WO2008089591A1 - Système de commande d'un moteur à courant continu sans balais et son procédé de commande - Google Patents

Système de commande d'un moteur à courant continu sans balais et son procédé de commande Download PDF

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Publication number
WO2008089591A1
WO2008089591A1 PCT/CN2007/000178 CN2007000178W WO2008089591A1 WO 2008089591 A1 WO2008089591 A1 WO 2008089591A1 CN 2007000178 W CN2007000178 W CN 2007000178W WO 2008089591 A1 WO2008089591 A1 WO 2008089591A1
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WO
WIPO (PCT)
Prior art keywords
motor
current
brushless
control system
switching tubes
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Application number
PCT/CN2007/000178
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English (en)
Chinese (zh)
Inventor
Tiecai Li
Zhaoyong Zhou
Yamei Qi
Xiang Sun
Shuang Wang
Pinghua Tang
Original Assignee
Shenzhen Tech-Innovation International
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to PCT/CN2007/000178 priority Critical patent/WO2008089591A1/fr
Publication of WO2008089591A1 publication Critical patent/WO2008089591A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

Definitions

  • the present invention relates to a control technique for a three-phase direct current motor, and more particularly to an inverter module for controlling a brushless DC motor, a brushless DC motor control system using the same, and a control method for the system;
  • the solution of the invention is particularly suitable for servo control of a three-phase square wave brushless permanent magnet DC motor. Background technique
  • the square wave brushless permanent magnet DC motor is a special brushless DC motor whose phase current and air gap magnetic field are approximately square wave or trapezoidal wave.
  • the forward conduction angle of each phase winding is 120°, stopped at 60°, then reversed to 120°, then stopped 60°, and thus cycled.
  • the current of each phase winding is discontinuous, and the discontinuous current characteristics make the current closed-loop control very difficult. Therefore, in the conventional square wave brushless DC permanent magnet motor control system, few Current closed loop control.
  • the present invention solves the problem that the current closed-loop control is not realized for the three-phase square wave brushless DC motor in the prior art, so that the square wave brushless permanent magnet DC motor can be better applied. .
  • the present invention firstly provides an inverter module for controlling a brushless DC motor, comprising: a switch tube Ql, Q3, Q5 connected to the upper arm, and a switch tube Q4 connected to the lower arm, Q6, Q2, freewheeling diodes D1, D2, D3, M, D5 and D6 cooperating with the respective switching tubes; wherein the cathodes of the freewheeling diodes D1, D3, D5 of the switching tubes Q1, Q3, Q5 are independent
  • the anodes of the respective switching tubes are connected in parallel with each other; the anodes of the freewheeling diodes D4, D6, D2 of the switching tubes Q4, Q6, Q2 are independent of the output ends of the respective switching tubes and are connected in parallel with each other.
  • the above-described inverter module for controlling a brushless DC motor can be made into an integrated circuit chip.
  • only the cathodes of the freewheeling diodes D1, D3, and D5 of the upper arm may be independent of the input ends of the respective switching tubes and connected in parallel to each other to form a second inverter for controlling the brushless DC motor.
  • only the anodes of the freewheeling diodes D4, D6, D2 of the lower arm are independent of the output ends of the respective switching tubes and in parallel with each other to form a third inverter module for controlling the brushless DC motor.
  • the present invention provides a brushless DC motor control system including an inverter circuit for outputting a working power to the three-phase motor And a current sensor for detecting the operating current of the three-phase motor;
  • the inverter circuit includes a switch tube Ql, Q3, Q5 connected to the upper arm, and a switch tube connected to the lower arm to close Q4, Q6, Q2, freewheeling diodes D1, D2, D3, D4, D5, and D6 that cooperate with the respective switching tubes;
  • the current sensor includes three sampling coils L1, L2, and L3 having the same number of turns, and three windings The same core is mounted on the core, and a sensing element for outputting a current sensing result according to the magnetic flux change of the core is mounted on the core;
  • the freewheeling diode D1 of the switching tubes Q1, Q3, and Q5 The cathodes of D3 and D5 are independent of the input ends of the respective switching
  • the sampling coil L3 may be omitted to obtain a second control system scheme; corresponding to the above Two kinds of inverter modules for controlling the brushless DC motor can be provided with only two sampling coils L1 and L3, and the sampling coil L2 is omitted, and a third control system scheme is obtained.
  • the sensing element for outputting the current sensing result is a linear Hall element.
  • the output voltage amplitude of the linear Hall element is sent to the current regulator as a current feedback signal, and the output of the current regulator is sent to a pulse modulation circuit, the pulse modulation circuit
  • the output is sent to the commutation logic circuit, and the output of the commutation logic circuit is sent to the pre-driver circuit, and the pre-driver circuit outputs corresponding drive pulses to the control terminals of the respective switch tubes in the inverter circuit. a signal; the inverter circuit outputs a working power to the three-phase motor under the control of the driving pulse signal.
  • the brushless DC motor control system of the present invention further includes a position sensor mounted on the rotating shaft of the direct current motor, the output signal of which is sent to the position/speed interface circuit, and the position/speed interface circuit outputs to the speed regulator.
  • a speed feedback voltage outputting a position feedback voltage to the position adjuster, and outputting a commutation position signal and a motor direction signal to the commutation logic circuit; the position adjuster according to the position given voltage and the position feedback voltage
  • the speed regulator outputs a speed given signal; the speed regulator outputs a current given signal to the current regulator according to the speed given signal and the speed feedback voltage; the current regulator is given according to the current And a current feedback signal from the linear Hall element, outputting a corresponding control signal to the pulse modulation circuit;
  • the commutation logic circuit is based on a pulse signal from the pulse width modulation circuit, and the position/speed a commutation position signal of the interface and a motor direction signal, output corresponding to the pre-drive circuit Pulse system
  • the three-phase square wave brushless permanent magnet DC motor may also be a stator coreless linear three-phase square wave brushless permanent magnet DC motor, or a stator coreless core Three-phase square wave brushless permanent magnet DC motor.
  • the present invention also provides a control method of a brushless DC motor control system, characterized in that, in each inverse transform logic period, the maximum guide of each switch tube The pass angle is 120°, during the conduction period of any group of switches:
  • Pulse width modulation is separately performed on the switch connected to the upper arm.
  • pulse width modulation is performed separately on the bypass tube connected to the lower arm.
  • pulse width modulation is performed on the switching tube connected to the upper arm and the switching tube connected to the lower arm.
  • the present invention solves the problem of achieving good current closed-loop control for a three-phase square wave brushless DC motor, wherein a suitable improvement is made to the conventional inverter circuit, and a composite current sensor is used.
  • the three-phase currents during motor conduction and freewheeling are fully and continuously sampled so that the three-phase current of the motor can be continuously closed-loop controlled by a single current closed-loop regulator.
  • the solution of the invention can greatly improve the dynamic and static indexes of the electric motor.
  • the three-phase square wave brushless permanent magnet DC motor servo control system of the invention can be used in various numerical control systems, such as numerical control machine tools, automated production lines, robots, etc. Performance servo control occasions have the advantages of low cost and high energy performance.
  • FIG. 1 is a schematic block diagram of a servo control system for a three-phase square wave brushless permanent magnet DC motor in a preferred embodiment of the present invention
  • FIG. 2 is a schematic structural view of a current sensor in a preferred embodiment of the present invention
  • 3 is a schematic diagram of an embodiment of a first inverter circuit of the present invention
  • FIG. 4 is a schematic diagram of an embodiment of a second inverter circuit of the present invention.
  • Figure 5 is a schematic view showing an embodiment of a third inverter circuit of the present invention.
  • FIG. 6 is a schematic view showing the working state of the switch tubes Q1 and Q6 in FIG. 3 when they are turned on;
  • FIG. 7A is a pulse waveform diagram when P-modulation is performed on the upper arm switching transistor Q1 of FIG. 6.
  • FIG. 7B is a schematic diagram showing an operation state when the switching transistor Q1 of FIG. 6 is instantaneously turned off and Q6 is kept turned on; It is a pulse waveform diagram when P-modulation is performed on the lower-arm switch tube Q6 in FIG. 6;
  • FIG. 7D is a schematic diagram showing an operation state when the switch tube Q6 in FIG. 6 is instantaneously turned off and Q1 is kept on;
  • FIG. 7E is a pair FIG. 7 is a pulse waveform diagram of the switching transistors Q1 and Q6 in PWM modulation;
  • FIG. 7F is a schematic diagram showing the operating state of the switching transistors Q1 and Q6 in FIG. 6 simultaneously turned off;
  • FIG. 8 is only the inverter shown in FIG. Schematic diagram of the waveform when the upper arm is PWM modulated in the circuit scheme;
  • FIG. 9 is a schematic diagram showing waveforms when only the lower arm of the inverter circuit shown in FIG. 3 is PWM-modulated;
  • FIG. 10 is a schematic diagram showing a waveform when P-modulation is performed on the upper and lower arms in the inverter circuit scheme shown in FIG. 3;
  • Figure 11 is a block diagram showing the principle of a position servo control system for a three-phase square wave brushless permanent magnet DC motor in a preferred embodiment of the present invention
  • Figure 12 is a step response waveform of the servo control system shown in Figure 11;
  • Figure 13 is a block diagram showing the principle of a three-phase square wave brushless permanent magnet DC motor torque servo control system in a preferred embodiment of the present invention
  • Figure 14 is a schematic view of the torque of the system of Figure 13;
  • Figure 15, Figure 16, and Figure 17 are circuit diagrams of the inverter module from Figure 3, Figure 4, and Figure 5, respectively. detailed description
  • a servo control system for a three-phase square wave brushless permanent magnet DC motor is provided, the principle of which is shown in FIG.
  • the control system includes three phases.
  • the three-phase bridge inverter circuit 101 outputs a working power to the three-phase square wave brushless permanent magnet DC motor 105.
  • the current converter outputs a sensing signal from the linear Hall element 106. As shown in FIG.
  • the current sensor includes three sampling coils L1, L2, and L3 having the same number of turns, and the three are wound on the same core 201.
  • a sensing element that outputs a current sensing result based on the flux variation of the core is also provided, which is a linear Hall element 202.
  • the star with the asterisk W is the same name end of each sampling coil. It can be seen that the three sample coils are wound on the iron core in the same direction. Therefore, the linear Hall element in the current sensor detects three The vector sum of the currents in the sampling coils.
  • the linear Hall element has an operating temperature range of -45° to +125°.
  • the output of the linear Hall element varies linearly around the center value as a function of the vector sum of the currents in the three sample coils.
  • the output of the linear Hall element 202 is its applied voltage; 1/2; when the vector sum of the currents is greater than zero, the output of the linear Hall element increases linearly; When the vector sum of the currents is less than zero, the output of the linear Hall element decreases linearly.
  • this change reflects the magnitude and direction of the actual current of the brushless motor, so that the present invention is effective for current detection in the four-quadrant operation of the brushless motor.
  • the inverter circuit includes switch tubes Q1, Q3, and Q5 connected to the upper arm, and switch tubes Q4 and Q6 connected to the lower arm.
  • Q2 freewheeling diodes D1, D2, D3, D4, D5 and D6 matched with the respective switching tubes.
  • the cathodes of the freewheeling diodes D1, D3, and D5 of the switching transistors Q1, Q3, and Q5 are independent of the input ends of the respective switching tubes and are connected in parallel with each other, and then pass through the same name end and the different name end of the sampling coil L2.
  • the anodes of the freewheeling diodes D4, D6, D2 of the switching tubes Q4, Q6, Q2 are independent of the output ends of the respective switching tubes and connected in parallel with each other, and then pass through the different end of the sampling coil L3, the same name end
  • the sampling coil L1 is connected in series to the upper arm, and the same name is terminated to the positive pole of the power supply.
  • each sampling coil is wound on the iron core on the one hand, and is connected to the inverter circuit on the other hand.
  • sampling The inductance values of the coils L1, L2, L3 are small relative to the motor windings, and the freewheeling effect of the coil inductance can be neglected.
  • the sampling coils L1, L2, and L3 during normal operation, the current flows through only one of the sampling coils at any one time, and both are terminated from the same name, and the different names are terminated. Combined with the connection mode shown in Fig. 2, it is ensured that the current flowing from the same-name end of each of the sampling coils L1, L2, and L3 generates magnetic flux in the same direction in the iron core.
  • the sampling coils L1, L2, and L3 of FIG. 3 may all be reversely connected, that is, the same name end and the different name end are exchanged; or the sampling coil L1 is reversed and serially connected to the lower bridge arm, the sampling coil L2.
  • any upper arm switch tube plus a lower arm switch tube that is not directly connected to it constitutes a conduction group.
  • the current direction is as shown by the solid thick line in FIG. 6.
  • the current il enters from the same end of the sampling coil L1, and then It flows through the switching tube Q1, the motor a phase winding, the motor b phase winding, and the switching tube Q6. It can be seen that the current at this time only flows through the sampling coil L1.
  • the freewheeling current i2 flows into the same name end of the sampling coil L3 through Q6, and then flows through the freewheeling transistor D4, the motor a phase winding, and the motor b phase winding in sequence to form a loop.
  • current flows through the sampling coil L3 and does not flow through the other two sampling coils L1, L2.
  • PWN modulation is applied to the upper arm switching tube, when the upper arm switching tube is turned off, the freewheeling current only flows through the sampling coil L3, and will not Flow through the other two sampling coils L1, L2.
  • the current sensor can detect the current when it is normally turned on, and can also detect the freewheeling current during the P-modulation.
  • the true current of the three-phase brushless permanent magnet DC motor is detected at any time, and it is suitable for any pulse modulation method and has universality.
  • the freewheeling current flows only through the sampling coil L2 and does not flow through the other two sampling coils L1, L3. If this control mode is always used, the current flows through the sampling coil L1 during normal conduction, and only the switching of the lower arm switching tube During operation, current flows through the sampling coil L2, so the sampling coil L3 in FIG. 2 can be omitted, and accordingly, the inverter circuit shown in FIG. 4 is obtained.
  • the freewheeling diode D4 in FIG. D6 and D2 maintain the conventional connection mode, that is, connect the anodes of the freewheeling diodes to the output ends of the respective switching tubes.
  • the pulse width modulation mode can be adopted only for the lower arm switching tube, and the relevant waveform at this time is as shown in FIG. 8, wherein Ea, Eb, and Ec are three motors.
  • the back EMF of the winding H is the drive pulse of the upper arm switch tube
  • L is the drive pulse of the lower arm switch tube.
  • the time of P-modulation can also be increased or decreased.
  • the pulse width modulation mode can be adopted only for the upper arm switching tube, and the relevant waveform at this time is as shown in FIG. 9.
  • the time of PWM modulation can also be increased or decreased.
  • the upper arm switching tube can be pulse width modulated first, and then the lower bridge switching tube Perform pulse width modulation, or vice versa.
  • the other switch should be kept constant. If the modulation pulse is as shown in Figure 7E, both switches will be turned off at the same time.
  • the diodes D3, D4 ON freewheeling current flows from the end of the coil L2 samples of the same name, then enters the non-dot end of winding L1 is sampled, and then flows through the power supply U d. After that (at this time, the battery DC power supply can be charged, or the capacitor connected in parallel with the power supply can be charged), and the same name end of the sample coil L3 can be seen, and the freewheeling current passes through the sampling coils L1, L2, and L3.
  • the three control modes (4), (5), and (6) can be simultaneously implemented; , only the (4) control mode can be implemented, that is, only the lower arm switch tube is P-modulated; for FIG. 5, only the (5) control mode can be implemented, that is, only the upper bridge switch tube Perform P-modulation.
  • the circuit shown in FIG. 15 is obtained, which is fabricated into an integrated circuit (chip), and an inverter module for controlling the brushless DC motor is obtained. .
  • the upper arm and the lower arm are respectively connected to the first and second pins P1, P2; the cathodes of the freewheeling diodes D1, D3, D5 are independent of the input ends of the respective switching tubes and are connected in parallel to the third pin P3
  • the anodes of the freewheeling diodes Q4, Q6, Q2 are independent of the output ends of the respective switching tubes and are connected in parallel to the fourth pin P4; the three output terminals of the inverter circuit are respectively connected to the fifth, sixth and seventh pins P5, P6, P7;
  • the control terminals of the switching transistors Q1 to Q6 are connected to the eighth to thirteenth pins P8-P13, respectively.
  • FIG. 16 is obtained, which is fabricated into an integrated circuit, and another inverter module for controlling the brushless DC motor can be obtained.
  • FIG. 17 is obtained and made.
  • An integrated circuit provides an inverter module for controlling a brushless DC motor.
  • Figure 11 is a block diagram showing the principle of a position servo control system for a three-phase square wave brushless permanent magnet DC motor in a preferred embodiment of the present invention, wherein the output voltage of the linear Hall element of the current sensor (not shown) is shown.
  • the value is sent to the current regulator 108 as a current feedback signal, the output of the current regulator is sent to the pulse modulation circuit 103, the output of the pulse modulation circuit is sent to the commutation logic circuit 104, and the output of the commutation logic circuit is sent to the pre-driver circuit 107.
  • the pre-driver circuit outputs a corresponding drive pulse signal to the control terminals of the respective switch tubes in the inverter circuit 101; the inverter circuit outputs the operating power to the three-phase motor 105 under the control of the drive pulse signal.
  • a position sensor 115 is mounted on the rotating shaft of the DC motor, and an output signal thereof is sent to the position/speed interface circuit 111, and the position/speed interface circuit outputs a speed feedback voltage to the speed adjuster 109 to the position.
  • the regulator 110 outputs a position feedback voltage and outputs a commutation position signal and a motor direction signal to the commutation logic circuit 114.
  • the position adjuster 110 outputs a speed reference signal to the speed regulator 109 according to the position given voltage (input from the lower right corner in the figure) and the position: feedback voltage; the speed adjuster according to the speed given signal and the speed feedback voltage And outputting a current given signal to the current regulator 108; the current regulator outputs a corresponding control signal to the pulse modulation circuit 103 according to the current given signal and the current feedback signal from the linear Hall element; the commutation logic circuit 114 is based on The pulse signal of the pulse width modulation circuit, and the commutation position signal and the motor direction signal from the position/speed interface 111, the forward drive circuit outputs a corresponding control pulse.
  • the three-phase square wave brushless permanent magnet DC motor position servo control is realized by the current regulator 108, the speed regulator 109 and the position adjuster 110; the power of the brushless permanent magnet DC motor is 150W, and the reduction ratio is 100:1.
  • the output torque is 15N.m.
  • Figure 12 shows the step response waveform of the system.
  • the square wave in the figure is the position given curve, and the other is the tracking result curve.
  • the position is given a step change, only 30 is needed.
  • - Accurate tracking can be achieved in 60 milliseconds.
  • the two curves can quickly coincide, and the position tracking characteristics are excellent.
  • the motor can also adopt the stator ironless linear three-phase square wave brushless permanent magnet DC motor. Since the motor has a flatter phase current and an air gap magnetic field, the square wave waveform is approximated. A flatter torque waveform facilitates precise position servo control.
  • the motor can also be a stator coreless rotary three-phase square wave brushless permanent magnet DC motor.
  • the three-phase square wave brushless permanent magnet DC motor position servo control system in the embodiment of the present invention has a great advantage compared with the position servo control system formed by the AC servo motor in the prior art, and is mainly embodied in:
  • the torque fluctuation index is equivalent. Especially when the stator coreless three-phase square wave brushless permanent magnet DC motor is used, the torque fluctuation index is even better.
  • Position servo control system composed of square wave brushless permanent magnet DC motor has better servo stiffness and dynamic response characteristics
  • FIG. 13 is a schematic block diagram of a torque servo control system for a three-phase square wave brushless permanent magnet DC motor in a preferred embodiment of the present invention, which differs from FIG. 11 in that there is no speed regulator and position adjuster therein, but A torque reference signal is input directly to the current regulator to achieve the desired torque control.
  • a stator coreless brushless permanent magnet DC motor is used. Since this motor has a flatter phase current and an air gap magnetic field in principle, it approximates a square wave waveform and has a flatter torque waveform.
  • the rated output torque of the motor is 0. INm, rated speed 6000 rpm, Fig. 14
  • the torque tracking waveform of the torque control system wherein the torque is given as a sinusoidal curve, and the tracking result is also a smooth sinusoidal curve, the two are completely coincident, and the tracking characteristics are excellent.
  • the present invention proposes a new scheme for realizing closed-loop current control of a square wave brushless permanent magnet DC motor, and can further constitute a high performance servo control system.
  • the invention adopts a single combined current sensor to perform complete and continuous sampling of the three-phase current when the motor is turned on and freewheeling, and a closed loop control of the three-phase current by a single current closed-loop regulator, thereby greatly improving the dynamics of the motor. And static indicators.
  • This high-performance servo control system consisting of a square wave brushless permanent magnet DC motor can be used in a variety of CNC systems. Compared with mainstream systems for industrial applications today, the cost is reduced by 50% and the force index is increased by 33°/. .

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

Au moyen d'un système et d'un procédé de commande d'un moteur à courant continu sans balais et de son module inverseur, une machine magnétoélectrique à courant continu sans balais à signaux carrés peut être commandée sous la forme d'un circuit fermé de courant. Les cathodes des diodes (D1, D3, D5) dans la section supérieure de l'inverseur ne sont pas connectées aux entrées des transistors correspondants et sont connectées en parallèle les unes aux autres à une bobine d'échantillonnage (L2), et/ou les anodes des diodes (D4, D6, D2) dans la section inférieure ne sont pas connectées aux sorties des transistors correspondants et sont connectées en parallèle les unes aux autres à une autre bobine d'échantillonnage (L3). Un capteur de courant omposite unique peut être adopté dans le système de commande de façon à échantillonner le courant triphasé en totalité et en continu lorsque le moteur est menant ou en roue libre, et le courant triphasé peut être commandé en continu sous la forme d'un circuit fermé par un régulateur unique de courant à circuit fermé.
PCT/CN2007/000178 2007-01-18 2007-01-18 Système de commande d'un moteur à courant continu sans balais et son procédé de commande WO2008089591A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108196114A (zh) * 2018-01-25 2018-06-22 苏州汇川技术有限公司 电机电流采样系统及方法
CN109386798A (zh) * 2017-08-11 2019-02-26 宣邦智能科技（上海）有限公司 一种智能方灯

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JPS57160387A (en) * 1981-03-27 1982-10-02 Hitachi Ltd Brushless direct current motor
EP0075357A1 (fr) * 1981-09-17 1983-03-30 Spincor S.A. Circuit d'alimentation d'une machine électrique asynchrone polyphasée
FR2654877A1 (fr) * 1989-11-23 1991-05-24 Telemecanique Onduleur protege contre les courants de defaut, notamment pour commande de moteur.
CN1065562A (zh) * 1991-04-02 1992-10-21 北京工业大学电子厂 直流速度伺服系统
JPH04334995A (ja) * 1991-05-08 1992-11-24 Mitsubishi Electric Corp 直流ブラシレスモータのインバータ回路
US5615102A (en) * 1993-03-30 1997-03-25 Mitsubishi Denki Kabushiki Kaisha Inverter apparatus and method of operation therefor
JPH11332278A (ja) * 1998-05-15 1999-11-30 Matsushita Electric Ind Co Ltd Ａｃサーボモータ制御装置及びａｃサーボモータ制御方法
US6590794B1 (en) * 1999-10-15 2003-07-08 Siemens Aktiengesellschaft Apparatus and method for measuring current
CN1801596A (zh) * 2004-12-10 2006-07-12 株式会社日立制作所 同步电动机驱动装置及方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57160387A (en) * 1981-03-27 1982-10-02 Hitachi Ltd Brushless direct current motor
EP0075357A1 (fr) * 1981-09-17 1983-03-30 Spincor S.A. Circuit d'alimentation d'une machine électrique asynchrone polyphasée
FR2654877A1 (fr) * 1989-11-23 1991-05-24 Telemecanique Onduleur protege contre les courants de defaut, notamment pour commande de moteur.
CN1065562A (zh) * 1991-04-02 1992-10-21 北京工业大学电子厂 直流速度伺服系统
JPH04334995A (ja) * 1991-05-08 1992-11-24 Mitsubishi Electric Corp 直流ブラシレスモータのインバータ回路
US5615102A (en) * 1993-03-30 1997-03-25 Mitsubishi Denki Kabushiki Kaisha Inverter apparatus and method of operation therefor
JPH11332278A (ja) * 1998-05-15 1999-11-30 Matsushita Electric Ind Co Ltd Ａｃサーボモータ制御装置及びａｃサーボモータ制御方法
US6590794B1 (en) * 1999-10-15 2003-07-08 Siemens Aktiengesellschaft Apparatus and method for measuring current
CN1801596A (zh) * 2004-12-10 2006-07-12 株式会社日立制作所 同步电动机驱动装置及方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109386798A (zh) * 2017-08-11 2019-02-26 宣邦智能科技（上海）有限公司 一种智能方灯
CN109386798B (zh) * 2017-08-11 2024-05-03 宣邦智能科技（上海）有限公司 一种智能方灯
CN108196114A (zh) * 2018-01-25 2018-06-22 苏州汇川技术有限公司 电机电流采样系统及方法
CN108196114B (zh) * 2018-01-25 2024-03-19 苏州汇川技术有限公司 电机电流采样系统及方法

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