CN108462423A - A kind of permanent magnetic brushless rotor fixed position method, apparatus, equipment and storage medium - Google Patents
A kind of permanent magnetic brushless rotor fixed position method, apparatus, equipment and storage medium Download PDFInfo
- Publication number
- CN108462423A CN108462423A CN201810102431.7A CN201810102431A CN108462423A CN 108462423 A CN108462423 A CN 108462423A CN 201810102431 A CN201810102431 A CN 201810102431A CN 108462423 A CN108462423 A CN 108462423A
- Authority
- CN
- China
- Prior art keywords
- permanent magnetic
- fixed position
- magnetic brushless
- rotor
- rotor fixed
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of permanent magnetic brushless rotor fixed position methods, include the following steps：Apply the first current phasor to the stator winding of motor, the quadrature axis current size of first current phasor is predetermined value, and direct-axis current size is 0；The first angular speed for enabling first current phasor set is rotated to preset first electrical angle；It enables first current phasor be fixed on first electrical angle, and stops the time of setting, so that the rotor of the motor is dragged to preset second electrical angle position, realize permanent magnetic brushless rotor fixed position.Permanent magnetic brushless rotor fixed position method disclosed by the invention, unmanned plane electronics rotor can be dragged to any position and start motor, it solves existing unmanned plane motor initial position fix to need installation site sensor and position there is technical issues that, realizes and smoothly start unmanned plane motor without concussion.
Description
Technical field
The invention belongs to unmanned plane electronics rotor field of locating technology more particularly to a kind of being not necessarily to position sensor and nothing
The permanent magnetic brushless rotor fixed position technology of location dead area, specifically a kind of permanent magnetic brushless rotor fixed position method, dress
It sets, equipment and storage medium.
Background technology
Electronic Development of UAV is swift and violent in recent years, in military affairs, public security, agricultural, the fields such as take photo by plane with extensive.At present nobody
The machine overwhelming majority all uses permanent magnetic brushless to drive.Permanent magnet brushless motor structure is simple, small, operational efficiency is high, power
Factor is high, rotary inertia is small, is widely used in the drive systems such as space flight, electric vehicle.
Multi-rotor unmanned aerial vehicle mostly uses greatly permanent magnetic brushless, unmanned plane electric motor starting stage, logical not to machine winding
In the case of electricity, the position of rotor is arbitrary.In order to the startup unmanned plane smoothly without concussion, it is necessary to sentence in advance
The initial position of disconnected rotor.Permanent magnetic brushless initial position of rotor judge accuracy be related to motor starting stability and
Control performance in accelerating ability and normal course of operation.If initial position cannot be estimated accurately, the detent torque of motor
Reduce, it is possible to cause step-out and electric motor starting is caused to fail, it is also possible to there is rotor-position mutation and of short duration reversion, these
Situation does not allow in certain application fields.
In the prior art generally using the initial position of position sensor detection permanent magnetic brushless rotor, but use position
Sensor detects initial position of rotor, and there is many technical problems.First, multi-rotor unmanned aerial vehicle is uncomfortable in application scenarios
It closes using position sensor.Secondly, higher using position sensor cost, it can not be widely used.Meanwhile it is existing other
All there is the dead zone of rotor fixed position in the localization method of permanent magnetic brushless rotor-position, can not be positioned at rotor-position and appoint
The electrical angle that meaning needs realizes the unmanned plane smoothly startup without concussion.
Therefore, there is an urgent need to work out the dress of a kind of permanent magnetic brushless rotor fixed position method and application this method now
It sets, equipment and storage medium.The localization method need not use position sensor that can realize that unmanned plane rotor is initial
The detection and positioning of position, while unmanned plane rotor can be dragged to the electrical angle position of arbitrary needs, then from the position
It sets and starts unmanned plane motor, to realize the unmanned plane smoothly startup without concussion, to solve problems of the prior art.
