RU2694364C1 - Method for control of inductor machine - Google Patents

Abstract

FIELD: electrical engineering.

SUBSTANCE: invention relates to electrical engineering and can be used in transport vehicles and tractors with electric transmission and in industrial drives. Rotor (2) of inductor machine (1) has z teeth, and stator - q phase windings (3) connected by "star", and converter (4) of inductor machine consists of one common half-bridge (5) with control input (7) and q of phase half-bridges (6) with control inputs (8). Output (9) of common half-bridge is connected to output (10) of each phase half-bridge through corresponding phase winding (3). Half-bridges are powered from DC source (11). Method of control of inductor machine (1) is carried out by control circuit (12) and consists in the fact that: continuously measuring angle θ rotor position and current i₁, …i_q phase windings; forming settings reƒ₁(θ), … reƒ_q(θ), absolute value of which is periodically repeating function from angle θ rotor position with repetition period 360°/z; is supplied to inputs of phase control half-bridge control circuits (8) of pulse sequence u₁, …u_q and modulate them so as to provide control of currents i₁, …i_q phase windings in accordance with settings reƒ₁(θ), … reƒ_q(θ); sending to control input (7) of common half-bridge pulse sequence u₀, which is characterized by coefficient d₀ filling; pulse sequence u₀ is modulated so that coefficient d₀ filling is determined by one of two equations: d₀= d, d₀= 1-d, which alternate depending on angle θ rotor position with 360-degree interval/(q⋅z), where d is a variable with an allowable range from 0 to 1/2.

EFFECT: technical result is reduced torque ripple without using an expensive converter.

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Description

The invention relates to the field of electrical engineering, namely, to the management of inductor machines, and can be used mainly on transport vehicles and tractors with electric transmission, as well as in industrial drives.

A traditionally used variant of an inductor machine converter contains switching circuits for phase windings; each such circuit represents a bridge (H-brige), built on two transistors and two diodes (R. Krishnan, "Switched Reluctance Motor Drives: Modeling, Simulation, Analysis, Design, and Applications", CRC Press, 2001.). This version of the converter allows you to adjust the currents of the phase windings independently of one another.

The converter with independent regulation of the currents of the phase windings can be used in the system, which ensures the reduction of the ripple torque of the inductor machine (U.S. Pat. No. 9,236,820 B2 - Jan. 12, 2016). In this invention, the current of each phase winding is adjusted in accordance with the setpoint reƒ (θ), which is a function of the rotor position angle θ of the inductor machine and is set in tabular form. The graph of the function reƒ (θ) has a shape close to the trapezoid, but differs from the latter by the presence of an additional local minimum, which is necessary for smoothing the torque pulsations.

A common drawback of the above solutions is an expensive converter circuit due to the fact that 2 q half-bridges are used to switch the q phase windings. Half-bridges can be of two types: symmetrical (for example, two series-connected MOSFET or IGBT transistors, shunted by a back-on diode), or asymmetric (for example, a series-connected IGBT transistor and a back-turned diode). The cost of the converter is most significant if it has high power and the switched currents are hundreds of Amperes. To switch such currents, modern industry produces diode-transistor modules of symmetric half-bridges, - as a result, the cost of a powerful converter is determined by the total number of half-bridges (modules).

In the technical solution that is closest to the claimed invention (Z. Grbo, S. Vukosavic, E. Levi, "A Novel Power Inverter for Switched Reluctance Motor Drives", Facta Universitatis, Ser .: Elec. Energ. Vol. 18, no. 3, Dec. 2005, pp. 453-465.) the number of half-bridges in the converter of an inductor machine is reduced to q + 1: the converter contains one common half-bridge and q phase half-bridges, where q is the number of phase windings of the inductor machine; each half-bridge has a control input, a positive output, a negative output, and an output made with the possibility of switching between positive and negative outputs by a signal at the control input. Each half-bridge is built according to a symmetric scheme and contains the first and second electronic keys made on the basis of a MOSFET or IGBT transistors shunted by the back-on diodes, with the positive half-bridge output connected to its output through the first electronic key, and the output of the half-bridge connected to its minus output through the second electronic key. Phase windings are connected by a "star", and the output of the total half-bridge is connected with the output of each phase half-bridge through the corresponding phase winding. Each half-bridge is connected to the positive and negative leads to a DC power source.

This converter may have different states, which ensure the following processes for each phase:

- magnetization (direct voltage of the power supply is applied to the phase winding, which leads to an increase in the phase current);

- free demagnetization (phase winding is short-circuited, which leads to a delayed decrease in phase current);

- forced demagnetization (the reverse voltage of the power supply is applied to the phase winding, which leads to an accelerated decrease in the phase current).

These processes for different phases can partially overlap each other (for example, magnetization of one phase, and simultaneous demagnetization of another).

In the description of this converter, a control method is disclosed which consists in continuously measuring the currents of the phase windings and the rotor angle of the inductor machine and alternating various states of the converter depending on the measurement results, including:

- form the setting, the absolute value of which is a recurring function of the angle of the rotor with a repetition period of 360 ° / z, where z is the number of teeth of the rotor;

- serves to the control inputs of the phase half-bridges of a sequence of pulses and modulate them so as to ensure the regulation of the currents of the phase windings in accordance with the settings;

- switch the output of the total half-bridge between its positive and negative terminals, depending on the angle of the rotor, and the angular interval between switching is 360 ° / (q⋅z).

This method is not suitable for the effective suppression of torque ripples, as it does not allow to regulate the currents of the phase windings independently of one another, which is manifested in the following:

- in the active phase winding it is impossible to provide current regulation in accordance with the setpoint, the schedule of which has a shape close to the trapezoid, but differs from the latter by the presence of an additional local minimum;

- a parasitic electric current arises in the inactive phase winding, which is caused by the mutual inductance of the phase windings and closes along the circuit formed by the common half-bridge transistor, the inactive phase winding and the diode of the corresponding phase half-bridge.

The task of the invention is to reduce the ripple torque of the inductor machine.

The technical result that allows to solve the problem consists in the independent regulation of the currents of the phase windings of the inductor machine.

The control method of an inductor machine, the rotor of which has z teeth, and the stator - q phase windings connected by a "star", and:

- the converter of the inductor machine consists of one common half bridge and q phase half bridge;

- each half-bridge has a control input, a positive output, a negative output and an output made with the possibility of switching between the positive and negative outputs according to a signal at the control input;

- the output of the common half bridge is connected with the output of each phase half bridge through the corresponding phase winding;

- each half-bridge is connected with positive and negative leads to a DC power source;

thing is:

- continuously measure the angle θ of the rotor position and the currents i ₁ , ... i _{q of the} phase windings;

- form the settings reƒ ₁ (θ), ... reƒ _q (θ), the absolute value of which is a periodically repeating function of the angle θ of the rotor position with a repetition period of 360 ° / z;

- serves to the control inputs of the phase half-bridges of a sequence of pulses u ₁ , ... u _q and modulate them so as to ensure the regulation of currents i ₁ , ... i _{q of the} phase windings in accordance with the settings reƒ ₁ (θ), ... reƒ _q (θ);

and according to the claimed invention:

- fed to the control input of the general half-batch sequence of pulses u ₀ , which is characterized by the fill factor

d ₀ = τ / T,

where τ is the pulse duration, T is the pulse repetition period;

- modulate the sequence of pulses u ₀ so that the fill factor is determined by one of two equations:

d ₀ = d,

d _{0 =} 1-d,

which alternate depending on the angle θ of the rotor position with an interval of 360 ° / (q⋅z), where d is a variable with a range of acceptable values from 0 to 1/2;

The inventive method, depending on the speed ω of rotor rotation, can be carried out in such a way that the graphs of the settings reƒ ₁ (θ), ... re _q (θ) have the following form:

- close to a rectangle at a high speed ω of rotation of the rotor, sufficient to ensure its uniform rotation due to inertia;

- close to the trapezoid, but different from the latter by the presence of an additional local minimum, at a low speed of rotation ω of the rotor.

The inventive method, depending on the speed of rotation of the rotor ω, can be carried out so that the variable d takes the values:

- 0 at high speed ω of rotation of the rotor, sufficient to ensure its uniform rotation due to inertia;

-1/2 at a low speed ω of rotation of the rotor.

The inventive method, depending on the speed of rotation of the rotor ω, can be carried out so that the variable d takes the values:

- 0 at high speed ω of rotation of the rotor, sufficient to ensure its uniform rotation due to inertia;

- about 1/4 at a low speed ω of rotation of the rotor.

In the inventive method, the modulation of the pulse sequences u ₁ , ... u _q applied to the control inputs of the phase half-bridges can be performed by switching between the following states:

- the signal at the control input of the phase half-bridge corresponds to the connection of its output to the negative terminal;

- the signal at the control input of the phase half-bridge coincides with the sequence of pulses u ₀ ;

- the signal at the control input of the phase half-bridge corresponds to the connection of its output to the positive output.

For the implementation of the proposed method can be used control circuit, which contains:

- rotor angle sensor;

- current sensors phase windings;

- phase winding current regulators, each of which has: modulation mode selection inputs, a setting input, a measurement input connected to the corresponding phase winding current sensor, and a controller output connected to the control input of the corresponding phase half bridge;

- a microcontroller having a microcontroller input connected to the rotor position angle sensor and a set of outputs that serve: to form a sequence of pulses u ₀ at the control input of the common half-bridge, to control the inputs of modulation mode selection, and to form the settings reƒ ₁ (θ), ... reƒ _q (θ) at the master inputs.

Each phase winding current controller may contain:

- comparator with direct input, inverse input and output;

- a multiplexer with a first signal input, a second signal input, a control input and an output;

and:

- control input multiplexer connected to the output of the comparator,

- the comparator has a hysteresis characteristic;

- the direct input of the comparator is the master input,

- the inverse input of the comparator is a measuring input;

- the first and second signal inputs of the multiplexer are the modulation mode selection inputs;

- the multiplexer output is the regulator output.

For the implementation of the proposed method requires known materials and standard equipment, that is, it meets the criterion of "industrial applicability".

Studies on patent and scientific and technical information sources indicate that the inventive method is unknown from the studied level of technology and meets the criterion of "novelty."

Not well-known influence of the distinctive features of the proposed method on the technical result - independent regulation of the currents of the phase windings of the inductor machine. Thus, the inventive method is not obvious from the prior art and meets the criterion of "inventive step".

The essential features of the proposed method affect the achievement of the technical result as follows:

1) Symptom: “the output of the general half-bridge is connected with the output of each phase half-bridge through the corresponding phase winding” means that the voltage at the terminals of the phase winding is determined by the equation:

where j is the number of the phase winding, U _j is the voltage at the output of the phase half bridge, U ₀ is the voltage at the output of the general half bridge. The change (decrease or increase) of the phase winding current depends on the voltage U _Lj .

2) A set of signs: “each half-bridge is connected with positive and negative leads to a DC power source; served on the control inputs of the phase half-bridges of a sequence of pulses ...; serves to the control input of the general half-bridge a sequence of pulses ... "means that when analyzing the phase winding current, the magnitudes of the voltages in equation (1) can be replaced by their average values

where U is the voltage of the DC power source, d _j is the pulse duty factor at the control input of the phase half bridge, d ₀ is the pulse duty factor at the control input of the general half bridge. Considering equations (2) and (3), equation (1) can be rewritten as

where the difference (d _j -d ₀ ) can vary in the range from-d ₀ to (1-d ₀ ).

3) Symptom: “modulate the sequence of pulses u ₀ so that the fill factor d ₀ is determined by one of the two equations:

which alternate depending on the angle θ of the rotor position with an interval of 360 ° / (q⋅z), where d is a variable with a range of valid values from 0 to 1/2 "means that the difference (d _j -d ₀ ) in the expression (4 ) can take both positive and negative values at any position of the rotor. Thus, a voltage of either polarity can be applied to the terminals of any phase winding at any position of the rotor, that is, to provide independent control of the currents of the phase windings.

4) Sign: “depending on the speed ω of the rotor rotation, the graphs of the settings reƒ ₁ (θ), ... reƒ _q (θ) have the following form:

- close to a rectangle at high speed with rotation of the rotor, sufficient to ensure its uniform rotation due to inertia;

- close to the trapezoid, but different from the latter by the presence of an additional local minimum, at low speed since the rotor rotates, in conjunction with features that provide independent control of the currents of the phase windings, reduces the ripple torque of the inductor machine in a wide range of speeds. 5) The sign: "... the variable d takes the value ... 1/2 at a low speed ω of rotor rotation" means that, in accordance with (4), (5), (6), the voltage at the terminals of any phase winding can be changed from 0.5 U to 0.5 U, and arbitrarily set the direction and magnitude of the phase winding current regardless of the position of the rotor. In particular, in a four-phase inductor machine, the direction of the currents of the phase windings can be alternated in the following order:

- i ₁ - positive;

- i ₂ - negative;

- i ₃ - positive;

- i ₄ - negative;

i ₁ is negative;

-i ₂ is positive;

- i ₃ - negative;

- i ₄ - positive ...

Such a sequence makes it possible to uniformly (alternately) load the semiconductor elements of symmetric half-bridges. This option is acceptable at a fairly low speed since the rotor rotates, since the rate of rise (fall) of the phase winding current is limited to 0.5 U.

The sign: "... the variable d takes the value ... 1/4 at a low speed ω of rotor rotation" means that, in accordance with (4), (5), (6), the voltage at the terminals of the phase windings, depending on the position of the rotor, can be changed in the following limits:

- from -0.25 U to 0.75 U;

- from -0.75 U to 0.25 U.

Compared with the previous option, the rate of rise (fall) of the phase winding current is increased, and is limited to 0.75 U, but the direction of the current in the phase windings is not arbitrary and depends on the position of the rotor. In particular, for an inductor machine with three phase windings, the direction of the currents in them can be alternated in the following order:

- i ₁ - positive;

- i ₂ - negative;

- i ₃ - positive;

- i ₁ - negative;

- i ₂ - positive;

- i ₃ - negative ...

The choice of the value of the variable d is determined by many factors, and is not limited to the examples given.

6) The sign "modulation of the sequences of pulses u ₁ , ... u _q applied to the control inputs of the phase half-bridges is performed by switching between the following states:

- the signal at the control input of the phase half-bridge corresponds to the connection of its output to the negative terminal;

- the signal at the control input of the phase half-bridge coincides with the sequence of pulses u ₀ ;

- the signal at the control input of the phase half-bridge corresponds to the connection of its output to the positive output ”allows synchronizing the pulse sequence at the control input of the phase half-bridge with the pulse sequence u ₀ at the input of the common half-bridge in the free demagnetization mode (when the phase winding is short-circuited). This synchronization reduces the ripple current of the power supply.

The inventive method is implemented in a valve-inductor motor, the operation of which is illustrated by drawings.

FIG. 1 contains a valve-induction motor circuit.

FIG. 2 contains a control circuit designed to implement the proposed method.

FIG. 3 and FIG. 4 contain charts.

The diagram (Fig. 1) presents:

- inductor machine 1, which contains a rotor 2 and phase windings 3;

- Converter 4, which contains a common half-bridge 5 and phase half-bridges 6;

- input 7 of the control of the general half bridge;

- inputs 8 controls the phase half bridges;

- output 9 of the general half bridge;

- outputs of 10 phase half bridges;

- DC power supply 11;

- control circuit 12;

- capacitor 21.

Each half-bridge 5, 6 is built according to a symmetrical scheme and contains the first and second electronic keys, made on the basis of IGBT transistors, shunted back by switched on diodes. Output 9, 10 of each half-bridge is connected with the positive output through the first electronic key, and with the negative output through the second electronic key. The gates of IGBT transistors are connected via logic elements and drivers (not shown in the diagram) to the inputs 7.8 of the half-bridge control. Phase winding 3, connected by a "star". Output 9 of the common half-bridge is connected to the output 10 of each phase half-bridge through the corresponding phase winding 3. Each half-bridge is connected with positive and negative leads to the DC power supply 11 and the capacitor 21. The common half-bridge control input 7 and the half-bridge control inputs 8 are connected to the control circuit 12 .

The control circuit 12 (FIG. 2) contains:

- a rotor position angle sensor θ (not shown in the diagram);

- current sensors i ₁ , ... i _q phase windings (not shown in the diagram);

- phase winding current regulators, which have: modulation mode selection inputs 13, defining inputs 14, measurement inputs 15 connected to current sensors i ₁ , ... i _q phase windings and outputs connected to inputs 8 of phase half-bridge control;

- a microcontroller 16 having an input 17 connected to an angle sensor θ of the rotor position, and a plurality of outputs that are connected: to the input 7 of the control of the common half-bridge, to the inputs 13 of the modulation mode selection and to the driver inputs 14.

Each phase winding current controller contains:

- comparator 18 with direct input, inverse input and output;

- multiplexer 19 with the first signal input, the second signal input, control input 20 and output. The multiplexer control input 20 is connected to the comparator output. The direct input of the comparator is the master input 14. The inverse input of the comparator is the measuring input 15. The first and second signal inputs of the multiplexer are the inputs 13 of the modulation mode selection. The output of the multiplexer is the output of the controller.

The diagrams (Fig. 3, Fig. 4) depending on the angle (θ) of the rotor position are presented:

- the settings reƒ ₁ (θ), reƒ ₂ (θ), reƒ _q-1 (θ), reƒ _q (θ);

- coefficient d ₀ filling;

- coefficient d ₁ filling;

- the difference (d ₁ -d ₀ ) of the fill factors;

- a sequence of pulses u ₀ ;

- pulse sequence u ₁ .

In the initial state, the control circuit 12 and the drivers of half-bridges 5, 6 are de-energized, the IGBT transistors are locked, the currents i _j , ... i _{q of the} phase windings are zero, the rotor 2 is fixed.

After energizing the half-bridge drivers 5, 6 and the control circuit 12, the input 17 of the microcontroller 16 receives a signal from the angle sensor in the rotor position.

The microcontroller 16 provides to the input 7 of the control of the total half-bridge a sequence of pulses u ₀ , shown in the diagram (Fig. 4). This sequence is characterized by a d ₀ fill factor. In this example, the filling factor d ₀ takes one of two values: 3/4 or 1/4, which alternate depending on the angle θ of the rotor position with an interval of 360 ° / (q⋅z).

The memory of the microcontroller 16 contains a table, to the input of which the value of the angle θ of the rotor position is fed, and the cells contain digital values of the settings reƒ ₁ (0), ... reƒ _q (θ). These values, through a digital-to-analog converter (not shown in the diagram), go to the driver inputs 14 (direct inputs of the comparators 18). At the same time, the measuring inputs 15 (inverse inputs of the comparators 18) receive signals from the current sensors i ₁ , ... i _{q of the} phase windings. The outputs of the Comparators 18 through multiplexers 19 are connected to the inputs 8 of the control of the phase half-bridges, to which sequences of pulses u ₁ , ... u _q are applied such that due to the action of negative feedback the current i ₁ , ... i _{q of the} phase windings is controlled in accordance with the settings reƒ ₁ (θ), ... reƒ _q (θ). The mechanism of action of negative feedback is widely known and does not require additional explanation. The appearance of the current phase windings leads to the appearance of torque and the rotation of the rotor 2.

The diagram (Fig. 4) presents, as an example, a sequence of pulses u ₁ at the control input of the first phase half-bridge. This sequence is characterized by the fill factor d ₁ , which can vary from 0 to 1.

The sequence of pulses u ₁ is formed by switching between the logical signals u ^- and u ⁺ on the inputs 13 of the modulation mode selection. The signals u ^- , u ⁺ are set by the microcontroller 16 and can take the values 0, 1, or coincide with the sequence of pulses u ₀ , as shown in FIG. 4. In those cases when these signals coincide with the sequence of pulses u ₀ , the value of the pulsating current flowing through the power supply 11 and the capacitor 21 is reduced, which allows reducing their size and cost.

According to equation (4), the voltage at the terminals of the first phase winding is determined by the difference (d ₁ -d ₀ ) of the duty factors. FIG. Figure 3 shows the diagrams of the difference (d ₁ –d ₀ ) and the set points reƒ ₁ (θ), in accordance with which the current of the first phase winding is controlled. The setpoint graph reƒ ₁ (θ) has a complex shape that provides smoothing of the torque pulsations:

1) When (θ ₆ <θ <θ ₀ ), the first phase winding is inactive - its current is maintained equal to zero; the difference (d ₁ -d ₀ ) may briefly deviate from zero, within ± 1/4, preventing the occurrence of a parasitic electric current due to the mutual inductance of the phase windings.

2) When (θ = θ ₀ ) there is a stepwise decrease in the filling factor d ₀ , due to the fact that it is necessary to activate the first phase winding.

3) When (θ ₀ <θ <θ ₁ ), the current of the first phase winding increases linearly; the difference (d ₁ -d ₀ ) is close to 3/4.

4) When (θ ₁ <θ <θ ₂ ), the current of the first phase winding remains approximately constant; the difference (d ₁ -d ₀ ) is close to 0.

5) When (θ ₂ <θ <θ ₃ ), the current of the first phase winding decreases; the difference (d ₁ -d ₀ ) is in the range from -1/4 to 0 (the shaded area in Fig. 3). A decrease in the phase winding current and the formation of a local minimum is possible due to the fact that the fill factor d ₀ is greater than zero (equal to 1/4).

6) When (θ ₃ <θ <θ ₄ ), the current of the first phase winding rises again; the difference (d ₁ -d ₀ ) is in the range from 0 to 1/4.

7) When (θ = θ ₄ ) there is a stepwise increase in the fill factor d ₀ , due to the fact that it is necessary to activate the second phase winding.

8) When (θ ₄ <θ <θ ₅ ), the current of the first phase winding continues to increase, and the difference (d ₁ -d ₀ ) remains in the range from 1/4 to 0 (shaded area in Fig. 3). The increase in the current of the first phase winding and the formation of a local maximum is possible due to the fact that the fill factor d ₀ is less than unity (equal to 3/4).

8) When (θ ₅ <θ <θ ₆ ), the current of the first phase winding decreases according to a predetermined schedule; the difference (d ₁ -d ₀ ) is in the range from -1/2 to -3/4.

Current regulation in other phase windings is carried out similarly.

The inventive control method inductor machine allows to reduce the ripple torque, and it does not require the use of an expensive converter.

Claims (44)

1. The control method of the inductor machine, the rotor of which has z teeth, and the stator - q phase windings connected by a "star", and: - the converter of the inductor machine consists of one common half bridge and q phase half bridge; - each half-bridge has a control input, a positive output, a negative output and an output made with the possibility of switching between the positive and negative outputs according to a signal at the control input; - the output of the common half bridge is connected with the output of each phase half bridge through the corresponding phase winding; - each half-bridge is connected with positive and negative leads to a DC power source, the fact that: - continuously measure the angle θ of the rotor position and the currents i ₁ , ... i _{q of the} phase windings; - form the settings reƒ ₁ (θ), ... reƒ _q (θ), the absolute value of which is a periodically repeating function of the angle θ of the rotor position with a repetition period of 360 ° / z; - fed to the control inputs of the phase half-bridges of a sequence of pulses u ₁ , ... u _q and modulate them so as to ensure the regulation of currents i ₁ , ... i _{q of the} phase windings in accordance with the settings reƒ ₁ (θ), ... reƒ _q (θ), characterized in that: - fed to the control input of the general half-batch sequence of pulses u ₀ , which is characterized by the fill factor d ₀ = τ / T, where τ is the pulse duration, T is the pulse repetition period; - modulate the sequence of pulses u ₀ so that the fill factor is determined by one of two equations: d ₀ = d, d ₀ = 1-d, which alternate depending on the angle θ of the rotor position with an interval of 360 ° / (q⋅z), where d is a variable with a range of valid values from 0 to 1/2. 2. The method according to claim 1, characterized in that, depending on the speed ω of the rotor rotation, the graphics of the settings reƒ ₁ (θ), ... reƒ _q (θ) have the following form: - close to a rectangle at a high speed ω of rotation of the rotor, sufficient to ensure its uniform rotation due to inertia; - close to the trapezoid, but different from the latter by the presence of an additional local minimum, at a low speed of rotation ω of the rotor. 3. The method according to p. 2, characterized in that, depending on the speed ω of the rotor rotation, the variable d takes the values: - 0 at high speed ω of rotation of the rotor, sufficient to ensure its uniform rotation due to inertia; - 1/2 at a low speed ω of rotation of the rotor. 4. The method according to p. 2, characterized in that, depending on the speed ω of rotation of the rotor, the variable d takes the values: - 0 at high speed ω of rotation of the rotor, sufficient to ensure its uniform rotation due to inertia; - about 1/4 at a low speed ω of rotation of the rotor. 5. The method according to p. 1, characterized in that the modulation of the pulse sequences u ₁ , ... u _q supplied to the control inputs of the phase half-bridges is performed by switching between the following states: - the signal at the control input of the phase half-bridge corresponds to the connection of its output to the negative terminal; - the signal at the control input of the phase half-bridge coincides with the sequence of pulses u ₀ ; - the signal at the control input of the phase half-bridge corresponds to the connection of its output to the positive output. 6. The method according to p. 5, characterized in that for its implementation using a control circuit that contains: - rotor angle sensor; - current sensors phase windings; - phase winding current regulators, each of which has: modulation mode selection inputs, a setting input, a measurement input connected to the corresponding phase winding current sensor, and a controller output connected to the control input of the corresponding phase half bridge; - a microcontroller having a microcontroller input connected to the rotor position angle sensor, and a set of outputs that serve: to form a sequence of pulses u ₀ at the control input of the general half-bridge, to control the inputs of modulation mode selection and to form the settings re ₁ (θ), ... reƒ _q (θ) at the master inputs. 7. The method according to p. 6, characterized in that each phase winding current regulator contains: - comparator with direct input, inverse input and output; - a multiplexer with a first signal input, a second signal input, a control input and an output; and: - the multiplexer control input is connected to the comparator output; - the comparator has a hysteresis characteristic; - the direct input of the comparator is the master input; - the inverse input of the comparator is a measuring input; - the first and second signal inputs of the multiplexer are the modulation mode selection inputs; - the multiplexer output is the regulator output.

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