CN115931036B - Magnetic encoder fault detection method and device, electronic equipment and storage medium - Google Patents
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Abstract
The application discloses a fault detection method and device of a magnetic encoder, wherein the method comprises the following steps: acquiring a first angular velocity and a second angular velocity of a position sensor at front and rear moments; obtaining a first angular velocity change rate according to the absolute difference value of the two angular velocities; acquiring a target electrical rotating speed of the position sensor at the current moment, and acquiring a second angular velocity change rate according to a preset calculation model; if the absolute difference of the two angular velocity change rates is larger than the threshold value in 10 continuous moments, the position sensor is judged to be faulty, and the angular redundancy is controlled through the position sensor. According to the invention, whether the sensing control is abnormal or not is judged by judging whether the absolute difference value of the first angular velocity change rate and the second angular velocity change rate exceeds the threshold value within 10 continuous moments, and when the abnormality is detected, the sensing control is switched to the position-free sensor to control the angle redundancy, so that the problem that the unmanned aerial vehicle is fried due to abnormal power can be effectively solved, and the redundancy and the reliability of the power sleeve are improved.
Description
Technical Field
The present invention relates to the field of motor control, and in particular, to a method and apparatus for detecting a magnetic encoder failure, an electronic device, and a storage medium.
Background
In the unmanned aerial vehicle field, the response performance requirement to the power sleeve is higher under some application scenes, and the use of a position-free sensor can cause the step-out under the condition of controlling quick dynamic response, so the power sleeve capable of fast response generally adopts the inductive control to avoid the problem, the inductive control is to detect the motor axial magnetic field through the inductive sensor (such as a magnetic braiding sensor) so as to obtain the position of the motor, but in the use process, the axial magnet of the motor is limited by the manufacturing process, and a small part of magnet is in the falling condition after long-time operation, so that the magnetic encoder is abnormal or invalid, finally, the acquired angle information is abnormal, so that the control is wrong, and finally, the control effect of the unmanned aerial vehicle is influenced.
Therefore, how to more efficiently and accurately solve the problem of abnormal power of the unmanned aerial vehicle caused by the abnormality of the sensor is a technical problem to be solved.
Disclosure of Invention
Based on the above, the present invention provides a method, an apparatus, an electronic device and a storage medium for detecting a failure of a magnetic encoder, wherein non-inductive control is added in inductive control to jointly control the angular redundancy of the magnetic encoder, and when detecting that the inductive detection fails, a system is switched into a non-position sensor to control the angular redundancy of the magnetic encoder, so that the problem of abnormal power of an unmanned aerial vehicle can be effectively solved.
In a first aspect, an embodiment of the present application provides a method for detecting a fault of a magnetic encoder, the method including:
acquiring a first angular velocity S of a position sensor of a magnetic encoder at a current moment 1 Second angular velocity delta at the previous time 2 ；
Obtaining a first angular velocity change rate delta according to the absolute difference value of the first angular velocity and the second angular velocity 1 ；
Acquiring a target electrical rotating speed of the position sensor at the current moment, and acquiring a second angular velocity change rate delta according to a preset calculation model 2 ；
If the absolute difference value of the first angular velocity change rate and the second angular velocity change rate is larger than a preset threshold value in 10 continuous moments, judging that the position sensor is in fault, and controlling the angular redundancy of the magnetic encoder through the position-free sensor.
Preferably, the first angular velocity change rate delta 1 Calculated from equation (1):
δ 1 ＝|S 1 -S 2 | (1)；
wherein S is 1 A first angular velocity S of a position sensor of the magnetic encoder at the current moment 2 As magnetic encoderThe second angular velocity of the position sensor at the previous moment.
Preferably, acquiring the target electrical rotation speed of the position sensor at the current moment includes:
controlling a motor to work in a target state, wherein the target state is obtained according to the target attitude of the airplane indicated by the magnetic encoder at the current moment;
acquiring a flight control current output throttle state in the target state;
and obtaining the target electric rotating speed according to the current throttle state.
Preferably, the second angular velocity change rate delta is obtained according to a preset calculation model 2 Comprising:
the second angular velocity change rate delta is calculated according to the formula (2) 2 Conversion into angular velocity dimension:
δ 2 ＝k*(2π*n*p)/60 (2)；
wherein, n is p=60×f, n is the maximum mechanical rotation speed of the motor, p is the pole pair number of the motor, f is the electrical frequency of the motor, and k is the throttle control coefficient.
Preferably, it may further include:
the preset threshold value is configured, and the formula adopted by the configuration of the preset threshold value is 0.15 x delta 2 Wherein delta 2 Is the second angular velocity change rate.
In a second aspect, embodiments of the present application provide a magnetic encoder fault detection apparatus, the apparatus including:
a first data acquisition unit for acquiring a first angular velocity S of a position sensor of the magnetic encoder at a current moment 1 Second angular velocity delta at the previous time 2 ；
The second data acquisition unit is used for acquiring the target electric rotating speed at the current moment;
a first parameter generation unit for obtaining a first angular velocity change rate delta according to the absolute difference value of the first angular velocity and the second angular velocity 1 ；
A second parameter generating unit for generating a second parameter according to the target electric rotating speed of the position sensor at the current moment and the preset valueCalculating the model to obtain a second angular velocity change rate delta 2 ；
And a processing unit for judging that the position sensor is faulty to control the angular redundancy of the magnetic encoder by the position-free sensor in the case that the absolute difference between the first angular velocity change rate and the second angular velocity change rate is greater than a preset threshold value in 10 consecutive times.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method steps described above.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program for performing the above-described method steps.
The embodiment of the application discloses a method and a device for detecting faults of a magnetic encoder, which judge whether the magnetic encoding is abnormal or not by judging whether the absolute difference value of the first angular velocity change rate and the second angular velocity change rate exceeds a preset threshold value within 10 continuous moments, and when the abnormality is detected, switch the inductive control to a position-free sensor to control the angle redundancy, so that the problem of explosion caused by abnormal power of an unmanned aerial vehicle can be effectively solved, and the redundancy and the reliability of a power sleeve of the unmanned aerial vehicle are improved.
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Exemplary embodiments of the present invention may be more fully understood by reference to the following drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the application, and not constitute a limitation of the invention. In the drawings, like reference numerals generally refer to like parts or steps.
FIG. 1 is a flow chart of a method provided in accordance with an exemplary embodiment of the present application;
FIG. 2 is a schematic diagram of an apparatus according to an exemplary embodiment of the present application;
FIG. 3 illustrates a schematic diagram of an electronic device provided in an exemplary embodiment of the present application;
fig. 4 shows a schematic diagram of a computer readable medium according to an exemplary embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
In addition, the terms "first" and "second" etc. are used to distinguish different objects and are not used to describe a particular order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the application provides a risk assessment and identification method and device for a violation account, a storage medium and electronic equipment, and the method and the device are described below with reference to the accompanying drawings.
Referring to fig. 1, a method for detecting faults of a magnetic encoder according to some embodiments of the present application is shown, and as shown, the method may include the following steps:
step S101: position sensor for acquiring magnetic encoderFirst angular velocity S at the present moment 1 Second angular velocity S at the previous time 2 ；
Specifically, a first angular velocity S of a current-time position sensor (a sensor) 1 Second angular velocity S at the previous time 2 The method comprises the steps of carrying out a first treatment on the surface of the In a more preferred embodiment, the current time may be replaced by one control period, i.e. the first angular velocity of the position sensor of the current control period and the second angular velocity of the position sensor of the previous control period are obtained.
Step S102: obtaining a first angular velocity change rate delta according to the absolute difference value of the first angular velocity and the second angular velocity 1 ；
Specifically, when the first angular velocity S is obtained 1 Second angular velocity S 2 Then, a first angular velocity change rate delta is calculated according to the formula (1) 1 ：
δ 1 ＝|S 1 -S 2 | (1)；
Wherein S is 1 A first angular velocity S of a position sensor of the magnetic encoder at the current moment 2 Is the second angular velocity of the position sensor of the magnetic encoder at the previous moment.
Step S103: acquiring a target electrical rotating speed of the position sensor at the current moment, and acquiring a second angular velocity change rate delta according to a preset calculation model 2 ；
Specifically, obtaining the target electrical rotation speed of the position sensor at the current moment includes:
s1031: controlling a motor to work in a target state, wherein the target state is obtained according to the target attitude of the airplane indicated by the magnetic encoder at the current moment;
specifically, the motor is controlled to work in a target state by adopting speed and current double closed-loop control, and the specific principle is as follows:
obtaining a first error according to absolute difference between the target rotating speed and the actual rotating speed, inputting the first error into a PI controller, outputting to obtain a target control current, obtaining a second error by absolute difference between the target control current and a circuit feedback current, inputting the second error into the PI controller, and outputting to obtain a voltageU dq Voltage U dq Obtaining voltage U through inverse Park conversion αβ And then, the SVPWM outputs a control MOS tube duty ratio signal to obtain an adjusting voltage, and finally, the adjusting voltage is acted on the motor to control the motor to work in a target state, namely, different target rotating speeds are adjusted to control the target rotating speeds to be reached so as to maintain the attitude of the airplane. The target rotating speed is obtained according to the aircraft target gesture indicated by the magnetic encoder at the current moment. The target rotating speed is obtained by converting and acquiring a target rotating speed according to the output accelerator of the attitude adjustment and the fly control at the current moment.
S1032: acquiring a flight control current output throttle state in the target state;
s1033: and obtaining the target electric rotating speed according to the current throttle state.
Wherein the second angular velocity change rate delta is obtained according to a preset calculation model 2 Comprising:
the second angular velocity change rate delta is calculated according to the formula (2) 2 Conversion into angular velocity dimension:
δ 2 ＝k*(2π*n*p)/60 (2)；
wherein, n is the maximum mechanical rotation speed of the motor, p is the pole pair number of the motor, f is the electrical frequency of the motor, k is the throttle control coefficient, specifically, the value range of the throttle control coefficient is [0,1], which corresponds to the control range of the throttle of 0-100%.
Step S104: if the absolute difference between the first angular velocity change rate and the second angular velocity change rate is greater than a preset threshold value in 10 continuous moments, judging that the position sensor is in fault, and controlling the angular redundancy of the magnetic encoder through the position-free sensor.
According to the specific, the position sensor malfunction is determined as long as the absolute difference between the first angular velocity change rate and the second angular velocity change rate is greater than the preset threshold value within one continuous preset period, and here, one continuous preset period may be another value as long as it is a value of 10 times or more.
More specifically, in the case of sensible control, the angular redundancy represents the offset angle of the magnetic encoder at a defined speed; in the non-inductive control, the angular redundancy represents the estimated offset angle of the magnetic encoder at a defined rotational speed.
Specifically, the method further includes configuring the preset threshold value, wherein a formula adopted by the preset threshold value is 0.15×δ 2 Wherein delta 2 Is the second angular velocity change rate.
In a preferred embodiment, when considering the defect of inaccurate precision caused by the non-convergence of the angle of the power sleeve during the low-speed non-inductive control, the judgment condition of the magnetic encoder can be adaptively modified, for example:
when the electrical frequency is greater than 100Hz, starting judgment, and collecting the sensing angle of the magnetic encoder as a first angle, wherein the estimated non-sensing angle is taken as a second angle; if the difference value between the first angle and the second angle continuously generates 3 symbol anomalies in 10 control periods, judging that the angle of the magnetic encoder is abnormal; the sign abnormality, that is, 3 sign changes (for example, the sign of the angle difference value changes from positive to negative or the sign of the angle difference value changes from negative to positive) occur in 10 control cycles, the angle of the magnetic encoder is determined to be abnormal, and when the abnormality indicates that the magnetic encoding abnormality occurs, the non-inductive control (that is, the control without a position sensor) is cut in.
The basic principle of this embodiment is as follows: the angle of the magnetic encoder is a linear change process in the running process of the motor, mutation does not occur generally, and if mutation occurs continuously, the motor is considered to be abnormal. When the motor magnet is about to fall off, the collected coding angle is abnormal, and the angle sampling value circularly jumps between a large value and a small value because the angle cannot linearly change; when the magnet falls off completely and is at a constant angle, the front and rear 2 angle difference values are 0; according to the invention, by combining the characteristics, whether the magnetic coding inductive control is abnormal or not is judged by judging whether the absolute difference value of the first angular velocity change rate and the second angular velocity change rate exceeds the preset threshold value in 10 continuous periods, and when the control abnormality of the position sensor is detected, the inductive control is switched to the non-position sensor to control the angle redundancy of the motor, so that the problem of the explosion caused by the abnormal power of the unmanned aerial vehicle can be effectively solved, and the redundancy and the reliability of the power sleeve of the unmanned aerial vehicle are improved.
In the above embodiment, a method is provided, and corresponding apparatus is also provided. The device provided by the embodiment of the application can implement the method, and the device can be implemented by software, hardware or a combination of software and hardware. For example, the apparatus may comprise an integrated or separate component
Open functional modules or units to perform the corresponding steps in the methods described above.
Referring to fig. 2, a schematic diagram of an apparatus according to some embodiments of the present application is shown. Since the apparatus embodiments are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
As shown in fig. 2, the apparatus 20 may include:
a first data acquisition unit 201 for acquiring a first angular velocity S of a position sensor of the magnetic encoder at a current time 1 Second angular velocity S at the previous time 2 ；
A second data acquisition unit 202, configured to acquire a target electrical rotation speed at a current time;
a first parameter generating unit 203 for obtaining a first angular velocity change rate delta according to the absolute difference between the first angular velocity and the second angular velocity 1 ；
A second parameter generating unit 204 for obtaining a second angular velocity change rate delta according to the target electrical rotation speed of the position sensor at the current time and a preset calculation model 2 ；
The processing unit 205 determines that the position sensor is malfunctioning to control the angular redundancy of the magnetic encoder by the position-sensor-free, in the case where the absolute difference between the first angular velocity change rate and the second angular velocity change rate is greater than the preset threshold value in 10 consecutive times.
The apparatus 20 provided by the embodiments of the present application in some implementations of the embodiments of the present application have the same beneficial effects as the methods provided by the foregoing embodiments of the present application for the same inventive concept.
The embodiment of the application also provides an electronic device corresponding to the method provided by the previous embodiment, wherein the electronic device can be an electronic device for a server, such as a server, including an independent server and a distributed server cluster, so as to execute the method; the electronic device may also be an electronic device for a client, such as a mobile phone, a notebook computer, a tablet computer, a desktop computer, etc., to perform the above method.
Referring to fig. 3, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 3, the electronic device 30 includes: a processor 300, a memory 301, a bus 302 and a communication interface 303, the processor 300, the communication interface 303 and the memory 301 being connected by the bus 302; the memory 301 stores a computer program executable on the processor 300, and the processor 300 executes the method described above when executing the computer program.
The memory 301 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 303 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 300 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 300 or by instructions in the form of software. The processor 300 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 301, and the processor 300 reads the information in the memory 301, and in combination with its hardware, performs the steps of the above method.
The electronic device provided by the embodiment of the application and the method provided by the embodiment of the application are the same in the invention conception, and have the same beneficial effects as the method adopted, operated or realized by the electronic device.
The present application further provides a computer readable medium corresponding to the method provided in the foregoing embodiment, referring to fig. 4, the computer readable storage medium is shown as an optical disc 40, on which a computer program (i.e. a program product) is stored, where the computer program when executed by a processor performs the foregoing method.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above-described embodiments of the present application has the same advantageous effects as the method adopted, operated or implemented by the application program stored therein, for the same inventive concept as the method provided by the embodiments of the present application.
It is noted that the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the claims and description.
Claims (6)
1. A method for detecting a magnetic encoder failure, comprising the steps of:
acquiring a first angular velocity of a position sensor of a magnetic encoder at a current time
And a second angular velocity +.>
；
Obtaining a first angular velocity change rate according to the absolute difference value of the first angular velocity and the second angular velocity
；
Acquiring a target electrical rotating speed of the position sensor at the current moment, and acquiring a second angular velocity change rate according to a preset calculation model
；
If the absolute difference value of the first angular velocity change rate and the second angular velocity change rate is larger than a preset threshold value in 10 continuous moments, judging that the position sensor is faulty, and controlling the angular redundancy of the magnetic encoder through the position-free sensor;
wherein the first angular velocity change rate
Calculated from equation (1):
wherein,,
position sensor for magnetic encoder at current timeFirst angular velocity>
A second angular velocity at a previous time for a position sensor of the magnetic encoder;
wherein the second angular velocity change rate is obtained according to a preset calculation model
Comprising:
the second angular velocity change rate is calculated according to the formula (2)
Conversion into angular velocity dimension:
wherein,,
，nfor the maximum mechanical rotational speed of the motor,pfor the pole pair number of the motor,ffor the electrical frequency of the motor,kis the throttle control coefficient.
2. The method of claim 1, wherein obtaining a target electrical rotational speed of the position sensor at a current time comprises:
controlling a motor to work in a target state, wherein the target state is obtained according to the target attitude of the airplane indicated by the magnetic encoder at the current moment;
acquiring a flight control current output throttle state in the target state;
and obtaining the target electric rotating speed according to the current output accelerator state.
3. A method of detecting a magnetic encoder failure as claimed in claim 1, further comprising:
the preset threshold value is configured, and a formula adopted by the configuration of the preset threshold value is as follows
Wherein->
Is the second angular velocity change rate.
4. A magnetic encoder failure detection apparatus, comprising:
a first data acquisition unit for acquiring a first angular velocity of a position sensor of the magnetic encoder at a current time
And a second angular velocity +.>
；
The second data acquisition unit is used for acquiring the target electric rotating speed at the current moment;
a first parameter generation unit for obtaining a first angular velocity change rate according to the absolute difference between the first angular velocity and the second angular velocity
；
A second parameter generating unit for obtaining a second angular velocity change rate according to the target electrical rotation speed of the position sensor at the current moment and a preset calculation model
；
And a processing unit for judging that the position sensor is faulty to control the angular redundancy of the magnetic encoder by the position-free sensor in the case that the absolute difference between the first angular velocity change rate and the second angular velocity change rate is greater than a preset threshold value in 10 consecutive times.
5. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-3.
6. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-3.
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| CN109286353B (en) * | 2017-07-21 | 2021-01-19 | 深圳市道通智能航空技术有限公司 | Motor control mode fault detection method and device |
| CN112523946B (en) * | 2019-09-17 | 2022-10-18 | 北京金风科创风电设备有限公司 | Variable pitch control method and device for wind generating set and medium |
| CN111693073B (en) * | 2020-06-28 | 2022-01-25 | 哈尔滨理工大学 | Bidirectional redundant magnetoelectric encoder and redundancy detection method thereof |
| CN114485756A (en) * | 2020-10-26 | 2022-05-13 | 北京金风科创风电设备有限公司 | Detection apparatus and method of rotary encoder, and computer-readable storage medium |
| CN112886885B (en) * | 2021-03-26 | 2022-07-29 | 上海电气风电集团股份有限公司 | Permanent magnet synchronous generator control method, device and system of wind generating set |
| CN113418493B (en) * | 2021-07-23 | 2024-02-27 | 广东工业大学 | Method for auxiliary measurement of angle of servo motor based on gyroscope |
| CN113472254B (en) * | 2021-08-06 | 2023-11-03 | 北京航空航天大学宁波创新研究院 | Electronic oil pump motor control method and system integrating test optimization method |
| CN114553063A (en) * | 2022-01-27 | 2022-05-27 | 清华大学 | Redundant circuit for software and hardware decoding and sensorless estimation of permanent magnet synchronous motor |
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