CN101877569B - Motor drive system, motor control device and motor drive method - Google Patents
Motor drive system, motor control device and motor drive method Download PDFInfo
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- CN101877569B CN101877569B CN2010101688345A CN201010168834A CN101877569B CN 101877569 B CN101877569 B CN 101877569B CN 2010101688345 A CN2010101688345 A CN 2010101688345A CN 201010168834 A CN201010168834 A CN 201010168834A CN 101877569 B CN101877569 B CN 101877569B
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Abstract
The invention provides a motor drive system. The motor is subject to variable speed drive by an electric power converter and a reduction gear, a speed increasing gear make rotation devices of a fan, a pump and a compressor operate, sometime the vibration component of special frequency is generated on a shaft between the motor and the rotation device. The motor drive system adjusts and reduces the vibration component by a simple control system. In the electric power converter for controlling the output voltage for driving the motor based on the current value of the motor, the phase of the vibration component in the motor torque or motor torque current exceeds by more than 90 degrees relative to the phase of the vibration component of same frequency in an angular frequency of the motor.
Description
Technical field
The present invention relates to the driving method of a kind of electric motor drive system, control device of electric motor and motor, particularly a kind of driving method of electric motor drive system, control device of electric motor and motor of vibration of the axle (shaft) that reduces rightly the rotating machinery be connected in motor.
Background technology
By electric power converter variable-ratio ground drive motor, make in the electric motor drive system of rotating machinery running of fan, pump, compressor etc. the oscillating component of the sometimes axle between motor and rotating machinery (shaft) generation characteristic frequency via reduction gearing, speed increasing gear etc.This vibration frequency is intrinsic in equipment, thereby need to control the vibration that makes this natural frequency in the electric power converter driving machine is not brought harmful effect.
Therefore, known following technology, thereby the duration of runs under the characteristic frequency of output frequency shortening (skipping) the vibration aggravation of this technology control electric power converter.In addition, in near characteristic frequency the driving, in order to eliminate above-mentioned oscillating component, the technology of the control electric power converter of for example putting down in writing in known JP 2000-41400 communique or the Unexamined Patent 4-319715 communique, in this technology speed fluctuation or cogging component are estimated, thereby applied for the contrary motor torque of eliminating these pulsation.
[patent documentation 1] JP 2000-41400 communique
[patent documentation 2] Unexamined Patent 4-319715 communique
But in the prior art, the information of motor or mechanical system is indispensable in the estimation of velocity estimation or shaft vibration torque.These constants need to be obtained in advance or measure, when these values and actual value are not inconsistent, the torque that makes the vibration aggravation might be produced on the contrary.In addition, control algorithm is complicated in the above-mentioned estimation, when control hysteresis becomes obvious, might produce the torque that makes the vibration aggravation.
Summary of the invention
The present invention is point in view of the above problems, and a kind of driving method that can suppress rightly electric motor drive system, control device of electric motor and the motor of oscillating component is provided.
To achieve these goals, constitute among the present invention: control is used for the voltage of drive motor, makes more than leading 90 degree of phase place of oscillating component of the same frequency that contains in the electric angle frequency of phase place with respect to motor of the oscillating component that contains in motor torque that motor produces or the motor torque electric current.
More specifically, electric motor drive system has the output voltage correction portion, and described output voltage correction portion is revised the output voltage of above-mentioned electric power converter when leading 90 degree of the current value that makes motor are above.In addition, above-mentioned output voltage correction portion is made of torque leading voltage correction value calculating part, correction portion, wherein: and torque leading voltage correction value calculating part, calculate for making the above voltage instruction correction value of its leading 90 degree; Correction portion uses this voltage correction value that voltage instruction value is revised.Have, above-mentioned torque leading voltage correction value calculating part also can be by ratio section or ratio section * first-order lag section or (ratio section-differential section) or ratio section * first-order lag section * incomplete differential section or (ratio section-differential section) * incomplete differential section formation again.
Can suitably carry out the inhibition of oscillating component according to the present invention.Relate in the invention of object lesson, electric motor drive system carries out variable speed drive by electric power converter to motor, and make the rotating machinery running of fan, pump, compressor etc. via reduction gearing, speed increasing gear etc., in described electric motor drive system, do not need detailed motor or mechanical constant and can be realized by simple control system the oscillating component of the upper characteristic frequency that produces of axle (shaft) between motor and the rotating machinery.
Description of drawings
Fig. 1 is the structure chart of the electric motor drive system of embodiment 1.
Fig. 2 is the figure that expression is relevant with action of the present invention, dephase the above effect of 90 degree.
Fig. 3 is the block diagram that comprises the system of torque leading voltage corrected Calculation section 11 among the embodiment 1.
Fig. 4 represents among the embodiment 1 the transmission block diagram from-ω r (the angle of rotation frequency of motor) to Iq (torque current).
Fig. 5 is the figure from-ω r (the angle of rotation frequency of motor) to the phase difference of Iq (torque current) among the expression embodiment 1.
Fig. 6 is expression electric angle frequencies omega r and the torque tau e of motor or the figure of the phase relation between the torque current IqFB.
Fig. 7 is the structure chart of the electric motor drive system of embodiment 2.
Among the figure:
The 1-AC power
The 2-electric power converter
The 3-motor
4-transmission of torque section
5-load device
The 6-current detecting part
The 10-control part
11-torque leading voltage correction value calculating part
12,13-Coordinate Conversion section
14-voltage instruction calculating part
15-phase calculation section
16-PWM gate pulse generating unit
21-alternating voltage correction portion
The leading alternating voltage correction value of 22-torque calculating part
23-alternating current command value calculating part
Embodiment
Below, the present invention is described in detail to utilize accompanying drawing.
[embodiment 1]
Utilize Fig. 1 that the electric motor drive system of present embodiment is described.Fig. 1 represents to comprise the overall structure of the electric motor drive system of present embodiment.
Provide electric power by 1 pair of electric power converter 2 of AC power among Fig. 1.Carry out the driving of variable-ratio and make 5 runnings of load device via transmission of torque section 4 by 2 pairs of motor of electric power converter 3.Control electric power converter 2 by control part 10 based on the current value that is detected by current detecting part 6.Output voltage drive motor 3 according to electric power converter 2.The rotational torque of motor is passed to load device 5 via the mechanical axis of transmission of torque section 4, gear (reduction gearing, speed increasing gear etc.) etc.Load device 5 is such as being rotating machinery of fan, pump, compressor etc. etc.Represented the control module among the present invention in the control part 10, the below is described in detail.
To be the DC quantity of d (magnetic flux axle), q (torque axis) direction from the ac current signal Coordinate Conversion of current detecting part 6 in the Coordinate Conversion section 12.The vector control of using this d, q coordinate system to carry out is the basis of this control.Because vector control is general knowledge, therefore omit its detailed content.The phase theta frequency of utilization instruction ω 1 that uses in the Coordinate Conversion
*And calculated by phase calculation section 15.In the voltage instruction calculating part 14, based on excitation current instruction Id
*, torque current instruction Iq
*, frequency instruction ω 1
*, calculate direct voltage instruction Vd
*, Vq
*In addition, not only use current-order in the voltage instruction calculating part 14, sometimes also use (omitting in the diagram) such as torque instructions.In the torque leading voltage correction value calculating part 11, based on torque current instruction Iq
*, torque current detected value IqFB calculates q shaft voltage correction value Δ Vq
*The Δ Vq that calculates
*Output to voltage instruction calculating part 14 is Vq
*Revise.By voltage instruction calculating part 14 formed direct voltage instruction Vd
*, Vq
*Be converted to the alternating voltage instruction by Coordinate Conversion section 13.The alternating voltage instruction is converted to the gate pulse of the switch of control electric power converter 2 by PWM gate pulse generating unit 16, and is sent to electric power converter 2.In addition, in the phase calculation section 15, export 2 kinds of θ, this is because exported following θ, is respectively: be used for Coordinate Conversion and be θ that the Coordinate Conversion section 13 of ac output voltage uses, the alternating current detected value carried out the θ that uses in the Coordinate Conversion section 12 of Coordinate Conversion.These will be considered the hysteresis that detects or calculate etc. and determine respectively.
In torque leading voltage corrected Calculation section 11, set Δ Vq
*Thereby, make more than leading 90 degree of the oscillating component that comprises among the angle of rotation frequencies omega r of oscillating component with respect to motor that comprises among torque current IqFB or the motor torque τ e.By making them more than leading 90 degree, can suppress the vibration of mechanical system.Utilize Fig. 2 that its reason is described.Fig. 2 (a) is the loop of the vibration till contributing to from motor angle frequencies omega r to motor torque τ e.For symbol among the figure, r σ represent to motor once and secondary resistance carry out the synthetic component of primary side after converting, L σ represent to the motor leakage inductance once and quadratic component carry out the synthetic component of primary side after converting, P represents number of poles, M represents mutual inductance, L2 represent the motor mutual inductance with leak the secondary inductance and, the secondary magnetic flux of Φ 2 expression motor d axles, JM represents the motor moment of inertia, and s represents differential operator.Among Fig. 2 (a), and put under the suitable potential difference of difference between the induced voltage emf of the q shaft voltage component Vq of motor and motor, flow through torque current Iq via the impedance component r σ of motor+L σ s.Next, Iq makes it produce motor torque τ e, according to from the torque tau s of mechanical side and the angle of rotation frequencies omega r of motor moment of inertia JM decision motor.Have again, Fig. 2 (b-1), Fig. 2 (b-2) represent respectively the oscillating component that contains among the τ e with respect to leading 90 degree of the oscillating component that contains among the ω r loop of equal value in above or 90 degree time.The first-order lag of usage ratio gain beta, time constant α represents respectively that 90 degree are above, 90 degree are with interior phase deviation.If these are carried out equivalence transformation, then shown in Fig. 2 (c-1), Fig. 2 (c-2).At this, leading 90 degree of the phase place of τ e are equivalent to the K of electric attenuation coefficient when above among Fig. 2 (c-1) " on the occasion of, thereby be attenuated, in the time of in leading 90 degree, be equivalent to the K of attenuation coefficient among Fig. 2 (c-2) and " be negative value, thereby increase vibration.Like this, with respect to the oscillating component that contains among the ω r make the oscillating component that contains among the τ e (perhaps torque current Iq) leading 90 the degree with on control, can suppress the vibration of the torque tau s of mechanical system.
Next, the establishing method of torque leading voltage corrected Calculation section 11 is narrated.Expression comprises the block diagram of system of torque leading voltage corrected Calculation section 11 among Fig. 3, and expression is from the transmission block diagram of-ω r to Iq among Fig. 4.As previously mentioned, if make the phase place ∠ IqFB/ ω r leading 90 of IqFB spend above (in the situation of this figure, making in the ∠ Iq/-ω r quadrature lagging) with respect to ω r, then can reduce vibration.The transfer function G of Fig. 4 as shown in Equation 1.The gain of torque leading voltage corrected Calculation section 11 is made as K.
G=A/ ((r σ+K)+L σ s) (in addition, A=P/2 * M/L2 * Φ 2d) formula 1
Gain G reduces it by increasing the K value as shown in Equation 2.
| G (j ω) |=A/ √ ((r σ+K)+L σ ω) formula 2
In addition, the phase difference of expression till the-ω r to IqFB in the formula 3.
∠ G (j ω)=-tan
-1(ω T σ ') (T σ ' ≡ L σ/(r σ+K)) formula 3
Time constant T σ ' as shown in Equation 3 in the formula 3.Change time constant with respect to motor current is T σ (=L σ/r σ), and T σ ' (partly makes it reduce by K among=L σ/(the r σ+K)).Thereby this expression diminishes the hysteresis the till-ω r to IqFB by increasing K.In other words, by increasing K, the hysteresis till ω r to IqFB becomes large (with reference to Fig. 5), can expect good vibrating effect.
Like this, in torque leading voltage corrected Calculation section 11, the proportional component K that is set as follows, this K value makes in the motor 3 phase place of the oscillating component of the same frequency that contains in the electric angle frequency of phase place with respect to motor 3 of the oscillating component that contains in the motor torque that produces or the motor torque electric current, more than leading 90 degree.In addition, if scaling up component K, then entire system becomes unstable, be that predetermined setting is when above at the vibration amplitude of the torque tau s of mechanical system like this, setting makes the above this proportional component K of its leading 90 degree, proportional component K can be set in addition littlely than making the above this value of its leading 90 degree.
Utilize Fig. 6 that concrete action is described.Supposition will be controlled at the electric angle frequencies omega r of motor 3 the i.e. 60Hz for example of steady state value among Fig. 6 (a).But, owing to make 5 runnings of load device via reduction gearing, speed increasing gear etc., therefore be subject to these impacts and produce vibration between the axle (shaft) of motor 3 and load device 5, the electric angle frequencies omega r of motor 3 periodically (cycle T) vibrates between amplitude 60Hz ± α.That is to say that having the cycle in Fig. 6 (a) is that T, amplitude are the oscillating component of α.Relative therewith, in Fig. 6 (b), have the component with the oscillating component same frequency (cycle T) of the electric angle frequencies omega r of motor 3 among the torque tau e of motor or the torque current IqFB, and compare with the oscillating component of electric angle frequencies omega r and to make them more than leading 90 degree.
As mentioned above, in the present embodiment, make with respect to the oscillating component of motor rotational angle frequency more than leading 90 degree of phase place of oscillating component of torque current or torque, thereby can increase the attenuation coefficient of vibration.In addition, do not use in the control in the situation of constant of detailed mechanical system, simply setting control system.
[embodiment 2]
Below, the 2nd embodiment of the present invention is described, mainly the difference with the 1st embodiment is described.In the 1st embodiment, owing to improve the gain of the entire system of gain K up-to-date style 2 in the torque leading voltage corrected Calculation section 11 | G| descends, and therefore sometimes descends for its sensitivity of vibration.Therefore, in the present embodiment, as the gain that does not reduce entire system | only make the leading method of phase place in the situation of G|, making gain K is the form shown in the formula 4.That is to say, the K2 that is set as follows, L σ ' etc., thus make in the motor 3 more than leading 90 degree of phase place of oscillating component of the same frequency that contains in the electric angle frequency of phase place with respect to motor 3 of the oscillating component that contains in the motor torque that produces or the motor torque electric current.
K → K2-L σ ' s formula 4
Thus, formula 1, formula 2, formula 3 become formula 5, formula 6, formula 7.
G=A/ ((r σ+K2)+(L σ-L σ ') s) formula 5
∠G(jω)＝-tan
-1(ω·Tσ″)
(T σ " ≡ (L σ-L σ ')/(r σ+K2)) formula 7
Therefore, owing to adjust L σ ', even increase like this K2, also can in the situation that does not change gain, only make phase place leading by making L σ ' be close to L σ.
In other words, in torque leading voltage corrected Calculation section 11, K2 is set as the value less than the K among the 1st embodiment, and the L σ ' that is set as follows, make in the motor 3 phase place of the oscillating component of the same frequency that contains in the electric angle frequency of phase place with respect to motor 3 of the oscillating component that contains in the motor torque that produces or the motor torque electric current, more than leading 90 degree.At this, when realizing K2-L σ ' s, s also can carry out differential, perhaps can such first-order lag of using as follows obtain.
1/(K2+Lσ′·s)-＞(K2-j·ω·Lσ′)/(K2
2+Lσ′
2·ω
2)
-＞(K2-Lσ′·s)/(K2
2+Lσ′
2·ω
2)
=＞K2-L σ ' s=(K2
2+ L σ '
2ω
2)/(K2+L σ ' is formula 8 s)
As mentioned above, although the gain of torque leading voltage corrected Calculation section 11 is such as described in Example 1, if set by Proportional coefficient K, then can make Iq oscillating component phase place with respect to the oscillating component of ω r leading 90 the degree more than, but as shown in Equation 8, by being set by ratio system * first-order lag system, thereby do not reduce gain and dephase and have better effect.In addition, be not only formula 8, also can directly set gain in ratio system-differential system in the formula 4.In addition, by this gain, when having produced the oscillating component of comparing low frequency (a few Hz) with the intrinsic vibration number of mechanical system, can also increase the incomplete differential system of low frequency cut-off usefulness.Have again, in the present embodiment, although use torque current detected value and torque current command value, use torque detection value and torque instruction value also can obtain same effect.
In addition, at the oscillating component of the oscillating component of angle of rotation frequency and torque current or torque when not being sinusoidal wave completely, thereby will carry out point that mean value that integration obtains and waveform intersect as zero point to waveform, if observe its phase difference, can judge that then torque current or torque oscillation waveform are with respect to the vibrational waveform of angle of rotation frequency whether more than leading 90 degree.Perhaps, be made as 180 degree with rotating between the peak-peak of vibrational waveform of electric angle frequency, equally be made as 180 degree between the peak-peak with the vibrational waveform of the vibration frequency of torque current or torque, can observe the advance angle of the peak-peak that the peak-peak of the vibrational waveform of above-mentioned torque current or torque obtains with respect to the vibrational waveform from above-mentioned electric angle frequency.
According to foregoing, the phase place of the oscillating component by making torque current or torque in the present embodiment can increase the attenuation coefficient of vibration with respect to more than leading 90 degree of the oscillating component of motor rotational angle frequency.At this moment, compare with the 1st embodiment, owing to do not reduce the gain of entire system, therefore have better effect.In addition, do not use mechanical system in the control, know that the resistance of motor and the component of inductance get final product, so simply setting control system.
[embodiment 3]
Next, the 3rd embodiment of the present invention is described, mainly the difference with the 1st and the 2nd embodiment is described.With respect to revising direct voltage instruction, the present embodiment correction alternating voltage instruction among Fig. 7.In alternating current command value calculating part 23, use the phase theta from phase calculation section 15, by Coordinate Conversion etc. with direct current instruction Id
*, Iq
*Be converted to the three-phase alternating current command value.In the leading alternating voltage correction value of torque calculating part 22, use the detected alternating current detected value of above-mentioned alternating current command value and current detecting part 6, for example based on the command value of each phase (U, V, W) and the difference of detected value, with embodiment 1, embodiment 2 similarly at ratio system, ratio system * first-order lag system, (ratio system-differential system) and the alternating voltage correction value of calculating respectively each phase in to the situation of having added separately the incomplete differential system.In addition, can carry out the both sides of the direct voltage correction of the alternating voltage correction of present embodiment and Fig. 1.
According to foregoing, in the present embodiment, by carrying out the correction of alternating current component, thereby the phase place of oscillating component that makes torque current or torque can make the oscillating component decay of mechanical system so simply with respect to more than leading 90 degree of the oscillating component of motor rotational angle frequency.
Claims (9)
1. an electric motor drive system has electric power converter, and control is used for driving the voltage of described motor to described electric power converter according to the current value of motor, and described electric motor drive system is characterised in that,
Control is used for driving the voltage of described motor, makes more than leading 90 degree of phase place of oscillating component of the same frequency that contains in the rotation electric angle frequency of phase place with respect to described motor of the oscillating component that contains in the motor torque that produced by described motor or the motor torque electric current.
2. an electric motor drive system has electric power converter, and control is used for driving the voltage of described motor to described electric power converter according to the current value of motor, and described electric motor drive system is characterised in that,
Have: the voltage instruction calculating part, it calculates the voltage instruction that is used for driving described motor; With
The output voltage correction portion, it is revised described voltage instruction, thereby makes more than leading 90 degree of phase place of oscillating component of the same frequency that contains in the rotation electric angle frequency of phase place with respect to described motor of the oscillating component that contains in the motor torque that produced by described motor or the motor torque electric current.
3. electric motor drive system according to claim 2 is characterized in that,
Described output voltage correction portion is made of difference calculating part, torque leading voltage correction value calculating part, correction portion, wherein:
Described difference calculating part, it calculates the detection electric current of described motor and the difference of current instruction value;
Described torque leading voltage correction value calculating part, it uses this difference calculating voltage instruction correction value, and described voltage instruction correction value is used for making more than leading 90 degree of phase place of oscillating component of the same frequency that contains in the rotation electric angle frequency of phase place with respect to described motor of the oscillating component that motor torque that described motor produces or motor torque electric current contain;
Described correction portion, it uses this voltage correction value, and voltage instruction value is revised.
4. electric motor drive system according to claim 3 is characterized in that,
Described torque leading voltage correction value calculating part constitutes, and comprises in the following calculating one as calculating: ratio, ratio and first-order lag, ratio and differential, ratio and first-order lag and incomplete differential or ratio and differential and incomplete differential.
5. electric motor drive system according to claim 3 is characterized in that,
Described torque leading voltage correction value calculating part constitutes, and comprises in the following calculating one as calculating: ratio or ratio * first-order lag, ratio-differential, ratio * first-order lag * incomplete differential or ratio-differential * incomplete differential.
6. the described electric motor drive system of any one in 4 according to claim 1 is characterized in that,
With the intersection point of the waveform of the mean value of the waveform of the oscillating component of described rotation electric angle frequency and this oscillating component as zero point, and with the intersection point of the waveform of the mean value of the waveform of the oscillating component of the vibration frequency of described torque current or torque and this oscillating component during as zero point, the zero point that obtains with respect to the waveform from the oscillating component of described rotation electric angle frequency from zero point that the waveform of the oscillating component of described torque current or torque obtains is more than leading 90 degree.
7. the described electric motor drive system of any one in 5 according to claim 1 is characterized in that,
Be made as 180 degree between the peak-peak with the waveform of the oscillating component of described rotation electric angle frequency, and be made as 180 degree between the peak-peak with the waveform of the oscillating component of the vibration frequency of described torque current or torque, more than leading 90 degree of peak-peak that then peak-peak of the waveform of the oscillating component of described torque current or torque obtains with respect to the waveform from the oscillating component of described rotation electric angle frequency.
8. a control device of electric motor is controlled the voltage that is used for drive motor according to the current value of motor, it is characterized in that,
Described control device of electric motor is controlled described motor, makes more than leading 90 degree of phase place of oscillating component of the same frequency that contains in the rotation electric angle frequency of phase place with respect to described motor of the oscillating component that contains in the motor torque that produced by described motor or the motor torque electric current.
9. the driving method of a motor is characterized in that,
The current value of input motor, and calculate the magnitude of voltage that is used for driving in such a way described motor based on described current value, and control described motor based on described magnitude of voltage, described mode is the above mode of leading 90 degree of phase place of the oscillating component of the same frequency that contains in the rotation electric angle frequency of phase place with respect to described motor of the oscillating component that contains in the motor torque that produced by described motor or the motor torque electric current.
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| JP2009-108648 | 2009-04-28 |
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| JP5856438B2 (en) * | 2011-11-01 | 2016-02-09 | 株式会社日立製作所 | Power converter |
| FR2983012B1 (en) * | 2011-11-22 | 2015-01-16 | Renault Sas | METHOD FOR CONTROLLING A MOTOR POWERTRAIN AND CORRESPONDING CONTROL SYSTEM |
| DE102012203426B4 (en) * | 2012-03-05 | 2013-10-10 | Siemens Aktiengesellschaft | Avoidance of continuous operation in frequency converter-excited torsional resonances of a compressor train |
| CN103780185A (en) * | 2012-10-19 | 2014-05-07 | 浙江盾安人工环境股份有限公司 | Compressor torque control method and torque control device |
| JP6046446B2 (en) * | 2012-10-26 | 2016-12-14 | 日立アプライアンス株式会社 | Vector control device, motor control device using the same, and air conditioner |
| JP5673727B2 (en) * | 2013-04-26 | 2015-02-18 | 株式会社明電舎 | Torque command generator |
| US10992245B2 (en) * | 2017-03-22 | 2021-04-27 | Steering Solutions Ip Holding Corporation | Position estimation of permanent magnet synchronous machines through vibration induced saliency |
| EP3741034B1 (en) | 2018-01-16 | 2022-07-27 | ABB Schweiz AG | A method for controlling a synchronous double stator electric machine |
| CN115425895B (en) * | 2022-11-07 | 2023-01-31 | 成都希望电子研究所有限公司 | Method for identifying mutual inductance parameter of asynchronous motor under load |
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| JPH04319715A (en) * | 1991-04-19 | 1992-11-10 | Meidensha Corp | Controller for suppressing axially torsional vibration |
| JPH11206199A (en) * | 1998-01-20 | 1999-07-30 | Meidensha Corp | Controlling device of induction motor |
| JP2000041400A (en) * | 1998-07-22 | 2000-02-08 | Matsushita Electric Ind Co Ltd | Controller for induction motor for compressor |
| JP4186750B2 (en) * | 2003-08-19 | 2008-11-26 | 三菱電機株式会社 | Motor control device |
| JP4342450B2 (en) * | 2005-01-06 | 2009-10-14 | 三洋電機株式会社 | Motor control device and motor drive system having the same |
| JP2006271116A (en) * | 2005-03-24 | 2006-10-05 | Yaskawa Electric Corp | Servo controller and method of extracting maximum gain of servo controller |
| JP5007924B2 (en) * | 2006-09-25 | 2012-08-22 | 株式会社安川電機 | Electric motor control device and vibration suppression method thereof |
| JP2009303435A (en) * | 2008-06-17 | 2009-12-24 | Sanyo Electric Co Ltd | Motor controller |
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| CN101364785A (en) * | 2007-08-10 | 2009-02-11 | 三洋电机株式会社 | Motor control device and compressor |
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| JP特开2000-041400A 2000.02.08 |
| JP特开2006-191737A 2006.07.20 |
| JP特开平4-319715A 1992.11.10 |
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| CN101877569A (en) | 2010-11-03 |
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