CN1006975B - Control apparatus for an electric railway rehicle - Google Patents

Control apparatus for an electric railway rehicle

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Publication number
CN1006975B
CN1006975B CN86102173A CN86102173A CN1006975B CN 1006975 B CN1006975 B CN 1006975B CN 86102173 A CN86102173 A CN 86102173A CN 86102173 A CN86102173 A CN 86102173A CN 1006975 B CN1006975 B CN 1006975B
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CN
China
Prior art keywords
signal
chopper
voltage
vehicle
elec
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.)
Expired
Application number
CN86102173A
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Chinese (zh)
Other versions
CN86102173A (en
Inventor
小竹一嘉
堀越正吾
菊池清
安波政弘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Publication of CN86102173A publication Critical patent/CN86102173A/en
Publication of CN1006975B publication Critical patent/CN1006975B/en
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/02—Electric propulsion with power supply external to the vehicle using dc motors
    • B60L9/04—Electric propulsion with power supply external to the vehicle using dc motors fed from dc supply lines

Abstract

A comparator outputs a signal when the variation Ecf of a filter capacitor voltage Ecf comes to a reference value or higher. A main motor current reducing circuit outputs a pulse to gradually reduce a main motor current IM to the gate of a chopper. When a time is elapsed, a timer is operated to open a gate circuit. When time is elapsed after the comparator outputs a signal, a timer is operated to restart a chopper. Thus, it can prevent an overvoltage and an overcurrent from occurring when a current collector passes a section.

Description

Control apparatus for an electric railway rehicle
The present invention relates to a kind of control setup of elec. vehicle; this elec. vehicle has a chopper that is used for the vdc of controlling and driving electrical motor; more particularly; the present invention relates to a kind of control setup that can eliminate various unfavorable factors; for example, these unfavorable factors can be the commutation failure and the thing followed other problems of the chopper that causes owing to mal or collected current inferior.
As everyone knows, there is so-called dead band equipment the contact conducting wire in the electric railway at each predetermined space place usually, and this dead band equipment is partitioned into a plurality of feed parts to the contact conducting wire.Feed part by substation's power supply in dead band partly is a mutual insulating with the feed of being powered by another substation.When elec. vehicle crosses this dead band, just enter no power supply state.In addition, for make each current feed department divide between insulation, also use transposition section to substitute dead band, in transposition section, the termination of the adjacent feed contact conducting wire partly overlapping that walks abreast with being separated by.When elec. vehicle travelled on such transposition section, current colector will take place from contacting open circuited thing on the conducting wire because of the reasons in structure bob of transposition section in the current colector of elec. vehicle.Therefore, in this transposition section, it is not enough or impossible that collected current just becomes.In the following description, claim these dead bands or transposition section to be section simply.
On such electric railway, if elec. vehicle then following point can occur by chopper control.As everyone knows, chopper has a commutation electric capacity, and this commutation electric capacity is when not conducting of interrputor, and just storage makes the required energy of silicon controlled main rectifier commutation.Mal or collected current inferior cause the energy shortage in the commutation electric capacity, so that cause the commutation failure of chopper.
For fear of such problem, " Japanese Patent is open " 50-100530 number provides a kind of commutation failure to prevent locking apparatus.According to this device, mal or collected current inferior are detected as the voltage drop of a source voltage, according to this testing result, go to stop the action of chopper by the method that suppresses gate signal.Therefore, go to prevent the discharge of commutating capacitor, continue action if chopper is ignored the fall of potential of source voltage, the discharge of above-mentioned commutating capacitor will take place with this method.
, the prior art of introducing above has the following disease of covering.Here it is, if according to the source voltage potential landing that detects, the gate pulse of chopper suppressed, and will make chopper not conducting suddenly.Consequently, in a regular event process, be stored in energy in the filter reactance coil to the capacitive strike that constitutes filter with reactance coil, cause the voltage of cond to increase rapidly, so that exceed the limit value of over voltage relay, thereby the circuit line circuit breaker is disconnected.That is to say, whenever elec. vehicle by this section the time, the power circuit of elec. vehicle all will be disconnected, the shortcoming place of Here it is this device.
One of purpose of the present invention, provide a kind of control setup that is used for the elec. vehicle of chopper control, utilize this control setup can be under the situation of circuit line circuit breaker attonity, prevent owing to current collector with contact the conducting wire and disconnect over voltage or the overcurrent situations that causes.
One of feature of the present invention is, when current collector disconnects from contacting the conducting wire, electric electromechanics stream graphics as the control benchmark of elec. vehicle main motor electric current will progressively reduce with set rate, and the size of this set rate depends on that chopper is at that commutation capacity that is constantly had.
According to the present invention, even at current collector from the contact conducting wire the open circuited process, chopper can also continue to work under critical condition, this critical condition by chopper in that commutation capacity that is constantly had decision, so motor current just progressively reduces.Because motor current is not unexpected interruption, also just the over voltage owing to motor current interruption suddenly causing filter condenser can not take place.
In addition, because the work of this chopper is limited in that limit that commutation capacity allowed constantly, so also just can not cause commutation failure.Therefore, in the time of just can not occurring being in commutation failure such as chopper, owing to current colector with contact the overcurrent problem that the conducting wire resumes contacts and causes.
Brief description:
Accompanying drawing 1 is a kind of circuit diagram of elec. vehicle of chopper control of being used by the present invention;
Accompanying drawing 2(a) and 2(b), respectively by filter capacitor voltage E CfVariation and the variation of motor current IM, in order to a prior art problems to be described;
Accompanying drawing 3(a) and 3(b), is respectively filter condenser voltage E CfVariation and the variation of motor current IM, in order to another prior art problems to be described;
Accompanying drawing 4 is schematic diagrams of the control setup structure of brief description one embodiment of the present of invention;
Accompanying drawing 5(a) and 5(b), be respectively filter condenser voltage E CfWith the variation of motor current IM, in order to the service condition of the embodiment shown in the explanation accompanying drawing 4;
Accompanying drawing 6(a) and 6(b), be respectively commutating capacitor voltage E CcWith the variation of motor current IM, in order to the explanation another embodiment of the present invention.
The explanation of most preferred embodiment:
Before beginning that the embodiment of the invention is described, with reference to figures 1 through accompanying drawing 3, explanation earlier is by the elec. vehicle instrument of using chopper control of the present invention.
At first with reference to the accompanying drawings 1, this is a kind of main circuit of elec. vehicle of chopper control.In the accompanying drawing, the contact conducting wire (substation does not draw) of dc power is supplied with in reference number 2 expressions by a substation.Contact conducting wire 1 has dead band 4.Reference number 6 expression is as the posture conduction of current collector number.The disconnected device of reference number 8 expression circuit masters, it can be because of tripping for the excess current of protection usefulness or the action of over voltage relay (the two is not all expressed).Reference number 10 represents to constitute with cond 12 reactance coil of filter.Reference number 14 expressions are used for driving the dc main motor of elec. vehicle.Level and smooth reactance circuit 16 is connected with dc main motor.Diode 18 is in parallel with electrical motor 14 that is cascaded and reactance coil 16.Chopper of reference number 20 expressions, its silicon controlled main rectifier 22 and a commutating circuit are formed, and this commutating circuit comprises auxiliary silicon control 24, diode 26, commutation electric capacity 28 and commutation reactance coil 30.
As everyone knows, the method with alternately add gate pulse to the door of silicon controlled main rectifier 22 and auxiliary silicon control 24 can make interrputor 20 repeat to be in conducting and nonconducting state.Motor current is to control by the conduction ratio r that changes chopper 20, and this conduction ratio is defined as the ON time of chopper 20 and the ratio of cycle of operations.Gate pulse is supplied with by current relay 32.In the current relay 32, the motor current and the current reference that are detected by current probe 34 compare, and conduction ratio r is decided by the poor of above-mentioned two electric currents, and according to the pulse of determined conduction ratio generator gate.
Piezoelectric detector of reference number 36 expression, its detects the voltage of electric capacity 12, and works as the voltage that is detected when equaling predetermined value, output signal 37.Utilize output signal 37 to remove open-circuit line brake equipment 8, start other fence operation.
In the above device of introducing, filter condenser 12 charges to the voltage that its voltage contacts conducting wire 2 no better than usually, if posture pantograph 6 arrives dead band 4, then is in no power supply state, so the voltage of electric capacity 12 begins to reduce.Below with reference to accompanying drawing 2 these variable condition of explanation, wherein, accompanying drawing 2(a) be filter condenser 12 voltage E CfVariation, and accompanying drawing 2(b) be the variation of motor current IM, the voltage of contact conductor wire 2 is 3000 volts, and the rated current of electrical motor is 370 amperes.After the startup, motor current IM is at the linear period of acceleration D of elec. vehicle 1In maintain 370 amperes, and at subsequently feature period of acceleration D 2Interior IM reduces gradually, at D 2Elec. vehicle accelerates to quite high speed during this time, so that counter electromotive force becomes and contacts the voltage of conducting wire 2 no better than.
In this state, if when elec. vehicle passes through dead band 4, because the posture pantograph disconnects from the contact conducting wire, it is impossible that electric current collection becomes, the voltage E of electric capacity 12 CfAs accompanying drawing 2(a) shown in descend like that (voltage descend 1000 volts) in the illustrated case.In addition, because the counter electromotive force of this moment is sufficiently high, so motor current IM such rapid reducing shown in Fig. 2 (b).According to practical measurement, above-mentioned turnoff time D 3Be approximately 50 milliseconds.Electric capacity 12 voltage E CfDecline or motor current IM reduce to cause commutating electric capacity 28 fills energy shortage, the deficiency of this energy and E CfDecline or IM be reduced to proportionate relationship and weakening with chopper 20 commutation capacities.
If chopper 20 is in time D 3In continue action, commutation capacity and cause commutation failure for want of.This commutation failure can occur in that all are series connected as in each silicon control of silicon controlled main rectifier 22, or owing to the silicon control changes of properties occurs in the middle of these silicon controlled parts.When all silicon controls all can not commutate, chopper 20 just entered out of contior conducting state.
Under these conditions, if posture pantograph 6 resumes contacts with contacting conducting wire 2, then can cause following point.If can not commutate in silicon controlled main rectifier 22 parts, the whole voltages that then contact conducting wire 2 all are added on those silicon controls that successfully commutated, and like this, puncture owing to over voltage causes those silicon controls that commutated.If silicon controlled main rectifier 22 can not commutate fully, since the recovery of power supply, the voltage E of electric capacity 12 CfRaise, like this, motor current IM just increases rapidly, causes owing to rush current causes overcurrent condition.This over-current state not only can cause the damage of parts in the circuit.Such as, to the heavy current surge of main motor 14, and circuit line circuit breaker 8 is disconnected, so that according to some situation, and must allow elec. vehicle out of service.
To avoid the problems referred to above is purpose, in " Japanese Patent is open " 50-100530 number, is the output signal with response voltage detector 36, and the method with the gate pulse that suppresses chopper 20 makes chopper stop to move.For example, as accompanying drawing 3(a) shown in, as the voltage E of electric capacity 12 CfWhen dropping to predetermined value, just at moment A, piezoelectric detector 36 produces output signal 37.Response output signal 37 disconnects the gate pulse that adds to chopper 20, makes that motor current IM is as accompanying drawing 3(b) shown in such unexpected interruption.
Because the unexpected interruption of this motor current IM was stored in the energy in the filter reactance coil 10 at this before, just releases to electric capacity 12 at once, thereby make voltage E on the electric capacity 12 CfRise rapidly until surpassing specified value, promptly surpass 4000 volts of these values that are used to measure overvoltage condition, so circuit line circuit breaker 8 is disconnected.As far as possible so, but still also there is when posture pantograph 6 disconnects from contacting conducting wire 2 problem that circuit line circuit breaker 8 all will move at every turn.
Below with reference to Fig. 4, the control setup of the elec. vehicle of one embodiment of the present of invention is described.
In the accompanying drawing 4, identical reference number is represented the same section shown in the accompanying drawing 1.In addition, the reference number 40 of accompanying drawing 4 is represented a motor current test pattern signal generator, and it produces the current command signal IR corresponding to the time.As shown in Figure 4, current command signal IR increases to turn round and look at the constant speed rate in time, until reaching maxim I Rmax, after this, IR just maintains I RmaxConstant, maxim I RmaxCan change according to the condition of loading of electric means of delivery and operator's instruction.Reference number 42 and 44 is represented a subtracter separately.
The door controller of reference number 46 expression choppers, according to the deviation between the motor current IM of current signal IR(or IR ' and reality, obtain the conduction ratio r of chopper 20 by controller 46, and come the generator gate pulse like that, make chopper 20 can repeat conducting or not on-state, with the conduction ratio r that realizes obtaining.The gate pulse of Chan Shenging is delivered to chopper 20 by an AND gate 48 like this.The above circuit of introducing except subtracter 42 and AND gate 48, all is the control mechanism for electric vehicle structure that known chopper is controlled.
Comparator of reference number 50 expressions, comparator 50 is the output signal E of piezoelectric detector 36 CfER compares with predetermined reference voltage, works as E CfJust output signal when becoming less than ER.A kind of test pattern recovering signal producer of reference number 52 expressions, this signal generator are by the start signal output from comparator 50, and generation signal current Is, and Is increases in time gradually, through predetermined period △ T, reaches and I RmaxThe maxim that equates, and after this, just remain unchanged.Will describe in detail below the increase speed of signal Is, signal Is delivers on the subtracter 42 that indicates symbol.
The output signal of comparator 50 also starts the action of timer 54 and 56, and timer 54 has a time constant T 1, starting the later time at it is T 1The time, it just exports a signal.Similarly, timer 56 has a time constant T 2, T 2Compare T 1Much longer, it is T that timer 56 starts the later time at it 2The time, just export a signal.R-S type trigger circuit of reference number 58 expression (below be referred to as the FF circuit), this circuit are by the output set of timer 54, are resetted by the output of timer 56.
The set of FF circuit 57 output and the output that resets are respectively as reset signal with restart the test pattern signal generator 40 that signal is delivered to motor current.Test pattern signal generator 40 is by reset start signal, and begins to produce current-order IR, and IR starts from the initial condition of accepting to restart signal.AND gate 48 is also delivered in the output that resets of FF circuit 58, and test pattern recovering signal producer 52 is then delivered in its set output, and as its reset signal.
Below, with reference to accompanying drawing 5(a) and the 5(b) service condition of the circuit introduced above the explanation.These figures are represented the voltage E of electric capacity 12 respectively CfSituation of change with motor current IM.
Such just as already described, when posture pantograph 6 occurs from contacting conducting wire 2 open circuited situations, the voltage E of electric capacity 12 CfAs accompanying drawing 5(a) shown in descend like that.As voltage E CfWhen dropping to reference value ER (at moment to), comparator 50 produces output signal.Respond this output signal, signal generator 52 begins to produce signal IS, and IS is sent to subtracter 42.Subtraction signal IS just obtains the current-order IR ' that revises from current-order IR, and IR ' delivers to subtracter 44.Because signal IS increases in time, therefore, the current-order IR ' of correction will correspondingly reduce.When the time after signal generator 52 starts reaches △ T (at moment t 1), the current-order IR ' of this correction just is reduced to zero.Along with reducing of current-order IR ', motor current IM such as accompanying drawing 5(b) institute is shown in t constantly 1Also be reduced to zero.
Consider following point, must make the increase speed of test pattern recovering signal IS and the driving engine electric current I M that causes therefrom reduce speed.At first, have to be noted that the commutation capacity of desired chopper 20 depends mainly on motor current, this electric current flows through the silicon controlled main rectifier 22 of chopper 20.On the other hand, the commutation capacity of chopper 20 is decided by to be stored in the energy in the commutation electric capacity 28 again, and this energy depends on the voltage E of the filter condenser 12 that is counted as source voltage again Cf
So, even voltage E CfReduction make that the energy be stored in the commutation electric capacity 28 is not sufficient, if but constantly flow through the electric current of silicon controlled main rectifier 22 also with voltage E at that CfReduction and reduce, then chopper 20 still can commutate.Therefore, consider the voltage E of electric capacity 12 CfWith motor current IM, must make the increase speed of test pattern recovering signal IS.Yet, the magnitude of voltage E of each elec. vehicle Cf, E CfRate of descent, motor current IM and other influence factor are all very inequality, therefore, for the elec. vehicle of specific type, must be by calculating or the characteristic of test pattern recovering signal producer 52 is made in experiment.
In addition, when comparator 50 at moment t 0When producing output signal, timer 54 and 56 just begins their timework.At moment t 1After, timer 54 just produces its output signal, t 1Time constant T for timer 54 1Time constant T 1Select longlyer than time △ T a little.For example, selected T 1It is 25 milliseconds.So after current-order IR ' was reduced to zero, time meter 54 is output signal just.The output signal of response timer 54, FF circuit 58 is set, and with the generation asserts signal, and its output that resets is disappeared.
Along with the disappearance of the output that resets, the gate signal that AND gate 48 makes interruption give chopper 20, so that chopper 20 stops its action.In addition, when the output that resets disappeared, test pattern signal generator 40 and signal generator 52 were delivered in the set output that is produced, and as their reset signal, producer 40 and 52 are preset.
Put t when the time of advent 2The time, promptly timer 56 has experienced its time constant T 2Time after, also produce output signal.This output signal is delivered to FF circuit 58, and FF circuit 58 is resetted.Therefore, the FF circuit just extinguishes its set output and produces its output that resets.Respond this output that resets, test pattern signal generator 40 starts once more, and produces the current-order IR that begins with its initial value.The door controller 46 of chopper forms the gate signal of chopper 20.Because AND gate 48 is to open with the appearance of the output that resets of FF circuit 58, so the gate signal that forms in the controller 46 just is added on the chopper 20 by AND gate 48.Therefore, chopper 20 is as accompanying drawing 5(b) shown in start like that once more, thereby control motor electric current I M.In addition, the time constant T of timer 56 2Be decided to be for example 1000 milliseconds.If time constant T 2Be selected in this scope, then this control setup just can overcome owing to the disconnection of the posture pantograph 6 that comprises the numerous former of dead band thereby cause from contact conducting wire 2.
As mentioned above, according to present embodiment, to posture pantograph 6 from contact conducting wire 2 open circuited mensuration.In the limit that commutation capacity allows, utilize the method that makes the chopper action, motor current IM is reduced gradually.After the motor current vanishing, the method with the gate signal that suppresses chopper 20 can make chopper 20 be in not on-state fully.And after the enough time, chopper 20 restarts, with control motor electric current I M.Because these actions have been arranged, just can avoid the over voltage or the overcurrent situations that cause because of chopper 20 commutation failures, and might avoid the break frequent disconnection of device 8 of circuit master.Therefore, the ride quality of elec. vehicle can be improved, and can obtain prolonging the service life of the disconnected device 8 of circuit master.
In the above embodiment that introduces, disconnect with contact conducting wire 1 in order to measure posture pantograph 6, observed the voltage Ecf of filter condenser 12.Yet in the time of in chopper 20 is in normal on period, the voltage Ecc and the Ecf of commutation electric capacity 28 are proportional, and higher slightly than Ecf.So the piezoelectric detector 36 among the embodiment of accompanying drawing 4 can be a piezoelectric detector of measuring commutation electric capacity 28 voltage Ecc.Under the sort of situation, the VREF (Voltage Reference) ER that is added on the comparator 50 also will correspondingly change.
In addition, under the situation of measuring Ecc, because the commutation capacity of Ecc direct representation chopper 20, so can use a test pattern recovering signal producer to replace the signal generator 52 shown in the accompanying drawing 4, this signal generator produce one with the voltage Ecc that is measured be varied to ratiometric test pattern recovering signal IS.In view of the above, if the voltage Ecc of electric capacity 28, the commutation capacity of also promptly chopping device 20 off is as accompanying drawing 6(a) shown in reduce like that, then motor current IM is also as accompanying drawing 6(b) shown in reduce like that.As shown in the figure, along with the recovery of voltage Ecc, motor current IM just increases once more gradually.

Claims (6)

1, a kind of control setup that is used for elec. vehicle, it have one with contact the level and smooth contact in conducting wire and collect the current collector of dc power, a dc main motor that drives elec. vehicle, a chopper and a control setup of regulating conduction ratio according to the deviation between the motor current of required electric electromechanics stream graphics and reality of recently controlling supply main motor electric current by variation operation conducting:
A kind ofly measure electric current current collection state and when the mal that reduces the chopper commutation capacity or electric current collection state inferior take place, can produce the device of an output signal:
It is characterized in that:
A kind of when the said determination device produces output signal, produce a device that reduces required electric electromechanics stream graphics with set rate gradually.
2, a kind of as the defined control mechanism for electric vehicle of claim 1, wherein, described detecting device detects the voltage of the electric capacity of the filter between contact conducting wire and main motor, and when survey voltage becomes predetermined value, output mal afflux signal.
3, a kind of control setup as the defined elec. vehicle of claim 2, the device that wherein said signal produces, response mal afflux signal, generation can be reduced to required motor current given curve zero signal with set rate, after required motor current given curve arrives zero, the gate signal of chopper is suppressed, and after the enough time that occurs from mal afflux signal, the gate signal of chopper comes into force once more.
4, a kind of control setup as the defined elec. vehicle of claim 1, wherein, described detecting device is a piezoelectric detector, its measures the voltage of chopper commutating capacitor, and the voltage of surveying working as is when becoming predetermined value, output mal afflux signal.
5, a kind of control setup as the defined elec. vehicle of claim 4, wherein said signal generation device response mal afflux signal, generation can be reduced to required motor current given curve zero signal with set rate, and after required motor current given curve arrives zero, the gate signal of chopper is suppressed, and after the enough time that occurs from mal afflux signal, the gate signal of chopper comes into force once more.
6, a kind of control setup as the defined elec. vehicle of claim 4, wherein said signal generation device produce the signal that changes required motor current given curve corresponding to the variation of commutation capacitance voltage.
CN86102173A 1985-04-01 1986-03-31 Control apparatus for an electric railway rehicle Expired CN1006975B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP66583/85 1985-04-01
JP60066583A JPS61227602A (en) 1985-04-01 1985-04-01 Controller for electric railcar

Publications (2)

Publication Number Publication Date
CN86102173A CN86102173A (en) 1986-12-03
CN1006975B true CN1006975B (en) 1990-02-28

Family

ID=13320117

Family Applications (1)

Application Number Title Priority Date Filing Date
CN86102173A Expired CN1006975B (en) 1985-04-01 1986-03-31 Control apparatus for an electric railway rehicle

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JP (1) JPS61227602A (en)
KR (1) KR900005993B1 (en)
CN (1) CN1006975B (en)
ZA (1) ZA862346B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0750962B2 (en) * 1987-08-28 1995-05-31 富士電機株式会社 AC electric vehicle control device
JP4905715B2 (en) * 2007-09-14 2012-03-28 株式会社東芝 Electric vehicle power supply
RU2014153927A (en) * 2012-06-07 2016-07-27 Мицубиси Электрик Корпорейшн ELECTRIC VEHICLE CONTROL DEVICE
KR101457367B1 (en) * 2013-03-12 2014-11-03 한국철도기술연구원 System for calculating ratio of contact loss using current wave form analysis of pantograph

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5425006A (en) * 1977-07-27 1979-02-24 Mitsubishi Electric Corp Device for limiting overvoltage of electric motor vehicle

Also Published As

Publication number Publication date
ZA862346B (en) 1986-12-30
KR860008052A (en) 1986-11-12
CN86102173A (en) 1986-12-03
KR900005993B1 (en) 1990-08-20
JPS61227602A (en) 1986-10-09

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