CN103633904A - Control method and control system for sensorless brushless direct-current motor - Google Patents
Control method and control system for sensorless brushless direct-current motor Download PDFInfo
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Abstract
The invention relates to the field of control of brushless direct-current motors, and in particular relates to a control method and a control system for a sensorless brushless direct-current motor. The control method provided by the invention is a terminal voltage magnitude logic commutation method which obtains logic rules for commutation of a three-phase winding according to the terminal voltage magnitude of the three-phase winding. By collecting terminal voltage signals of the three-phase winding of a rotor, and transmitting the terminal voltage signals to a DSP (Digital Signal Processor) controller, the DSP controller is used for analyzing a magnitude relationship between terminal voltages of the three-phase winding. According to the obtained logic rules for the commutation of the three-phase winding, the automatic commutation of a motor winding is controlled to realize the startup of a motor, so that the motor can stably operate at various speeds. The problems that an existing control method for the sensorless brushless direct-current motor has high requirements on system precision, is complex in control process and poor in control effect at low speeds, and cannot realize the startup of the motor are solved.
Description
Technical field
The present invention relates to brshless DC motor control field, be specifically related to a kind of control method for brushless direct current motor and control system of position-sensor-free.
Background technology
Brushless electric machine is born in the later stage sixties 20th century, is to be accompanied by that permanent magnetic material technology, microelectronics and power electronic technology, control technology etc. develop rapidly and a kind of New-type electric machine of occurring.Brshless DC motor, with regard to its basic structure, can think " brushless DC motor system " that electronic switch circuit, permagnetic synchronous motor and position transducer three, consist of.Brshless DC motor obtains rotor-position signal by rotor-position sensor conventionally, realizes commutation; By speed probe, obtain speed feedback signal, realize the closed-loop control of der Geschwindigkeitkreis.The controlling and to refer to and cancel traditional rotor-position sensor and speed probe without transducer of brshless DC motor, and indirectly obtain rotor-position signal by measuring some physical quantity of motor, with this signal, realize commutation, and further obtain the value of feedback of rotating speed, thereby realize without transducer closed-loop control.
Brshless DC motor is controlled comparatively typical control method without transducer at present has back electromotive force method, third harmonic component method, current path to monitor method, eddy current effect method, flux estimator method etc., and wherein Based on Back-EMF Method is a kind of the most practical the simplest rotor position detecting method.For adopting two to be conducted for the brshless DC motor of three-phase six-beat operational mode, in three phase windings, always have at any time one in off-state, detect the back-emf signal that disconnects phase, when its zero crossing, rotor d-axis and this phase winding dead in line, then according to opening order, carry out commutation through 30 ° of electrical degrees.As long as therefore the zero crossing of each opposite potential detected, can know several key positions of rotor, the basic principle of Here it is Based on Back-EMF Method.
Back emf waveform and inverter power pipe trigger sequence logical relation are as shown in Figure 1.As can be seen from the figure wt=30 ° of electrical degree is the A opposite potential zero passage moment, and control circuit detects this constantly; 30 ° of electrical degrees of time delay, are switched to the reverser conducting of A phase during to 60 ° of electrical degrees; A is conducted after 120 ° of electrical degrees, turn-offs A phase during to 180 ° of electrical degrees, switches B and is conducted.The like, just can realize the continuous operation of BLDCM, and meet " best phase change logic ".
Application number is that one piece of patent application document of 201210002813.5 discloses a kind of control device for brushless direct current motor sensorless and method, device comprises DC power supply, three-phase inverter, brshless DC motor, three-phase inverter power device drive circuit, microcontroller and rotor position detection circuit, DC power supply is connected with brshless DC motor through three-phase inverter, rotor position detection circuit connects the analog-to-digital conversion input pin that signal that brshless DC motor detects rear output is connected directly to microcontroller, the output of microcontroller Liu road is connected to three-phase inverter through three-phase inverter power device drive circuit.This method utilizes the embedded AD conversion unit sampling of XC878 single-chip microcomputer to obtain the terminal voltage of motor three phase windings, use the signal processing method based on pressure reduction conversion to carry out real-time computing to sampled value, obtaining containing disconnection opposite potential information and amplitude is the feedback signal of actual back-emf amplitude twice, obtain back-emf zero crossing and as motor winding, change the foundation of group, thereby the accuracy of detection of back-emf zero crossing while having improved low cruise, reaches the object that width speed adjustable range moves.
Control method in above-mentioned patent documentation has formally been utilized Based on Back-EMF Method, this method draws electrical power rule by analyzing three phase winding back-emf zero crossings, requirement can be measured each voltage and its zero crossing of each phase winding constantly exactly, after measuring zero crossing, postpone again the commutation of just switching on of 30 ° of electrical degrees, so need to accurately detect each voltage and rotating speed of motor constantly, this is very high to the requirement of system accuracy, and this method weak effect when low speed, cannot realize electric motor starting, need special starting sequence.
Summary of the invention
The control method for brushless direct current motor and the control system that the object of this invention is to provide a kind of position-sensor-free, in order to solve the control method for brushless direct current motor of existing position-sensor-free, system accuracy is had relatively high expectations, control procedure is complicated, and when low speed, controls weak effect, cannot realize the problem of electric motor starting.
For achieving the above object, the solution of the present invention is: a kind of control method for brushless direct current motor of position-sensor-free, comprises the steps:
(1) set a magnitude of voltage Δ V, the terminal voltage maximum amplitude of establishing rotor three-phase winding is V
max, minimum amplitude is V
min, logical zero is expressed as two states, that is: three-phase winding terminal voltage is V
minor in by V
minto V
max-Δ V transition stage; Logical one is expressed as two states, that is: three-phase winding terminal voltage is V
maxor in by V
maxto V
min+ Δ V transition stage;
(2) due to the winding of the corresponding phase of terminal voltage in transition stage making alive not, and electric current always flows to the corresponding phase winding of logical zero state from the corresponding phase winding of logical one state, thereby according to step (1), obtain the logic rules that three phase windings carry out commutation;
(3) gather rotor three-phase winding terminal voltage signal, be transported to the AD modular converter of dsp controller, obtain the terminal voltage value of three phase windings;
(4) the expression mode of amount of logic in the terminal voltage value obtaining according to step (3) and step (1), by the terminal voltage value of each phase winding respectively with V
max+ Δ V and V
min-Δ V compares, and obtains each amount of logic of each phase winding constantly, and according to the logic rules in step (2), realizes the automatic commutation of three phase windings;
(5) gather current value, for the rotating speed to rotor, control, and integrating step (4), by dsp controller, send pwm control signal, finally realize the control to the brshless DC motor of position-sensor-free.
The logic rules that three phase windings carry out commutation are as follows:
The process of motor rotating 360 degrees electrical degree is divided into 6 kinds of states, and the amount of logic of three phase winding a, b, c is respectively 101 o'clock, represents that current direction is from a to b; The amount of logic of three phase winding a, b, c is respectively 100 o'clock, represents that current direction is from a to c; The amount of logic of three phase winding a, b, c is respectively 110 o'clock, represents that current direction is from b to c; The amount of logic of three phase winding a, b, c is respectively 010 o'clock, represents that current direction is from b to a; The amount of logic of three phase winding a, b, c is respectively 011 o'clock, represents that current direction is from c to a; The amount of logic of three phase winding a, b, c is respectively 001 o'clock, represents that current direction is from c to b.
If the amount of logic of three phase winding a, b, c is respectively 000 and at 111 o'clock, three phase windings keep original electrically conducting manner, do not carry out any commutation operation.
The present invention also provides a kind of brushless DC motor control system of position-sensor-free, comprise DC power supply, three-phase inverter, drive circuit, controller and rotor position detection circuit, described DC power supply is used for being connected with direct current machine through three-phase inverter, described rotor position detection circuit is connected to the AC of three-phase inverter, the detection signal output of rotor position detection circuit connects the A/D input of controller, the driving signal output part of described controller drives and connects three-phase inverter through drive circuit, described controller is dsp controller, described rotor position detection circuit is a RC filter network, for gathering each phase terminal voltage signal of rotor three-phase winding, in the loop being connected with DC power supply at three-phase inverter, be also serially connected with a sampling resistor, for gathering the current signal of motor.
Described drive circuit is the special-purpose grid-driving integrated circuit IR2130 of MOS power device chip.
Described dsp controller is selected TMS320X281x chip.
The beneficial effect that the present invention reaches: method of the present invention is a kind of terminal voltage size logic commutation method, the method draws the energising commutation rule of motor winding by the magnitude relationship between analysis three-phase winding terminal voltage, and obtain the logic rules of three phase winding commutations, by gathering rotor three-phase winding terminal voltage signal, be transported to dsp controller, by dsp controller, analyze the magnitude relationship between three-phase winding terminal voltage, according to the logic rules that draw three phase winding commutations, control the automatic commutation of motor winding, realize the starting of motor, make motor all energy stable operation under various speed.This method is controlled simple, and can greatly improve speed governing and the control performance of brshless DC motor, makes brushless direct current motor sensorless control strategy really enter the practical stage.
Accompanying drawing explanation
Fig. 1 is back emf waveform and inverter power pipe trigger sequence logic relation picture in existing Based on Back-EMF Method;
Fig. 2 is brushless DC motor control system of the present invention;
Fig. 3 is the waveform analysis figure of control method three-phase winding terminal voltage of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further detailed explanation.
Control method embodiment of the present invention:
The control method of the brshless DC motor of position-sensor-free of the present invention comprises the steps:
(1) set a magnitude of voltage Δ V, the terminal voltage maximum amplitude of establishing rotor three-phase winding is V
max, minimum amplitude is V
min, logical zero is expressed as two states, that is: three-phase winding terminal voltage is V
minor in by V
minto V
max-Δ V transition stage; Logical one is expressed as two states, that is: three-phase winding terminal voltage is V
maxor in by V
maxto V
min+ Δ V transition stage;
(2) due to the winding of the corresponding phase of terminal voltage in transition stage making alive not, and electric current always flows to the corresponding phase winding of logical zero state from the corresponding phase winding of logical one state, thereby according to step (1), obtain the logic rules that three phase windings carry out commutation;
(3) gather rotor three-phase winding terminal voltage signal, be transported to the AD modular converter of dsp controller, obtain the terminal voltage value of three phase windings;
(4) the expression mode of amount of logic in the terminal voltage value obtaining according to step (3) and step (1), by the terminal voltage value of each phase winding respectively with V
max+ Δ V and V
min-Δ V compares, and obtains each amount of logic of each phase winding constantly, and according to the logic rules in step (2), realizes the automatic commutation of three phase windings;
(5) gather current value, for the rotating speed to rotor, control, and integrating step (4), by dsp controller, send pwm control signal, finally realize the control to the brshless DC motor of position-sensor-free.
As shown in Figure 3, in figure, Ua, Ub, Uc represent respectively the terminal voltage size of the three-phase star winding detecting, and each phase terminal voltage value perseverance is more than or equal to zero, and w is angular speed, and t is the time, and transverse axis represents each residing position of moment of rotor.Vmax represents the maximum amplitude of terminal voltage, and Vmin (approximating 0) represents the minimum amplitude of terminal voltage.One represents that, than the amount of the little Δ V of Vmax, zero represents than the amount of the large Δ V of Vmin.Determining of Δ V value is very important, if select too greatly, easily causes misoperation, commutation in should not commutation; If select too littlely, be difficult to commutation.As seen from Figure 3, during motor continuous rotation, each phase winding terminal voltage is cyclic variation, is six by stages such as continuous in figure by the interval division of 360 ° of electrical degrees of rotor, and alphabetical A represents respectively this six kinds of different conditions to F.
Analysis chart 3 is known, and each of this six kinds of states representative all meets constantly: three phase windings, always respectively in different states, always have the terminal voltage of a phase winding in Vmax, and the terminal voltage of a phase winding is in Vmin, and remaining one mutually in by V
minto V
max-Δ V or V
maxto V
minin the transient process that+Δ V changes.Obviously, in every kind of state, electric current is all from being V in terminal voltage
maxone phase flow to terminal voltage, be V
mina phase, additional power source is added on this two phase winding just, terminal voltage does not mutually have electric current to flow through in that of transition change process, there is no applied voltage, this terminal voltage is only an induced potential, i.e. back-emf on ordinary meaning.Meanwhile, further analyze known, the commutation of electric current each time of brshless DC motor in theory, i.e. the switching of adjacent two states, all occurs in the voltage V of terminal voltage phase in transition change process just
minreach or V
maxin a flash, each flex point in Fig. 3 on each waveform represents that this requires electrical power mode to change constantly, so, as long as accurately judge these flex points, can realize correct commutation.
Logical one represents that certain phase winding conduction situation is in two kinds of situations below: (1) this phase winding terminal voltage is in maximum voltage Vmax; (2) in the process of this phase winding terminal voltage in being changed to minimum voltage Vmin by maximum voltage Vmax, but its value is greater than V
min+ Δ V.Logical zero represents that certain phase winding conduction situation is in two kinds of situations below: (1) this phase winding terminal voltage is in minimum voltage Vmin; (2) in the process of this phase winding terminal voltage in being changed to maximum voltage Vmax by minimum voltage Vmin, but its value is less than V
max-Δ V.
As Fig. 3, the S1 marking on Uc waveform, S2 and S3 represent the position that three amount of logic of c phase winding change, the cycle of the corresponding 360 ° of electrical degrees of S1, S2, and S3 is next cycle, wherein S1 to c phase winding in this section of process of S2 in logical zero, S2 to c phase winding in this section of process of S3 in logical one.By above-mentioned rule, can draw successively the amount of logic of three phase windings correspondence under each state, as shown in table 1, the various combination of a, b in six kinds of states of A～F, c tri-phase windings conduction situations is described respectively in the present embodiment employing 000,001,010,011,100,101,110,111, the logic rules that three phase windings carry out commutation are: the amount of logic of three phase winding a, b, c is respectively 101 o'clock, represent that current direction is from a to b; The amount of logic of three phase winding a, b, c is respectively 100 o'clock, represents that current direction is from a to c; The amount of logic of three phase winding a, b, c is respectively 110 o'clock, represents that current direction is from b to c; The amount of logic of three phase winding a, b, c is respectively 010 o'clock, represents that current direction is from b to a; The amount of logic of three phase winding a, b, c is respectively 011 o'clock, represents that current direction is from c to a; The amount of logic of three phase winding a, b, c is respectively 001 o'clock, represents that current direction is from c to b.
Table 1 brshless DC motor positive-negative rotation state logical table
Normally in service at motor, 000 and 111 these two kinds be combined in ideal situation and do not exist, but do not get rid of, there are not these two groups combinations because of interference, therefore in real work, if occur, these two kinds of logics can arrange them for wait state, do not carry out any commutation operation and keep original electrically conducting manner.
In DSP program, coordinate related hardware to show that the terminal voltage size of each each phase of moment deposits variable V 1, V2 and V3 in AD module, next carry out successively two work below: (1) finds out maximum in V1, V2, V3 as Vmax, minimum value is as Vmin, and according to the Δ V value of setting, can obtain one=V
max-Δ V, zero=V
min+ Δ V, can guarantee one, the zero variation of tracking motor terminal voltage size all the time like this, thereby guarantees that motor all can normally move under various voltage and rotating speed; (2) again V1, V2, V3 are compared with one, zero respectively, and judge the now corresponding amount of logic of three phase windings according to the logic rules of three phase winding commutations, thereby make dsp chip send the turn-on and turn-off that corresponding six road pwm signals are controlled six pipes.In addition, gather the current value of motor, by the number of times of current of electric commutation is counted, can draw motor actual speed signal, this signal and given motor speed instruction compare, and according to both differences and the current value that collects, do not stop to regulate the duty ratio of PWM ripple can realize speed, the current double closed-loop FEEDBACK CONTROL of motor.The commutation control of above-mentioned three phase windings and speed control are combined, finally realize the control of brushless DC motor without position sensor.
The present invention has successfully been applied in the speed regulating control of brshless DC motor one wheel hub motor on electric bicycle, experimental result shows that this commutation strategy is obviously better than adopting in traditional sense back-emf zero crossing to postpone the control method of 3O ° of electrical degree commutation again, because the latter can occur very large error in the process of 3O ° of electrical degree detecting zero crossing and postpone; And method of the present invention is not only applicable to general three-phase four-wire system brshless DC motor, be also applicable to the motor of two-phase three-wire system.
Provided relevant experimental data below:
In the situation that supply voltage is certain, along with control signal PWM ripple duty ratio is disconnected, increase, the average voltage on motor becomes greatly thereupon, and speed is corresponding rising also.Now, motor terminal voltage waveform has obvious variation, by experimental result, we can find out: when motor speed is lower, the amplitude of terminal voltage waveform is smaller, and in waveform, have a rectangle shade clearly, and this rectangle shows that now this phase winding is in "on" position; And the voltage pwm ripple duty ratio of superimposed is smaller, instantaneous voltage is constantly vibration between maximum voltage and minimum voltage, also there is oscillatory occurences in this back-emf that cold that phase winding is induced, is presented as a leg-of-mutton shade in oscillogram; In addition due to the impact of PWM ripple duty ratio, the terminal voltage mean value of a phase winding of making to conduct electricity is less than the maximum voltage of power supply, so the non-conductive one back-emf amplitude inducing mutually does not always reach the maximum in conduction one phase voltage waveform when duty ratio is less than l, but along with the change of duty ratio is large, difference is more and more less between the two.When duty ratio is l, this difference is 0, and the terminal voltage now measuring is perfect trapezoidal wave.
Control system embodiment of the present invention:
Control system of the present invention comprises DC power supply, three-phase inverter, drive circuit, controller and rotor position detection circuit, described DC power supply is used for being connected with direct current machine through three-phase inverter, described rotor position detection circuit is connected to the AC of three-phase inverter, the detection signal output of rotor position detection circuit connects the A/D input of controller, the driving signal output part of described controller drives and connects three-phase inverter through drive circuit, described controller is dsp controller, described rotor position detection circuit is a RC filter network, for gathering each phase terminal voltage signal of rotor three-phase winding, in the loop being connected with DC power supply at three-phase inverter, be also serially connected with a sampling resistor, for gathering the current signal of motor.
In the present embodiment, dsp controller is selected TMS320X281x chip, drive circuit is the special-purpose grid-driving integrated circuit IR2130 of MOS power device chip, adopt power MOSFET field effect transistor as the switching device of three-phase inverter, as Fig. 2, three-phase inverter comprises Q1, Q2, Q3, Q4, Q5, six power MOSFET field effect transistor of Q6, Q1, the series connection point of Q2 connects the c phase winding of motor, Q3, the series connection point of Q4 connects the b phase winding of motor, Q5, the series connection point of Q6 connects a phase winding of motor, DC side at three-phase inverter is connected with filter capacitor, one end ground connection that each power MOSFET field effect transistor is connected with DC power cathode.RC filter network is comprised of three RC branch circuit parallel connections, one end of every RC branch road connects a phase of three phase windings, other end ground connection, each RC branch road forms by resistance and an electric capacity of two series connection, wherein Capacitance parallel connection is at the resistance two ends of earth terminal, and each phase winding terminal voltage that this RC filter network collects is from all from the series connection point output of two series resistances.
The control system for non-brush direct currunt electromotors of the present embodiment be take dsp chip TMS320X281x as core, use PWM mode to control motor, employing terminal voltage size analysis is carried out indirect detection rotor-position and is realized the energising control of motor, and IR2130 chip provides driving signal to power MOSFET tube.Three-phase winding terminal voltage signal ADCIN1, ADCIN2, ADCIN3 that RC filter network collects directly send into the AD ALT-CH alternate channel in DSP, DSP show that the energising of motor is regular after analyzing these signals, and what on sampling resistor R, collect is current signal, comprehensive these two kinds of information D SP control units can be sent pwm control signal, and after IR2130 power amplification, go to control conducting and the closure of six switching tubes, thereby realize the autoelectrinic commutation of motor.
The principle of three-phase inverter, TMS320X281x chip, IR2130 chip and RC filter network all belongs to those skilled in the art's common practise, does not repeat them here.Terminal voltage analysis is identical with above-described embodiment, does not repeat them here.
Claims (6)
1. a control method for brushless direct current motor for position-sensor-free, is characterized in that, comprises the steps:
(1) set a magnitude of voltage Δ V, the terminal voltage maximum amplitude of establishing rotor three-phase winding is V
max, minimum amplitude is V
min, logical zero is expressed as two states, that is: three-phase winding terminal voltage is V
minor in by V
minto V
max-Δ V transition stage; Logical one is expressed as two states, that is: three-phase winding terminal voltage is V
maxor in by V
maxto V
min+ Δ V transition stage;
(2) due to the winding of the corresponding phase of terminal voltage in transition stage making alive not, and electric current always flows to the corresponding phase winding of logical zero state from the corresponding phase winding of logical one state, thereby according to step (1), obtain the logic rules that three phase windings carry out commutation;
(3) gather rotor three-phase winding terminal voltage signal, be transported to the AD modular converter of dsp controller, obtain the terminal voltage value of three phase windings;
(4) the expression mode of amount of logic in the terminal voltage value obtaining according to step (3) and step (1), by the terminal voltage value of each phase winding respectively with V
max+ Δ V and V
min-Δ V compares, and obtains each amount of logic of each phase winding constantly, and according to the logic rules in step (2), realizes the automatic commutation of three phase windings;
(5) gather the current signal of motor, for the rotating speed to rotor, control, and integrating step (4), by dsp controller, send pwm control signal, finally realize the control to the brshless DC motor of position-sensor-free.
2. the control method for brushless direct current motor of position-sensor-free according to claim 1, is characterized in that, the logic rules that three phase windings carry out commutation are as follows:
The process of motor rotating 360 degrees electrical degree is divided into 6 kinds of states, and the amount of logic of three phase winding a, b, c is respectively 101 o'clock, represents that current direction is from a to b; The amount of logic of three phase winding a, b, c is respectively 100 o'clock, represents that current direction is from a to c; The amount of logic of three phase winding a, b, c is respectively 110 o'clock, represents that current direction is from b to c; The amount of logic of three phase winding a, b, c is respectively 010 o'clock, represents that current direction is from b to a; The amount of logic of three phase winding a, b, c is respectively 011 o'clock, represents that current direction is from c to a; The amount of logic of three phase winding a, b, c is respectively 001 o'clock, represents that current direction is from c to b.
3. the control method for brushless direct current motor of position-sensor-free according to claim 2, is characterized in that, if the amount of logic of three phase winding a, b, c is respectively 000 and at 111 o'clock, three phase windings keep original electrically conducting manner, do not carry out any commutation operation.
4. a brushless DC motor control system that adopts the position-sensor-free of method described in claim 1, comprise DC power supply, three-phase inverter, drive circuit, controller and rotor position detection circuit, described DC power supply is used for being connected with direct current machine through three-phase inverter, described rotor position detection circuit is connected to the AC of three-phase inverter, the detection signal output of rotor position detection circuit connects the A/D input of controller, the driving signal output part of described controller drives and connects three-phase inverter through drive circuit, it is characterized in that
Described controller is dsp controller, described rotor position detection circuit is a RC filter network, for gathering each phase terminal voltage signal of rotor three-phase winding, in the loop being connected with DC power supply at three-phase inverter, be also serially connected with a sampling resistor, for gathering the current signal of motor.
5. the brushless DC motor control system of position-sensor-free according to claim 4, is characterized in that, described drive circuit is the special-purpose grid-driving integrated circuit IR2130 of MOS power device chip.
6. the brushless DC motor control system of position-sensor-free according to claim 4, is characterized in that, described dsp controller is selected TMS320X281x chip.
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| CN104378028A (en) * | 2014-12-09 | 2015-02-25 | 江苏工程职业技术学院 | Phase compensation device and method of brushless direct-current motor without position sensor |
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| CN107681930A (en) * | 2017-09-11 | 2018-02-09 | 西北工业大学 | A kind of brushless direct current motor sensorless rotor-position bearing calibration |
| CN109347374A (en) * | 2018-10-27 | 2019-02-15 | 宁德职业技术学院 | A kind of novel brushless direct current motor sensorless control system and method |
| CN110022095A (en) * | 2018-03-23 | 2019-07-16 | 吉林化工学院 | Control device for brushless direct current motor sensorless |
| CN112398374A (en) * | 2020-10-16 | 2021-02-23 | 北京国科环宇科技股份有限公司 | Control system and control method of three-phase brushless direct current motor |
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| CN104242749A (en) * | 2014-07-30 | 2014-12-24 | 合肥工业大学 | Sensorless brushless direct-current motor reversing control method |
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| CN105703672A (en) * | 2016-04-22 | 2016-06-22 | 江苏新安电器有限公司 | Variable frequency motor driver and fused pulse width modulation method based on angle variation |
| CN107681930A (en) * | 2017-09-11 | 2018-02-09 | 西北工业大学 | A kind of brushless direct current motor sensorless rotor-position bearing calibration |
| CN110022095A (en) * | 2018-03-23 | 2019-07-16 | 吉林化工学院 | Control device for brushless direct current motor sensorless |
| CN109347374A (en) * | 2018-10-27 | 2019-02-15 | 宁德职业技术学院 | A kind of novel brushless direct current motor sensorless control system and method |
| CN109347374B (en) * | 2018-10-27 | 2024-02-06 | 宁德职业技术学院 | Novel brushless direct current motor sensorless control system and method |
| CN112398374A (en) * | 2020-10-16 | 2021-02-23 | 北京国科环宇科技股份有限公司 | Control system and control method of three-phase brushless direct current motor |
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Application publication date: 20140312 |