CN107544022B - Motor state detection method and device - Google Patents
Motor state detection method and device Download PDFInfo
- Publication number
- CN107544022B CN107544022B CN201610487430.XA CN201610487430A CN107544022B CN 107544022 B CN107544022 B CN 107544022B CN 201610487430 A CN201610487430 A CN 201610487430A CN 107544022 B CN107544022 B CN 107544022B
- Authority
- CN
- China
- Prior art keywords
- motor
- electrical angle
- electrical
- angle
- calibration table
- 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
Images
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the invention discloses a method and a device for detecting the state of a motor. The method provided by the embodiment of the invention comprises the following steps: applied to an electric machine system, the method comprising: when the motor runs, judging the rotation direction of the motor; if the motor rotates clockwise, detecting the electrical angle according to a preset forward rotation electrical angle calibration meter; and if the motor rotates anticlockwise, carrying out electric angle detection according to a preset reverse electric angle calibration meter. The embodiment of the invention can detect the real-time change of the position, the speed and the angle of the motor under the condition that the motor does not need an encoder, provides feedback information for closed-loop control of a system and ensures the normal and stable operation of the motor.
Description
Technical Field
The invention relates to the field of motor detection, in particular to a method and a device for detecting a motor state.
Background
In the field of industrial automation, in order to enable a motor system to stably operate, a closed-loop control system needs to be formed, and the real position, the speed and the current electrical angle of the motor need to be measured in real time.
The measurement method generally employs a photoelectric encoder or the like, and the measured signal is a pulse signal. The pulse signal is transmitted to a digital processor for control function and arithmetic operation. In practical production applications, the encoder usually occupies a certain space, the encoder occupies a certain cost, and the resolution protocol supported by the encoder needs to be followed when the encoder is resolved.
In the prior art, a position detection device of a permanent magnet brushless dc motor includes: discrete hall sensors, photoelectric encoders, and rotary transformers. The discrete Hall sensor provides six positions in one electrical angle period, the position precision is low, and by adopting the position detection device, the motor has large torque pulsation and low speed calculation precision. Although the photoelectric encoder has high position precision, the photoelectric encoder is expensive and greatly influenced by application environment, and is not suitable for the field of electric vehicles with high reliability requirements and low cost. The reliability and the position detection precision of the rotary transformer are high, but the rotary transformer is expensive, the decoding algorithm is complex, a hardware chip is required to be adopted for decoding, and although the circuit is simple, the decoding chip is expensive.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting the state of a motor, which can detect the real-time change of the position, the speed and the angle of the motor under the condition that the motor does not need an encoder, provide feedback information for closed-loop control of a system and ensure the normal and stable operation of the motor.
In a first aspect, an embodiment of the present invention provides a method for detecting a state of a motor, where the method is applied to a motor system, and the method includes:
judging the rotation direction of the motor when the motor runs;
if the motor rotates clockwise, detecting the electrical angle according to a preset forward rotation electrical angle calibration meter;
and if the motor rotates anticlockwise, carrying out electric angle detection according to a preset reverse electric angle calibration meter.
Optionally, when the motor operates, a preset encoder code wheel value is read, and the position of the motor is determined.
Optionally, detecting the position of an encoder rotating in unit time of the motor;
and calculating the running speed of the motor according to the position change of the rotary encoder in the motor unit time.
Optionally, before determining the rotation direction of the motor when the motor is running, the method further includes:
and formulating a forward rotation electric angle calibration meter and a reverse rotation electric angle calibration meter.
Optionally, formulating the forward rotation electric angle calibration table and the reverse rotation electric angle calibration table includes:
according to the formula thetaE＝P*θMCalculating the corresponding edge electrical angle of one circle of rotation of the motor;
according to the electrical angle of the edge, according to the formula thetaE intermediate＝(θE left edge+θE right edge) Calculating the corresponding electrical angle of the middle position of each sector;
from the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle;
and starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle.
In a second aspect, an embodiment of the present invention provides an apparatus for detecting a state of a motor, where the apparatus is applied to a motor system, and the apparatus includes:
the judging unit is used for judging the rotation direction of the motor when the motor runs;
the electric angle detection unit is used for detecting an electric angle according to a preset forward rotation electric angle calibration meter when the motor rotates clockwise; and when the motor rotates anticlockwise, carrying out electric angle detection according to a preset reverse electric angle calibration meter.
Optionally, the apparatus further comprises:
and the determining unit is used for reading a preset encoder code wheel value when the motor runs and determining the position of the motor rotor.
Optionally, the apparatus further comprises;
a speed detection unit for detecting the position of the encoder rotating in unit time of the motor; and calculating the running speed of the motor according to the position change of the rotary encoder in the motor unit time.
Optionally, the apparatus further comprises:
and the formulating unit is used for formulating the forward rotation electric angle calibration table and the reverse rotation electric angle calibration table before the motor is judged to rotate in the running direction.
Optionally, the formulating unit is specifically configured to:
according to the formula thetaE＝P*θMCalculating the corresponding edge electrical angle of one circle of rotation of the motor;
according to the electrical angle of the edge, according to the formula thetaE intermediate＝(θE left edge+θE right edge) Calculating the corresponding electrical angle of the middle position of each sector;
from the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle;
and starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle.
The embodiment of the invention can detect the real-time change of the position, the speed and the angle of the motor under the condition that the motor does not need an encoder, provides feedback information for closed-loop control of a system and ensures the normal and stable operation of the motor.
Drawings
FIG. 1 is a schematic diagram of the installation of a stator winding and a Hall sensor of a motor in an embodiment of the invention;
fig. 2 is a schematic diagram of a first embodiment of a method for detecting a state of a motor in an embodiment of the present invention;
FIG. 3 is a schematic view of an initial angle of a rotor of an electric machine in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a process for calibrating an electrical angle of a motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an embodiment of a device for detecting a state of a motor according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention is applied to a motor system, the motor system comprises a direct current brushless motor, a rotor of the motor is a permanent magnet, a stator of the motor is an armature winding, three Hall sensors for detecting a sinusoidal space magnetic field generated by the permanent magnet are mounted on the direct current brushless motor, and the interval between every two Hall sensors is 120 degrees, as shown in fig. 1, the installation schematic diagram of the stator winding and the Hall sensors of the motor in the embodiment of the invention is shown.
The following first describes an embodiment of a motor state detection method, which is executed mainly by a motor state detection device.
Referring to fig. 2, a first embodiment of a method for detecting a motor state according to an embodiment of the present invention includes:
201. judging the rotation direction of the motor when the motor runs;
202. if the motor rotates clockwise (forward), carrying out electrical angle detection according to a preset forward rotation electrical angle calibration table;
203. and if the motor rotates anticlockwise (reversely), carrying out electric angle detection according to a preset reverse electric angle calibration table.
In the embodiment of the invention, the preset forward rotation electric angle calibration meter and the preset reverse rotation electric angle calibration meter can be used for detecting the electric angles of the motors in different motor rotating directions, so that the real-time change of the position, the speed and the angle of the motor can be detected, feedback information is provided for the closed-loop control of the system, and the normal and stable operation of the motor is ensured.
Optionally, on the basis of the first embodiment, a second embodiment of the present invention further includes:
and when the motor runs, reading a preset encoder code wheel value, and determining the position of the motor.
Optionally, on the basis of the first embodiment or the second embodiment, a third embodiment of the present invention includes:
detecting the position of an encoder rotating in unit time of the motor;
and calculating the running speed of the motor according to the position change of the rotary encoder in the motor unit time.
Optionally, on the basis of the first embodiment, the second embodiment, or the third embodiment, in a fourth embodiment of the present invention, before the determining the rotation direction of the motor when the motor is running, the method further includes:
and formulating a forward rotation electric angle calibration meter and a reverse rotation electric angle calibration meter.
Optionally, formulating the forward rotation electric angle calibration table and the reverse rotation electric angle calibration table includes:
according to the formula thetaE＝P*θMCalculating the corresponding edge electrical angle of one circle of rotation of the motor;
according to the electrical angle of the edge, according to the formula thetaE intermediate＝(θE left edge+θE right edge) Calculating the corresponding electrical angle of the middle position of each sector;
from the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle;
and starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle.
The principle of detecting the motor state is described below by taking a three-phase armature winding motor diagram as an example.
The output voltage of the Hall element is as follows: u shapeH＝RH×I×B/d(mV)
In the formula: rHHall constant, d element thickness, B magnetic induction, I control current
If the control current is kept unchanged, the Hall sensing voltage changes along with the external magnetic field intensity, according to the principle, the three-phase winding A, B, C of the motor is respectively electrified with current, so that the stator generates a rotating magnetic flux linkage, the rotor is a permanent magnet, under the action of the stator selecting the magnetic flux linkage, the rotor rotates along with the stator, when the rotor rotates, the Hall element is influenced by the magnetic field generated by the magnetic steel, a pulse signal is output, and the Hall sensor senses the position of the rotor.
The realization principle is as follows:
three-phase windings AX, BY and CZ are arranged on the stator at intervals of 120 degrees, Hall sensors H1, H2 and H3 are arranged on angle bisectors of BZ, CX and AY, and each Hall sensor is arranged at intervals of 120 degrees. The installation principle is shown in figure 1.
The positive and negative of Hall sensor output is determined by the position of rotor magnetic pole, and when the Hall sensor was pressed close to the N level of rotor, Hall sensor output was positive value 1, otherwise, when the Hall sensor was pressed close to the S level of rotor, Hall sensor output was negative value 0. Therefore, according to the output combination of the Hall sensors, the rotor can be positioned in the range of 60 degrees, the plane is divided into 6 areas, and the specific relation between the output of the Hall sensors and the area where the N pole of the rotor is located is shown in Table 1. Fig. 3 is a schematic diagram showing an initial angle of a rotor of a motor, and fig. 4 is a schematic diagram showing a calibration process of an electrical angle of the motor, wherein the calibration process includes:
401. controlling the motor to rotate for a circle;
402. recording a mechanical angle when the Hall outputs jumping;
403. calculating the jumping electrical angle of the Hall;
404. and calculating the middle electrical angle of each sector.
Specifically, for example, after the N pole of the rotor is positioned in a 60 ° interval, the angle corresponding to the angular bisector of the interval is taken as the initial mechanical angle θ of the rotor, and the corresponding electrical angle is calculated according to the number of pole pairs of the motor. And controlling the motor to rotate for a circle at a very slow speed, recording the electrical angle value at the moment of jumping of different Hall output combinations, obtaining the Hall edge switching electrical angle of the motor rotating for a circle, and further calculating the electrical angle value in each sector.
TABLE 1
Because the motor rotates forwards and backwards, and the passing Hall output combinations are different, the forward and reverse rotation judgment of the motor is added, the switching of the electrical angle is carried out according to the judgment result, and the angle detection is realized. Because the motor rotates a circle, the corresponding electrical angle change is a fixed value, so the motor can be regarded as an encoder, the number of lines of the encoder is the number of times of the change of the electrical angle, and the position detection is realized by the encoder designed by software. And position detection is used as a support, and the switching time of the para-position code number is detected, so that the speed detection is realized.
The present invention will be described in further detail with reference to specific application scenarios.
In the embodiment of the invention, three Hall sensors generate three Hall signals and output 6 states, for example, a P-4 antipodal motor is taken as an example, the motor rotates for one circle, and the mechanical angles when the Hall output combinations jump are 6, namely thetaMA、θMB、θMC、θMD、θME、θMF. According to the formula thetaE＝P*θMCalculating the edge electrical angle corresponding to one rotation of the motor, and according to the edge electrical angle, according to a formula theta E (theta E)Left edge+θE right edge) And/2, calculating the corresponding electrical angle of the middle position of each sector. When P is 4, the electric angles corresponding to the edge electric angle and the middle position of each sector are 24. P is the pole pair number, edge electrical angle and middle position of each sector of the motorThe number of electrical angles to be used is determined by the selected motor. And (4) from the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle. And starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle. Since the number of sectors is constant and each sector corresponds to one line of the encoder, the 4-pair pole motor is assumed to be a 24-line absolute encoder.
The three Hall signals H1, H2 and H3 are combined to output 6 different states, and when the Hall signals rotate forwards, the Hall outputs are 010, 011, 001, 101, 100 and 110 in sequence, and correspondingly are 2, 3, 1, 5, 4 and 6 in decimal. When the Hall output is inverted, the Hall output is 010, 110, 100, 101, 001, 011 and corresponding decimal system is 2, 6, 4, 5, 1 and 3. The rotating direction of the motor can be judged by outputting the circulating direction through the Hall.
When the motor runs, the rotation direction of the motor is judged firstly, and if the motor rotates forwards, the electric angle detection is carried out according to a forward rotation electric angle calibration meter. And if the rotation is reverse, detecting the electrical angle according to a reverse electrical angle calibration table. And in the rotation process of the motor, reading the code disc value of the virtual encoder to realize position detection. And detecting the position of the encoder rotating in unit time of the motor to realize the speed detection of the motor.
An embodiment of the apparatus for detecting a state of a motor in the embodiment of the present invention is described below.
Referring to fig. 5, a schematic diagram of an embodiment of an apparatus for detecting a motor state according to an embodiment of the present invention is shown, where the apparatus 500 for detecting a motor state includes:
a judging unit 501, configured to judge a motor rotation direction when the motor operates;
an electrical angle detection unit 502, configured to perform electrical angle detection according to a preset forward rotation electrical angle calibration table when the motor rotates clockwise; and when the motor rotates anticlockwise, carrying out electric angle detection according to a preset reverse electric angle calibration meter.
Optionally, the apparatus further includes a determining unit 503, configured to read a preset encoder code wheel value when the motor is running, and determine a position of the motor rotor.
Optionally, the apparatus further comprises a speed detection unit 504, configured to detect a position of an encoder rotating per unit time by the motor; and calculating the running speed of the motor according to the position change of the rotary encoder in the motor unit time.
Optionally, the apparatus further includes a formulating unit 505, configured to formulate a forward rotation electrical angle calibration table and a reverse rotation electrical angle calibration table before determining a rotation direction of the motor when the motor is running.
Optionally, the formulating unit 505 is specifically configured to:
according to the formula thetaE＝P*θMCalculating the corresponding edge electrical angle of one circle of rotation of the motor;
according to the electrical angle of the edge, according to the formula thetaE intermediate＝(θE left edge+θE right edge) Calculating the corresponding electrical angle of the middle position of each sector; when P is 4, the electric angles corresponding to the edge electric angle and the middle position of each sector are 24. P is the number of pole pairs of the motor, and the number of the edge electrical angles and the electrical angles corresponding to the middle position of each sector is determined by the selected motor.
From the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle;
and starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The method for detecting the motor state is applied to a motor system and comprises the following steps:
judging the rotation direction of the motor when the motor runs;
if the motor rotates clockwise, detecting the electrical angle according to a preset forward rotation electrical angle calibration meter;
if the motor rotates anticlockwise, detecting the electrical angle according to a preset reverse electrical angle calibration table;
before the motor is operated and the rotation direction of the motor is judged, the method further comprises the following steps:
formulating a forward rotation electric angle calibration table and a reverse rotation electric angle calibration table;
formulate corotation electric angle calibration table and reversal electric angle calibration table, include:
according to the formula thetaE＝P*θMCalculating the corresponding edge electrical angle theta of one rotation of the motorMIs the mechanical angle of the motor;
according to the electrical angle of the edge, according to the formula thetaE intermediate＝(θE left edge+θE right edge) Calculating the corresponding electrical angle of the middle position of each sector;
from the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle;
starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle;
when P is 4, the number of the edge electrical angles and the number of the electrical angles corresponding to the middle position of each sector are 24, P is the number of pole pairs of the motor, and the number of the edge electrical angles and the number of the electrical angles corresponding to the middle position of each sector are determined by the selected motor;
the sector number is a fixed value, each sector corresponds to one line of the encoder, and the 4-pair pole motor is virtualized to be a 24-line absolute encoder.
2. The method of claim 1, further comprising:
and when the motor runs, reading a preset code disc value of the virtual encoder, and determining the position of the motor.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
detecting the position of a virtual encoder rotating in unit time of the motor;
and calculating the running speed of the motor according to the position change of the virtual encoder rotating in the unit time of the motor.
4. An apparatus for detecting a state of a motor, applied to a motor system, the apparatus comprising:
the judging unit is used for judging the rotation direction of the motor when the motor runs;
the electric angle detection unit is used for detecting an electric angle according to a preset forward rotation electric angle calibration meter when the motor rotates clockwise; when the motor rotates anticlockwise, detecting the electrical angle according to a preset reverse electrical angle calibration table;
the device further comprises:
the formulating unit is used for formulating a forward rotation electric angle calibration table and a reverse rotation electric angle calibration table before the motor is judged to rotate;
the formulating unit is specifically configured to:
according to the formula thetaE＝P*θMCalculating the corresponding edge electrical angle theta of one rotation of the motorMIs the mechanical angle of the motor;
according to the electrical angle of the edge, according to the formula thetaE intermediate＝(θE left edge+θE right edge) Calculating the corresponding electrical angle of the middle position of each sector;
from the initial electrical angle, making a positive rotation electrical angle calibration table according to the incremental electrical angle;
starting from the calibrated maximum electrical angle, making a reverse electrical angle calibration table according to the decreasing electrical angle;
when P is 4, the number of the edge electrical angles and the number of the electrical angles corresponding to the middle position of each sector are 24, P is the number of pole pairs of the motor, and the number of the edge electrical angles and the number of the electrical angles corresponding to the middle position of each sector are determined by the selected motor;
the sector number is a fixed value, each sector corresponds to one line of the encoder, and the 4-pair pole motor is virtualized to be a 24-line absolute encoder.
5. The apparatus of claim 4, further comprising:
and the determining unit is used for reading a preset virtual encoder code wheel value when the motor runs and determining the position of the motor rotor.
6. The apparatus of claim 4 or 5, further comprising;
a speed detection unit for detecting a position of a virtual encoder rotating in a unit time of the motor; and calculating the running speed of the motor according to the position change of the virtual encoder rotating in the unit time of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610487430.XA CN107544022B (en) | 2016-06-28 | 2016-06-28 | Motor state detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610487430.XA CN107544022B (en) | 2016-06-28 | 2016-06-28 | Motor state detection method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107544022A CN107544022A (en) | 2018-01-05 |
| CN107544022B true CN107544022B (en) | 2020-02-07 |
Family
ID=60961727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610487430.XA Active CN107544022B (en) | 2016-06-28 | 2016-06-28 | Motor state detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107544022B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108775857B (en) * | 2018-07-09 | 2019-11-22 | 西北工业大学 | Permanent magnetic brushless hall position sensor method for diagnosing faults |
| CN110133499A (en) * | 2019-04-30 | 2019-08-16 | 固安华电天仁控制设备有限公司 | A kind of method that wind power pitch motor is tested automatically |
| CN111645484B (en) * | 2020-05-21 | 2021-09-14 | 泰铂（上海）环保科技股份有限公司 | Self-adaptive control method for vehicle air conditioner air door actuator |
| CN113345030B (en) * | 2021-06-17 | 2024-01-02 | 三一重机有限公司 | Calibration method and device for working machine sensor, working machine and electronic equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5530326A (en) * | 1993-07-19 | 1996-06-25 | Quantum Corporation | Brushless DC spindle motor startup control |
| EP1983644A2 (en) * | 2007-04-20 | 2008-10-22 | Melexis NV | Rotor orientation detection in brushless DC motors |
| CN101651442A (en) * | 2008-08-15 | 2010-02-17 | 深圳市汇川技术股份有限公司 | Method and system for correcting electrical angle of motor rotor |
| CN101764553A (en) * | 2010-01-21 | 2010-06-30 | 上海大学 | Method for controlling permanent magnet synchronous motor for Hall switch sensor |
| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN102315814A (en) * | 2010-06-30 | 2012-01-11 | 比亚迪股份有限公司 | Motor vector control method based on Hall position sensor |
| CN103684139A (en) * | 2013-12-10 | 2014-03-26 | 吴凯 | Brushless direct current motor and method for positioning position of rotor of brushless direct current motor |
| CN105207564A (en) * | 2015-03-31 | 2015-12-30 | 北京经纬恒润科技有限公司 | Initial position angle determination method and device |
-
2016
- 2016-06-28 CN CN201610487430.XA patent/CN107544022B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5530326A (en) * | 1993-07-19 | 1996-06-25 | Quantum Corporation | Brushless DC spindle motor startup control |
| EP1983644A2 (en) * | 2007-04-20 | 2008-10-22 | Melexis NV | Rotor orientation detection in brushless DC motors |
| CN101651442A (en) * | 2008-08-15 | 2010-02-17 | 深圳市汇川技术股份有限公司 | Method and system for correcting electrical angle of motor rotor |
| CN101764553A (en) * | 2010-01-21 | 2010-06-30 | 上海大学 | Method for controlling permanent magnet synchronous motor for Hall switch sensor |
| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN102315814A (en) * | 2010-06-30 | 2012-01-11 | 比亚迪股份有限公司 | Motor vector control method based on Hall position sensor |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN103684139A (en) * | 2013-12-10 | 2014-03-26 | 吴凯 | Brushless direct current motor and method for positioning position of rotor of brushless direct current motor |
| CN105207564A (en) * | 2015-03-31 | 2015-12-30 | 北京经纬恒润科技有限公司 | Initial position angle determination method and device |
Non-Patent Citations (1)
| Title |
|---|
| 无位置传感器无刷直流电机控制***的设计与研究;周托;《中国优秀硕士学位论文全文数据库工程科技II辑》;20060715;第C042-30页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107544022A (en) | 2018-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107544022B (en) | Motor state detection method and device | |
| KR101378731B1 (en) | Methods of processing encoder signals | |
| EP2932286B1 (en) | Circuits and methods for processing signals generated by a circular vertical hall (cvh) sensing element in the presence of a multi-pole magnet | |
| US8368392B2 (en) | Magnetic encoder and method of detecting absolute rotational position | |
| JP6649018B2 (en) | Rotary encoder and method for detecting absolute angular position of rotary encoder | |
| JP5827812B2 (en) | Angle detector | |
| US10281299B2 (en) | Angle sensor, a bearing unit, electrical motor, a control system and error-check system | |
| EP1489735A2 (en) | Methods and apparatus for a contactless electro-mechanical actuator with coupled electronic motor commutation and output position sensors | |
| JP6124112B2 (en) | AC motor control device and control method | |
| JP5082482B2 (en) | Rotation information calculation device and motor | |
| JP6582216B2 (en) | Control method for three-phase brushless DC motor and motor control apparatus using the control method | |
| JP2005513483A (en) | Angular velocity sensor | |
| JP6877169B2 (en) | Rotary encoder | |
| US8121811B2 (en) | Systems and methods for detecting angular position | |
| JP2019060694A (en) | Rotation angle detector | |
| US7915888B2 (en) | Systems and methods for detecting angular position | |
| JP5690700B2 (en) | Method and apparatus for detecting rotor position of brushless DC motor | |
| JP2001050774A (en) | Sine cosine output sensor and servo motor using it | |
| JP4725109B2 (en) | Brushless motor | |
| CN111750906A (en) | Magnetoelectric encoder | |
| CN114459511A (en) | Magnetic encoder and working method thereof | |
| KR101345305B1 (en) | Commutation signal detecting device and an encoder using the same | |
| KR102477863B1 (en) | Apparatus and method for controlling motor | |
| JP2002039795A (en) | Resolver and method for detecting breakage of wire in the same | |
| CN212340274U (en) | Magnetoelectric encoder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |