CN1156244A - Position coder with defect indicator - Google Patents
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- CN1156244A CN1156244A CN 96102968 CN96102968A CN1156244A CN 1156244 A CN1156244 A CN 1156244A CN 96102968 CN96102968 CN 96102968 CN 96102968 A CN96102968 A CN 96102968A CN 1156244 A CN1156244 A CN 1156244A
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- 230000011664 signaling Effects 0.000 description 9
- 230000005284 excitation Effects 0.000 description 6
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- 230000014509 gene expression Effects 0.000 description 4
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Abstract
一种使用多个位置传感器的位置编码器的故障检测器。故障检测器接收来自多个位置传感器的位置信号。位置信号代表磁阻开关设备的转子位置，并且位置信号具有在位置编码器正常操作条件下产生的允许状态和允许的输出状态序列。如果多个传感器中的一个或几个失效或者位置编码器的旋转部件损坏，则来自位置传感器的位置信号中出现非法状态。此时，故障检测器产生故障信号。
A fault detector for a position encoder using multiple position sensors. A fault detector receives position signals from a plurality of position sensors. The position signal represents the rotor position of the reluctance switching device and has a sequence of permissible states and permissible output states produced under normal operating conditions of the position encoder. If one or several of the sensors fails or the rotating part of the position encoder is damaged, an illegal state occurs in the position signal from the position sensor. At this time, the fault detector generates a fault signal.
Description
The present invention relates generally to have the position coder of fault detector.Specifically, the present invention relates to be used for magnetic resistance and close the position coder that has fault detector of drive system.
In general, reluctance machine can be used as a motor and operates, and the trend that the movable part that wherein passes through it moves into the position of magnetic circuit magnetic resistance minimum (that is the position of the inductance maximum of excitation winding) produces torque.
In one type reluctance machine, the excitation of phase winding is to take place with a controlled frequency.These equipment can be used as motor or dynamotor operation.Usually claim that these equipment are synchronous reluctance motor.In second type reluctance machine, the circuit of the position, angle of detection rotor is provided, and encourage phase winding according to the variation of rotor-position.Second type reluctance machine also can be a motor or a dynamotor, and usually this equipment is referred to as reluctance switch equipment.In general the present invention can be applicable to reluctance switch equipment, and in general the present invention can be applicable to reluctance switch equipment, comprising the reluctance switch equipment as motor or dynamotor operation.
Fig. 1 represents the critical piece as the reluctance switch drive system 10 of the reluctance switch equipment of electric motor operated.Input DC power 11 can be battery, also can be AC power through rectification, filtering.The DC voltage that power supply 11 provides is being carried out the ON/OFF variation on the phase winding of electrode 12 under the control of ECU (Electrical Control Unit) 14.This on/off operation anglec of rotation necessary and rotor synchronously could accurate operation of drive system 10.General also to use a rotor position detector 15 that signal with position, the angle correspondence of rotor is provided.Can also use rotor position detector 15 to produce feedback speed signal.
Comprise in the system of a rotor-position sensor at rotor position detector 15, if the rotor-position sensor circuit is out of order, the output signal of the angle position of representing rotor can not be provided exactly, so just may seriously reduce the performance of system, perhaps can make electric motor fails in the worst case.In some cases, attempting to export the controller 14 of controlling an equipment according to the mistake of rotor-position sensor might make the remainder of equipment and control circuit all damage.
By reference Fig. 2 and 3, just can illustrate from rotor position detector 15 and export the importance of signal accurately.Fig. 2 and 3 explanations be on/off operation as the reluctance machine of electric motor operated.
Substantially as shown in Figure 2, rotor pole 20 is being pressed shown in the arrow 20 near stator poles 21.As shown in Figure 2, the part of a complete phase winding 23 is around stator poles 21.As previously discussed, when the part phase winding 23 that twines around the stator poles 21 is energized, will on rotor, apply a power, and promote rotor pole 20 and align with stator poles 21.
Fig. 3 expresses the on-off circuit in the supply convertor 13 of excitation of the part phase winding of control on the stator poles 21 substantially.When power switching devices 31 and 32 was connected, phase winding 23 was coupled on the direct supply, and the excitation phase winding.
In general, phase winding is energized to realize the following rotation of rotor: in first jiao of position (being referred to as conduction angle) of rotor, controller 14 provides switching signal, makes two switching devices 31 and 32 all conductings.When switching device 31 and 32 all during conducting, phase winding is coupled on the dc bus, and the magnetic flux of setting up in the motor is increased.This just magnetic flux that is added on the rotor pole has just produced motor torque.Along with the increase of magnetic flux in the equipment, the direct supply that electric current just provides from dc bus passes switch 31 and 32 and pass phase winding 23 and flow.In some controller, adopted current feedback, and the amplitude of coming the control phase electric current by the on/off electric current, and the on/off of electric current realizes by switching on and off one or two switching device 31 and/or 32 rapidly.
In many systems, phase winding keeps and being connected of dc bus (if adopted the on/off device, then maintenance and on/off device is connected), when rotor forwards " rotating freely for angles " that is referred to as rotor to till.When rotor arrives with position, the corresponding angle of rotating freely for angles (position 24 in Fig. 2), one of them switch (as, switch 31) disconnect.Therefore, the electric current that flows through phase winding continues to flow, but this flowing only passed through a switch (in this embodiment, being switch 32), and only returns diode (in this embodiment, being diode 34) by one.During freely rotating, almost there are not potential difference (PD), magnetic flux to remain unchanged basically at the phase winding two ends.Electric motor system remains on this free rotary state, when forwarding the position, an angle that is referred to as " disconnection " angle (in Fig. 2 by position 25 expressions) to up to rotor till.When rotor reached switch off angle, two switches 31 and 32 all ended, and the electric current in the phase winding begins to flow through diode 33 and 34.Then, diode 33 and 34 applies DC voltage from dc bus in opposite direction to winding 23, thereby the magnetic flux in the equipment is reduced, thereby phase current is reduced.
The excitation of phase winding depends on the position, angle of accurate detection rotor consumingly in the reluctance switch motor.If rotor position detector lost efficacy, and controller encourages the phase winding with keeping, will accumulate the big electric current of danger so in motor, might damage motor and controller.But when drive system lost efficacy, must check each control and motor component so that find the parts of inefficacy usually.The useful practice is, the result's of the fault that a fault that is used to refer to drive system specially is set is rotor position detector indicator, thus just needn't attempt to carry out unnecessary inspection and fault is got rid of.Though some complicated rotor position detector has some failure indicating circuit, these scramblers are quite expensive, and need additional hardware ability proper operation.Existing position decoding device do not provide can indicate the rotor position detector out-of-service time cheaply, small-sized rotor position detector.
The objective of the invention is to overcome the above-mentioned shortcoming of existing position detector and other some shortcomings, and a kind of quite cheap rotor position detector is provided under the condition that does not need complicated or expensive adjunct circuit, but the time that this detecting device indication fault takes place.
In independent claims, define the present invention.In depending on the dependent claims of independent claims, each has listed preferred feature of the present invention.
The present invention's a kind of rotor position detector of extending, but the signal that this detecting device provides the indicating positions detecting device to lose efficacy.In one embodiment of the invention, rotor position detector comprises a plurality of position transducers and from a fault detector of a plurality of position transducer receiving position signals.Position signalling is represented the rotor-position of reluctance switch motor, and this position signalling has enable state, produces enable state when the rotor position detector normal running.If a kind of illegal state then appears in one or several sensor failure in a plurality of sensors in from the position signalling of position transducer.If the rotating element of position detector has taken place from its position to move, damage or, if the partial rotation element is thrown off, then can produce similar illegal state.Fault detector detects these illegal states, and produces a fault-signal when an illegal state takes place.Therefore, motor controller can respond fault-signal and stop electric motor operated, perhaps triggers another targeting scheme.
In another embodiment, determined output state, and, had the allowed sequence of the output state that when the position coder normal running, produces for output state from the output signal of scrambler.In this embodiment, the output state sequence from position coder is monitored; And not just to produce an encoder fault signal in the time of to allow sequence in a single day at once at output sequence.
Behind following detailed description of having read exemplary embodiments and the following accompanying drawing of reference, other aspects and advantages of the present invention will become and be perfectly clear, and these accompanying drawings are:
Fig. 1 represents the critical piece of reluctance switch drive system;
Fig. 2 represents the reversal point near the rotor pole of stator poles and the part phase winding that is associated with this stator poles;
Fig. 3 represents to control the on-off circuit in the supply convertor of excitation of the part phase winding that is associated with the stator poles of Fig. 2 substantially;
Fig. 4 represents the position coder of blade of the available use of one embodiment of the present of invention and 3 position transducers;
Fig. 5 represents the fault detector circuit by one embodiment of the present of invention;
The timing relation figure of the position coder of Fig. 6 presentation graphs 4 is at length expressed the operation of one embodiment of the present of invention; And
Fig. 7 expresses another failure detector circuit that is used to detect illegal output state sequence by the present invention substantially.
In several accompanying drawings, similarly label is represented similar parts.
Illustrative embodiment of the present invention is described below, uses failure detector circuit of the present invention can implement these embodiment, thereby just can detect the position detector or the position coder of reluctance switch circuit effectively.What for clarity sake, describe in this manual is not all features of actual embodiment.
The present invention relates to the fault detector of position coder, this position coder has used a plurality of position transducers.Fault detector receives the position signalling from a plurality of position transducers.Position signalling is represented the electric equipment rotor-position of (as, reluctance switch equipment), and this position signalling has position transducer and operates the enable state that produces under the normal condition.If one or several sensor failure in a plurality of sensors then produces the illegal state from the position signalling of position transducer.If the rotary part of position transducer damages (for example, if rotary part has taken place to move from its position, perhaps having lost one), also to produce illegal state.When producing illegal state, fault detector produces a fault-signal.Therefore, this controller can respond fault-signal and stop electric motor operated, perhaps triggers another targeting scheme.
Fig. 4 represents the utilizable one type position coder of fault detector circuit of the present invention.This position coder comprises a rotary part one blade 40, and blade 40 as shown in Figure 4 has the shading light part 42a-h of 8 spaced at equal intervals and the light transmission part 44a-h of 8 spaced at equal intervals.In this embodiment, blade 40 is installed on the armature spindle of equipment.Blade 40 reflects the position, angle of rotor in this way.This position coder further comprises 3 optical sensor 46a-c that crack, and 15 ° of stationary parts are departed from their installation site.
By instruction of the present invention, to determine the position of sensor 46a-c, so that the output of sensor can be determined an output state, and there is certain output state of the sensor 46a-c that will never take place when not having damaged and blade accurately to locate when sensor normal running, rotation leaf.For example, in the embodiment of Fig. 4, the angular spread in the mark zone of blade and vacancy district has been determined one 22.5 ° angular distance.As shown in Figure 4, the angular distance between per two sensors is 15 ° (less than angular spreads in mark zone and vacancy district), and the angular distance between two outermost sensors is 30 ° (angular spreads in greater than flag and vacancy district).
Because have this mutual relationship at the mark zone of blade and the angular spread in vacancy district and the position location of sensor, so the output state that when the rotor position detector normal running, exists certain not take place.For example, in the embodiment of Fig. 4, the output state (or output mode) of sensor 46a-c when normal running can be 101,001,011,010,110 and 100.But when normal running, the output of sensor is state (or pattern) 111 till the ass ascends the ladder, this be because the angular spread in the mark zone of blade and vacancy district less than due to two the sensor 46a and 30 ° angular distance between the 46c of ragged edge.By identical mode, when the rotor position detector normal running, 000 output state or pattern got rid of in the angular spread in mark zone and vacancy district and the position location of sensor.
According to one embodiment of the present of invention, output by monitoring sensor and in case produce a fault-signal when in two illegal states, 111 and 000 any one takes place can detect and indicates the rotor-position fault (comprising the fault of sensor 46a-46c) of encoding.
It should be noted, use the blade 40 and the light detecting sensor 46a-c of the mark zone of the vacancy district have printing opacity and shading just to illustrate.In general the present invention can be applicable to have used the position detector of the form of ownership of a plurality of sensors that can not produce some output state when having normal running.For example, the present invention can be applicable to use the position transducer of the blade that comprises magnetic mark zone and non-magnetic vacancy district, and wherein the sensor in certification mark district and vacancy district is a Hall effect device.Similarly, blade can comprise a plurality of double wedges that ferromagnetic material constitutes, and each sensor can be the magnetoresistive transducer form.Other the device that produces digital signal includes: the zone that electric capacity or inductance change and detect the suitable sensor of these variations.Also have, can use the variation of light reflectivity to come the zone of instead of optical transmission change.The present invention also may be used on using and position detector in conjunction with the different a series of sensors of Fig. 4 sensor discussed above.
In general, the present invention may be used on producing the signal of position detector put to(for) one digital output bit in each variation change output of rotor state, and this is useful.In other words, the position transducer that is particularly suitable for producing position signalling of the present invention by Gray code (cyclic binary code).
In addition, the present invention can be applicable to utilize with different mark zone shown in Figure 4 and vacancy district, different mark and vacancy than and the position transducer of different number of sensors.
Be also noted that further the present invention only requires one or several illegal state that can not occur when the rotor position detector normal running is worked as in existence.For example, if N sensor arranged, logical value of each sensor generation is high or is low signal, then certainly exists less than 2N permission output state, wherein has an illegal state at least.The generation of illegal state represents that one or several sensor or rotating blades are out of order.
Fig. 5 represents an embodiment by fault detector circuit 50 of the present invention.Fault detector circuit 50 receives the output of 3 position transducer 46a-46c of Fig. 4, with this input as it.The output of 3 sensor 46a-46c offers three input end rejection gates 52 and three input ends and door 54 as input.Only when all 3 inputs of rejection gate 52 were logic low entirely, the output of three input end rejection gates 52 just was logic high.Therefore, the output of rejection gate 52 just be height when producing illegal output state 000.By similar mode, only when 3 inputs with door 54 all are logic high, with the output of door 54 just be logic high.Therefore, when producing illegal output state 111, with the output of door 54 be logic high just.
Rejection gate 52 and be added to as input or door 56 with the output of door 54, therefore in case illegal state occurs, or the output of door 56 just becomes logic high.Therefore, or the logic highs of door 56 outputs just express that one of sensor 46a-c makes mistakes or rotating blades is out of joint.In the embodiment of Fig. 5, with or the output logic height of door 56 output be stored in the fault latch device 58, therefore can keep indicating fault from fault detector 50.The controller circuitry (not shown) can be monitored the output of fault detector 50 or the output of fault latch device 58, with the time of determining that fault takes place.When breaking down, controller circuitry can stop the drive system operation, is transferred to an additional targeting scheme, perhaps realizes certain type fault detect.
Fig. 6 expresses the operation of sensor 46a-c and fault detector 50 substantially.Typical case's output of sensor 46a-c when in general, 3 of the top of Fig. 6 waveforms represent that blade turns over sensor 46a-c during the operation of equipment.The waveform of the bottom of Fig. 6 is represented fault output, and this output is the output of fault latch 58 in the example of Fig. 5.
With reference to Fig. 6, for normal mode of operation, fault detector 50 produces the low logical sensor output of an expression normal running.If position transducer 46 (as, sensor 46a) lost efficacy at point 60 places, and produce an illegal state (as, 000), the logic high output that then will produce an expression sensor failure.In fault latch device 58, and the output of fault latch device 58 will keep the output of this logic high with this logic high output latch, until fault latch device 58 when resetting till.
Though the embodiment of Fig. 5 has used discrete logic gate to detect the illegal state of representing fault, other embodiment but can guess, fault detector 50 wherein (for example comprises an integrated digital circuit chip, the special integrated circuit (ASIC) of fitting) or a microprocessor, be used for determining that position signalling 46a-c represents the normal running of position transducer or represents its faulty operation.
In a single day in another embodiment of the present invention, the output signal sequence that position coder provides is monitored, and the illegal sequence of output state occurs, then represent an encoder fault.For example, in the embodiment of Fig. 4, when the position coder normal running, output state 100 will never appear at the back of output state 011.Similarly, when the scrambler normal running, output state 001 will never appear at the back of output state 011.So if output sequence 011-100 or 011-001, then the presentation code device is made mistakes or is broken down.This error detecting method can detect the mistake in the scrambler, also can accomplish this point even each single output state all is a legal state.
By using a look-up table just can implement this another embodiment, in this look-up table, each output state one or more adjacent (or next) enable states have all been stored.When the output of scrambler when first output state changes to second output state, the next enable state (one or more) of this second output state and first output state is compared.If the output state (one or more) that this second output state and this next one allow is inconsistent, then produce the encoder fault signal of an expression position coder mistake.
Fig. 7 expresses an example that is used to detect another failure detector circuit of output state illegal sequence by embodiments of the invention substantially.In Fig. 7, the existing output state of scrambler occurs on data bus 70.Data bus 70 is coupled to the input end of delay latch 71.Produce a circuit (not shown) of a time clock at every turn when the output state by position coder changes, delay latch is carried out timing.The structure of the circuit of a time clock of generation will not be discussed this in those of ordinary skills' horizontal extent here when output state changed at every turn.The delay output state (that is the previous output state of existing output state) of position coder is represented in the output of delay latch 71.Previous output state is offered look-up table 73 as input through bus 72.
The next one (or a plurality of) output state that has stored the permission of previous output state in the look-up table 73.Look-up table 73 in response to it input end legal output state and allow output state (one or more) at the next one that its output terminal produces previous output state.In the embodiment of Fig. 7, only there is the next output state of a permission for each legal output state, can also guess certainly and other embodiment, more than one of admissible output state subsequently wherein.
To offer an input end of digital comparator 75 from the next output status signal of the permission of look-up table 73 through data bus 74.The existing output state that is provided by data bus 70 is another input of digital comparator 75.The output state that digital comparator 75 is more existing and the next admissible output state of previous output state, and, then produce a fault-signal at its output terminal (bus 76) in case the next admissible output state of existing output state and previous output state is inconsistent.Can by with above to from Fig. 5's or the identical mode discussed of door 56 fault-signal handle fault-signal by electric motor system from comparer 75.In some applications, may must be to comparer 75 timing so that only in response to the previous vary stable of output state compare again after the output of look-up table 73.
As previously discussed, in Fig. 7, only there is an admissible next state in each legal output state.Exist in the application of a more than admissible output state subsequently at the output state legal, can use additional comparer each.Can make up the output of each additional comparators by logical circuit, produce an encoder fault signal with any one state in admissible a plurality of output states subsequently of existing output state of convenient scrambler and preceding state when inconsistent.
Though what use is discrete circuit, also can realize this another embodiment by the microprocessor, microcontroller, ASIC or the similar device that use correct programming in Fig. 7.Though in Fig. 7, do not show, can be together with circuit that detects the output state illegal sequence and the combination of circuits that detects illegal output state.
Though described the present invention by means of slewing, those of ordinary skill should be realized that, can be applied to the linear position scrambler to the identical operations principle, and effect is identical.For example, those of ordinary skill should be realized that, reluctance machine (the electric equipment of other type of erect image is the same) can be made a linear motor.The moving-member of linear motor also is referred to as " rotor " in this area.Term used herein " rotor " is intended to also comprise the moving-member of linear motor.
Use various circuit typess and layout all can realize by means of above-mentioned example and the disclosed principle of the present invention of discussion.Can use various logical blocks, device and planform to implement fault detector according to the performance characteristic of position coder embodiment and expectation.Yet scrambler can use with the reluctance machine with stator poles or rotor pole with the position transducer detecting device, but the number of rotor pole or stator poles can with here shown in different.In addition, the present invention also may be used on inversion type equipment (that is, rotor is at the equipment of the outside of stator rotation) and any position coder, as is used for the position coder of brushless direct current motor or other reversing motor.Should be realized that the one of ordinary skilled in the art, under the condition that the typical case that not strict transillumination illustrates here and describes uses, and under the condition of true spirit of the present invention that does not depart from following claim regulation and scope, can also make these and various other modifications and variations to the present invention.
Claims (13)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96102968 CN1156244A (en) | 1995-03-28 | 1996-03-28 | Position coder with defect indicator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9506358.2 | 1995-03-28 | ||
| CN 96102968 CN1156244A (en) | 1995-03-28 | 1996-03-28 | Position coder with defect indicator |
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| CN1156244A true CN1156244A (en) | 1997-08-06 |
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| CN 96102968 Pending CN1156244A (en) | 1995-03-28 | 1996-03-28 | Position coder with defect indicator |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101266155B (en) * | 2007-03-16 | 2011-08-17 | 大隈株式会社 | Abnormality detection apparatus for rotary type absolute encoder |
| CN102422127A (en) * | 2009-03-31 | 2012-04-18 | 法雷奥电机设备公司 | Method and device for diagnosing a malfunction of a sensor for determining the angular position of the rotor of a polyphase rotating electrical machine |
| CN102472769A (en) * | 2009-06-26 | 2012-05-23 | 三菱电机株式会社 | Sensing device |
| CN102607630A (en) * | 2012-02-20 | 2012-07-25 | 中联重科股份有限公司 | Fault detection method, device and system of encoder |
| CN103017644A (en) * | 2011-09-20 | 2013-04-03 | 株式会社捷太格特 | Displacement detecting device, vehicle steering system, and motor |
| CN103389135A (en) * | 2012-05-11 | 2013-11-13 | 深圳长城开发科技股份有限公司 | Method for automatically adjusting metering logic of metering equipment |
| CN105024622A (en) * | 2015-08-16 | 2015-11-04 | 石成富 | Intelligent control method of electrically-driven motor |
| WO2016091092A1 (en) * | 2014-12-08 | 2016-06-16 | 中国矿业大学 | Trouble-shooting and fault-locating method for four position sensors of four-phase switched reluctance motor |
| CN111272104A (en) * | 2019-11-21 | 2020-06-12 | 中国科学院国家天文台南京天文光学技术研究所 | Method for automatic shielding of faulty readheads of position sensors in extreme environments |
| CN111537005A (en) * | 2020-05-09 | 2020-08-14 | 浙江众邦机电科技有限公司 | Method for processing signal loss of incremental photoelectric encoder |
| CN112332747A (en) * | 2020-10-12 | 2021-02-05 | 南京信息工程大学 | A fast fault diagnosis control method for switched reluctance motor position square wave signal |
-
1996
- 1996-03-28 CN CN 96102968 patent/CN1156244A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101266155B (en) * | 2007-03-16 | 2011-08-17 | 大隈株式会社 | Abnormality detection apparatus for rotary type absolute encoder |
| CN102422127A (en) * | 2009-03-31 | 2012-04-18 | 法雷奥电机设备公司 | Method and device for diagnosing a malfunction of a sensor for determining the angular position of the rotor of a polyphase rotating electrical machine |
| CN102422127B (en) * | 2009-03-31 | 2014-12-17 | 法雷奥电机设备公司 | Method and device for diagnosing malfunctions of sensors for determining the angular position of a rotor of a polyphase rotating electric machine |
| CN102472769B (en) * | 2009-06-26 | 2014-04-02 | 三菱电机株式会社 | Sensing device |
| CN102803971B (en) * | 2009-06-26 | 2015-12-02 | 三菱电机株式会社 | There is the rotational speed checkout equipment of error monitoring function |
| CN102803971A (en) * | 2009-06-26 | 2012-11-28 | 三菱电机株式会社 | Rotary speed detection device with error monitoring |
| CN102472769A (en) * | 2009-06-26 | 2012-05-23 | 三菱电机株式会社 | Sensing device |
| CN103017644A (en) * | 2011-09-20 | 2013-04-03 | 株式会社捷太格特 | Displacement detecting device, vehicle steering system, and motor |
| WO2013123768A1 (en) * | 2012-02-20 | 2013-08-29 | 中联重科股份有限公司 | Encoder fault detection method, device, and system |
| CN102607630A (en) * | 2012-02-20 | 2012-07-25 | 中联重科股份有限公司 | Fault detection method, device and system of encoder |
| CN103389135B (en) * | 2012-05-11 | 2018-04-03 | 深圳长城开发科技股份有限公司 | The method of the adjust automatically quantitative logic of measuring equipment |
| CN103389135A (en) * | 2012-05-11 | 2013-11-13 | 深圳长城开发科技股份有限公司 | Method for automatically adjusting metering logic of metering equipment |
| WO2016091092A1 (en) * | 2014-12-08 | 2016-06-16 | 中国矿业大学 | Trouble-shooting and fault-locating method for four position sensors of four-phase switched reluctance motor |
| CN105024622A (en) * | 2015-08-16 | 2015-11-04 | 石成富 | Intelligent control method of electrically-driven motor |
| CN111272104A (en) * | 2019-11-21 | 2020-06-12 | 中国科学院国家天文台南京天文光学技术研究所 | Method for automatic shielding of faulty readheads of position sensors in extreme environments |
| CN111537005A (en) * | 2020-05-09 | 2020-08-14 | 浙江众邦机电科技有限公司 | Method for processing signal loss of incremental photoelectric encoder |
| CN112332747A (en) * | 2020-10-12 | 2021-02-05 | 南京信息工程大学 | A fast fault diagnosis control method for switched reluctance motor position square wave signal |
| CN112332747B (en) * | 2020-10-12 | 2022-05-20 | 南京信息工程大学 | A fast fault diagnosis control method for switched reluctance motor position square wave signal |
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