CN114665749A - Motor high-precision subdivision control method and system, terminal equipment and storage medium - Google Patents
Motor high-precision subdivision control method and system, terminal equipment and storage medium Download PDFInfo
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- CN114665749A CN114665749A CN202011442842.4A CN202011442842A CN114665749A CN 114665749 A CN114665749 A CN 114665749A CN 202011442842 A CN202011442842 A CN 202011442842A CN 114665749 A CN114665749 A CN 114665749A
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- 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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
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- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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Abstract
The invention provides a high-precision subdivision control method, a high-precision subdivision control system, a high-precision subdivision control terminal device and a high-precision subdivision control storage medium, which comprise the following steps: s1, initializing the rotor angle and the stator magnetic field of the motor; s2, acquiring and storing the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; s3, performing fitting calculation on the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; s4, controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor, and detecting whether Hall jump occurs in real time; if so, carrying out vector control on the motor; if not, continuing the detection. The method realizes high-precision vector control, achieves the aims of reducing the torque fluctuation of the motor and accurately positioning and smoothly running the motor, improves the control performance and inhibits the current ripple and the electromagnetic noise of the motor.
Description
Technical Field
The invention belongs to the technical field of motor motion control, and particularly relates to a motor high-precision subdivision method, a motor high-precision subdivision system, terminal equipment and a computer readable storage medium.
Background
In recent years, under the development of electric vehicles, unmanned planes, cooperative robots and service type robot technologies, the application of servo driving technology is more and more extensive, and the application of servo motors is also more and more extensive, and the proportion of the servo motors which adopt the combination of a hall and an incremental code disc as feedback elements is very large.
In a general servo motor, a Hall device is matched with an ABZ phase increment code disc for use, when the motor is started, a rough angle fed back by the Hall device is used for square wave control starting, and after a Z signal is found, vector control is switched to. However, some motors are not provided with an encoder with a Z signal due to the process or cost, and thus, motors provided with hall and AB phase incremental code discs appear, and the motors without the Z signal cannot be precisely vector-controlled by the control method, but only can be roughly square-wave-controlled, so that the torque fluctuation is large, and precise positioning and smooth control cannot be performed.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, a system, a terminal device and a computer readable storage medium for subdividing a motor with high precision, so as to solve the problem in the prior art that a motor without a Z signal cannot be precisely vector-controlled by the above control method, and only can be roughly square-wave controlled, which results in large torque fluctuation and incapability of precise positioning and smooth control.
The first aspect of the embodiment of the invention provides a high-precision subdivision control method for a motor, which comprises the following steps: s1, initializing the rotor angle and the stator magnetic field of the motor; s2, acquiring and storing the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; s3, fitting and calculating the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; s4, controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor, and detecting whether Hall jump occurs in real time; if so, carrying out vector control on the motor; if not, continuing the detection.
In an embodiment of the present invention, the step S1 includes the steps of: s11, setting the quadrature axis current of the motor to be 0; s12, switching on a direct-axis current with a preset magnitude to the motor; the preset magnitude of the direct-axis current is the same as the rated current of the motor.
In an embodiment of the present invention, the step S2 includes the steps of: s21, controlling the stator magnetic field to rotate for 360 degrees and then driving the rotor to rotate; s22, acquiring the value delta I of the incremental encoder corresponding to each Hall sensor when the edge jumps1～ΔI6And the electrical angle value theta given by the stator when the Hall sensor detects jump0～θ5。
In an embodiment of the present invention, the calculation formula of the precise electrical angle curve obtained after the fitting calculation in step S3 is as follows:
a second aspect of the embodiments of the present invention provides a high-precision subdivision control system for a motor, including: the initialization module is used for initializing the rotor angle and the stator magnetic field of the motor; the processing module is used for acquiring the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; the storage module is used for storing the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; the fitting module is used for performing fitting calculation on the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; the detection module is used for detecting whether Hall jump occurs in real time; and the control module is used for controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor and carrying out vector control on the motor when Hall jump occurs.
In an embodiment of the present invention, the initialization module is further configured to set a quadrature axis current of the motor to 0, and switch on a direct axis current of a preset magnitude to the motor; the preset size of the direct-axis current is the same as the rated current of the motor.
In an embodiment of the present invention, the processing module includes: the processing unit is used for controlling the stator magnetic field to rotate for 360 degrees and then driving the rotor to rotate; an obtaining unit, configured to obtain a value Δ I of the incremental encoder corresponding to each hall sensor when an edge of the hall sensor jumps1～ΔI6And the electrical angle value theta given by the stator when the Hall sensor detects jump0～θ5。
In an embodiment of the present invention, a calculation formula of the precise electrical angle curve obtained by the fitting calculation in the fitting module is:
a third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method as described above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
after the driver carries out electric angle subdivision fitting through the Hall and AB phase incremental encoder, the Hall feedback interpolation with only six states in each electric angle period can be subdivided into electric angle signals with frequency multiplication precision of the code wheel 4, so that high-precision vector control can be realized, the aims of reducing motor torque fluctuation, accurately positioning and smoothly running the motor are fulfilled, the control performance is improved, and motor current ripples and electromagnetic noise are suppressed.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a flow chart of the motor high-precision subdivision control method of the invention.
Fig. 2 is a schematic structural diagram of the high-precision fine control system of the motor.
FIG. 3 is a schematic diagram of electrical angle fitting in the present invention.
Fig. 4 is a schematic structural diagram of a terminal device provided in the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
In the embodiment of the invention, the target component of the target page to be generated is determined based on the template component by acquiring the software development requirement and according to the software development requirement on the preset page frame template. The target component comprises at least one of an adjusting component obtained by modification based on the template component, a new component created based on the template component and a component to be replaced determined based on the template component, and the reserved template component and the generated target component are assembled in the page basic frame template to form a target page based on the component name and the position information of the target component. Because software is developed based on the preset page basic frame template, a large amount of manpower is not required to be invested to develop the page from the beginning, and the expected result can be completed only by replacing, modifying or newly adding components, so that the development efficiency is greatly improved, and the development cost is greatly reduced. Meanwhile, the problem of browser compatibility does not need to be considered on the basis of a preset page basic frame template, and the development difficulty is reduced. In addition, the page is modularized and configured, the target page is formed by building blocks of the modules, and the modification of the page is realized by modifying the configuration file of the template module, so that the method is extremely flexible.
In the embodiment of the present invention, the main execution body of the process is a terminal device, and the terminal device includes, but is not limited to, a notebook computer, a server, a tablet computer, a smart phone, and other terminal devices having a software development function. In particular, the terminal device can be used for providing a load-bearing function or a front-end interface display of the desktop application for the native application when executing the process in the implementation of the present invention, and providing an interface assembly framework for the desktop application.
FIG. 1 is a schematic flow chart of a high-precision subdivision control method of a motor according to the invention; FIG. 3 is a schematic of electrical angle fitting in the present invention. As shown in fig. 1 and fig. 3, the present invention provides a high-precision subdivision control method for a motor, comprising the steps of:
s1, initializing the rotor angle and the stator magnetic field of the motor; in an embodiment of the present invention, the step S1 includes the steps of: s11, setting the quadrature axis current of the motor to be 0; s12, switching on a direct-axis current with a preset magnitude to the motor; the preset magnitude of the direct-axis current is the same as the rated current of the motor. By doing so, the motor rotor will be forced into alignment with the magnetic field of the motor stator.
S2, acquiring and storing the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; further, the step S2 includes the steps of:s21, controlling the stator magnetic field to rotate for 360 degrees and then driving the rotor to rotate; s22, obtaining the corresponding numerical value delta I of the incremental encoder when the edge of each Hall sensor jumps1～ΔI6And the electrical angle value theta given by the stator when the Hall sensor detects jump0～θ5. Typically, the collected data is stored in an EEPROM.
S3, fitting and calculating the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; as shown in fig. 3, the solid line in fig. 3 is an electrical angle variation curve when the hall edge jumps. As can be seen from step S2, the electrical angle values in this case are only 6 states, and accurate vector control cannot be performed, and in order to perform accurate vector control, the electrical angle values in these 6 states may be fitted to an electrical angle change curve shown by a dotted line in fig. 3. Therefore, the calculation formula of the precise electrical angle curve obtained after the fitting calculation in step S3 is:
s4, controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor, and detecting whether Hall jump occurs in real time; if so, carrying out vector control on the motor; if not, continuing the detection. Because the value I of the incremental encoder is a known variable, the driver can read out in real time in the rotation process of the motor, so that when the driver controls the motor to operate, the state of the first jump of the edge of the Hall needs to be known, the accurate electrical angle fitting can be carried out by the formula, when the motor is started after being electrified, the Hall provides electrical angle feedback to carry out square wave control starting, the position in an accurate fitting curve can be known after the first jump of the Hall occurs, and then vector control is switched to, so that the accurate control of the non-Z coded disc is realized. After the driver carries out electric angle subdivision fitting through the Hall and AB phase incremental encoder, the Hall feedback interpolation with only six states in each electric angle period can be subdivided into electric angle signals with frequency multiplication precision of the code wheel 4, so that high-precision vector control can be realized, the aims of reducing motor torque fluctuation, accurately positioning and smoothly running the motor are fulfilled, the control performance is improved, and motor current ripples and electromagnetic noise are suppressed.
Fig. 2 is a schematic structural diagram of a high-precision fine control system of the motor. FIG. 3 is a schematic diagram of electrical angle fitting in the present invention. As shown in fig. 2 and 3, the present invention further provides a high-precision subdivision control system for a motor, comprising: the initialization module is used for initializing a rotor angle and a stator magnetic field of the motor; the processing module is used for acquiring the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; the storage module is used for storing the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; typically, the collected data is stored in an EEPROM. The fitting module is used for performing fitting calculation on the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor; the detection module is used for detecting whether Hall jump occurs in real time; and the control module is used for controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor and carrying out vector control on the motor when Hall jump occurs. Because the value I of the incremental encoder is a known variable, the driver can read out in real time in the rotation process of the motor, so that when the driver controls the motor to operate, the state of the first jump of the edge of the Hall needs to be known, the accurate electrical angle fitting can be carried out by the formula, when the motor is started after being electrified, the Hall provides electrical angle feedback to carry out square wave control starting, the position in an accurate fitting curve can be known after the first jump of the Hall occurs, and then vector control is switched to, so that the accurate control of the non-Z coded disc is realized. After the driver carries out electric angle subdivision fitting through the Hall and AB phase incremental encoder, the Hall feedback interpolation with only six states in each electric angle period can be subdivided into electric angle signals with frequency multiplication precision of the code wheel 4, so that high-precision vector control can be realized, the aims of reducing motor torque fluctuation, accurately positioning and smoothly running the motor are fulfilled, the control performance is improved, and motor current ripples and electromagnetic noise are suppressed.
In an embodiment of the present invention, the initialization module is further configured to set a quadrature axis current of the motor to 0, and switch on a direct axis current of a preset magnitude to the motor; the preset magnitude of the direct-axis current is the same as the rated current of the motor. By doing so, the motor rotor will be forced into alignment with the magnetic field of the motor stator. Further, the processing module comprises: the processing unit is used for controlling the stator magnetic field to rotate for 360 degrees and then driving the rotor to rotate; and the acquisition unit is used for acquiring the values delta I1-delta I6 of the incremental encoder corresponding to the edge jump of each Hall sensor and the given electrical angle values theta 0-theta 5 of the stator when the Hall sensors detect the jump. Further, as shown in fig. 3, the solid line in fig. 3 is an electrical angle variation curve when the hall edge jumps. As can be seen from step S2, the electrical angle values in this case are only 6 states, and accurate vector control cannot be performed, and in order to perform accurate vector control, the electrical angle values in these 6 states may be fitted to an electrical angle change curve shown by a dotted line in fig. 3. Therefore, the calculation formula of the precise electrical angle curve obtained after the fitting calculation in the fitting module is as follows:
fig. 4 is a schematic structural diagram of a terminal device provided in the present invention. As shown in fig. 4, the terminal device in this embodiment includes: a processor, a memory, and a computer program, such as a software development program, stored in the memory and executable on the processor. When the processor executes the computer program, the steps in each embodiment of the method for implementing synchronous triggering of the data acquisition device by using the WIFI broadcast or multicast message, for example, steps S1 to S3 shown in fig. 1, are implemented. Alternatively, the processor, when executing the computer program, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules shown in fig. 2.
