CN202940767U - System for calibrating zero position angle of resolver rotor - Google Patents
System for calibrating zero position angle of resolver rotor Download PDFInfo
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- CN202940767U CN202940767U CN2012206370846U CN201220637084U CN202940767U CN 202940767 U CN202940767 U CN 202940767U CN 2012206370846 U CN2012206370846 U CN 2012206370846U CN 201220637084 U CN201220637084 U CN 201220637084U CN 202940767 U CN202940767 U CN 202940767U
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Abstract
The utility model discloses a system for calibrating a zero position angle of a resolver rotor. The system comprises a motor output sampling circuit, a motor output comparison circuit, a resolver processing circuit and a microprocessor. The motor output sampling circuit samples three-phase induced electromotive forces of a permanent magnet synchronous motor to obtain three-phase samplings. The motor output comparison circuit converts the three-phase samplings into three-phase digital signals through comparators. The resolver processing circuit parses out a rotor angle signal. The microprocessor subtracts corresponding angles of the three-phase digital signals at the rising edge moment and the falling edge moment from corresponding angles of the rotor angle signal at the same moments, so that multiple corresponding angular deviation values at the multiple rising edge moments and the falling edge moments are obtained. A resolver calibration zero position angle deviation value is obtained by arithmetically averaging the multiple corresponding angular deviation values. The system for calibrating the zero position angle of the resolver rotor is low in cost and simple in structure, and has a fast calibration speed.
Description
Technical field
The utility model relates to automotive electronic technology, particularly a kind of resolver rotor zero-bit angle calibration system.
Background technology
Resolver (resolver/transformer) is a kind of electromagnetic sensor, claims again synchronous decomposer.It is a kind of small-sized alternating current motor of the use that takes measurement of an angle, and is used for measuring rotating shaft angular travel and the angular speed of rotating object, is comprised of stator and rotor.Wherein stator winding as the former limit of transformer, is accepted exciting voltage, and excitation frequency uses 400,3000 and 5000HZ etc. usually.The rotor winding obtains induced voltage as the secondary of transformer by electromagnetic coupled.
The operation principle of resolver is substantially similar with common transformer, difference is that the former limit of common transformer, secondary winding are relatively-stationary, so output voltage and input voltage ratio are constants, the former limit of resolver, secondary winding are with the change of the angular displacement generation relative position of rotor, thereby the size of its output voltage changes with rotor angular displacement, the voltage magnitude of rotor winding becomes sinusoidal, cosine function relation with angle of rotor, or keep a certain proportionate relationship, or linear with corner in certain angle range.
The general polarity winding of resolver and two kinds of versions of four utmost point windings.Stator and the rotor of the two poles of the earth winding resolver respectively have a pair of magnetic pole, and four utmost point windings respectively have two pairs of magnetic poles, are mainly used in high-precision detection system.In addition, also have the multipolar system resolver, be used for high accuracy absolute type detection system.
Resolver is a kind of accurate angle, position, speed detector, be applicable to all occasions, particularly high temperature of using rotary encoders, severe cold, humidity, at a high speed, the rotary encoder such as the high vibrations occasion that can't work.Due to the above characteristics of resolver, instead of optical photoelectric coder fully is widely used in the angle, position detecting system in the fields such as servo-control system, robot system, machine tool, automobile, electric power, metallurgy, weaving, printing, Aero-Space, boats and ships, weapons, electronics, metallurgy, mine, oil field, water conservancy, chemical industry, light industry, building.
Permagnetic synchronous motor is used widely in industry, for can easily control permagnetic synchronous motor, supervision, speed governing, be necessary the rotating speed of permagnetic synchronous motor is measured, thereby improve automaticity.
At present, in electric automobile, the method that the permagnetic synchronous motor rotating speed is detected has the photoelectricity decoder of use and resolver (Resolver).
When using resolver to detect the permagnetic synchronous motor rotating speed, the secondary of resolver (rotor winding) is installed on motor transmission shaft, when electric machine rotation, resolver secondary (rotor winding) is synchronizeed with motor transmission shaft and is rotated, and by former limit (stator winding) input electrical signal and secondary (rotor winding) output electrical signals, parsing obtains the rotor angle signal, thereby obtains motor speed signal.
Before parsing obtains the rotor angle signal, the at first essential zero-bit angle of determining resolver, the zero-bit angle is relevant with the installation site.In permagnetic synchronous motor and resolver production installation process, can guarantee resolver zero-bit angle by producing mounting process, yet this can increase production cost, productive temp slows down.Therefore, common way is after motor and resolver installation, it to be carried out resolver rotor zero-bit angle calibration No. one time, and the zero-bit angular deviation that demarcation obtains is preserved, and is used for electric machine controller and carries out the zero-bit angle compensation.Not only cost is low to use resolver rotor zero-bit angle calibration method, and reliability is high.
Existing resolver rotor zero-bit angle calibration system, general a kind of absolute position sensor-based system (as the photoelectricity decoder) detection rotor angle of using, the rotor angle of its detection and the rotor angle of resolver detection are carried out contrasting in real time obtaining relative error, thereby obtain the zero-bit angular deviation.Existing this kind resolver rotor zero-bit angle calibration system, cost is high, complex structure, demarcation speed is slow, can't satisfy the quick need of production of automobile industry etc.
The utility model content
The technical problems to be solved in the utility model is to provide a kind of resolver rotor zero-bit angle calibration system, and cost is low, and is simple in structure, and demarcation speed is fast.
For solving the problems of the technologies described above, the resolver rotor zero-bit angle calibration system that the utility model provides, it comprises motor output sample circuit, motor output comparison circuit, resolver treatment circuit, microprocessor;
Described motor output sample circuit, be used for U, V, W three-phase output open circuit at permagnetic synchronous motor, and dragged when rotating, U, V, W three-phase induction electromotive force that permagnetic synchronous motor produces are sampled respectively, obtain U, V, W three phase samplers and output to described motor output comparison circuit;
Described motor output comparison circuit, being used for is U, V, W three-phase digital signal by comparator with described U, V, W three-phase sample conversion;
Described resolver treatment circuit, be used for sending pumping signal to the stator winding of described resolver, and the inverse signal of the rotor winding of reception resolver, compare by inverse signal and pumping signal, parse the rotor angle signal, and the rotor angle signal is passed to described microprocessor;
Described microprocessor, be used for rising edge and corresponding angle of the trailing edge moment with U, V, W three-phase digital signal, subtract each other in phase corresponding angle in the same time with the rotor angle signal respectively, obtain a plurality of rising edges and trailing edge corresponding a plurality of angular deviation values constantly, described a plurality of angular deviation values are carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value.
Better, described microprocessor, be used for rising edge and the trailing edge of U, V within N cycle, W three-phase digital signal are total to a 6N corresponding 6N angle constantly, respectively with the rotor angle signal mutually in the same time a corresponding 6N angle subtract each other, obtain 6N rising edge and trailing edge corresponding 6N angular deviation value constantly, described 6N angular deviation value carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value, N is positive integer.
Better, if maximum and minimum value in continuous 6N angular deviation value, the deviation of demarcating zero-bit angular deviation value with described resolver is namely demarcated successfully less than 1 ° of C, exports resolver demarcation zero-bit angular deviation value otherwise recomputate.
Better, described microprocessor, the resolver that also is used for calculating is demarcated the electric machine controller that zero-bit angular deviation value sends to permagnetic synchronous motor.
Better, described motor output sample circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance;
The first resistance, the second resistance be used for being serially connected in permagnetic synchronous motor U in the same manner between, the tie point of the first resistance and the second resistance is exported the U phase sampler of permagnetic synchronous motor;
The 3rd resistance, the 4th resistance be used for being serially connected in permagnetic synchronous motor V in the same manner between, the tie point of the 3rd resistance and the 4th resistance is exported the V phase sampler of permagnetic synchronous motor;
The 5th resistance, the 6th resistance be used for being serially connected in permagnetic synchronous motor W in the same manner between, the tie point of the 5th resistance and the 6th resistance is exported the W phase sampler of permagnetic synchronous motor;
The first resistance equates with the ratio of the 6th resistance with ratio and the 5th resistance of the 4th resistance with ratio, the 3rd resistance of the second resistance.
Better, the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance are greater than 500 kilohms.
Better, described motor output comparison circuit comprises the first comparator, the second comparator, the 3rd comparator;
Described the first comparator, the positive described U phase sampler of termination, negativing ending grounding, output U phase digital signal;
Described the second comparator, the positive described V phase sampler of termination, negativing ending grounding, output V phase digital signal;
Described the 3rd comparator, the positive described W phase sampler of termination, negativing ending grounding, output W phase digital signal.
resolver rotor zero-bit angle calibration of the present utility model system, use resistor voltage divider circuit to gather the UVW three-phase voltage of permagnetic synchronous motor, and the UVW three-phase voltage is obtained three-phase digital signal Uc by comparator respectively, Vc, Wc, three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge characterize the special angle of resolver rotor constantly, at three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge are constantly, rotor angle signal and three-phase digital signal Uc with the resolver collection, Vc, the rising edge of Wc and special angle corresponding to the trailing edge moment subtract each other can obtain the angular deviation of resolver zero-bit.Resolver rotor zero-bit angle calibration of the present utility model system, can get zero-bit angular deviation value six times in one-period, and can calculate a plurality of cycles and average and verify, can obtain fast, accurately resolver and demarcate zero-bit angular deviation value; Resolver rotor zero-bit angle calibration of the present utility model system can realize that being independent of on the equipment of electric machine controller reduced the electric machine controller hardware cost and discharged software resource, cost is low; Resolver rotor zero-bit angle calibration of the present utility model system does not need to connect high voltage source, and the stability of motor speed is not required, and is simple in structure, easy to operate.
Description of drawings
In order to be illustrated more clearly in the technical solution of the utility model, the below does simple the introduction to the accompanying drawing of the required use of the utility model, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is resolver rotor zero-bit angle calibration of the present utility model system one embodiment schematic diagram;
Fig. 2 is the three phase sampler schematic diagrames that resolver rotor zero-bit angle calibration one embodiment of system of the present utility model samples and obtains;
Fig. 3 is the three-phase digital signal sampling schematic diagram that resolver rotor zero-bit angle calibration one embodiment of system of the present utility model is converted to;
Fig. 4 is the rotor angle signal schematic representation that resolver rotor zero-bit angle calibration of the present utility model system one embodiment resolver treatment circuit parses.
Embodiment
Below in conjunction with accompanying drawing, the technical scheme in the utility model is carried out clear, complete description, obviously, described embodiment is a part of embodiment of the present utility model, rather than whole embodiment.Based on the embodiment in the utility model, all other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work belong to the scope that the utility model is protected.
Embodiment one
As shown in Figure 1, the rotor winding of resolver is fixed on the power transmission shaft of permagnetic synchronous motor, resolver rotor zero-bit angle calibration system comprises motor output sample circuit, motor output comparison circuit, resolver treatment circuit, Micro-processor MCV;
Described motor output sample circuit, be used for U, V, W three-phase output open circuit at permagnetic synchronous motor, and when permagnetic synchronous motor is dragged and is rotated, U, V, the W three-phase induction electromotive force of permagnetic synchronous motor generation are sampled obtain U, V, W three phase sampler Us, Vs, Ws, as shown in Figure 2, output U, V, W three phase sampler Us, Vs, Ws is to described motor output comparison circuit;
Described motor output comparison circuit is used for by comparator described U, V, W three phase sampler Us, and Vs, Ws are converted to U, V, W three-phase digital signal Uc, Vc, and Wc, as shown in Figure 3;
Described resolver treatment circuit, be used for sending pumping signal to the stator winding of described resolver, and the inverse signal of the rotor winding of reception resolver, compare by inverse signal and pumping signal, parse the rotor angle signal, as shown in Fig. 4 dotted line, and the rotor angle signal is passed to microprocessor;
Described microprocessor, be used for U, V, W three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge be corresponding angle constantly, subtract each other in phase angle in the same time with the rotor angle signal respectively, obtain a plurality of rising edges and trailing edge corresponding a plurality of angular deviation values constantly, described a plurality of angular deviation values are carried out arithmetic mean, the output resolver is demarcated zero-bit angular deviation value.
Can pass through the CAN communication, resolver be demarcated zero-bit angular deviation value transfer to electric machine controller, also this resolver can be demarcated zero-bit angular deviation value and be identified in permagnetic synchronous motor, input to again electric machine controller when the mounted motor controller.
Embodiment two
Based on embodiment one, described microprocessor, be used for rising edge and the trailing edge of U, V within N cycle, W three-phase digital signal are total to a 6N corresponding 6N angle constantly, respectively with the rotor angle signal mutually in the same time a corresponding 6N angle subtract each other, obtain 6N rising edge and trailing edge corresponding 6N angular deviation value constantly, described 6N angular deviation value carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value, N is positive integer.
In Fig. 3, in one-period, U, V, W three-phase digital signal Uc, Vc, corresponding angle is as shown in the table constantly for the rising edge of Wc and trailing edge.
| The Uc rising edge | The Uc trailing edge | The Vc rising edge | The Vc trailing edge | The Wc rising edge | The Wc trailing edge |
| 0 | 180 | 120 | 300 | 240 | 60 |
Better, if maximum and minimum value in continuous 6N angular deviation value, demarcate the deviation of zero-bit angular deviation value less than 1 ° of C with described resolver, can think and demarcate successfully, otherwise recomputate the output resolver and demarcate zero-bit angular deviation value, unsuccessfully think and demarcate unsuccessfully if demarcate for three times.
Embodiment three
Based on embodiment one, as shown in Figure 1, described motor output sample circuit comprises the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6;
The first resistance R 1, the second resistance R 2 be used for being serially connected in permagnetic synchronous motor U in the same manner between, the tie point of the first resistance R 1 and the second resistance R 2 is exported the U phase sampler Us of permagnetic synchronous motor;
The 3rd resistance R 3, the 4th resistance R 4 be used for being serially connected in permagnetic synchronous motor V in the same manner between, the tie point of the 3rd resistance R 3 and the 4th resistance R 4 is exported the V phase sampler Vs of permagnetic synchronous motor;
The 5th resistance R 5, the 6th resistance R 6 be used for being serially connected in permagnetic synchronous motor W in the same manner between, the tie point of the 5th resistance R 5 and the 6th resistance R 6 is exported the W phase sampler Ws of permagnetic synchronous motor;
The first resistance R 1 equates with the ratio of the 6th resistance R 6 with ratio and the 5th resistance R 5 of the 4th resistance R 4 with ratio, the 3rd resistance R 3 of the second resistance R 2.
Better, the resistance of the first resistance R 1, the second resistance R 2, the 3rd resistance R 3, the 4th resistance R 4, the 5th resistance R 5, the 6th resistance R 6 is all greater than 500 kilohms.
Embodiment four
Based on embodiment three, described motor output comparison circuit comprises the first comparator C 1, the second comparator C 2, the 3rd comparator C 3;
Described the first comparator C 1, the positive described U phase sampler of termination Us, negativing ending grounding, output U phase digital signal Uc;
Described the second comparator C 2, the positive described V phase sampler of termination Vs, negativing ending grounding, output V phase digital signal Vc;
Described the 3rd comparator C 3, the positive described W phase sampler of termination Ws, negativing ending grounding, output W phase digital signal Wc.
When being rotated transformer rotor zero-bit angle calibration, keeping the three-phase output open circuit of permagnetic synchronous motor, and drag permagnetic synchronous motor and rotate, if stabilization of speed can produce the induced electromotive force of three phase sine in the three-phase output of permagnetic synchronous motor.
The resolver treatment circuit sends pumping signal to the stator winding of resolver, and receives the inverse signal of the rotor winding of resolver, compares by inverse signal and pumping signal, parses the rotor angle signal.
Be resolver rotor zero-bit if establish U phase zero-bit, when permagnetic synchronous motor is exported as shown in Figure 2 the three-phase induction electromotive force, the rotor angle signal should be as shown in Fig. 4 solid line in theory, yet due to resolver rotor zero drift, in fact the rotor angle signal will be as shown in Fig. 4 dotted line.
resolver rotor zero-bit angle calibration of the present utility model system, use resistor voltage divider circuit to gather the UVW three-phase voltage of permagnetic synchronous motor, and the UVW three-phase voltage is obtained three-phase digital signal Uc by comparator respectively, Vc, Wc, three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge characterize the special angle of resolver rotor constantly, at three-phase digital signal Uc, Vc, the rising edge of Wc and trailing edge are constantly, rotor angle signal and three-phase digital signal Uc with the resolver collection, Vc, the rising edge of Wc and special angle corresponding to the trailing edge moment subtract each other can obtain the angular deviation of resolver zero-bit.Resolver rotor zero-bit angle calibration of the present utility model system, can get zero-bit angular deviation value six times in one-period, and can calculate a plurality of cycles and average and verify, can obtain fast, accurately resolver and demarcate zero-bit angular deviation value; Resolver rotor zero-bit angle calibration of the present utility model system can realize that being independent of on the equipment of electric machine controller reduced the electric machine controller hardware cost and discharged software resource, cost is low; Resolver rotor zero-bit angle calibration of the present utility model system does not need to connect high voltage source, and the stability of motor speed is not required, and is simple in structure, easy to operate.
The above is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of the utility model protection.
Claims (7)
1. a resolver rotor zero-bit angle calibration system, is characterized in that, comprises motor output sample circuit, motor output comparison circuit, resolver treatment circuit, microprocessor;
Described motor output sample circuit, be used for U, V, W three-phase output open circuit at permagnetic synchronous motor, and dragged when rotating, U, V, W three-phase induction electromotive force that permagnetic synchronous motor produces are sampled respectively, obtain U, V, W three phase samplers and output to described motor output comparison circuit;
Described motor output comparison circuit, being used for is U, V, W three-phase digital signal by comparator with described U, V, W three-phase sample conversion;
Described resolver treatment circuit, be used for sending pumping signal to the stator winding of described resolver, and the inverse signal of the rotor winding of reception resolver, compare by inverse signal and pumping signal, parse the rotor angle signal, and the rotor angle signal is passed to described microprocessor;
Described microprocessor, be used for rising edge and corresponding angle of the trailing edge moment with U, V, W three-phase digital signal, subtract each other in phase corresponding angle in the same time with the rotor angle signal respectively, obtain a plurality of rising edges and trailing edge corresponding a plurality of angular deviation values constantly, described a plurality of angular deviation values are carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value.
2. resolver rotor zero-bit angle calibration according to claim 1 system, is characterized in that,
Described microprocessor, be used for rising edge and the trailing edge of U, V within N cycle, W three-phase digital signal are total to a 6N corresponding 6N angle constantly, respectively with the rotor angle signal mutually in the same time a corresponding 6N angle subtract each other, obtain 6N rising edge and trailing edge corresponding 6N angular deviation value constantly, described 6N angular deviation value carried out arithmetic mean obtain resolver demarcation zero-bit angular deviation value, N is positive integer.
3. resolver rotor zero-bit angle calibration according to claim 2 system, is characterized in that,
If maximum and minimum value in continuous 6N angular deviation value, the deviation of demarcating zero-bit angular deviation value with described resolver is namely demarcated successfully less than 1 ° of C, exports resolver demarcation zero-bit angular deviation value otherwise recomputate.
4. resolver rotor zero-bit angle calibration according to claim 3 system, is characterized in that,
Described microprocessor, the resolver that also is used for calculating is demarcated the electric machine controller that zero-bit angular deviation value sends to permagnetic synchronous motor.
