CN1861443A - Motor controlling method - Google Patents
Motor controlling method Download PDFInfo
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- CN1861443A CN1861443A CNA2005100209003A CN200510020900A CN1861443A CN 1861443 A CN1861443 A CN 1861443A CN A2005100209003 A CNA2005100209003 A CN A2005100209003A CN 200510020900 A CN200510020900 A CN 200510020900A CN 1861443 A CN1861443 A CN 1861443A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A motor control method with high dynamic response speed and high control precision features that the current loop control instead of speed loop control is used, in which the optimized PI control method is used, the depth of throttle is directly relative to the current iq for dynamically detecting the current value, and the difference between the target current and actual current is used as the input of current loop.
Description
Technical field
The present invention relates to a kind of method of motor control, particularly be used for the method for motor control of battery-driven car.
Background technology
Motor control technology, purpose are to using rotating field continuous rotation electrical motor to control.The requirement of motor control is very high, not only requires electronic function stable operation under various complex environments, and requires physical quantitys such as rotating speed of motor, corner, torque to be accurately controlled.
Traditional control method adopts speed ring control, as shown in Figure 1.During loop feedback control, the corresponding given speed of the throttle degree of depth is again by speed control i
qCome controlling torque, so its speed of response is slow.Simultaneously, when electronlmobil under the bad situation of road conditions such as upward slope, resistance ratios is bigger, the stall phenomenon takes place in motor easily, the loop feedback control system will increase electric current, increases moment with the control motor, this moment, motor was easy to burn because electric current is excessive.
Summary of the invention
Purpose of the present invention is exactly in order to overcome the above problems, provide a kind of safe and reliable to operation, react method of motor control efficiently.
For achieving the above object, the present invention proposes a kind of method of motor control, comprises the steps: 1) the target setting electric current: the throttle degree of depth and current of electric expectation value are set up corresponding relation; 2) detect, gather motor three phase current (i
A*, i
B*, i
C*); 3) three phase current (i when front motor
A*, i
B*, i
C*) be converted to motor actual current (i through park conversion and clark conversion
Q*, i
D*); Of the input of the difference of target current and actual current, carry out the PI regulating control as electric current loop; Detect motor rotor position simultaneously and measure rotor angle; 4) output and the motor rotor corner of regulating according to PI carries out the Park conversion, output three phasevoltage value (V
a, V
b, V
c); 5) three phasevoltage value (V
a, V
b, V
c) after variable frequency adjustment, by the three-phase inverter driving motor.
Above-mentioned method of motor control before described step 3), also comprises the phase shift compensation step: with described three phase current (i
A*, i
B*, i
C*) through after the filtering amplification, add that offset angle compensates the phase shift that time-delay causes.The preferred 102 ° * cireular frequency of the value of described offset angle perunit value.
In described step 3) PI control process, the integration that PI is regulated carries out amplitude limit, when its overshoot, gives the output that PI regulates with higher limit or lower limit.In described step 3) PI control process, under the prerequisite that guarantees the quick property of system response, the PI regulating frequency is limited, prevent that pi regulator from regulating too fast generation overshoot.The process that detects motor rotor position mensuration rotor angle in the described step 3) comprises abandons the bad value step of angle: gather this and measure the corner value, obtain this theoretical corner value and measure corner value * present speed+last corner value or rotation time * present speed+last corner value for this, this theoretical corner value and mensuration corner value are compared, when its in the error allowed band, adopt this to measure the corner value, when it has exceeded the error allowed band, this is measured the corner value and is bad value, adopts the theoretical position value as current corner value.
Owing to adopted above scheme, brought following beneficial effect:
Current loop control replaces speed ring control, compares with speed ring control, and current loop control is directly with the corresponding i of the throttle degree of depth
q, realize the Fast Dynamic response, improve control accuracy, its capacity usage ratio height, the moment of torsion that motor is produced are big; Electronlmobil starts steadily, acceleration/accel is fast, continual mileage is big.Automatically detect size of current, the input of the difference of target current and actual current as electric current loop, electric current loop has been taked classical PI control method, prevents the locked rotor current increase and burns motor.
Integrator to pi regulator in control process carries out amplitude limit to reach the purpose that prevents overshoot, under the prerequisite that guarantees the quick property of system response, the PI regulating frequency is limited simultaneously, excessive overshoot does not appear in holding current in the dynamic response process, overshoot does not appear or overshoot is very little when shock load, the restriction maximum current, the support system safe operation.
The present invention has taked to abandon the bad value scheme of angle when measuring rotor-position, improve the anti-interference resistance of goniometry, avoids having improved control accuracy and reliability greatly because of the rotor-position mistake produces motor situation out of control.
Description of drawings
Fig. 1 is the motor speed ring control system scheme drawing of prior art;
Fig. 2 is a motor current ring control system scheme drawing of the present invention;
Fig. 3 is the functional block diagram of electric motor control device of the present invention;
Fig. 4 is the functional block diagram of explanation control setup shown in Figure 3;
Fig. 5 is the functional block diagram of explanation control setup shown in Figure 4;
Fig. 6 is the part functional block diagram of explanation control setup shown in Figure 4;
Fig. 7 is the diagrammatic sketch of control system of the present invention position detection part;
Fig. 8 is the inner structure scheme drawing of the present invention's magslip of being used for position probing;
Actual excitation signal mode chart when Fig. 9 is magslip work;
Figure 10 is a magslip sine output signal mode chart;
Figure 11 is a magslip cosine output signal mode chart;
Figure 12, Figure 13 are the part diagram of circuits that PI regulates.
The specific embodiment
Also the present invention is described in further detail in conjunction with the accompanying drawings below by specific embodiment.
As shown in Figure 2, be motor current ring control system scheme drawing of the present invention, the control policy that the present invention relates to may further comprise the steps: the degree of depth that detects gear signal, guard signal and brake, throttle when the PWM ripple control of carrying out electrical motor, set up corresponding relation with the current of electric expectation value, according to these data output Id, Iq given value, i.e. target current; Three phase current i when front motor
A*, i
B*, i
C*Go out motor actual current value i through park conversion and clark transformation calculations
Q*, i
D*Of the input of the difference of target current and actual current, regulate output three phasevoltage value V through PI as electric current loop
a, V
b, V
cDetect motor rotor position simultaneously and measure rotor angle θ, be used for the Park conversion; Be converted into dutycycle output at last, controlled PWM wave-wave shape; Motor mechanically is connected with the gear of 5.4: 1 no-load voltage ratios with wheel, reaches the Control of Automobile rotating speed thereby adjust motor speed by step on the accelerator, can reach electrodeless variable-speed, does not have the speed change gear.Adopt electric current loop to the three-phase sine-wave current control, thereby, rationally adjust some parameters, can obtain better controller performance, have advantages such as stationarity is good, speed adjusting performance is excellent, dynamic response is fast by the control current control torque.
As shown in Figure 12 and Figure 13, integrator to pi regulator in control process carries out amplitude limit to reach the purpose that prevents overshoot, under the prerequisite that guarantees the quick property of system response, the PI regulating frequency is limited simultaneously, in order to avoid pi regulator is regulated too fast generation overshoot.
Simultaneously, method of motor control of the present invention adopts multiple ancillary technique scheme, to improve control reliability.
Phase shift compensation scheme: because the three-phase current signal of current Hall collection will be through the processing of filter amplification circuit before entering DSP, with the filtering high order harmonic, but so current signal has been caused time-delay simultaneously yet, thereby produced phase shift, making DSP detected is not current electric current.The effect of phase shift compensation is exactly that the method for diverting from one use to another software mutually that causes in the analog circuitry processes is compensated, and concrete compensation method is: offset angle=(current cireular frequency)/1100*102 °=102 ° * ((current cireular frequency)/1100)=102 ° of * cireular frequency perunit values.Wherein 102 ° is to measure the cireular frequency that comes when the 110rad/s with signal generator, the signal phase shift parameter that analogous circuit cause, and its phase shift is linear increasing basically along with the increase of cireular frequency.Signal through overcompensation just has been reduced into the signal that conforms to actual motor current like this.
Use magslip, because its inside without any electronic component, has only three groups of coils, so aspects such as its vibration resistance, temperature tolerance, resistance to corrosion, anti-dust greasy dirt, anti-interference resistance all have good performance, can satisfy the operating needs under the varying environment, have high reliability.
As shown in Figure 3, vdc changes three phase windings that alternating-current voltage/AC voltage is loaded into electrical motor 30 into by inverter circuit, has realized the driving of electrical motor; By pulse width modulation changed the conducting turn-off time of inverter circuit on-off element, realized the speed setting of electrical motor 30.The power switch component of the last brachium pontis of bridge circuit is connected to brachium pontis, and following brachium pontis is connected to ground wire.Each brachium pontis of IPM all and a flywheel diode arranged.Each circuitry phase all and absorption electric capacity is arranged filters the ripple of direct supply.Bridge inverter main circuit is made of Intelligent Power Module (IPM), and three or three conductings have six kinds of states.
Gather the three-phase alternating current electric signal by current sensor 40, gather the dc voltage signal, deliver to signal processor DSP after amplifying through two-stage filtering and carry out computing, remove to control 6 road PWM waveforms by voltage sensor 70.Current sensor 40 is measured the interchange phase current after the direct supply inversion, flows to DSP, as the foundation of calculating torque.The mid point of each phase branch road of inverter 10 is connected with the end of each phase winding of permagnetic synchronous motor (PMSM) 30.Wherein, an end of each U phase winding, V phase winding and W phase winding is connected with common neutral, just star-like connection.Rotor-position sensor 90 records angle position θ and gives DSP, as the foundation of Park conversion.Wherein, proofread and correct, remove bad value through the DSP inverse operation.Voltage sensor 70 is measured vdc.Electric capacity 80 is in parallel with inverter 10.High-capacity chemical capacitor is used for energy storage, the ripple of filtering DC component; And the effect of little absorption electric capacity is, in the process that IPM cut-offs with very high frequency, and absorbing high-frequency component and noise.
Fig. 4 is the control setup functional schematic of the inventive method.The timer of DSP is used for producing the PWM ripple with the control motor, and a timer is used for producing the sampling period to read three phase current, bus voltage signal and to revolve varying signal, and a timer is used for producing control cycle.
By the space vector conversion by three-phase current signal i
A*, i
B*, i
C*Calculate i
d, i
q, with this i
d, i
qAs actual DQ shaft current, obtain i by weak magnet-wire by motor speed
D*, obtain the moment that export and obtain torque current i by the gear information and the throttle degree of depth
Q*, by i
D*, i
Q*Green phase answers voltage equation to obtain Vd, Vq, by two i of place
d, i
qDeviation use PI control to V
dAnd V
qRevise.Again by V
d, V
qObtain V through coordinate transform
a, V
b, V
c, obtain V
a, V
b, V
cThe dutycycle of three phasevoltage just can be calculated in the back, outputs to inverter circuit, realizes the output of three phasevoltage.
Angle go bad value part 51 measure these angle measurement and last time observed reading difference whether in allowed band; Otherwise, will regulate according to rotating speed.Rate conversion part 52 is that angular transition is a cireular frequency.Switching value input and guard signal input to DSP, decision i
d, i
qEstimated valve; Motor phase current carries out buck conversion (functional block 54) according to the θ angle, calculates i
d, i
qActual value (functional block 55), with given value relatively.Comparative result carries out PI and regulates (functional block 59), and it calculates V with voltage transitions part 53
d, V
q, produce three-phase electricity (functional block 60).The output of final decision drive waveforms dutycycle.
Fig. 5, Fig. 6 are the structural representation of control circuit.Control circuit is made up of three circuit cards: control desk 70 receives the signal of external sensor, and DSP71 carries out calculation process with these signals, adjusts the dutycycle of PWM.