Illustratively, the computer program may be partitioned into one or more modules/units, stored in the memory and executed by the processor, to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the terminal device. For example, the computer program may be divided into an acquisition module, an execution module, and a generation module (module in a virtual device), and the specific functions of each module are as follows:
the terminal device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The terminal device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the present embodiment is only an example of a terminal device, and does not constitute a limitation of the terminal device, and may include more or less components, or combine some components, or different components, for example, the terminal device may further include an input/output device, a network access device, a bus, and the like.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device. Further, the memory may also include both an internal storage unit and an external storage device of the terminal device. The memory is used for storing the computer program and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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 position, or may be distributed on multiple 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 may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, acquisition media, usb disks, removable hard disks, magnetic disks, optical disks, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.
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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A high-precision subdivision control method for a motor is characterized by comprising the following steps:
s1, initializing the rotor angle and the stator magnetic field of the motor;
s2, acquiring and storing the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor;
s3, fitting and calculating the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor;
s4, controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor, and detecting whether Hall jump occurs in real time; if so, carrying out vector control on the motor; if not, continuing the detection.
2. The motor high-precision subdivision control method according to claim 1, wherein said step S1 includes the steps of:
s11, setting the quadrature axis current of the motor to be 0;
s12, switching on a direct-axis current with a preset magnitude to the motor;
the preset size of the direct-axis current is the same as the rated current of the motor.
3. The motor high-precision subdivision control method according to claim 2, wherein said step S2 includes the steps of:
s21, controlling the stator magnetic field to rotate for 360 degrees and then driving the rotor to rotate;
s22, acquiring the value delta I of the incremental encoder corresponding to each Hall sensor when the edge jumps1～ΔI6And the electrical angle value theta given by the stator when the Hall sensor detects jump0～θ5。
4. The motor high-precision subdivision control method according to claim 3, wherein the calculation formula of the precise electrical angle curve obtained after the fitting calculation in step S3 is as follows:
5. a motor high accuracy subdivision control system, characterized by includes:
the initialization module is used for initializing the rotor angle and the stator magnetic field of the motor;
the processing module is used for acquiring the corresponding relation between the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor;
the storage module is used for storing the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor;
the fitting module is used for performing fitting calculation on the numerical value of the incremental encoder and the electric angle value detected by the Hall sensor;
the detection module is used for detecting whether Hall jump occurs in real time;
and the control module is used for controlling the motor to start according to the square wave of the electric angle signal fed back by the Hall sensor and carrying out vector control on the motor when Hall jump occurs.
6. The motor high-precision subdivision control system according to claim 5, wherein the initialization module is further configured to set a quadrature axis current of the motor to 0, and switch on a direct axis current of a preset magnitude to the motor; the preset magnitude of the direct-axis current is the same as the rated current of the motor.
7. The motor high precision subdivision control system of claim 6, wherein said processing module comprises:
the processing unit is used for controlling the stator magnetic field to rotate for 360 degrees and then driving the rotor to rotate;
an obtaining unit, configured to obtain a value Δ I of the incremental encoder corresponding to each hall sensor when an edge of the hall sensor jumps1～ΔI6And the electrical angle value theta given by the stator when the Hall sensor detects jump0～θ5。
8. The motor high-precision subdivision control system according to claim 7, wherein the calculation formula of the precise electrical angle curve obtained by the fitting calculation in the fitting module is:
9. a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| CN115549530A (en) * | 2022-10-09 | 2022-12-30 | 成都爱旗科技有限公司 | Method, device and medium for detecting initial position of permanent magnet synchronous motor rotor |
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