CN109428531A - Method for determining motor control angle - Google Patents
Method for determining motor control angle Download PDFInfo
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- CN109428531A CN109428531A CN201710733802.7A CN201710733802A CN109428531A CN 109428531 A CN109428531 A CN 109428531A CN 201710733802 A CN201710733802 A CN 201710733802A CN 109428531 A CN109428531 A CN 109428531A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A method for determining the control angle of motor includes sampling the current signal values of different current lines, reforming the sampled current signal values according to the sampling numbers, searching the sampling numbers of the maximum and secondary high-current signal values, linear interpolating to calculate the compensation angle by using the difference between said maximum and secondary high-current signal values and the characteristic value of motor current signal, and compensating the angle of the maximum current signal value to simplify the detection of control angle.
Description
Technical field
The present invention is rotated in relation to a kind of motor especially with respect to motor control rotor, determines the control angle of rotor in motor
Method.
Background technique
In the rotation control of motor, in order to control the correct output rotation angle of motor shaft, it is necessary to grasp motor at any time
Rotor just can control the shaft fine rotational angle of motor rotor driving with respect to the position of motor stator, and object is pushed to arrive in due course
Up to scheduled position, to promote the control precision of motor.
The motor of prior art generally utilizes the electromagnetic force of stator to change, and driving is located at motor center and magnetic rotor
Rotation interlocks driving gear set output power by shaft one end by the shaft for being attached at rotor.Motor and in opposite output power
The shaft other end, the detectors such as Hall subassembly, magnetic encoder or optical encoder that setting is rotated together with shaft, detection
The rotational angle of shaft, the feedback signal to obtain control rotor angle, as the rotation of motor control rotor.Because Hall subassembly,
The detectors such as magnetic encoder or optical encoder need to be additionally arranged in motor, not only increase cost of parts, and increase motor
Weight.In addition, the grade detectors are required to installation space, the overall volume of motor is virtually increased, is unfavorable for being mounted on sky
Between on limited device.
Therefore separately there are prior art, such as United States Patent (USP) case US7482802, acceleration detector is installed inside motor.
And using the circulating current of detection stator, the relationship of rotor angular acceleration is detected with acceleration detector, calculates motor rotor
Control angle.Though still needing to install additional acceleration inside motor however, aforementioned prior art can reduce the overall volume of motor
Detector is spent, does not simply fail to reduce cost of parts, and increases the project of the angular acceleration of detection rotor rotation, also will increase meter
Calculate the complexity of the turned position of motor rotor.Therefore, motor is still problematic urgently to solve in the control angle for determining rotor
Certainly.
Summary of the invention
It is an object of the invention to provide a kind of determining methods of motor control angle, by motor difference current direction route
Sampling current signal value searches maximum and secondary high current signal value, using maximum and secondary high current signal difference, calculates pilot angle
Degree, to reduce Motor Components cost.
Another object of the present invention is providing a kind of determining method of motor control angle, utilizes sampling maximum and secondary high current
Signal difference and relative position calculate the offset angle and compensation direction of rotor rotation, with the calculating of simplified control angle.
In order to achieve the purpose that aforementioned invention, the determining method of motor control angle of the present invention, with default sample time and
Delay time, to the motor difference current direction route in known K electrical areas, sampling current signal value；According to each electric current of setting
The sampling of direction line is numbered, and sampling current signal value is reformed, and searches the first sampling number P1 of maximum current signal value and secondary
Second sampling number P2 of high current signal value, utilizes maximum and time high current signal difference H and motor current signal characteristic value
L, linear interpolation calculating offset angle C=[360 °/(6*2)] * [(L-H)/L], it utilizes offset angle C to compensate maximum electric current and believes
Number value first sampling number P1 angle as control angle.
First situation of the determining method of motor control angle of the present invention checks maximum current signal in offset angle
When the absolute difference │ P1-P2 │ of the second sampling number P2 of the first sampling number P1 and time high current signal value of value is equal to 1, then
It, will be maximum when checking that the first sampling number P1 of maximum current signal value is less than the second sampling number P2 of time high current signal value
Angle=P1* (360 °/6) of first sampling number P1 of current signal value is plus offset angle as control angle.
Second situation of the determining method of motor control angle of the present invention, the first sampling of the inspection maximum current signal value
When number P1 is not less than the second sampling number P2 of time high current signal value, the first sampling of maximum current signal value is numbered
The angle of P1 subtracts offset angle as control angle.
The third situation of the determining method of motor control angle of the present invention, for the first sampling for checking maximum current signal value
When the absolute difference │ P1-P2 │ of number P1 and the second sampling number P2 of secondary big current signal value are equal to 5, reexamine maximum
When first sampling number P1 of current signal value is less than the second sampling number P2 of secondary big current signal value, then subtracted with 360 °
Offset angle is as control angle.
4th situation of the determining method of motor control angle of the present invention, to check that the first of maximum current signal value takes
When second of sample number P1 not less than secondary big current signal value samples number P2, by the first sampling of maximum current signal value
The angle of number P1 is plus offset angle as control angle.
The erroneous condition of the determining method of motor control angle of the present invention, for the first sampling for checking maximum current signal value
When the absolute difference │ P1-P2 │ of second sampling number P2 of number P1 and time high current signal value is not equal to 1, then maximum is reexamined
The stator number P1 of current signal value and the absolute difference │ P1-P2 │ of the second sampling number P2 of time high current signal value are not equal to
When 5, it is determined as erroneous condition, stops or calculating of resampling.
Detailed description of the invention
Fig. 1 is the control system of motor of the present invention.
Fig. 2 is the structure chart of motor of the present invention.
Fig. 3 is the coordinate diagram of sampling current signal value of the present invention.
Fig. 4 is the coordinate diagram for the current signal value that the first situation of the invention controls angle.
Fig. 5 is the schematic diagram that the first situation of the invention controls offset angle.
Fig. 6 is the coordinate diagram for the current signal value that the second situation of the invention controls angle.
Fig. 7 is the schematic diagram that the second situation controls offset angle.
Fig. 8 is the coordinate diagram for the current signal value that third situation of the present invention controls angle.
Fig. 9 is the schematic diagram that third situation controls offset angle.
Figure 10 is the coordinate diagram for the current signal value that the 4th situation of the invention controls angle.
Figure 11 is the schematic diagram that the 4th situation of the invention controls offset angle.
Figure 12 is the flow chart of the determining method of motor control angle of the present invention.
Specific embodiment
The related present invention to reach above-mentioned purpose, hereby lift preferred embodiment, and match by used technological means and its effect
Conjunction schema is illustrated as follows.
Please refer to Fig. 1, Fig. 2 and Fig. 3, Fig. 1 is the control system of motor of the present invention, and Fig. 2 is the knot of motor of the present invention
Composition, Fig. 3 are the coordinate diagram of sampling current signal value.The control system 10 of motor 11 of the present invention in Fig. 1, mainly by controller
12 issue control signal, export electric current, the three-phase motor 11 of control rotation A, B, C phase through driver 13.Control system 10 is sharp again
With analog-digital converter 14, stator current is sampled from motor 11, forms digital current signal, the feedback as controller 12 is believed
Number, so that controller 12 is correctly exported the rotational angle control signal of demand, the rotation of control 11 rotating shaft 15 of motor to demand
Angle.
Motor 11 of the present invention in Fig. 2, center are equipped with rotatable shaft 15, combine rotor 16, rotor around shaft 15
16 have magnetic magnetic pole 17, and the present embodiment is with 10 magnetic poles 17 for example, but including and being not limited to 10 magnetic poles 17, magnetic
Pole 17 can be suitably set according to need.16 periphery of rotor of motor 11 makes rotor 16 can be along stator then around plural stator 18
18 end faces are freely rotated.Wherein 18 two sides of stator have wire casing 19, and the route of winding A, B, C phase in wire casing 19, route is by driving
Device 13 distributes supply electric current through A, B, C phase line, and stator 18 is made to form electromagnetic field to drive rotor 16.The present embodiment is fixed with 12
Son 18 for example, but include and be not limited to the stator 18 of 12 number P, 18 number of stator can suitably be set according to the interval of sampling
It is fixed.Since the stator 18 and rotor 16 of motor 11 are symmetrical, the change in magnetic field divides the electricity of K identical positive counter magnetic field circulation changes
Gas area E, such as the motor 11 of 10 positive and negative magnetic poles of the present embodiment have K=5 electrical area E, with wherein one electrical area E citing letter
Change explanation.
The electrical area E in magnetic field of the present invention is presented with 360 ° of positive and negative string wave, covers electricity with N number of pulsed drive rotor 16 when detection
Gas area E.And controller 12 is advanced with the pulse of preset number, stage micro-stepping rotates rotor 16, and each stage issues sampling
Signal is controlled, control analog-digital converter 14 is to AB, AC, BC, BA, CA and CB of A, B, C phase line etc. 6 different electric current sides
To with sample time T1 and delay time T2, progress current signal sampling.And by the current signal value of each sampling, taken according to 0 to 6
Sample numbers to form Fig. 3 current signal value to the coordinate diagram of sample time.Since the magnetic pole 17 of the rotation of rotor 16 is because of different electric current sides
To the distance difference of route, biggish induction is generated to the route of immediate current direction, when a certain electric current side of sampling
There is into maximum motor current letter in the current signal value difference with other current direction routes to the current signal value of route
When number characteristic value L, using the rotor angle as 0 ° of starting point of electrical area E, number of drive pulses is set as n0=0, and by the electric current
The current signal value of direction line moves to the position of coordinate diagram sampling number 0.
Controller 12 continues with the pulse of preset number, and stage micro-stepping rotates rotor 16 and carries out current signal sampling, coordinate
The current signal value of figure sampling number 0 will be gradually decreased because magnetic pole 17 leaves, and the electric current letter of another current direction route occurs
Number value is gradually increased, and occurs being equal to motor current signal characteristic value L, note with the current signal value difference of other current direction routes
The umber of pulse of record rotation rotor 16 is n1, and the current signal value of the current direction route is moved to coordinate diagram sampling number 1
Position.Continue with the pulse of preset number, stage micro-stepping rotates rotor 16 and carries out current signal sampling, then in remaining electric current
There is the current signal characteristic value L that current signal difference is equal to motor, equally by the electric current of the current direction route in direction line
The umber of pulse that signal value sequentially moves to the position of coordinate diagram sampling number 2 to 5, and records rotation rotor 16 is n2 to n5.Then
Such as Fig. 3 coordinate diagram, there is umber of pulse of the current signal difference equal to the current signal characteristic value L of motor and each electric current side in record
To route in the position of coordinate diagram sampling number.Via detection above-mentioned, since the stator 18 and rotor 16 of motor 11 symmetrically divide
Cloth, umber of pulse are that the interval that n0 to n5 occurs is fixed, and are 1/the 6 of 360 ° of angle contained by electrical area E, i.e., between sampling number
It is divided into 60 °.
It is the coordinate diagram for the current signal value that the first situation of the invention controls angle, figure please refer to Fig. 4 and Fig. 5, Fig. 4
5 control the schematic diagram of offset angle for the first situation.In Fig. 4, the present invention treats the motor for determining control angle, utilizes controller
Control signal is issued, current signal sampling is carried out to 6 different current direction routes with sample time and delay time.And according to
The sampling of each current direction route of aforementioned record is numbered, and reformation forms coordinate diagram.Search maximum current signal value
First sampling number P1 is in sampling number 2, and secondary big current signal value is in the second sampling number P2 in sampling number 3.Check the
│=1 absolute difference │ P1-P2 │=│ 2-3 of one sampling number P1 and the second sampling number P2, i.e. sampling number is adjacent, and maximum
The first sampling number P1 of current signal value be less than the second sampling number P2, i.e. P1 < P of time big current signal value for forward
Number, is classified as the first situation of the invention.Compare the two current signal difference H again, be less than motor current signal characteristic value L, turns
Son control angle is situated between sampling number 2 and sampling number 3.
Since in the interval of sampling 2 route of number and sampling 3 route of number, the magnetic pole of rotor is by sampling 2 route of number
Sampling 3 route of number is shifted to, the absolute current signal difference both in Fig. 6 is gradually reduced to 0 from maximum motor characteristics value L,
Namely the midpoint of sampling 2 route of number and sampling 3 route of number, the current signal value of the two are equal.Then the magnetic pole of rotor
Sampling 3 route of number is gradually shifted to, the absolute current signal difference of the two is gradually increased to maximum motor characteristics value L from 0.Cause
This sampling 2 route of number or sample 3 route of number extremely be spaced midpoint current signal difference is considered as linearly, then can linear interpolation go out
Offset angle C, C=[360 °/(6*2)] * [(L-H)/L] of control.The rotor control angle, θ of motor is exactly maximum current signal
The 2 angle G=P1* of sampling number (360 °/6) of first sampling number P1 where value, in addition offset angle C, i.e. θ=G+C=
P1*(360°/6)+[360°/(6*2)]*[(L-H)/L].With the specific data citing of the present embodiment, the first sampling number P1 is being taken
Sample number 2 maximum current signal value=3200, the second sampling number P2 sample number 3 secondary high current signal value=
2800, current signal difference H=3200-2800=400, the current signal difference characteristic value L=600 of motor.Formula is substituted into, is mended
Repay angle C=[360 °/(6*2)] * [(600-400)/600]=10 degree, control angle, θ=P1* (360 °/6)+C=of motor
2* (360 °/6)+10=130 degree.
It is the coordinate diagram for the current signal value that the second situation of the invention controls angle, figure please refer to Fig. 6 and Fig. 7, Fig. 6
7 control the schematic diagram of offset angle for the second situation.Fig. 6 is the coordinate diagram of the second situation sampling current signal value of the invention, is searched
The first sampling number P1 of maximum current signal value is sought in sampling number 3, secondary big current signal value is in the second sampling
Number P2 is in sampling number 2.The the first sampling number P1 and the second of time high current signal value for checking maximum current signal value take
│=1 absolute difference │ P1-P2 │=│ 3-2 of sample number P2, i.e., two sampling numbers are adjacent, and the first of maximum current signal value takes
The second sampling number P2, i.e. P1 > P2 that sample number P1 is greater than time high current signal value is reverse number, is classified as of the invention second
Situation.Compare the two current signal difference H, be less than current signal characteristic value L, rotor control angle is situated between in sampling number 2 and takes
Between sample number 3, and it is closer to the route of sampling number 3.It similarly, can be linear interior according to the two current signal difference H in Fig. 7
Insert offset angle C=[360 °/(6*2)] * [(L-H)/L].Sampling because of maximum current signal value in the first sampling number P1 is compiled
Numbers 3.The control angle, θ of motor is exactly the angle G=P1* of sampling number 3 where the sampling number P1 of maximum current signal value
(360 °/6), subtract offset angle C, i.e. θ=G-C.
Please refer to Fig. 8 and Fig. 9, Fig. 8 is the coordinate diagram for the current signal value that third situation of the present invention controls angle, figure
9 control the schematic diagram of offset angle for third situation.Fig. 9 is the coordinate diagram of third situation sampling current signal value of the present invention, is searched
The first sampling number P1 of wherein maximum current signal value is sought in sampling number 0, the second sampling number of secondary high current signal value
P2 is in sampling number 5.Check that the second sampling of the first sampling number P1 and time high current signal value of maximum current signal value are compiled
│=5 absolute difference │ P1-P2 │=│ 0-5 of number P2, as adjacent sampling number, and the first of maximum current signal value end to end
Second of sampling number P1 less than time high current signal value samples number P2, i.e. P1 < P2 is forward numbered, and is classified as third of the invention
Situation.Compare the two current signal difference H, be less than current signal characteristic value L, rotor controls angle and is situated between in sampling number 5 and electricity
Between the terminal of gas area E, and it is closer to the route of the terminal of electrical area E.It similarly, can be according to the two current signal difference in Fig. 9
H, linear interpolation offset angle C=[360 °/(6*2)] * [(L-H)/L].Because maximum current signal value samples number P1 first
Electrical area E terminal, the control angle, θ of motor is exactly G=360 ° of angle of the terminal of electrical area E, subtract offset angle C,
That is θ=360 °-C.
It is the coordinate for the current signal value that the 4th situation of the invention controls angle please refer to Figure 10 and Figure 11, Figure 10
Figure, Figure 11 are the schematic diagram that the 4th situation controls offset angle.Figure 10 is the seat of the 4th situation sampling current signal value of the invention
It marks on a map, searches the first sampling number P1 of wherein maximum current signal value in sampling number 5, the second of secondary high current signal value takes
Sample number P2 is in sampling number 0.Check the first sampling number P1 and the second of time high current signal value of maximum current signal value
│=5 absolute difference │ P1-P2 │=│ 0-5 of number P2 are sampled, and the first sampling number P1 of maximum current signal value is greater than secondary
The second of high current signal value samples number P2, i.e. P1 > P2 is inversely numbered, and is classified as the 4th situation of the invention.Compare the two electricity
Signal difference H is flowed, current signal characteristic value L is less than, rotor controls angle and is situated between sampling number 5 and the terminal of electrical area E, and
It is closer to the route of sampling number 5.It similarly, can be according to the two current signal difference H, linear interpolation offset angle C in Figure 10
=[360 °/(6*2)] * [(L-H)/L].Because maximum current signal value is in the sampling number 5 of the first sampling number P1, the control of motor
Angle, θ processed is exactly the angle G=P1* (360 °/6) of sampling number 5 where maximum current signal value, in addition offset angle C, i.e. θ
=G+C.
The present invention is in addition to aforementioned four kinds of situations, for checking the first sampling number P1 and time big electricity of maximum current signal value
The absolute difference for flowing the second sampling number P2 of signal value is not equal to 1 or 5, i.e. non-Jie of rotor control angle is in adjacent number stator
Between situation, be considered as the erroneous condition of incorrect sampling without exception, directly discarded sampling, or re-start sampling, to determine motor
Control angle.
It as shown in figure 12, is the flow chart of the determining method of motor control angle of the present invention.The present invention determines motor control
The step-by-step procedures of angle is as follows: in step S1, starting to be detected；Step S2, when with preset sample time and delay
Between, to motor difference current direction route, sampling current signal value；Step S3, according to the sampling of each current direction route of setting
Number reforms sampling current signal value；Step S4 searches the first sampling number P1 of maximum current signal value；Step S5 is searched
Second sampling number P2 of secondary high current signal value；Step S6 is believed using maximum with time high current signal difference H and motor current
Number characteristic value L, linear interpolation calculate offset angle C=[360 °/(6*2)] * [(L-H)/L]；Step S7 checks maximum current letter
Number the first sampling number P1 of value and the second sampling number P2 of time high current signal value samples the absolute difference │ P1-P2 │ numbered
=1, then it is less than time high current to step S8, the first sampling number P1 for reexamining maximum current signal value for adjacent stators number
Second sampling number P2 of signal value adds the angle G of the first sampling number P1 of maximum current signal value then to step S9
Offset angle C is as control angle, then to step S10, the signal of output control angle.When in step S8, the maximum electricity of inspection
When flowing the first sampling number P1 of signal value and being greater than the second sampling number P2 of time high current signal value for non-forward number, then extremely
The angle G of first sampling number P1 of maximum current signal value is subtracted offset angle C as rotor pilot angle by step S11
Degree, then to step S10, output controls the signal of angle.
Abovementioned steps S7, when checking the of the first sampling number P1 of maximum current signal value and secondary high current signal value
When the absolute difference │ P1-P2 │ of two sampling number P2 is not equal to 1, then to step S12, the first of maximum current signal value is reexamined
Sample │=5 absolute difference │ P1-P2 of the second sampling number P2 of number P1 and time high current signal value? when absolute difference etc.
In 5 Shi Weifei adjacent sampling number end to end, then to step S13, it is determined as erroneous condition, stops or calculating of resampling.When
Absolute difference is equal to 5 for sampling number adjacent end to end, then to step S14, reexamines the first sampling of maximum current signal value
The second sampling number P2 that number P1 is less than time high current signal value is forward to number, then to step S15, subtracts compensation with 360 °
Angle is as control angle, then to step S10, the signal of output control angle.When checking non-forward number, then to step
S16, the angle for calculating the first sampling number P1 of maximum current signal value are walked plus offset angle as control angle, then extremely
Rapid S10, the signal of output control angle.
Therefore the determining method of motor control angle of the present invention can sample electricity by motor difference current direction route
Signal value is flowed, is numbered according to the sampling of each current direction route of setting, reforms sampling current signal value, is then searched maximum and secondary
High current signal value, using maximum and secondary high current signal difference, with reference to motor current signal characteristic value, linear internal difference calculates control
The offset angle of system, the relative position of sampling number, judges the direction of compensation where recycling maximum and secondary high current signal value,
By detecting the current signal data of former motor, directly calculating motor control angle, additional parts are not necessary to, can reach reduces motor zero
Part cost, and simplify the purpose of the calculating of rotor control angle.
As described above, only illustrates presently preferred embodiments of the present invention to facilitate, and the scope of the present invention is not limited to this etc.
Preferred embodiment, all any changes done according to the present invention all belong to the claims in the present invention in without departing from the present invention
Range.
Reference signs list
10 control systems
11 motors
12 controllers
13 drivers
14 analog-digital converters
15 shafts
16 rotors
17 magnetic poles
18 stators
19 wire casings
The sampling of P1 maximum current signal value is numbered
The sampling number of P2 high current signal value
H current signal difference
Claims (8)
1. a kind of determining method of motor control angle, step includes:
To motor difference current direction route, sampling current signal value；
According to the sampling number of each current direction route of setting, sampling current signal value is reformed；
Search the first sampling number P1 of maximum current signal value and the second sampling number P2 of secondary high current signal value；
Using maximum and time high current signal difference H and motor current signal characteristic value L, linear interpolation calculates offset angle C=
[360°/(6*2)]*[(L-H)/L]；
The angle of the first sampling number P1 of maximum current signal value is compensated as control angle using offset angle C.
2. the determining method of motor control angle as described in claim 1, wherein checking maximum current letter in offset angle
When the absolute difference │ P1-P2 │ of the second sampling number P2 of the first sampling number P1 and time high current signal value of number value is equal to 1,
It, will most when first sampling number P1 of re-inspection maximum current signal value is less than the second sampling number P2 of time high current signal value
The angle of first sampling number P1 of high current signal value is plus offset angle as control angle.
3. the determining method of motor control angle as claimed in claim 2, wherein the first of the inspection maximum current signal value
When sampling second sampling number P2 of the number P1 not less than time high current signal value, by the first sampling of maximum current signal value
The angle of number P1 subtracts offset angle as control angle.
4. the determining method of motor control angle as claimed in claim 2, wherein the first of the inspection maximum current signal value
When sampling the absolute difference │ P1-P2 │ of the second sampling number P2 of number P1 and time high current signal value not equal to 1, then reexamine
The absolute difference │ P1-P2 │ of second sampling number P2 of the stator number P1 of maximum current signal value and time high current signal value is not
When equal to 5, it is determined as erroneous condition, stops or calculating of resampling.
5. the determining method of motor control angle as claimed in claim 4, wherein the first of the inspection maximum current signal value
When sampling the absolute difference │ P1-P2 │ of the second sampling number P2 of number P1 and secondary big current signal value equal to 5, re-inspection is most
When first sampling number P1 of big current signal value is less than the second sampling number P2 of secondary big current signal value, then with 360 °
Offset angle is subtracted as control angle.
6. the determining method of motor control angle as claimed in claim 5, wherein the of the maximum current signal value of the inspection
When second of one sampling number P1 not less than secondary big current signal value samples number P2, by the first of maximum current signal value
The angle for sampling number P1 is used as control angle plus offset angle.
7. the determining method of motor control angle as described in claim 1, wherein the first of the maximum current signal value takes
Angle=P1* (360 °/6) of sample number P1.
8. the determining method of motor control angle as described in claim 1 wherein when the sampling current signal value, is taken with default
Sample time and delay time sequentially carry out current signal sampling to route respectively, and by the current signal value of sampling, reform and formed
Coordinate diagram of the current signal value to the time.
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| CN103618485A (en) * | 2013-11-14 | 2014-03-05 | 南京航空航天大学 | Method for sensorless detection of initial position of brushless direct current motor |
| CN104796052A (en) * | 2015-04-29 | 2015-07-22 | 海信（山东）冰箱有限公司 | Hall-free electric machine starting method and device |
| CN106559017A (en) * | 2015-09-22 | 2017-04-05 | 英飞凌科技股份有限公司 | Apparatus and method for determining the initial position of rotor under motor resting state |
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