Drive plate 80 transmits pwm signal and guard signal, and the IPM85 module of driver element has current detecting and temperature detection; When overcurrent or excess temperature breakdown signal took place, guard signal was delivered to and door after optocoupler 83 is isolated, and was transported to signal processor DSP on the control desk through filter circuit 82 and two stage comparator 81 again.DSP detects guard signal, stops motor.The effect of drive plate two stage comparator and filter circuit is to disturb for preventing, eliminates the mistake protection.The pwm signal that DSP sends passes to IPM through bus driver, controls its break-make.The analog quantity input comprises: bus voltage, three phase current, the throttle degree of depth, the brake degree of depth.Bus voltage is detected by voltage Hall (pressing calibration value), flows to DSP through AD converter; Three phase current is detected by current Hall (pressing calibration value), flows to DSP, and control PWM dutycycle control ON time comes speed change, has formed electric current loop; The throttle degree of depth and the brake degree of depth flow to DSP by sensor.Switching value comprises gear information and guard signal.Gear information has: parking brake (HB), service brake (FB), park (P), reverse (R), neutral gear (N), D Drive (D).The electric motor protecting signal has electric weight prefilled signal, motor excess temperature signal and radiator excess temperature signal.Motor adopts permagnetic synchronous motor, and it has good performance.Direct supply is made up of lithium-ion-power cell.
The control setup physical construction adopts three layers structure, and the upper strata is control desk, absorption electric capacity lay down location; What interlayer was placed is drive plate; Bottom is placed power panel, IPM, voltage Hall and current Hall.
Fig. 7 is the diagrammatic sketch of control system position detection part; The position detection part by magslip, bus driver, revolve and become decoding chip and amplifier is formed, they have constituted closed loop control system.The rotor of magslip is fixed on the machine shaft, and its stator is fixed in the motor bonnet; The lead-in wire of three windings on the stator is drawn from bonnet.With this detection rotor position, information is sent to revolves in the change decoding chip then, through a series of conversion, be transferred at last among the DSP, make DSP can make the shutoff of opening of corresponding adjustment IPM.The inner structure of magslip as shown in Figure 8, S1-S2 is the input excitation winding, S3-S4 be sinusoidal output winding, S5-S6 is that cosine is exported winding.The principle of work of these three groups of windings can be represented with following equation.
The excitation winding external signal
Vs1_s2＝Vp×Sin(ωt)
Fig. 9 is the waveform of actual excitation signal.
Induced electric motive force is respectively on positive chord winding and cosine winding
Vs3_s4＝Vs×Sin(ωt)×Sinθ (1)
Vs5_s6＝Vs×Sin(ωt)×Cosθ (2)
Vs=kVp in the formula, k are transfer ratios, and Figure 10 and Figure 11 are respectively sine, the cosine output signal waveforms of these two windings.
According to (1) and (2), have
Tan θ=Vs3_s4/Vs5_s6 (3) is according to equation (3), as long as detect the amplitude of cosine and sine signal and the axle angle value that polarity just can calculate rotor.Resolve the unit and used this principle exactly, its output excitation signal Vs1_s2 is to magslip, and the hand of rotation that calculates motor according to the sinusoidal signal Vs3_s4 and the cosine signal Vs5_s6 of magslip output, cireular frequency and rotor position; Digital signal after will changing by data bus then is sent to the DSP processing unit.
Because magslip is not complete failure-free, the number of winning the confidence process neither completely cut off fully to be disturbed, so might obtain wrong position signal in control process.For fear of producing motor situation out of control, adopted the bad value scheme of angle of abandoning in the controlling schemes because of wrong rotor-position signal.Judge gathering the rotor mensuration corner value of coming in, promptly multiply each other with present speed at interval measuring the corner value, and then add last corner value, obtain theoretical corner value this time, judge with mensuration corner value this time, see whether in the error allowed band, if exceeded the error allowed band, think that then the mensuration corner value of this time gathering is bad value, should abandon.The correct position of the worthwhile work of theoretical corner of calculating, so just reached the purpose of the bad value of degree of chamfering then.
The theoretical corner value of the bad value scheme of degree of chamfering also can be set at rotation time * present speed+last corner value.
In case mistake appears in the signal of magslip, take place at this moment to resolve the unit and will detect this mistake unusually as amplitude, frequency, will send the signal of a misdirection to dsp processor simultaneously.Dsp processor will respond this mistake, and control PWM ripple quits work inverter, reset and resolve the unit, by the time the output signal of magslip just often just recovery system to normal working
In order to make excitation signal have stable waveform and enough power-handling capabilities, power amplification circuit 23 of supercharging between the excitation input of output of the excitation of resolving circuit and magslip, this amplifying circuit have adopted circuit form that difference amplifies to reduce the distortion of waveform.
In order to solve the interference problem in the actual use, resolving within the permission voltage range of unit for the amplitude that limits sinusoidal signal and cosine signal simultaneously.Adopt π shape RC filter 25, signal is carried out LPF.
In addition,, increase the stability and the power-handling capability of circuit, between resolving circuit and dsp processor, increase a bus driver 21 for the digital logic level of compatible resolving circuit and dsp processor.
Claims (8)
1, a kind of method of motor control comprises the steps: 1) the target setting electric current: the throttle degree of depth and current of electric expectation value are set up corresponding relation; 2) detect, gather motor three phase current (i
A*, i
B*, i
C*); 3) three phase current (i when front motor
A*, i
B*, i
C*) be converted to motor actual current (i through park conversion and clark conversion
Q*, i
D*); Of the input of the difference of target current and actual current, carry out the PI regulating control as electric current loop; Detect motor rotor position simultaneously and measure rotor angle; 4) output and the motor rotor corner of regulating according to PI carries out Park and Clark inverse transformation, output three phasevoltage value (V
a, V
b, V
c); 5) three phasevoltage value (V
a, V
b, V
c) after variable frequency adjustment, by the three-phase inverter driving motor.
2, method of motor control as claimed in claim 1 is characterized in that: before described step 3), also comprise the phase shift compensation step: with described three phase current (i
A*, i
B*, i
C*) through after the filtering amplification, add that offset angle compensates the phase shift that time-delay causes.
3, method of motor control as claimed in claim 2 is characterized in that: the value of described offset angle is 102 a ° * cireular frequency perunit value.
4, as each described method of motor control among the claim 1-3, it is characterized in that: in described step 3) PI control process, the integration that PI is regulated carries out amplitude limit, when its overshoot, gives the output that PI regulates with higher limit or lower limit.
5, as each described method of motor control among the claim 1-3, it is characterized in that: in described step 3) PI control process, under the prerequisite that guarantees the quick property of system response, the PI regulating frequency is limited, prevent that pi regulator from regulating too fast generation overshoot.
6, as each described method of motor control among the claim 1-3, it is characterized in that: the process that detects motor rotor position mensuration rotor angle in the described step 3) comprises abandons the bad value step of angle: gather this and measure the corner value, obtain this theoretical corner value and be (this measures corner value * present speed+last corner value) or (rotation time * present speed+last corner value), this theoretical corner value and mensuration corner value are compared, when its in the error allowed band, adopt this to measure the corner value, when it has exceeded the error allowed band, this is measured the corner value and is bad value, adopts the theoretical position value as current corner value.
7, method of motor control described in claim 4, it is characterized in that: the process that detects motor rotor position mensuration rotor angle in the described step 3) comprises abandons the bad value step of angle: gather this and measure the corner value, obtain this theoretical corner value and be (this measures corner value * present speed+last corner value) or (rotation time * present speed+last corner value), this theoretical corner value and mensuration corner value are compared, when its in the error allowed band, adopt this to measure the corner value, when it has exceeded the error allowed band, this is measured the corner value and is bad value, adopts the theoretical position value as current corner value.
8, method of motor control described in claim 5, it is characterized in that: the process that detects motor rotor position mensuration rotor angle in the described step 3) comprises abandons the bad value step of angle: gather this and measure the corner value, obtain this theoretical corner value and be (this measures corner value * present speed+last corner value) or (rotation time * present speed+last corner value), this theoretical corner value and mensuration corner value are compared, when its in the error allowed band, adopt this to measure the corner value, when it has exceeded the error allowed band, this is measured the corner value and is bad value, adopts the theoretical position value as current corner value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100209003A CN1861443A (en) | 2005-05-12 | 2005-05-12 | Motor controlling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100209003A CN1861443A (en) | 2005-05-12 | 2005-05-12 | Motor controlling method |
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| Publication Number | Publication Date |
|---|---|
| CN1861443A true CN1861443A (en) | 2006-11-15 |
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|---|---|---|---|
| CNA2005100209003A Pending CN1861443A (en) | 2005-05-12 | 2005-05-12 | Motor controlling method |
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| CN101927700A (en) * | 2009-06-18 | 2010-12-29 | 通用汽车环球科技运作公司 | Be used for diagnosing the method and system of the stator coil of electrical motor |
| CN101327788B (en) * | 2007-06-19 | 2011-07-06 | 比亚迪股份有限公司 | Electric booster braking system |
| CN102390285A (en) * | 2011-08-19 | 2012-03-28 | 奇瑞汽车股份有限公司 | Electrically-driven system locked-rotor protecting and torque-limiting method |
| CN101678772B (en) * | 2007-10-29 | 2012-07-04 | 丰田自动车株式会社 | Vehicle control device and control method of vehicle control device |
| CN102616151A (en) * | 2012-03-29 | 2012-08-01 | 深圳市高标电子科技有限公司 | Electric bicycle and speed regulating method thereof |
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| CN103182954A (en) * | 2012-01-02 | 2013-07-03 | 现代摩比斯株式会社 | A correction method for the drive motor position error of a vehicle |
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| CN103963664A (en) * | 2014-05-20 | 2014-08-06 | 天津雅迪实业有限公司 | Starting speed-regulation method and device of electric bicycle |
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| CN101927700A (en) * | 2009-06-18 | 2010-12-29 | 通用汽车环球科技运作公司 | Be used for diagnosing the method and system of the stator coil of electrical motor |
| CN101927700B (en) * | 2009-06-18 | 2013-07-24 | 通用汽车环球科技运作公司 | Methods and systems for diagnosing stator windings in an electric motor |
| CN101927785B (en) * | 2009-06-26 | 2012-08-08 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system with PMSM current sensor error self-correcting function |
| CN102390285B (en) * | 2011-08-19 | 2014-06-11 | 奇瑞汽车股份有限公司 | Electrically-driven system locked-rotor protecting and torque-limiting method |
| CN102390285A (en) * | 2011-08-19 | 2012-03-28 | 奇瑞汽车股份有限公司 | Electrically-driven system locked-rotor protecting and torque-limiting method |
| CN103166209A (en) * | 2011-12-19 | 2013-06-19 | 苏州能健电气有限公司 | Device and method of direct current variable pitch motor protection |
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| CN104779848A (en) * | 2015-05-11 | 2015-07-15 | 无限极（中国）有限公司 | Control system for brushless direct current motor |
| CN104986054A (en) * | 2015-06-17 | 2015-10-21 | 安徽江淮汽车股份有限公司 | Locked rotor frequency conversion control method and device for drive motors |
| CN106842904A (en) * | 2017-03-08 | 2017-06-13 | 联合汽车电子有限公司 | The control system of automatic gear-box executing agency |
| CN107733320A (en) * | 2017-09-08 | 2018-02-23 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of motor control method, device, storage medium and motor |
| CN110875698A (en) * | 2018-08-30 | 2020-03-10 | 杭州三花研究院有限公司 | Control system, control method and refrigerant valve with stepping motor |
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