CN202364092U - Servo motor and servo control system - Google Patents
Servo motor and servo control system Download PDFInfo
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- CN202364092U CN202364092U CN2011203711153U CN201120371115U CN202364092U CN 202364092 U CN202364092 U CN 202364092U CN 2011203711153 U CN2011203711153 U CN 2011203711153U CN 201120371115 U CN201120371115 U CN 201120371115U CN 202364092 U CN202364092 U CN 202364092U
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Abstract
The utility model relates to a servo motor and a servo control system. The servo motor includes a stator, a rotor, and a linear Hall element and a switch Hall element which are arranged on an end face of the stator and detect the magnetic field position of the rotor. The electric angle between the linear Hall element and the switch Hall element is 90 degrees. A back electromotive force detecting coil is also included. The servo control system includes a servo controller and the servo motor. The servo controller is connected with the linear Hall element, the switch Hall element, and the back electromotive force detecting coil. The linear Hall element, the switch Hall element, and the back electromotive force detecting coil output data to the servo controller when the stator and the rotor make the relative rotation. Only one linear Hall sensor and one switch Hall sensor are used for detecting the position of the motor, and the arrangement of the Hall element is unrelated to the motor winding arrangement mode, the motor electrode number, and the motor groove number, and the motor is insensitive to the installation precision and the armature reaction, so the cost is low.
Description
Technical field
The utility model relates to a kind of servomotor, more particularly, relates to a kind of servomotor and servo-control system.
Background technology
Traditional magneto, servo magneto possibly adopt independently position transducer, for example resolver (resolver) or photoelectric encoder, but cost height and difficult installation.In electric bicycle, battery-operated motor cycle, in order to reduce cost, 3 switch Hall transducers or 3-4 linear hall sensor directly to be installed on motor stator usually to be constituted simple and easy position transducer, realize motor commutation or position probing.Require the installation site of Hall element very accurate in this method; Because when motor number of pole-pairs P is very big; The precision that machinery is installed need improve P doubly, and the groove number of the number of poles of the position of installing and motor windings offline mode, motor, motor armature reaction that relation, particularly motor all arranged has ± 3-5 ° the influence of position probing; Therefore the deviation of this simple and easy position transducer position probing all about ± 3-10 °, has hindered motor and controller production.
Sine wave drive is the developing direction of motor, and it needs complete positional information, realize sinusoidal wave vector control, but the production cost of sine wave drive is high.In order to reduce cost, present controller also adopts through a kind of based on 180 ° of sine wave drive methods estimating.It utilizes the motor pole position square wave information of U, V, W switch Hall, adopts the position predictor method to make up the sinusoidal wave positional information of estimating, and realizes easy 180 ° of sine wave drive then.The poor performance of easy 180 ° of sine wave drive in speed-change process, reliability can not be high.
At notification number is in the Chinese patent of CN200972824Y, discloses a kind of independently position transducer, i.e. the Hall resolver; Use four linear hall elements; The output voltage of two linear hall elements of 180 ° of layouts is subtracted each other, and it is eccentric to attempt to compensate the stator and rotor assembling, but owing to can't compensate simultaneously radially and the tangential magnetic field component; So can not play good compensation effect, but also have problems such as magnetic pole uniformity.Too high for electric bicycle, battery-operated motor cycle cost, and the absolute construction transducer can't be installed and be used.
Hall resolver in the ZL200820207106.9 patent has increased an annular soft magnet core, with 3 d-space field; Be constrained to two-dimensional space magnetic field; Improve the deviation that assembling causes greatly, but still needed the linear hall element of at least 2 90 ° of quadratures, or the linear hall element of 3 120 ° of distributions; The consistency of distribution precision and linear hall element all can directly cause the amplitude error and the phase error of Hall resolver; Cause the position probing deviation, and a plurality of linear hall element cost is higher, and absolute construction can't be installed and be used.
The existing independently position deviation of Hall resolver can only reach about 0.5 °～1 °, and cost performance is not high enough.In addition, existing Hall encoder can't directly detect the speed of rotation, must increase Ω=d θ/dt or corresponding processing links again.
The utility model content
The technical problem that the utility model will solve is that the above-mentioned defective to prior art provides a kind of servomotor and servo-control system.
The utility model solves the technical scheme that its technical problem adopted: construct a kind of servomotor, comprise stator, rotor and be located at linear hall element and switch Hall element on the said stator faces, that be used to detect position, said rotor field; Said linear hall element and switch Hall element all are positioned on the inner peripheral surface of said stator punching; Electrical degree between said linear hall element and the switch Hall element is 90 °, and the magnetic sensitive area of said linear hall element and switch Hall element is all relative with the pole surface of said rotor;
On the stator poles corresponding, also be provided with the back electromotive force magnetic test coil that is used for the detection rotor rotating speed with said switch Hall element;
Said linear hall element, switch Hall element and back electromotive force magnetic test coil are connected to said private clothes controller respectively; When said stator and relative rotation of rotor, said linear hall element, switch Hall element and back electromotive force magnetic test coil dateout enter into said servo controller.
The described servomotor of the utility model, wherein, the notch of said first winding slot of stator punching is provided with the linear Hall groove that the size with said linear hall element is complementary; First stator poles of said stator punching is provided with the switch Hall groove that is complementary with said switch Hall element size;
The center of said stator punching linear Hall groove and the center of said switch Hall groove differ 90 ° electrical degree in the space;
Said linear hall element is arranged in said linear Hall groove, and said switch Hall element is arranged in said switch Hall groove, and said back electromotive force magnetic test coil is around on first stator poles of said stator punching.
Another technical scheme that its technical problem that solves the utility model adopts is: construct a kind of servo-control system; Comprise servo controller and servomotor as described above; Said servo controller comprises corner translation circuit, velocity transformation circuit and Id, Iq vector control module; Said Id, Iq vector control module control the moment and the speed of said servomotor through handing over shaft current Iq, enlarge the velocity interval of motor through direct-axis current Id;
Said corner translation circuit is connected with linear hall element, switch Hall element and the back electromotive force magnetic test coil of said servomotor; Comprise the A/D modular converter that is used for the sinusoidal wave analog output voltage of said linear hall element output is converted to digital quantity; The sign function that provides through said switch Hall element through the digital quantity of said A/D modular converter gained is distinguished and sinusoidal wavely is the ambiguity in cycle by 90 °; Utilize the sign function ± Sig|Ve| of said back electromotive force magnetic test coil to confirm the direction of corner and speed, the control its main operational through said servo controller obtains digital quantity position signalling with uniqueness at last; Said velocity transformation circuit comprises traffic filter or the A/D modular converter that is used for the ideal output of said back electromotive force magnetic test coil is converted to the velocity output signal of analog quantity or digital quantity.
The described servo-control system of the utility model, wherein, the control core of said servo controller is digital signal DSP or single-chip microprocessor MCU.
The described servo-control system of the utility model, wherein, the control core of said servo controller is on-site programmable gate array FPGA or application-specific integrated circuit ASIC.
The described servo-control system of the utility model, wherein, said servomotor is magnetic pole logarithm P=3, groove is counted the inner rotor motor of S=9.
The described servo-control system of the utility model, wherein, said servomotor is magnetic pole logarithm P=23, groove is counted the external rotor wheel hub motor of S=51.
Implement the servomotor of the utility model, have following beneficial effect: the utility model only adopts the position of a linear hall sensor and a switch Hall sensor motor, and adopts a back electromotive force magnetic test coil to detect the speed of motor simultaneously; And the number of poles of the layout of Hall element and motor windings offline mode, motor, the groove number of motor all have nothing to do, and all insensitive to installation accuracy, armature reaction, cost is very low, and can not produce phase error and amplitude error on the principle.Accurate position and velocity information that the servo-control system utilization obtains are controlled the moment and the speed of motor through handing over shaft current Iq; Control the velocity interval that enlarges motor through direct-axis current Id.
Description of drawings
To combine accompanying drawing and embodiment that the utility model is described further below, in the accompanying drawing:
Fig. 1 works as P=3 in the utility model servomotor preferred embodiment, the structural representation of S=9;
Fig. 2 works as P=23 in the utility model servomotor preferred embodiment, the structural representation of S=51;
Fig. 3 is the output waveform figure of the utility model servomotor preferred embodiment neutral line Hall element, switch Hall element and back electromotive force magnetic test coil;
Fig. 4 is the schematic block circuit diagram of servo controller in the utility model servo-control system preferred embodiment;
Fig. 5 is that the corner of Fig. 4 in the utility model servo-control system preferred embodiment is exported digital spirogram;
Fig. 6 is numeral and the analog quantity rotating speed output map in the utility model servo-control system preferred embodiment;
Fig. 7 is the circuit diagram when the control core of servo controller adopts FPGA and ASIC in the utility model servo-control system preferred embodiment;
Fig. 8 is that the corner among the utility model servo-control system preferred embodiment Fig. 7 is exported digital spirogram;
Fig. 9 is the schematic diagram of the utility model servo-control system preferred embodiment.
Embodiment
As depicted in figs. 1 and 2, in the preferred embodiment of the utility model, this servomotor comprises stator 1, rotor and is located at linear hall element 2 on stator 1 end face, that be used for the detection rotor magnetic field position and switch Hall element 3.The end face of linear hall element 2 and switch Hall element 3 being located at stator 1 is to go between for ease.As can be seen from the figure; Linear hall element 2 all is positioned on the inner peripheral surface of stator punching with switch Hall element 3; Electrical degree between linear hall element 2 and the switch Hall element 3 is 90 °; Electrical degree=magnetic pole logarithm * mechanical angle, and the magnetic sensitive area of linear hall element 2 and switch Hall element 3 all with the pole surface of rotor relatively so that when stator 1 and rotor relative movement, the position of linear hall element 2 and switch Hall element 3 responsive magnetic field of permanent magnet;
On the stator poles corresponding with above-mentioned switch Hall element 3, also be provided with the back electromotive force magnetic test coil 4 that is used for the detection rotor rotating speed, the pin of linear hall element 2, switch Hall element 3 and back electromotive force magnetic test coil 4 is all with the printed circuit board welding or directly draw with line; In addition, this servomotor also comprises servo controller, and this servo controller is connected with linear hall element 2, switch Hall element 3 and back electromotive force magnetic test coil 4.When stator 1 during with relative rotation of rotor, linear hall element 2, switch Hall element 3 and the data of back electromotive force magnetic test coil 4 outputs enter into servo controller, servo controller is controlled the moment and the speed of motor again.
Fig. 1 be when servomotor be number of pole-pairs P=3, the structural representation when groove is counted the inner rotor motor of S=9 is when motor rotates with angular velocity omega=P Ω speed stabilizing; θ=ω t, corner are the functions of time, the position signalling Vh=V0+Vsin3 θ of linear hall element 2; Wherein sinusoidal wave amount: Vsin3 θ=Vsin3 ω t, and the U phase back electromotive force eA (t) of motor=e1 (t)+e4 (t)+e7 (t), wherein e1 (t); E4 (t); The back electromotive force that e7 (t) is respectively the U phase winding on j1, j4, three stator poles of j7, U phase back electromotive force eA (t)=e1 (t)+e4 (t)+e7 (t)=3e1 (t)=3Vmsin3 ω t, U phase back electromotive force eA (t) is identical with the phase place of e1 (t); Because the position of linear hall element is in the groove of the stator poles at e1 (t) place; So the position signalling Vh of linear hall element and U be the back electromotive force same-phase mutually, this provides convenience for controller.
Fig. 2 be when servomotor be number of pole-pairs P=23; Structural representation during the external rotor electric machine of groove number=51, when motor rotates with angular velocity omega=P Ω speed stabilizing, θ=ω t; Corner is the function of time; The position signalling Vh=V0+VsinP θ of linear hall element, wherein sinusoidal wave amount: VsinP θ=VsinP ω t, and the U phase back electromotive force of motor:
EA (t)=e1 (t)-e2 (t)+e3 (t)-e4 (t)+e12 (t)-e13 (t)+e14 (t)+e22 (t)-e23 (t)+e24 (t)+e32 (t)-e33 (t)+e34 (t)+e42 (t)-e43 (t)+e44 (t)-e45 (t)=VmsinP (θ+φ); U phase back electromotive force is in series by 17 back electromotive force of extremely going up; Because the phase place of each utmost point is different; After the series connection, U phase back electromotive force eA (t) is different with the phase place of e1 (t), has a fixing phase difference; Phase difference can be measured out or calculated by following formula, electrical degree phase difference=190.5883 of present embodiment °=-10.5883 °.Can setover to phase difference through software or hardware approach, make the position signalling Vh same-phase of U phase back electromotive force and linear hall element after the biasing, so that make things convenient for controller.
Further; In order to guarantee mechanical installation accuracy; The linear Hall groove that the size of the notch of first winding slot of stator punching and linear hall element 2 is complementary, and first stator poles of stator punching is provided with the switch Hall groove that is complementary with the switch Hall element size, and when this servomotor is inner rotor motor; The switch Hall groove is positioned on the inner peripheral surface of stator punching; And when this servomotor was the external rotor wheel hub motor, the switch Hall groove was arranged in the linear Hall groove that linear hall element 2 on the outer circumference surface of stator punching is positioned at aforesaid stator punching, and the switch Hall element then is arranged in the switch Hall groove; Back electromotive force magnetic test coil 4 is around on first stator poles of stator punching, and its pin can directly be drawn with clue.Understandable, the center of said linear Hall groove should differ 90 ° electrical degree with the center of said Hull cell in the space.
Further, the coefficient of potential Ke of above-mentioned back electromotive force magnetic test coil 4 satisfies following formula:
Ke=V/n
Max, and Ke≤VCC, wherein, n
MaxBe the maximum speed of motor, VCC is the supply voltage of said servo controller control circuit, and V is an electromotive force.In the preferred embodiment of the utility model, get V=5V, n
Max=1500rpm, VCC=5V.
Further, define the magnetic pole logarithm P=N of this servomotor, the ideal of linear hall element 2 is output as V
h=V
0+ VsinN θ, the ideal of switch Hall element 3 is output as V
k=± Sig|sinN (θ+90 °) |, the ideal of back electromotive force magnetic test coil 4 is output as V
e=Ω KsinN θ, the sign function of back electromotive force magnetic test coil 4 is ± Sig|V
e|, wherein, N is the natural number more than or equal to 1, Ω is the rotating speed of this servomotor.If get n=3, then the output waveform figure of linear hall element 2, switch Hall element 3 and back electromotive force magnetic test coil 4 is as shown in Figure 3.
As shown in Figure 4; In another specific embodiment of the utility model; A kind of servo-control system comprises servo controller and above-mentioned servomotor, and this servo controller comprises corner translation circuit, velocity transformation circuit and Id, Iq vector control module; Id, Iq vector control module can be controlled the moment and the speed of said servomotor through friendship shaft current Iq, enlarge the velocity interval of motor through direct-axis current Id.Wherein, The corner translation circuit comprises the A/D modular converter that is used for the sinusoidal wave analog output voltage of linear hall element 2 outputs is converted to digital quantity; The sign function that provides through switch Hall element 3 through the digital quantity of A/D modular converter gained is distinguished and sinusoidal wavely is the ambiguity in cycle by 90 °; Utilize the sign function ± Sig|Ve| of back electromotive force magnetic test coil 4 to confirm the direction of corner and speed, the control its main operational through servo controller obtains digital quantity position signalling with uniqueness at last; The velocity transformation circuit comprises traffic filter or the A/D modular converter that is used for the ideal output of back-emf magnetic test coil 4 is converted to the velocity output signal of analog quantity or digital quantity.
The operation principle of this servo controller is: the A/D modular converter converts the sinusoidal wave analog output voltage of linear hall element 2 outputs to digital quantity, and the sign function that provides through switch Hall element 3 is again distinguished sine wave and is the ambiguity in cycle by 90 °; Utilize back electromotive force magnetic test coil 4 to convert the direction that sign function ± Sig|Ve| confirms corner and speed to, the digital quantity position signalling that has uniqueness through position determination module computing acquisition again through comparator.The velocity transformation circuit then utilizes the ideal output Ve=Ω KsinP θ of the back electromotive force magnetic test coil 4 on the stator poles, converts digital quantity to through traffic filter or A/D modular converter, promptly obtains the velocity output signal Ω of analog quantity or digital quantity.Like Fig. 5 and shown in Figure 6, when adopting 16 A/D modular converters, the velocity transformation circuit converts the ideal output of back electromotive force magnetic test coil 4 to digital quantity through traffic filter or A/D modular converter, promptly obtains the velocity output signal Ω of analog quantity or digital quantity.
Preferably, the control core of above-mentioned servo controller can be digital signal DSP or single-chip microprocessor MCU, also can adopt on-site programmable gate array FPGA or application-specific integrated circuit ASIC.
Fig. 7 be when the corner translation circuit adopt be FPGA and ASIC the time the circuit structure schematic diagram, in a specific embodiment of the utility model, adopt 10 A/D translation circuits, 12 EPROM; The output Vh=V0+Vsin θ of linear hall element 2 delivers to 10 A/D translation circuit analog input ends after filtering, 10 position digital signal D0～D9 after the conversion sequentially are connected to A0～A9 address input end of 12 EPROM, and are as shown in Figure 9; The ideal of switch Hall element 3 output Vk=± Sig|sinN (θ+90 °) | be connected to the A10 address end of 12 EPROM; The ideal output Ve=Ω Ksin θ of back electromotive force magnetic test coil 4; Sign function is ± Sig|Ve| to be connected to the A11 address end of 12 EPROM; Produce the position of the linear change of 10 bit resolutions with the high precision position generating means; The output Vh of linear hall element 2 is transformed into 10 with it corresponding position digital signal D (D0～D9); (D0～D9), assignment is given A0～A9 address space of 12 EPROM with 10 position digital signal D; Confirm the phase place of Vh together with the level of A10 address end; As shown in Figure 3; Because the output of A/D translation circuit links to each other with EPROM output is corresponding, this just has been transformed into the sawtooth waveforms digital output signal that changes with position linearity with Vh, the level of A11 address end be used for definite displacement and speed to.Like Fig. 8 and shown in Figure 9; The corner translation circuit that this method realizes, possibly there is a fixing phase difference in U phase back electromotive force eA (t) with the phase place of e1 (t), can be through changing the numerical value in 12 EPROM address spaces; Begin from the zero-address space; Deduct phase difference on the numerical value, setover, make the position signalling Vh same-phase of U phase back electromotive force and linear hall element after the biasing.
Above embodiment only is the technical conceive and the characteristics of explanation the utility model, and its purpose is to let the personage who is familiar with this technology can understand content of the utility model and enforcement in view of the above, can not limit the protection range of the utility model.All equalizations of being done with the utility model claim scope change and modify, and all should belong to the covering scope of the utility model claim.
Claims (7)
1. a servomotor is characterized in that, comprises stator (1), rotor and is located at linear hall element that is used to detect position, said rotor field (2) and the switch Hall element (3) on said stator (1) end face; Said linear hall element (2) and switch Hall element (3) all are positioned on the periphery of said stator punching; Electrical degree between said linear hall element (2) and the switch Hall element (3) is 90 °, and the magnetic sensitive area of said linear hall element (2) and switch Hall element (3) is all relative with the pole surface of said rotor;
On the stator poles corresponding, also be provided with the back electromotive force magnetic test coil (4) that is used for the detection rotor rotating speed with said switch Hall element (3);
Said linear hall element (2), switch Hall element (3) and back electromotive force magnetic test coil (4) are connected to said servo controller respectively.
2. servomotor according to claim 1 is characterized in that, the notch of said first winding slot of stator punching is provided with the linear hall element groove that the size with said linear hall element (2) is complementary; First stator poles of said stator punching is provided with the switch Hall groove that is complementary with said switch Hall element (3) size; The center of said stator punching linear Hall groove and the center of said switch Hall groove differ 90 ° electrical degree in the space;
Said linear hall element (2) is arranged in said linear Hall groove, and said switch Hall element (3) is arranged in said switch Hall groove, and said back electromotive force magnetic test coil (4) is around on first stator poles of said stator punching.
3. servo-control system; It is characterized in that; Comprise servo controller and like each described servomotor of claim 1-2, wherein, said servo controller comprises corner translation circuit, velocity transformation circuit and Id, Iq vector control module; Said Id, Iq vector control module control the moment and the speed of said servomotor through handing over shaft current Iq, enlarge the velocity interval of motor through direct-axis current I d;
Said corner translation circuit is connected with linear hall element (2), switch Hall element (3) and the back electromotive force magnetic test coil (4) of said servomotor; Comprise the A/D modular converter that is used for the sinusoidal wave analog output voltage of said linear hall element (2) output is converted to digital quantity; The sign function that provides through said switch Hall element (3) through the digital quantity of said A/D modular converter gained is distinguished and sinusoidal wavely is the ambiguity in cycle by 90 °; Utilize the sign function ± Sig|Ve| of said back electromotive force magnetic test coil (4) to confirm the direction of corner and speed, the control its main operational through said servo controller obtains digital quantity position signalling with uniqueness at last;
Said velocity transformation circuit comprises traffic filter or the A/D modular converter that is used for the ideal output of said back electromotive force magnetic test coil (4) is converted to the velocity output signal of analog quantity or digital quantity.
4. control system according to claim 3 is characterized in that, the control core of said servo controller is digital signal DSP or single-chip microprocessor MCU.
5. control system according to claim 4 is characterized in that, the control core of said servo controller comprises on-site programmable gate array FPGA or application-specific integrated circuit ASIC.
6. according to each described servo-control system of claim 3-5, it is characterized in that said servomotor is magnetic pole logarithm P=3, groove is counted the inner rotor motor of S=9.
7. according to each described servo-control system of claim 3-5, it is characterized in that said servomotor is magnetic pole logarithm P=23, groove is counted the external rotor wheel hub motor of S=51.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203711153U CN202364092U (en) | 2011-09-27 | 2011-09-27 | Servo motor and servo control system |
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|---|---|---|---|
| CN2011203711153U CN202364092U (en) | 2011-09-27 | 2011-09-27 | Servo motor and servo control system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103222168A (en) * | 2011-09-27 | 2013-07-24 | 浙江博望科技发展有限公司 | Servo motor and servo control system |
| CN105449936A (en) * | 2015-09-30 | 2016-03-30 | 徐州南普机电科技有限公司 | Sinusoidal motor with 48-degree hall groove and built-in hall unit, hall assembly, and hall groove determination method |
| CN107422170A (en) * | 2017-08-22 | 2017-12-01 | 机科发展科技股份有限公司 | Compressor drum counter electromotive force detection device |
| CN108880012A (en) * | 2018-09-18 | 2018-11-23 | 东莞市领亚自动化科技有限公司 | A kind of manufacturing method of Hall-type servo motor and stator |
| CN108923608A (en) * | 2018-08-13 | 2018-11-30 | 南京埃克锐特机电科技有限公司 | A kind of switched reluctance machines with position detection coil |
| JP2019033592A (en) * | 2017-08-08 | 2019-02-28 | 株式会社デンソー | Brushless motor |
| CN110417191A (en) * | 2019-07-24 | 2019-11-05 | 桂林智神信息技术股份有限公司 | Obtain the method and device of the mechanical location of auxiliary capture apparatus motor |
| CN111216111A (en) * | 2020-01-07 | 2020-06-02 | 北京可以科技有限公司 | Module unit and modular robot |
| CN115051602A (en) * | 2022-05-31 | 2022-09-13 | 江苏科技大学 | Permanent magnet synchronous motor rotor position detection device and method |
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2011
- 2011-09-27 CN CN2011203711153U patent/CN202364092U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103222168B (en) * | 2011-09-27 | 2016-05-04 | 浙江博望科技发展有限公司 | A kind of servomotor and servo-control system |
| CN103222168A (en) * | 2011-09-27 | 2013-07-24 | 浙江博望科技发展有限公司 | Servo motor and servo control system |
| CN105449936A (en) * | 2015-09-30 | 2016-03-30 | 徐州南普机电科技有限公司 | Sinusoidal motor with 48-degree hall groove and built-in hall unit, hall assembly, and hall groove determination method |
| JP2019033592A (en) * | 2017-08-08 | 2019-02-28 | 株式会社デンソー | Brushless motor |
| CN107422170A (en) * | 2017-08-22 | 2017-12-01 | 机科发展科技股份有限公司 | Compressor drum counter electromotive force detection device |
| CN108923608A (en) * | 2018-08-13 | 2018-11-30 | 南京埃克锐特机电科技有限公司 | A kind of switched reluctance machines with position detection coil |
| CN108880012A (en) * | 2018-09-18 | 2018-11-23 | 东莞市领亚自动化科技有限公司 | A kind of manufacturing method of Hall-type servo motor and stator |
| CN108880012B (en) * | 2018-09-18 | 2023-12-15 | 东莞市领亚自动化科技有限公司 | Hall type servo motor and stator manufacturing method |
| CN110417191A (en) * | 2019-07-24 | 2019-11-05 | 桂林智神信息技术股份有限公司 | Obtain the method and device of the mechanical location of auxiliary capture apparatus motor |
| CN111216111A (en) * | 2020-01-07 | 2020-06-02 | 北京可以科技有限公司 | Module unit and modular robot |
| CN111216111B (en) * | 2020-01-07 | 2023-02-10 | 北京可以科技有限公司 | Module unit and modular robot |
| CN115051602A (en) * | 2022-05-31 | 2022-09-13 | 江苏科技大学 | Permanent magnet synchronous motor rotor position detection device and method |
| CN115051602B (en) * | 2022-05-31 | 2024-03-15 | 江苏科技大学 | Permanent magnet synchronous motor rotor position detection device and method |
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