5. resolver rotor zero-bit angle calibration according to claim 1 system, is characterized in that,
Described motor output sample circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance;
The first resistance, the second resistance be used for being serially connected in permagnetic synchronous motor U in the same manner between, the tie point of the first resistance and the second resistance is exported the U phase sampler of permagnetic synchronous motor;
The 3rd resistance, the 4th resistance be used for being serially connected in permagnetic synchronous motor V in the same manner between, the tie point of the 3rd resistance and the 4th resistance is exported the V phase sampler of permagnetic synchronous motor;
The 5th resistance, the 6th resistance be used for being serially connected in permagnetic synchronous motor W in the same manner between, the tie point of the 5th resistance and the 6th resistance is exported the W phase sampler of permagnetic synchronous motor;
The first resistance equates with the ratio of the 6th resistance with ratio and the 5th resistance of the 4th resistance with ratio, the 3rd resistance of the second resistance.
6. resolver rotor zero-bit angle calibration according to claim 5 system, is characterized in that,
The first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance are greater than 500 kilohms.
7. resolver rotor zero-bit angle calibration according to claim 5 system, is characterized in that,
Described motor output comparison circuit comprises the first comparator, the second comparator, the 3rd comparator;
Described the first comparator, the positive described U phase sampler of termination, negativing ending grounding, output U phase digital signal;
Described the second comparator, the positive described V phase sampler of termination, negativing ending grounding, output V phase digital signal;
Described the 3rd comparator, the positive described W phase sampler of termination, negativing ending grounding, output W phase digital signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012206370846U CN202940767U (en) | 2012-11-27 | 2012-11-27 | System for calibrating zero position angle of resolver rotor |
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| CN2012206370846U CN202940767U (en) | 2012-11-27 | 2012-11-27 | System for calibrating zero position angle of resolver rotor |
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| CN2012206370846U Withdrawn - After Issue CN202940767U (en) | 2012-11-27 | 2012-11-27 | System for calibrating zero position angle of resolver rotor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103023399A (en) * | 2012-11-27 | 2013-04-03 | 联合汽车电子有限公司 | Zero angle calibrating system of rotary transformer rotor |
| CN104734589A (en) * | 2013-12-20 | 2015-06-24 | 联合汽车电子有限公司 | Method for calibrating deviation angle in permanent magnet synchronous motor |
| CN106877776A (en) * | 2017-04-07 | 2017-06-20 | 西北工业大学 | Determine the method that magneto controls position using rotary transformer outgoing position |
| CN107547015A (en) * | 2017-09-30 | 2018-01-05 | 江苏银基烯碳能源科技有限公司 | A kind of permanent-magnet synchronous motor rotor position detecting system |
-
2012
- 2012-11-27 CN CN2012206370846U patent/CN202940767U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103023399A (en) * | 2012-11-27 | 2013-04-03 | 联合汽车电子有限公司 | Zero angle calibrating system of rotary transformer rotor |
| CN103023399B (en) * | 2012-11-27 | 2016-06-01 | 联合汽车电子有限公司 | Rotary transformer rotor zero-bit angle calibration system |
| CN104734589A (en) * | 2013-12-20 | 2015-06-24 | 联合汽车电子有限公司 | Method for calibrating deviation angle in permanent magnet synchronous motor |
| CN104734589B (en) * | 2013-12-20 | 2017-07-07 | 联合汽车电子有限公司 | The method that deviation angle is demarcated in permagnetic synchronous motor |
| CN106877776A (en) * | 2017-04-07 | 2017-06-20 | 西北工业大学 | Determine the method that magneto controls position using rotary transformer outgoing position |
| CN106877776B (en) * | 2017-04-07 | 2019-04-19 | 西北工业大学 | The method for determining magneto control position using rotary transformer output position |
| CN107547015A (en) * | 2017-09-30 | 2018-01-05 | 江苏银基烯碳能源科技有限公司 | A kind of permanent-magnet synchronous motor rotor position detecting system |
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Granted publication date: 20130515 Effective date of abandoning: 20160601 |
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