high frequency, the injected high frequency signal adopts a sinusoidal current or a square wave voltage. The two high-frequency signals are only two signals preferred in the present invention, and the three-phase voltage U induced on the armature winding side by the injected signal is only required to be the one that is the three-phase voltage U a 、U b 、U c The magnitude relationship of (a) and (b) may be in correspondence with the rotor position. In addition, high-frequency injection is the prior art, the principle of determining the frequency and amplitude of the injection signal is that the frequency and amplitude of the injection signal should not have too large influence on the normal electric operation of the motor and the position detection precision should not be influenced, and a person skilled in the art can determine the frequency and amplitude of the injection signal by himself or herself according to specific parameters and detection conditions of the motor to be detected, and details are not repeated herein.
S2: according to the three-phase voltage U a 、U b 、U c Determining the mutual inductance L of the phase winding and the excitation winding af 、L bf 、L cf The magnitude relationship of (1);
s3: according to the phase winding-excitation winding mutual inductance L af 、L bf 、L cf Determining the initial position interval of the motor rotor according to the size relationship;
in steps S2 and S3, the specific relationship among the three-phase voltage, the phase winding-excitation winding mutual inductance, and the rotor initial position interval of the rotor motor is as follows:
if U is present a ＞U b ≥U c Then L is af ＞L bf ≥L cf At the moment, the electric angle interval is [0,60 degrees ], and the rotor is positioned in the first sector;
if U is b ≥U a ＞U c Then L is bf ≥L af ＞L cf At the moment, the electric angle interval is [60 degrees, 120 degrees ], and the rotor is positioned in the first sector;
if U is b ＞U c ≥U a Then L is bf ＞L cf ≥L af At this time, the electric angle interval is [ [ alpha ] ]120 °,180 °), the rotor being located in the second sector;
if U is c ≥U b ＞U a Then L is cf ≥L bf ＞L af At the moment, the electric angle interval is [180 degrees, 240 degrees ], and the rotor is positioned in a second sector;
if U is c ＞U a ≥U b Then L is cf ＞L af ≥L bf At the moment, the electric angle interval is [240 degrees and 300 degrees ], and the rotor is positioned in a third sector;
if U is present a ≥U c ＞U b Then L is af ≥L cf ＞L bf At this time, the electrical angle interval is [300 °,360 °), and the rotor is located in the third sector.
When the rotor is stationary and there is no armature current, the expression for the phase voltages is as follows:
in the formula: u. of p Is a three-phase voltage; l is a radical of an alcohol pf Is a phase winding-excitation winding mutual inductance; i.e. i f Current generated in the field winding for injecting the high frequency signal; t is time.
According to the invention, the current is injected into the excitation winding at high frequency, and the three-phase voltage u can be obtained by the formula (1) p Is only in mutual inductance L between the phase winding and the excitation winding pf And the three-phase voltages are in the same phase and are only equal at the zero crossing point, so that the three-phase winding phase voltages can be sampled simultaneously, and the magnitude relation of the three-phase winding phase voltages is compared to obtain the magnitude relation of the mutual inductance of the three-phase winding and the excitation winding, thereby obtaining the sector where the rotor is located. The method can solve the technical problems that the rotor is easy to rotate under the working condition of no load or light load, the rotor can be reversed, and the position detection is inaccurate in the prior art.
In a specific embodiment, the detection method of the present invention is further used for detecting a commutation point when the motor operates electrically, and specifically includes the following steps:
s1': when the motor runs electrically, current or voltage signals with fixed frequency and fixed amplitude are superposed on the direct current exciting current;
in a specific embodiment, when a constant-frequency and constant-amplitude current or voltage signal is superimposed on the direct-current exciting current, the superimposed signal adopts a sinusoidal current or a square-wave voltage. The two signals are only preferred signals in the present invention, and the non-conducting phase voltage induced by the injected signal on the armature winding side may have a characteristic relationship corresponding to the position of the commutation point. In addition, the frequency and the amplitude of the superimposed signal can be calculated by those skilled in the art according to specific parameters of the motor to be detected, and are not described herein again.
S2': carrying out band-pass filtering on the non-conducting phase voltage, and filtering out a response voltage with the same frequency as the superposed signal;
s3': and judging whether the phase change point is reached or not according to the magnitude relation between the response voltage of the non-conducting phase and the threshold voltage at the phase change point.
In a specific embodiment, the threshold voltage is a threshold range that can be adjusted according to the frequency of the injected high-frequency signal and the requirement for the accuracy of detecting the commutation point, and the commutation point is reached when the response voltage of the non-conducting phase is within the threshold range. It should be noted that, a person skilled in the art may calculate, in finite element simulation software, a response voltage of a non-conducting phase at a commutation point when a position detection signal is injected according to a motor to be detected, and determine the response voltage, which is not described herein again.
When the motor is running electrically, the non-conducting phase voltages are as follows:
in the formula: u. of p Is a three-phase voltage; l is a radical of an alcohol pf Is the phase winding-excitation winding mutual inductance.
According to the invention, a fixed-frequency fixed-amplitude signal is superposed on the direct-current exciting current, and a band-pass filter with the center frequency being the same as that of the injected signal is used for filtering out the response voltage, namely, the second term counter potential part on the right side of the formula (2) is filtered out. Thus, in the non-conduction regionL of pf The voltage amplitude of the non-conducting phase and L are known from a phase voltage expression, and the amplitude is changed only along with the change of the position of the rotor and is not influenced by the exciting current and the armature current pf Corresponds to, and L pf Corresponding to the rotor position. Whether the phase change point is reached can be judged by comparing the non-conducting phase response voltage with the threshold voltage at the phase change point.
The non-conducting phase rather than the conducting phase is adopted in the invention because: the conducting phase has armature current and magnetic saturation influence, the response voltage is difficult to filter out, and the non-conducting phase has no magnetic saturation influence and no armature current and only needs to filter out counter electromotive force.
In a specific embodiment, in step S1', when a high-frequency signal is superimposed on the dc excitation winding, as shown in fig. 2, the excitation winding is composed of two parallel sets of coils, one set of which is an excitation coil through which a dc excitation current is injected, and the other set of which is a position detection auxiliary coil through which a high-frequency signal is injected. Therefore, the difficulty of injecting high-frequency signals in a fixed amplitude mode can be reduced, and the technical problem that the difficulty of injecting the high-frequency signals in an actual system to achieve the fixed amplitude is high is solved.
Taking phase a as an example, after the excitation winding is divided into an excitation coil and a position detection auxiliary coil which are arranged in parallel, the phase voltage expression is as follows:
in the formula: r a The internal resistance of the A-phase winding is obtained; i all right angle a Is A phase armature current; l is a Self-inductance of the A-phase winding; l is ab Mutual inductance between the A-phase winding and the B-phase winding; i all right angle b Is B-phase armature current; l is a radical of an alcohol ac Mutual inductance between the A-phase winding and the C-phase winding; i.e. i c Is C-phase armature current; l is a radical of an alcohol ap Detecting mutual inductance between the phase windings and the position detection auxiliary coil; i all right angle p A current generated in the auxiliary winding for injecting the high frequency signal; omega is the mechanical angular speed of the motor; theta is the mechanical position angle of the motor rotor.
The sinusoidal response voltage after the band pass filter is as follows:
comparing the formula (4) with the formula (2), it can be known that after the exciting winding is divided into the exciting winding and the position detection auxiliary winding which are placed in parallel, only the phase winding-exciting winding mutual inductance is replaced by the phase winding-position detection auxiliary winding mutual inductance, the principle of the method is unchanged, and the original analysis result is unchanged.
Example 1
The invention adopts the method for detecting the position of the electro-magnetic doubly salient motor based on the high-frequency injection of the excitation winding to detect the initial position of the motor rotor.
In this embodiment, when injecting a high-frequency signal into the field winding of the motor, the signal used is a sinusoidal current. The waveform of the phase voltage when the field winding injection current rotor is at the position of 0 degree in electrical angle is shown in fig. 3, the waveform of the phase voltage when the field winding injection current rotor is at the position of 50 degree in electrical angle is shown in fig. 4, and the mutual inductance curve of the phase winding and the field winding is shown in fig. 5.
Example 2
The method for detecting the position of the doubly salient electro-magnetic motor based on the high-frequency injection of the excitation winding is adopted to detect the commutation point during the electric operation.
In this embodiment, when a signal with a constant frequency and amplitude is superimposed on a dc exciting current, the signal used is a sinusoidal current. Fig. 6 shows non-conducting phase voltages of a constant-frequency constant-amplitude sinusoidal current superimposed on a direct-current exciting current during electric operation. Harmonic analysis was performed on the back emf, and the results are shown in fig. 7, and it can be seen from fig. 7 that the back emf fundamental component is dominant and the ten-fold harmonic is almost attenuated to zero. When the frequency of the injected sinusoidal current is far away from counter potential fundamental wave and higher harmonic frequency, the sinusoidal response voltage of the phase winding can be filtered out by using a band-pass filter; when the magnetic field is in the non-conducting region, the mutual inductance of the winding-exciting winding does not change with the armature current and the exciting current. The correspondence between the non-conductive phase sinusoidal response voltage and the phase winding-excitation winding mutual inductance is shown in fig. 8, and it can be known from the formula (2) that when the sinusoidal current is injected with constant amplitude and constant frequency and the back electromotive force is filtered out, the amplitude of the sinusoidal response voltage is only related to the phase winding-excitation winding mutual inductance, and when the value of the sinusoidal response voltage reaches the threshold value of the phase commutation point, it can be judged that the phase commutation point is reached. The threshold voltage can be obtained by injecting a constant-frequency and constant-amplitude sinusoidal current when the rotor is positioned at a phase-changing point in an off-line mode.
In addition, in order to avoid misjudgment of phase change point detection caused by phase voltage detection immediately after the previous phase change is completed, the phase change point detection is carried out in an effective voltage sampling interval after the time required by the time delay of rotating by about 60 degrees of electrical angle.
In conclusion, the invention can accurately detect the initial position of the rotor and the commutation point during the electric operation by injecting the high-frequency signal into the exciting winding instead of injecting the armature winding.
Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (6)
1. A position detection method of an electro-magnetic doubly salient motor based on excitation winding high-frequency injection is characterized in that the detection method is used for detecting the initial position of a motor rotor, and specifically comprises the following steps:
when the motor is static and has no armature current, only injecting current or voltage signal into the excitation winding of the motor at high frequency, and detecting three-phase voltage U a 、U b 、U c ；
According to the three-phase voltage U a 、U b 、U c Determining the mutual inductance L of the phase winding and the excitation winding af 、L bf 、L cf The magnitude relationship of (1);
according to said phase winding-field winding mutual inductance L af 、L bf 、L cf Determining the initial position interval of the motor rotor according to the size relationship;
the specific relations among the three-phase voltage, the mutual inductance of the phase winding and the excitation winding and the initial position interval of the rotor motor rotor are as follows:
if U is a ＞U b ≥U c Then L is af ＞L bf ≥L cf At the moment, the electric angle interval is [0,60 degrees ], and the rotor is positioned in the first sector;
if U is b ≥U a ＞U c Then L is bf ≥L af ＞L cf At the moment, the electric angle interval is [60 degrees, 120 degrees ], and the rotor is positioned in the first sector;
if U is b ＞U c ≥U a Then L is bf ＞L cf ≥L af At the moment, the electric angle interval is [120 degrees and 180 degrees ], and the rotor is positioned in the second sector;
if U is c ≥U b ＞U a Then L is cf ≥L bf ＞L af At the moment, the electric angle interval is [180 degrees, 240 degrees ], and the rotor is positioned in a second sector;
if U is c ＞U a ≥U b Then L is cf ＞L af ≥L bf At the moment, the electric angle interval is [240 degrees and 300 degrees ], and the rotor is positioned in a third sector;
if U is a ≥U c ＞U b Then L is af ≥L cf ＞L bf At this time, the electrical angle interval is [300 °,360 °), and the rotor is located in the third sector.
2. The method for detecting the position of the doubly salient electro-magnetic motor based on the high-frequency injection of the excitation winding as claimed in claim 1, wherein when a current or voltage signal is injected into the excitation winding of the motor at a high frequency, the injected high-frequency signal adopts a sinusoidal current or a square wave voltage.
3. The method for detecting the position of the doubly salient electro-magnetic motor based on the high-frequency injection of the excitation winding according to claim 1 or 2, wherein the method is further used for detecting a commutation point when the motor runs electrically, and specifically comprises the following steps:
when the motor runs electrically, a current or voltage signal with fixed frequency and fixed amplitude is superposed on the direct-current exciting current;
carrying out band-pass filtering on the non-conducting phase voltage, and filtering out a response voltage with the same frequency as the superposed signal;
and judging whether the phase change point is reached according to the magnitude relation between the response voltage of the non-conducting phase and the threshold voltage at the phase change point.
4. The method for detecting the position of the doubly salient electro-magnetic machine based on the high-frequency injection of the excitation winding as claimed in claim 3, wherein when a constant-frequency and constant-amplitude current or voltage signal is superimposed on the direct-current excitation current, the superimposed signal adopts a sinusoidal current or a square-wave voltage.
5. The method according to claim 4, wherein when a high-frequency signal is superimposed on the DC field winding, the field winding is composed of two parallel coils, one of the coils is used as a field coil through which a DC field current is injected, and the other coil is used as a position detection auxiliary coil through which a high-frequency signal is injected.
6. The method according to claim 3, wherein the threshold voltage is a threshold range that can be adjusted according to the frequency of the injected high-frequency signal and a requirement for the detection accuracy of a commutation point, and the commutation point is reached when the response voltage of the non-conducting phase is within the threshold range.
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