Invention content
In view of drawbacks described above of the existing technology or deficiency, the purpose of the present invention is to provide a kind of permanent magnetic brushless
Rotor fixed position method, apparatus, equipment and storage medium.Permanent magnetic brushless rotor fixed position method, apparatus provided by the invention is set
Standby and storage medium can realize the detection and positioning of unmanned plane original position of electric motor's rotator without position sensor, together
When unmanned plane rotor can be dragged to the electrical angle positions of arbitrary needs, then start unmanned plane motor from the position, it is real
The existing unmanned plane smoothly startup without concussion, to solve problems of the prior art.
To achieve the above object, the embodiment of the present application provides a kind of permanent magnetic brushless rotor fixed position method, wherein packet
Include following steps：
Apply the first current phasor to the stator winding of motor, the quadrature axis current size of first current phasor is predetermined
Value, direct-axis current size are 0；
The first angular speed for enabling first current phasor set is rotated to preset first electrical angle；
It enables first current phasor be fixed on first electrical angle, and stops the time of setting, so that the motor
Rotor be dragged to preset second electrical angle position, realize permanent magnetic brushless rotor fixed position.
Further, the predetermined value I of the first current phasor quadrature axis currentqFor：
Wherein, TLFor unmanned plane electric motor load torque；
P is motor number of pole-pairs；
ψfFor rotor flux.
Further, preset first electrical angle is 1.5 π.
Further, the angular speed of the setting is less than or equal to 50rad/s.
Further, the time of the setting between 100ms between 500ms.
Further, preset second electrical angle is 0.
On the other hand, the embodiment of the present application provides a kind of permanent magnetic brushless rotor fixed position device, wherein including：
Electric current injection unit：It is configured to apply the first current phasor, the first electric current arrow to the stator winding of motor
The quadrature axis current size of amount is predetermined value, and direct-axis current size is 0；
Electric current rotary unit：The first angular speed for being configured to that first current phasor is enabled to set is rotated to preset
First electrical angle；
Rotor fixed position unit：It is configured to that first current phasor is enabled to be fixed on first electrical angle, and stops and set
The fixed time realizes permanent magnetic brushless rotor so that the rotor of the motor is dragged to preset second electrical angle position
Positioning.
On the other hand, the embodiment of the present application provides a kind of permanent magnetic brushless rotor fixed position equipment, and the equipment includes：
One or more processors；
Data storage, for store the first angular speed of the setting, first electrical angle, the setting time
And one or more programs；
When one or more of programs are executed by one or more of processors so that one or more of places
It manages device and executes method as described in any one of the above embodiments.
On the other hand, the embodiment of the present application provides a kind of computer readable storage medium being stored with computer program,
The program realizes method as described in any one of the above embodiments when being executed by processor.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the permanent magnetic brushless rotor fixed position method exemplified by the present invention installation site need not sense in unmanned plane
Device, so that it may the position of rotor be positioned with realizing, applied to solve multi-rotor unmanned aerial vehicle in the prior art
Be not suitable in scene using position sensor and using position sensor problem of high cost.
2, the permanent magnetic brushless rotor fixed position method exemplified by the present invention, can be positioned at needs by motor rotor position
Arbitrary electrical angle, rotor positioning make to solve the problems, such as rotor fixed position dead zone in the prior art without location dead area
Rotor-position can be positioned at the arbitrary electrical angle of needs by unmanned plane motor, to realize that unmanned plane smoothly starts without concussion.
3, the permanent magnetic brushless rotor fixed position method exemplified by the present invention, can be accurately positioned unmanned plane rotor
Position, so as to avoid due to can not accurately estimate initial position of rotor, causing electric motor starting torque to reduce in the prior art,
Cause step-out and electric motor starting is caused to fail, or the case where rotor-position mutation and of short duration reversion occurs.
4, the permanent magnetic brushless rotor fixed position method exemplified by the present invention, can realize the accurate of unmanned plane rotor
Positioning, ensures the safety of unmanned plane during flying, improves the control in the stability and accelerating ability and flight course of electric motor starting
Performance processed.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon.
Fig. 1 is the permanent magnetic brushless rotor fixed position procedure schematic diagram that the embodiment of the present invention one proposes；
In the permanent magnetic brushless rotor fixed position method that Fig. 2 proposes for the embodiment of the present invention one at the beginning of permanent magnetic brushless rotor
Schematic diagram of the beginning position in synchronous rotating frame between horizontal reference axis；
Fig. 3 is permanent magnetic brushless rotor quilt in the permanent magnetic brushless rotor fixed position method that the embodiment of the present invention one proposes
Drag the schematic diagram of start time；
Fig. 4 is permanent magnetic brushless rotor quilt in the permanent magnetic brushless rotor fixed position method that the embodiment of the present invention one proposes
The schematic diagram at moment is completed in dragging positioning；
Wherein,Coordinate system is Injection Current phasor coordinate system, i.e. given rotor-position coordinate system；Dp coordinate systems are real
The rotor-position coordinate system on border, dotted line are horizontal reference coordinate axis coordinate system.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, is illustrated only in attached drawing and invent relevant part.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As described in Figure 1, a kind of exemplary permanent magnetic brushless rotor fixed position method of the present embodiment, includes the following steps：To
The stator winding of motor applies the first current phasor, and the quadrature axis current size of first current phasor is predetermined value, d-axis electricity
It is 0 to flow size；The first angular speed for enabling first current phasor set is rotated to preset first electrical angle；Enable described
One current phasor is fixed on first electrical angle, and stops the time of setting so that the rotor of the motor be dragged to it is pre-
If the second electrical angle position, realize permanent magnetic brushless rotor fixed position.
For ease of the understanding of the present invention, below with the present invention positioning principle, in conjunction with the embodiments in brushless, permanently
The position fixing process of rotor is further described permanent magnetic brushless rotor fixed position method provided by the invention：
The exemplary unmanned plane motor of the present embodiment is permanent magnetic brushless, in the case where not being powered to machine winding, electricity
Machine rotor position is arbitrary.As shown in Fig. 2, synchronous rotating frame (dp coordinate systems) is made of rotor physical location in figure
Coordinate system, θ is rotor actual bit angle setting, in the initial time of unmanned plane electric motor starting, relative to horizontal reference reference axis electricity
The position of machine rotor is arbitrary, i.e. rotor actual bit angle setting θ can be any angle.
In order to realize the smoothly startup unmanned plane motor without concussion, the initial bit of rotor must be first detected before activation
It sets and the initial position of rotor is positioned.The present embodiment proposes permanent magnetic brushless rotor fixed position method, need not use
Position sensor can realize that the detection and positioning of initial position of rotor, concrete operations scheme are as follows：
In unmanned plane electric motor starting, in order to which motor can be started up, the electromagnetic torque T of motor generationeIt has to
More than load torque TL.Apply a current phasor in unmanned plane motor stator windingThe current phasor is by direct-axis current
Current value IdWith quadrature axis current value IqComposition.The wherein current value I of direct-axis currentdIt is 0, the current value I of quadrature axis currentqIt is predetermined
Value.
In dragging stage electromagnetic torque TeSize and given current phasorCurrent component in rotor quadrature axis is at just
Than relationship is as follows：
Te=1.5p ψfIscosφ
Wherein, p is motor number of pole-pairs；
ψfFor rotor flux；
ISTo give current phasor amplitude；
φ is given angle between current phasor and rotor quadrature axis q axis.
Given current phasor amplitude ISSize is according to load torque TLSize is adjusted, and the formula that should meet is as follows：
Te=1.5p ψfIsCos φ ＞ TL,
I.e.
Since φ is generally unknown, therefore generally takeIt can get good locating effect.
The exemplary localization method of the present embodiment uses quadrature axis current rotational positioning, i.e. Is=Iq.Therefore, it is sat to synchronous rotary
The current phasor injected in mark systemMiddle quadrature axis current value IqFor predetermined value and current value satisfaction：
When, the exemplary permanent magnetic brushless rotor fixed position method of the present embodiment can get good locating effect.
In the current phasor injected into synchronous rotating frameLater, make the current phasorWith very low set angle
Speed omega is rotated from given 0 electrical angle position to 1.5 π electrical angles.
The general value of angular speed set as：
ω≤50rad/s。
Then make the current phasorGiven position angle is fixed on 1.5 π electrical angles positions, and the t that stays for some time.It stops
Time, general value was：
100ms ＜ t ＜ 500ms.
As shown in Figure 3 to Figure 4,Coordinate system is given rotor-position coordinate system, i.e. Injection Current phasor coordinate system；dp
Coordinate system is actual rotor-position coordinate system；Dotted line is horizontal reference coordinate axis coordinate system.As shown in Figure 3 to Figure 4, electric current is sweared
AmountIn this period of stop, permanent magnetic brushless rotor is dragged to preset second electrical angle position i.e. 0 electrical angle position
It sets, to realize permanent magnetic brushless rotor fixed position.
Wherein, Fig. 3 is the schematic diagram of permanent magnetic brushless rotor dragged start time, current phasor in figureTo positioning
Angle setting is in 0 position；Fig. 4 is the schematic diagram that the moment is completed in the dragged positioning of permanent magnetic brushless rotor, current phasor in figureIt gives
Positioning angle setting is fixed on 1.5 π electrical angles positions.
In Fig. 3 to Fig. 4Coordinate system is given rotor-position coordinate system, and initial position is 0 position, namely given is turned
Sub- initial position angle θrotate=0, in Fig. 3Position where axis.It is rotated, is given counterclockwise with rotational speed omega since 0 position
Rotor position angle presses θrotate=ω t are given.Work as θrotateWhen=1.5 π, θrotateIt immobilizes.
Adjust the first electrical angle θ of current phasor rotationrotate, rotor-position can be positioned to the of arbitrary needs
Two electrical angles, and any location dead area is not present.
In the present embodiment, current phasorAlthough being fixed on preset first electrical angle position, current phasorStill
Electromagnetic torque is will produce, generating electromagnetic torque can be rotated with dragging motor rotor.As long as current phasor is not 0, torque is had
Generate, also can dragging motor rotor rotation.In the present embodiment, why current phasor is keptIt is fixed on preset
First electrical angle position is the position in order to be dragged to rotor where given current phasor.
In the present embodiment, current phasorThe dead zone of rotor fixed position can be excluded with very low setting angular velocity omega rotation.
Since in unmanned plane electric motor starting, rotor actual bit angle setting θ can be any angle, when actual rotor quadrature axis and current phasor
Included angle very little when, electromagnetic torque TeVery little may be not enough to overcome load torque T on startupL, and pass through low speed rotation
The size that rotor quadrature axis and the included angle of current phasor can be changed is unlikely to that rotor can not be dragged.And once rotor is dragged,
Rotor can be dragged to the position of arbitrary needs by the position that control current phasor stops.It is rotated, can be disappeared using current phasor
Except location dead area problem.Because after current phasor rotation, no matter rotor-position is at which, and current phasor can cover to obtain, can
To generate enough electromagnetic torque dragging rotor rotations.
A kind of permanent magnetic brushless rotor fixed position device provided in this embodiment, including：
Electric current injection unit：It is configured to apply the first current phasor, the first electric current arrow to the stator winding of motor
The quadrature axis current size of amount is predetermined value, and direct-axis current size is 0；
Electric current rotary unit：The first angular speed for being configured to that first current phasor is enabled to set is rotated to preset
First electrical angle；
Rotor fixed position unit：It is configured to that first current phasor is enabled to be fixed on first electrical angle, and stops and set
The fixed time realizes permanent magnetic brushless rotor so that the rotor of the motor is dragged to preset second electrical angle position
Positioning.
A kind of permanent magnetic brushless rotor fixed position equipment provided in this embodiment, including：
One or more processors；
Data storage, for store the first angular speed of the setting, first electrical angle, the setting time
And one or more programs；
When one or more of programs are executed by one or more of processors so that one or more of places
It manages device and executes method as described in any one of the above embodiments.
A kind of computer readable storage medium being stored with computer program provided in this embodiment, the program is by processor
Method as described in any one of the above embodiments is realized when execution.
Remove it is outer described in embodiment one, the exemplary permanent magnetic brushless rotor fixed position method, apparatus of the present invention, equipment and
Storage medium can be also used for measuring permanent magnetism other than it can be used for measuring the rotor fixed position of permanent-magnet brushless AC motor (PMSM)
The rotor fixed position of brshless DC motor (BLDCM).
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (9)
1. a kind of permanent magnetic brushless rotor fixed position method, which is characterized in that include the following steps：
Applying the first current phasor to the stator winding of motor, the quadrature axis current size of first current phasor is predetermined value,
Direct-axis current size is 0；
The first angular speed for enabling first current phasor set is rotated to preset first electrical angle；
It enables first current phasor be fixed on preset first electrical angle, and stops the time of setting, so that the electricity
The rotor of machine is dragged to preset second electrical angle position, realizes permanent magnetic brushless rotor fixed position.
2. permanent magnetic brushless rotor fixed position method according to claim 1, which is characterized in that first current phasor
Quadrature axis current predetermined value IqFor：
Wherein, TLFor unmanned plane electric motor load torque；
P is motor number of pole-pairs；
ψfFor rotor flux.
3. permanent magnetic brushless rotor fixed position method according to claim 1, which is characterized in that preset first electricity
Angle is 1.5 π.
4. permanent magnetic brushless rotor fixed position method according to claim 1, which is characterized in that the angular speed of the setting
Less than or equal to 50rad/s.
5. permanent magnetic brushless rotor fixed position method according to claim 1, which is characterized in that the time of the setting is situated between
In 100ms between 500ms.
6. permanent magnetic brushless rotor fixed position method according to claim 1, which is characterized in that preset second electricity
Angle is 0.
7. a kind of permanent magnetic brushless rotor fixed position device, which is characterized in that including：
Electric current injection unit：It is configured to apply the first current phasor to the stator winding of motor, first current phasor
Quadrature axis current size is predetermined value, and direct-axis current size is 0；
Electric current rotary unit：The first angular speed for being configured to that first current phasor is enabled to set is rotated to preset first
Electrical angle；
Rotor fixed position unit：It is configured to that first current phasor is enabled to be fixed on first electrical angle, and stops setting
Time realizes permanent magnetic brushless rotor fixed position so that the rotor of the motor is dragged to preset second electrical angle position.
8. a kind of permanent magnetic brushless rotor fixed position equipment, which is characterized in that the equipment includes：
One or more processors；
Data storage, for store the first angular speed of the setting, first electrical angle, the setting time and
One or more programs；
When one or more of programs are executed by one or more of processors so that one or more of processors
Execute the method as described in any one of claim 1-6.
9. a kind of computer readable storage medium being stored with computer program, characterized in that when the program is executed by processor
Realize the method as described in any one of claim 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810102431.7A CN108462423B (en) | 2018-02-01 | 2018-02-01 | Permanent magnet brushless motor rotor positioning method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810102431.7A CN108462423B (en) | 2018-02-01 | 2018-02-01 | Permanent magnet brushless motor rotor positioning method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108462423A true CN108462423A (en) | 2018-08-28 |
| CN108462423B CN108462423B (en) | 2020-09-25 |
Family
ID=63239201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810102431.7A Active CN108462423B (en) | 2018-02-01 | 2018-02-01 | Permanent magnet brushless motor rotor positioning method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108462423B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109586627A (en) * | 2018-12-29 | 2019-04-05 | 江苏集萃智能制造技术研究所有限公司 | No position permanent magnetic brushless band carries starting localization method, device and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7872439B2 (en) * | 2007-02-28 | 2011-01-18 | Canon Kabushiki Kaisha | Motor driving apparatus |
| US8217601B2 (en) * | 2009-07-29 | 2012-07-10 | Parker-Hannifin Corporation | Robust rotational position alignment using a relative position encoder |
| US20140016382A1 (en) * | 2012-07-12 | 2014-01-16 | Koon Hoo Teo | Space Vector Modulation for Multilevel Inverters |
| CN104270054A (en) * | 2014-10-24 | 2015-01-07 | 哈尔滨工业大学 | Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order |
| CN104753430A (en) * | 2015-04-03 | 2015-07-01 | 东南大学 | Electromobile driving system vector control method using double inverters |
| CN105024606A (en) * | 2015-07-13 | 2015-11-04 | 东菱技术有限公司 | Intelligent motor driving method for high-voltage circuit breaker |
-
2018
- 2018-02-01 CN CN201810102431.7A patent/CN108462423B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7872439B2 (en) * | 2007-02-28 | 2011-01-18 | Canon Kabushiki Kaisha | Motor driving apparatus |
| US8217601B2 (en) * | 2009-07-29 | 2012-07-10 | Parker-Hannifin Corporation | Robust rotational position alignment using a relative position encoder |
| US20140016382A1 (en) * | 2012-07-12 | 2014-01-16 | Koon Hoo Teo | Space Vector Modulation for Multilevel Inverters |
| CN104270054A (en) * | 2014-10-24 | 2015-01-07 | 哈尔滨工业大学 | Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order |
| CN104753430A (en) * | 2015-04-03 | 2015-07-01 | 东南大学 | Electromobile driving system vector control method using double inverters |
| CN105024606A (en) * | 2015-07-13 | 2015-11-04 | 东菱技术有限公司 | Intelligent motor driving method for high-voltage circuit breaker |
Non-Patent Citations (1)
| Title |
|---|
| 吴春: "永磁同步电机调速***无位置传感器控制技术研究", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109586627A (en) * | 2018-12-29 | 2019-04-05 | 江苏集萃智能制造技术研究所有限公司 | No position permanent magnetic brushless band carries starting localization method, device and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108462423B (en) | 2020-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9590552B2 (en) | Motor drive device and electric compressor | |
| CN105529967B (en) | A kind of detection of blower starting state and starting control method | |
| WO2017059723A1 (en) | Method and system for correcting initial zero offset | |
| CN102843091B (en) | A kind of determination methods of permanent-magnetic synchronous motor rotor initial position | |
| CN106787990B (en) | A kind of system adjusting internal permanent magnet synchronous motor initial position of rotor | |
| CN103986393B (en) | Method for detecting initial position of rotor of permanent magnet synchronous motor | |
| CN108233812A (en) | A kind of permanent magnetic brushless rotor fixed position method, apparatus, equipment and storage medium | |
| CN109327173A (en) | A kind of rotating transformer of permanent magnet synchronous motor zero-bit automatic identifying method | |
| CN103701395B (en) | A kind of rotor initial position method of estimation based on positive and negative sequence harmonic injection | |
| US9294029B2 (en) | Method and apparatus for estimating rotor angle and rotor speed of synchronous reluctance motor at start-up | |
| CN104779852A (en) | Motor start control method | |
| CN102545740A (en) | Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor | |
| CN105811831A (en) | Tracking method of rotor position of salient pole permanent magnet synchronous motor in motion state | |
| CN105932912A (en) | Method for detecting initial position of rotor of PMSM (permanent magnet synchronous motor) | |
| CN103929100A (en) | Method for determining starting initial position of permanent magnet synchronous motor | |
| CN106100486A (en) | Permagnetic synchronous motor initial position based on amphiorentation voltage vector determines method | |
| CN109150055A (en) | Electromagnetic torque calculating and feedback in the I/F control of permanent magnet synchronous motor | |
| CN108418492A (en) | A kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system | |
| CN108462423A (en) | A kind of permanent magnetic brushless rotor fixed position method, apparatus, equipment and storage medium | |
| JP2000156993A (en) | Apparatus and method for control of permanent magnet synchronous machine | |
| CN109150020A (en) | Unmanned plane current of electric closed loop dragging method, device, equipment and storage medium | |
| CN108847802A (en) | A kind of rotor position estimation method of the noninductive starting of orientation | |
| CN109327174B (en) | Automatic zero position identification method for rotary transformer of permanent magnet synchronous motor | |
| US9789772B2 (en) | Method for controlling a synchronous electrical machine, corresponding system and motor vehicle comprising the system | |
| CN106877768A (en) | Multi-phase permanent motor rotor-position discrimination method |
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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210720 Address after: 518063 5th floor, block B, building 1, software industry base, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Fengyi Technology (Shenzhen) Co.,Ltd. Address before: 518061 Intersection of Xuefu Road (south) and Baishi Road (east) in Nanshan District, Shenzhen City, Guangdong Province, 6-13 floors, Block B, Shenzhen Software Industry Base Patentee before: SF TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |