CN104716879B - A kind of current control method of motor and device - Google Patents
A kind of current control method of motor and device Download PDFInfo
- Publication number
- CN104716879B CN104716879B CN201510090251.8A CN201510090251A CN104716879B CN 104716879 B CN104716879 B CN 104716879B CN 201510090251 A CN201510090251 A CN 201510090251A CN 104716879 B CN104716879 B CN 104716879B
- Authority
- CN
- China
- Prior art keywords
- motor
- ref
- windings
- current
- emf
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Landscapes
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a kind of current control method of motor and device, the method comprises the steps:Obtain physical location θ of stepping motor rotorr, obtain the given position θ of the stepping motor rotorref:If the given position θrefWith physical location θrDifference increase, then increase given electric current IPThe motor is driven, if the given position θrefWith physical location θrDifference reduce, then reduce given electric current IPThe motor is driven.The present invention estimates the physical location of motor by motor running current, does power transformation flow control according to site error.Have the following advantages:Electric current is adjusted according to actual loading, efficiency is improved, reduces system loss, light relatively common constant-current driving motor when loading can substantially reduce that the motor feels hot, reduce the vibration amplitude of motor low regime, without position sensor, do not increase hardware cost.
Description
【Technical field】
The present invention relates to motor field, and in particular to a kind of current control method of motor and device.
【Background technology】
Two-phase stepping motor driver is widely used in the fields such as all kinds of lathes, printing, weaving, medical treatment, current stepping electricity
Machine adopts position, speed open loop, and closed-loop current control, given current amplitude are constant, external pulse control electric current phase place.During operation
Current amplitude is given always in Rated motor current peak level, causes motor winding in low speed to flow through very big idle electricity
Stream, it is severe that the motor feels hot, and vibration is substantially.In addition also have by realizing position, speed and electric current closed-loop control using encoder
System, can so increase system cost, and as code-disc is Sensitive Apparatuses, increased potential faults.
【Content of the invention】
In order to overcome the deficiencies in the prior art, the invention provides a kind of current control method of motor and device,
Such that it is able to realize being controlled the electric current of motor by increasing control method, so as to reduce, the motor feels hot, reduces
Motor low speed vibration.
A kind of current control method of motor, comprises the steps:
Obtain physical location θ of stepping motor rotorr, obtain the given position θ of the stepping motor rotorref;
If the given position θrefWith physical location θrDifference increase, then increase given electric current IPTo the stepping
Motor is driven, if the given position θrefWith physical location θrDifference reduce, then reduce given electric current IPTo institute
State motor to be driven.
In one embodiment,
IP=Imax·k1+Kpp·(θref-θr)+∑Kpi(θref-θr);
Wherein, 0 < k1≤ 1, KppAnd KpiIt is constant, ImaxRated current peak value for the motor.
In one embodiment,
As calculated IPValue be more than ImaxWhen, then IPTake Imax.
In one embodiment,
Physical location θ is obtained by following algorithmr:
EMFA(n) and EMFBKnown parameters I of (n) according to the (n-1)th sampled pointA(n-1)、VA(n-1)、ZA
(n-1)、IB(n-1)、VB(n-1)、And ZB(n-1) obtain in the following way:
|ZA(n)|≤Zmax;
|ZB(n)|≤Zmax;
VA(n)=Kp·(IAref-IA(n))+Ki∫(IAref-IA(n))dt;
VB(n)=Kp·(IBref-IB(n))+Ki∫(IBref-IB(n))dt;
IAref=IP·sinθref,IBref=IP·cosθref;
Respectively to ZA(n) and ZBN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith
Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectivelyA(n) and EMFB(n);
Wherein, IA(n-1)、VA(n-1)、And ZA(n-1) the A windings of the motor are represented respectively
The sample rate current of corresponding (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IA(n)、VA(n)、EMFA(n) and ZAN () represents the A windings of the motor respectively
The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force
And Dynamic gene;
IB(n-1)、VB(n-1)、And ZB(n-1) represent respectively the motor B windings corresponding the
The sample rate current of n-1 sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IB(n)、VB(n)、EMFB(n) and ZBN () represents the B windings of the motor respectively
The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force
And Dynamic gene;
TpwmFor sampling period, k2、KpAnd KiIt is constant coefficient, ZmaxIt is maximum Dynamic gene;
RAAnd LAIt is the resistance and inductance of the A windings of the motor respectively;
RBAnd LBIt is the resistance and inductance of the B windings of the motor respectively.
In one embodiment,
According to the given electric current IP, A windings and B winding applied voltages V to the motor respectivelyAAnd VB:
VA=Kp·(IAref-IA)+Ki∫(IAref-IA)dt;
VB=Kp·(IBref-IB)+Ki∫(IBref-IB)dt;
Wherein, IAref=IP·sinθref, IBref=IP·cosθref, IAAnd IBIt is the sampling of motor A windings respectively
Electric current and the sample rate current of B windings.
Present invention also offers a kind of current control device of motor, including first processing units and second processing list
Unit:
First processing units, for obtaining physical location θ of stepping motor rotorr;
Second processing unit, for obtaining the given position θ of the stepping motor rotorrefIf, the given position θref
With physical location θrDifference increase, then increase given electric current IPThe motor is driven, if the given position
Put θrefWith physical location θrDifference reduce, then reduce given electric current IPThe motor is driven.
In one embodiment,
IP=Imax·k1+Kpp·(θref-θr)+ΣKpi(θref-θr);
Wherein, 0 < k1≤ 1, KppAnd KpiIt is constant, ImaxRated current peak value for the motor.
In one embodiment,
As calculated IPValue be more than ImaxWhen, then IPTake Imax.
In one embodiment,
The second processing unit is additionally operable to, and obtains physical location θ by following algorithmr:
EMFA(n) and EMFBKnown parameters I of (n) according to the (n-1)th sampled pointA(n-1)、VA(n-1)、ZA
(n-1)、IB(n-1)、VB(n-1)、And ZB(n-1) obtain in the following way:
|ZA(n)|≤Zmax;
|ZB(n)|≤Zmax;
VA(n)=Kp·(IAref-IA(n))+Ki∫(IAref-IA(n))dt;
VB(n)=Kp·(IBref-IB(n))+Ki∫(IBref-IB(n))dt;
IAref=IP·sinθref,IBref=IP·cosθref;
Respectively to ZA(n) and ZBN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith
Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectivelyA(n) and EMFB(n);
Wherein, IA(n-1)、VA(n-1)、And ZA(n-1) the A windings of the motor are represented respectively
The sample rate current of corresponding (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IA(n)、VA(n)、EMFA(n) and ZAN () represents the A windings of the motor respectively
The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force
And Dynamic gene;
IB(n-1)、VB(n-1)、And ZB(n-1) represent that the B windings of the motor are corresponded to respectively
The sample rate current of (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IB(n)、VB(n)、EMFB(n) and ZBN () represents the B windings of the motor respectively
The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force
And Dynamic gene;
TpwmFor sampling period, k2、KpAnd KiIt is constant coefficient, ZmaxIt is maximum Dynamic gene,;
RAAnd LAIt is the resistance and inductance of the A windings of the motor respectively;
RBAnd LBIt is the resistance and inductance of the B windings of the motor respectively.
In one embodiment,
The second processing unit is additionally operable to, according to the given electric current IP, respectively to the A windings of the motor and
B winding applied voltages VAAnd VB:
VA=Kp·(IAref-IA)+Ki∫(IAref-IA)dt;
VB=Kp·(IBref-IB)+Ki∫(IBref-IB)dt;
Wherein, IAref=IP·sinθref, IBref=IP·cosθref, IAAnd IBIt is the sampling of motor A windings respectively
Electric current and the sample rate current of B windings.
The present invention does not increase any device and cost, is fed back according to motor actual motion electric current reconstructing speed, position, according to
The error of given and feedback position realizes power transformation flow control, improves drive efficiency to greatest extent.
The present invention estimates the physical location of motor by motor running current, does power transformation according to site error
Flow control.Have the following advantages:Electric current is adjusted according to actual loading, efficiency is improved, reduces system loss, relatively common during light load
Constant-current driving motor can substantially reduce that the motor feels hot, reduce the vibration amplitude of motor low regime, without position sensor,
Hardware cost is not increased.
【Description of the drawings】
Fig. 1 is the current control method some algorithm schematic diagram of the motor of an embodiment of the present invention;
Fig. 2 is the current control method some algorithm schematic diagram of the motor of an embodiment of the present invention.
【Specific embodiment】
Preferred embodiment to inventing is described in further detail below.
A kind of current control method of motor, comprises the steps:
(1):Obtain the given position θ of stepping motor rotorref, so-called given position θref, it is to need rotor to reach
Position, represented with angle, for example, it is possible to according to external pulse obtain rotor given position θref;
(2):If the given position θrefWith physical location θrDifference increase, then increase given electric current IPTo described
Motor is driven, if the given position θrefWith physical location θrDifference reduce, then reduce given electric current IP
The motor is driven, i.e., is made power transformation flow control to the motor and is obtained given electric current IP, calculate this respectively
Carve the electric current I of corresponding A windingsArefElectric current I with B windingsBref:
IAref=IP·sinθref,IBref=IP·cosθref;
(3):Respectively the electric current of A windings and B windings is controlled using two proportional integral (PI) controllers obtain A around
Winding voltage V of groupA(given voltage) and winding voltage V of B windingsB(given voltage);
VA=Kp·(IAref-IA)+Ki∫(IAref-IA)dt
VB=Kp·(IBref-IB)+Ki∫(IBref-IB)dt;
So as to complete the control to motor.When the load of motor is larger, given position θrefWith the reality
Position θrDifference larger, namely the angle of lag of motor is larger, thus the winding current of control motor is larger, and works as
Given position θrefWith physical location θrDifference less, namely the angle of lag of motor is less, thus control stepping electricity
The winding current of machine is less, so as to reduce the degree of motor heating when loading less.
In one embodiment, given electric current I can be obtained in the following wayP:
IP=Imax·k1+Kpp·(θref-θr)+ΣKpi(θref-θr);
Wherein, 0 < k1≤ 1, KppAnd KpiIt is constant, ImaxRated current peak value for the motor.
As calculated IPValue be more than ImaxWhen, then IPTake Imax.
Physical location θ can be obtained by following algorithmrAnd IP:
For motor, with following relation:
Wherein, EMFAAnd EMFBThe counter electromotive force of the A windings and B windings of respectively described motor, VAAnd VBDifference table
Show the winding voltage of the A windings and B windings of the motor, RAAnd RBRepresent respectively the A windings and B of the motor around
The winding resistance of group, LAAnd LBThe winding inductance of the A winding and B winding of the motor, I are represented respectivelyAAnd IBIt is institute respectively
State the real-time sampling electric current of the A windings and B windings of motor.
Can be obtained by formula (1):
And for motor, the electromotive force that stator winding cutting PM rotor is produced has following relation simultaneously again:
Wherein ωrFor the angular frequency that rotor is rotated, ψmObtain during the generation magnetic flux for cutting PM rotor for stator winding
Maximum magnetic linkage.
If directly asking for counter electromotive force using formula (2), due to change and the differential of calculating current of motor inductanceWhen, very big noise may be produced, is caused result to fail, counter electromotive force can be asked for using a kind of sliding mode controller:
By taking motor A windings as an example, electric current is solved by formula (1):
Represented with digital display circuit:
I is obtainedA(n)=F IA(n-1)+G·(VA(n-1)-EMFA(n-1)) formula (6)
WhereinTpwmIt is the sample rate current to A winding currents, namely to motor
The controlling cycle of electric current, RAAnd LAIt is the resistance and inductance of the A windings of the motor respectively, RBAnd LBIt is the step respectively
The resistance and inductance of the B windings of stepper motor.
According to formula (6), can be according to known parameters I of the (n-1)th sampled pointA(n-1)、VA(n-1)、ZA
(n-1)、IB(n-1)、VB(n-1)、And ZB(n-1) EMF is obtained in the following wayA(n) and EMFBN (), such as schemes
Shown in 1:
|ZA(n)|≤Zmax;
|ZB(n)|≤Zmax;
VA(n)=Kp·(IAref-IA(n))+Ki∫(IAref-IA(n))dt;
VB(n)=Kp·(IBref-IB(n))+Ki∫(IBref-IB(n))dt;
IAref=IP·sinθref,IBref=IP·cosθref;
As shown in Fig. 2 respectively to ZA(n) and ZBN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWithFor calculate (n-1)th sampled point relevant parameter when use;
Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectivelyA(n) and EMFB(n);
Wherein, IA(n-1)、VA(n-1)、And ZA(n-1) the A windings of the motor are represented respectively
The sample rate current of corresponding (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IA(n)、VA(n)、EMFA(n) and ZAN () represents the A windings of the motor respectively
The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force
And Dynamic gene;
IB(n-1)、VB(n-1)、And ZB(n-1) represent respectively the motor B windings corresponding the
The sample rate current of n-1 sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IB(n)、VB(n)、EMFB(n) and ZBN () represents the B windings of the motor respectively
The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force
And Dynamic gene;
TpwmFor sampling period, k2、KpAnd KiIt is constant coefficient, Zmax;It is maximum Dynamic gene,;
RAAnd LAIt is the resistance and inductance of the A windings of the motor respectively;
RBAnd LBIt is the resistance and inductance of the B windings of the motor respectively.
Above-mentioned formula is illustrated by taking A windings as an example:
In one embodiment, initialization assignment is carried out to the parameters of the 0th sampled point:
By VA(0)、ZA(0)、VB(0)、And ZB(0) 0 is entered as, further according to adopting to A windings
The I that sample is obtainedA(0), the relevant parameter V of the first sampled point can be obtained according to above-mentioned formulaA(1)、ZA(1) andThen calculating prediction can be carried out to the relevant parameter of second sampled point according to above-mentioned formula, the like.
Such that it is able to obtain physical location θr:
According to the rotor angle for obtainingrWith given rotor anglerefSite error power transformation flow control is carried out to motor,
PI is done by site error size and adjusts power transformation flow control:
IP=Imax·k1+Kpp·(θref-θr)+∑Kpi(θref-θr);
Wherein, 0 < k1≤ 1, KppAnd KpiIt is constant, ImaxRated current peak value for the motor;When being calculated
IPValue be more than ImaxWhen, then IPTake Imax.
Wherein, k1Can be 0.3-0.5, for example, can be 0.4.
Above content is further description made for the present invention with reference to specific preferred implementation, it is impossible to assert
The present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of without departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention by
The scope of patent protection that the claims that is submitted to determine.
Claims (6)
1. a kind of current control method of motor, is characterized in that, comprise the steps:
Obtain physical location θ of stepping motor rotorr, obtain the given position θ of the stepping motor rotorref;
If the given position θrefWith physical location θrDifference increase, then increase given electric current IPTo the motor
It is driven, if the given position θrefWith physical location θrDifference reduce, then reduce given electric current IPTo the step
Stepper motor is driven;
IP=Imax·k1+Kpp·(θref-θr)+∑Kpi(θref-θr);
Wherein, 0 < k1≤ 1, KppAnd KpiIt is constant, ImaxRated current peak value for the motor;
Physical location θ is obtained by following algorithmr:
EMFA(n) and EMFBKnown parameters I of (n) according to the (n-1)th sampled pointA(n-1)、VA(n-1)、ZA(n-
1)、IB(n-1)、VB(n-1)、And ZB(n-1) obtain in the following way:
|ZA(n)|≤Zmax;
|ZB(n)|≤Zmax;
VA(n)=Kp·(IAref-IA(n))+Ki∫(IAref-IA(n))dt;
VB(n)=Kp·(IBref-IB(n))+Ki∫(IBref-IB(n))dt;
IAref=IP·sinθref,IBref=IP·cosθref;
Respectively to ZA(n) and ZBN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith
Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectivelyA(n) and EMFB(n);
Wherein, IA(n-1)、VA(n-1)、And ZA(n-1) represent that the A windings of the motor are corresponded to respectively
The sample rate current of (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IA(n)、VA(n)、EMFA(n) and ZAN () represents corresponding to for the A windings of the motor respectively
The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune
Integral divisor;
IB(n-1)、VB(n-1)、And ZB(n-1) represent respectively the motor B windings corresponding (n-1)th
The sample rate current of individual sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IB(n)、VB(n)、EMFB(n) and ZBN () represents corresponding to for the B windings of the motor respectively
The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune
Integral divisor;
TpwmFor sampling period, k2、KpAnd KiIt is constant coefficient, ZmaxIt is maximum Dynamic gene;
RAAnd LAIt is the resistance and inductance of the A windings of the motor respectively;
RBAnd LBIt is the resistance and inductance of the B windings of the motor respectively.
2. the current control method of motor as claimed in claim 1, is characterized in that:
As calculated IPValue be more than ImaxWhen, then IPTake Imax.
3. the current control method of motor as claimed in claim 1, is characterized in that:
According to the given electric current IP, A windings and B winding applied voltages V to the motor respectivelyAAnd VB:
VA=Kp·(IAref-IA)+Ki∫(IAref-IA)dt;
VB=Kp·(IBref-IB)+Ki∫(IBref-IB)dt;
Wherein, IAref=IP·sinθref, IBref=IP·cosθref, IAAnd IBIt is the sample rate current of motor A windings respectively
Sample rate current with B windings.
4. a kind of current control device of motor, is characterized in that, including first processing units and second processing unit:
First processing units, for obtaining physical location θ of stepping motor rotorr;
Second processing unit, for obtaining the given position θ of the stepping motor rotorrefIf, the given position θrefWith institute
State physical location θrDifference increase, then increase given electric current IPThe motor is driven, if the given position
θrefWith physical location θrDifference reduce, then reduce given electric current IPThe motor is driven;
IP=Imax·k1+Kpp·(θref-θr)+∑Kpi(θref-θr);
Wherein, 0 < k1≤ 1, KppAnd KpiIt is constant, ImaxRated current peak value for the motor;
The second processing unit is additionally operable to, and obtains physical location θ by following algorithmr:
EMFA(n) and EMFBKnown parameters I of (n) according to the (n-1)th sampled pointA(n-1)、VA(n-1)、ZA(n-
1)、IB(n-1)、VB(n-1)、And ZB(n-1) obtain in the following way:
|ZA(n)|≤Zmax;
|ZB(n)|≤Zmax;
VA(n)=Kp·(IAref-IA(n))+Ki∫(IAref-IA(n))dt;
VB(n)=Kp·(IBref-IB(n))+Ki∫(IBref-IB(n))dt;
IAref=IP·sinθref,IBref=IP·cosθref;
Respectively to ZA(n) and ZBN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith
Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectivelyA(n) and EMFB(n);
Wherein, IA(n-1)、VA(n-1)、And ZA(n-1) represent that the A windings of the motor are corresponded to respectively
The sample rate current of (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IA(n)、VA(n)、EMFA(n) and ZAN () represents corresponding to for the A windings of the motor respectively
The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune
Integral divisor;
IB(n-1)、VB(n-1)、And ZB(n-1) represent respectively the motor B windings corresponding (n-1)th
The sample rate current of individual sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene;
IB(n)、VB(n)、EMFB(n) and ZBN () represents corresponding to for the B windings of the motor respectively
The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune
Integral divisor;
TpwmFor sampling period, k2、KpAnd KiIt is constant coefficient, ZmaxIt is maximum Dynamic gene;
RAAnd LAIt is the resistance and inductance of the A windings of the motor respectively;
RBAnd LBIt is the resistance and inductance of the B windings of the motor respectively.
5. the current control device of motor as claimed in claim 4, is characterized in that:
As calculated IPValue be more than ImaxWhen, then IPTake Imax.
6. the current control device of motor as claimed in claim 4, is characterized in that:
The second processing unit is additionally operable to, according to the given electric current IP, the A windings and B windings to the motor respectively
Applied voltage VAAnd VB:
VA=Kp·(IAref-IA)+Ki∫(IAref-IA)dt;
VB=Kp·(IBref-IB)+Ki∫(IBref-IB)dt;
Wherein, IAref=IP·sinθref, IBref=IP·cosθref, IAAnd IBIt is the sample rate current of motor A windings respectively
Sample rate current with B windings.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510090251.8A CN104716879B (en) | 2015-02-27 | 2015-02-27 | A kind of current control method of motor and device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510090251.8A CN104716879B (en) | 2015-02-27 | 2015-02-27 | A kind of current control method of motor and device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104716879A CN104716879A (en) | 2015-06-17 |
CN104716879B true CN104716879B (en) | 2017-03-15 |
Family
ID=53415913
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510090251.8A Active CN104716879B (en) | 2015-02-27 | 2015-02-27 | A kind of current control method of motor and device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104716879B (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101920127B1 (en) * | 2013-10-04 | 2018-11-19 | 아사히 가세이 가부시키가이샤 | Solar cell, manufacturing method therefor, semiconductor device, and manufacturing method therefor |
FR3079983B1 (en) * | 2018-04-09 | 2020-04-10 | Moving Magnet Technologies | METHOD FOR CONTROLLING A POLYPHASE MOTOR |
CN108933550B (en) * | 2018-08-30 | 2020-01-24 | 深圳市万至达电机制造有限公司 | Control circuit and control method of integrated hybrid stepping servo motor |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101043195A (en) * | 2006-03-17 | 2007-09-26 | 日本伺服株式会社 | Stepping motor control apparatus |
CN101287617A (en) * | 2005-06-16 | 2008-10-15 | 丰田自动车株式会社 | Vehicle stabilizer system |
CN102594235A (en) * | 2011-01-12 | 2012-07-18 | 日本电产伺服有限公司 | Drive circuit and drive method of a stepping motor |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100889961B1 (en) * | 2007-04-30 | 2009-03-24 | (주)컨벡스 | Method and system for compensating position error of step motor |
JP5406010B2 (en) * | 2009-12-28 | 2014-02-05 | セミコンダクター・コンポーネンツ・インダストリーズ・リミテッド・ライアビリティ・カンパニー | Motor drive circuit |
-
2015
- 2015-02-27 CN CN201510090251.8A patent/CN104716879B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101287617A (en) * | 2005-06-16 | 2008-10-15 | 丰田自动车株式会社 | Vehicle stabilizer system |
CN101043195A (en) * | 2006-03-17 | 2007-09-26 | 日本伺服株式会社 | Stepping motor control apparatus |
CN102594235A (en) * | 2011-01-12 | 2012-07-18 | 日本电产伺服有限公司 | Drive circuit and drive method of a stepping motor |
Also Published As
Publication number | Publication date |
---|---|
CN104716879A (en) | 2015-06-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110224648B (en) | Permanent magnet synchronous motor parameter identification and position sensorless control method and system | |
US9825564B2 (en) | Circuits and methods of determining position and velocity of a rotor | |
CN104903179B (en) | The control strategy of the motor of electric boosting steering system | |
AU2002224030B2 (en) | Synchronous motor control method and device | |
CN101485078B (en) | Sensorless technology, estimation of sampled back emf voltage values and/or the sampled inductance values based on the pulse width modulation periods | |
CN105122635B (en) | Equipment for controlling alternating current generator | |
CN103780189B (en) | Motor driving device and vacuum pump | |
JP6032143B2 (en) | Rotating machine control device | |
US9419550B2 (en) | Methods and apparatuses for controlling torques of permanent magnet synchronous motors | |
CN110518850A (en) | Internal permanent magnet synchronous motor single neuron self-adaptive PID controller field weakening control method | |
CN103944484B (en) | Motor driver and vavuum pump | |
CN107878554A (en) | Controller for motor and electric boosting steering system | |
US8928265B2 (en) | Sensorless field-oriented control (FOC) without current sampling for motors | |
CN106992729A (en) | A kind of stator permanent magnetic type memory electrical machine permanent magnet flux linkage Discrete control method | |
CN104716879B (en) | A kind of current control method of motor and device | |
CN103762924A (en) | Torque output control system of permanent magnet synchronous motor | |
CN104767445B (en) | A kind of mounted permasyn morot method for controlling torque in face of no current feedback | |
CN111966080A (en) | Transfer function-based permanent magnet synchronous motor and mechanical load simulation system and control method thereof | |
CN105591575B (en) | A kind of direct character control system of non-salient pole permanent magnet synchronous motor and control method | |
CN104977850B (en) | It is a kind of based on fractional order fallout predictor without Time-delay Robust control method of servo motor | |
CN107181439A (en) | A kind of method for controlling permanent magnet synchronous motor and system | |
CN105007006A (en) | Peristaltic pump system with performance being improved and service life being prolonged and application in blood component separation | |
CN107017818A (en) | A kind of stator permanent magnetic type memory electrical machine Direct Torque Control | |
CN212183431U (en) | Control circuit and rail vehicle | |
CN106787979B (en) | Generator rotor angle self-stabilization rear feed compensating control method in high-speed brushless DC electromotor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant |