CN102053166B - Method for determining speed - Google Patents
Method for determining speed Download PDFInfo
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- CN102053166B CN102053166B CN201010540328.4A CN201010540328A CN102053166B CN 102053166 B CN102053166 B CN 102053166B CN 201010540328 A CN201010540328 A CN 201010540328A CN 102053166 B CN102053166 B CN 102053166B
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- 238000000034 method Methods 0.000 title claims abstract description 86
- 238000005259 measurement Methods 0.000 claims description 34
- 238000004458 analytical method Methods 0.000 claims description 15
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 5
- 238000005314 correlation function Methods 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 230000009189 diving Effects 0.000 abstract 1
- 238000002485 combustion reaction Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000000454 anti-cipatory effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012432 intermediate storage Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/80—Devices characterised by the determination of the time taken to traverse a fixed distance using auto-correlation or cross-correlation detection means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
Abstract
The invention relates to a method for determining speed. The method comprises the following steps of providing a reference signal which is equal to or at least similar to the widely-known machine reference rotating speed; dividing a reference range from the reference signal, with the reference range being equal to one or multiple rotations of a machine; receiving a measuring signal when the machine rotates with a unknown speed to be determined; diving a measuring range from the measuring signal, with the measuring range being not equal to the reference range and being received as a reference range at future time point; determining the correlation between the reference range and the measuring range for multiple times, and receiving several different rotating speeds that are hypothesized; determining the hypothetical rotating speed, with which the correlation between the reference range and the measuring range is the largest.
Description
Technical field
The present invention relates to a kind of a kind of device of method and this method of enforcement of definite rotating speed.
Background technology
Be known to the various methods of determining the rotating speed that rotatablely moves.For example, from DE 35 05 440 A1, US 4 173 896, and EP 0 315 357 A1 and EP 0 408 877 A1 are well known that the method for the internal combustion engine for rotating, and in these methods, the rotating speed of machine obtains from electricity or mechanical parameter.But these methods are not for example generally spendable as motor to the machine of all rotations.In addition, when internal combustion engine due to bad can contact, for example, when internal combustion engine moves with stick-shaped ignition coil, also often need expensive adaptive operation or get rid of adaptive even completely.
Take solid-borne noise or air-borne sound as the method for basis for definite rotating speed, for example, from DE 44 40 999, is known in EP 724 159 and EP 769 698.These methods are changed by signal from the signal being received by sensor, for example, by Fourier-conversion, tried to achieve, to determine rotating speed by suitable characterizing definition there by locational space to frequency space.These methods partly reach good result when stable rotating speed, however when high dynamic process along with the but failure of the quick rotating speed changing, as they are for example at internal combustion engine during freely starting from zero load to scope at full capacity appearance.
Summary of the invention
Task of the present invention is to provide a kind of for determining the improved method of the rotating speed that rotatablely moves, and the method also can, when dynamic process, especially be determined rotating speed by pinpoint accuracy in other words when the rotating speed changing very soon.
This task is by solving as a kind of method of independent claims 1 with as a kind of device of independent claims 9.The advantageous forms of implementation of dependent claims explanation independent claims object.
For determining that the rotatablely move method of the present invention of rotating speed of machine comprises step:
A) provide a reference signal, this signal is corresponding to the reference rotation speed of at least approximate known machine;
B) from reference signal, cut out a reference range, wherein reference range turns or turns more corresponding to one of machine;
C) when machine is during with a unknown rotating speed rotation that will be definite, receive a measuring-signal;
D) from measuring-signal, cut out a measurement range, wherein measurement range is not equal to reference range; Especially measurement range time point afterwards receives as reference range;
E) determine the correlativity between reference range and measurement range.At this, the correlativity between reference range and measurement range is repeatedly determined, wherein for measurement range, accept the rotating speed of a plurality of hypothesis that differ from one another.At this, measurement range is demarcated respectively to (skaliert) to the time interval corresponding to corresponding hypothesis rotating speed;
F) determine the rotating speed of hypothesis, the correlativity when the rotating speed of this hypothesis between reference range and measurement range is maximum.
The rotating speed of acceptance when correlativity between reference range and measurement range is maximum is exactly the true rotating speed rotatablely moving.
In order to determine continuously, the method is at will repeated (sometimes variable) rotating speed continually.In this case, in the process below each, the measurement range of before carrying out process is the starting numerical applications as active procedure as reference range and the rotating speed of trying to achieve in the process of carrying out before by the method.
According to the present invention, for determining a kind of device of rotating speed, have at least one sensor, this sensor receives and uses the signal associated with measured rotating photo, converts electric signal to and electric signal is continued to be given on analytic unit.Analytic unit is set, the electric signal and the so definite rotating speed rotating that by method of the present invention, go analyte sensors to produce.
By method of the present invention and device of the present invention, also can when the very large fluctuation of speed, by pinpoint accuracy, determine the rotating speed rotatablely moving.The method is based upon with prior art and compares in the processing of sensor signal of change.Especially in order to determine the rotating speed rotatablely moving, do not need secondary signal source.
In a form of implementation, sensor is a sonic transducer, and this sensor design is electric signal for receiving the sound wave being sent by the sound source of rotating and changing the sound wave receiving.Sonic transducer can be designed as air-borne sound sensor or structure-borne sound sensor, and it is mechanically for example fitted on measured object with detecting head or magnet.
In a kind of alternative form of implementation, sensor is optical sensor, this sensor receives one and uses the optical signalling that for example by motor vibrations produce associated with rotating photo to be measured and convert electric signal to, by this electric signal in order to be further sent on analytic unit.
One according to the present invention for determining the device of rotating speed, this device has sonic transducer or optical sensor, for example, between sensor and the object that will measure, and do not need mechanical connection between internal combustion engine.Therefore the operation of measurement mechanism is simplified.
Sonic transducer and optical sensor have been compared some advantages with magnetic sensor, and magnetic sensor is that to take the magnetic component of measured object be prerequisite.In modern automobile and/or motor, often only applying a small amount of magnetic material and/or magnetic material and be only difficult to touch, cause applied magnetic sensor, if really if possible, is to link together with the assembling cost of not ignoring.
Yet the method is not confined in the application of sonic transducer and/or optical sensor.Can apply every kind of sensor that signal is provided, this signal is relevant with the rotating speed of measured rotation to know errorless mode.Like this, for example the electric current of motor or ignition device for internal combustion-or voltage signal also can measure and by being applied according to definite rotating speed of the present invention.
In a form of implementation of the method, the correlativity between measurement range and reference range is determined the in the situation that of application cross correlation function.The calculating of cross correlation function is the suitable method that correlativity is determined.
In a form of implementation of the method, step c) to f) at will repeatedly repeat, wherein the measurement range of process is applied as the reference range of active procedure before.Therefore, also can continue to determine by pinpoint accuracy the rotating speed changing.
In a form of implementation, reference signal is to extract out the measuring-signal from receiving before real measurement.Therefore can provide reference signal especially simple and efficiently.
In a form of implementation, the present invention is for determining the method for rotating speed, comprises that fast fourier transform (FFT) by reference signal is analyzed or the step of Kepstrum Analysis deterrmination first, constant reference rotation speed.Because definite like this reference rotation speed is only used as algorithm of the present invention below, accurately determine the starting numerical value of rotating speed, enough is that reference rotation speed is just determined approx, causes its error with to a certain degree.
A method is so determined reference rotation speed when the method, makes the automatic calibration of method likely, so that the calibration procedure that does not need user to carry out.Therefore, determine obviously simplification and its accuracy and the reliability of rotating speed improve, because the punctual error of high-ranking officers is got rid of.
When a kind of form of implementation of the inventive method, at step e) within the rotating speed of a plurality of hypothesis of accepting for the measuring-signal scope in the measured rotating speed expected of rotatablely moving, this scope is around last definite rotating speed arrangement.The size of the anticipatory range of speeds is drawn by the physical boundary conditions rotatablely moving of measuring.Like this, known by the characteristic of motor when measuring the rotatablely moving of motor, rotating speed is maximum within certain time interval can be increased or reduce with a definite numerical value.Then, select the rotating speed of hypothesis from a scope, this scope is the scope of accessible rotating speed around last definite rotating speed arrangement with while being included in the plus or minus acceleration of motor maximum possible.
By select the rotating speed of hypothesis from the expectation scope relevant with the last rotating speed that rotatablely moves of determining, the method is effective especially, because at step e) in correlativity be to calculate for the rotating speed of these hypothesis, these rotating speeds are in anticipatory scope.At this, real rotating speed can be especially promptly definite when the computing power providing in advance, and this computing power is for calculating correlativity.By contrast, in order to determine what the necessary computing power of rotating speed reduced in the time providing in advance, cause the enforcement that the method can be with low cost.
In a form of implementation, if reasonableness test draws at step f) in the rotating speed of trying to achieve unreasonable, the method is also included in rationality and checks at step f) in step and the repeating step e of definite rotating speed) and step f).By these additional steps, be identified in error while asking for rotating speed and by repeating step e) and f) revised.
When repeating the method, in a form of implementation, as reference signal, apply an artificial reference signal producing.The reference signal producing by using artificial will avoid trying to achieve again irrational rotating speed when repeating the method.
Optionally, from wherein selecting the scope of hypothesis rotating speed, can expand.If rotating speed is determined, in the cycle of carrying out before, easily make mistakes, Here it is is expected successfully especially.
Also can investigate a plurality of maximal values of cross correlation function, corresponding to the maximal value of correct rotating speed, can investigate and determine by rationality.
Also can add such as fft analysis or Kepstrum (Ke Shi is general) and analyze other such signal processing method, to investigate and determine correct result through rationality.
Especially in order to determine correct result, can be by the Combination of Methods of mentioning before wherein a plurality of.
By processing additional sensor passage, for example, as being arranged in a plurality of solid-borne noise receivers on diverse location, and/or the analysis of air-borne sound and solid-borne noise, the degree of accuracy of the method can also further improve.
In a form of implementation, to check, at step e) and if the maximum correlation of trying to achieve f) whether surpass the ultimate value and the maximum correlation that provide in advance and there is no to surpass the method whether ultimate value providing in advance repeats definite rotating speed.Comparison by the maximum correlation of trying to achieve with the ultimate value providing in advance, can be effectively and simply inspection the rationality of definite rotating speed.The quality of measuring improves, because identify irrational result and will determine and repeat in this situation when determining rotating speed.
In a form of implementation, the signal being received by sensor is voice signal, for example the running noises of motor.By analyzing such as the such voice signal of motor operation noise, can be effectively and determine simply the rotating speed that causes voice signal rotation.
In a form of implementation, that the method is also included in measuring-signal that in intermediate store, storage is received by sensor and be included in step c) in measuring-signal that receive and that store in intermediate store and at step e) and f) in implement the step that angle synchronizing frequency is analyzed (arrangement analysis) on the basis of the rotating speed that rotatablely moves determined.
Method makes the synchronous frequency analysis in angle become a possibility like this, and for this reason need to be such as the such additional signal source of the second sensor.This is possible, because rotary speed information itself is included in measuring-signal.This information exchange is crossed for the inventive method of definite rotating speed and is extracted from signal.The expense in secondary signal source can be saved the frequency analysis synchronous with angle and can especially effectively and inexpensively be implemented.
According to device of the present invention, also comprise an amplifier, this amplifier is to design in order to amplify the electric signal being produced by sensor.By the sensor signal of amplifying, also can carry out very accurately rotating speed when the weak signal intensity determines.
In a form of implementation, the inventive system comprises a modulus (A/D) converter, this converter is simulating signal in order to be produced by sensor to the conversion designs of digital signal.Digital signal can for example be used programmable microprocessor processes particularly well.Especially the correlativity of digital signal can be especially simply definite.
In a form of implementation, device also comprises that a display, this display are in order to show the Design of Rotation determined by analytic unit.Can be by the user by the definite rotating speed informing device of device by display device.
Accompanying drawing explanation
With accompanying drawing, describe the present invention in detail below.Wherein:
The schematic flow diagram of Fig. 1 the inventive method; With
The comparison of speed curves with the speed curves of measuring with reference sensor of the inventive method measurement for Fig. 2.
Embodiment
Shown in Fig. 1 is for determining the schematic flow diagram of rotating speed method according to the present invention.
The signal (step 1) that unshowned by one, to be for example designed to air-borne sound, solid-borne noise or optical sensor sensor is received amplifies (step 2) and converts digital signal (step 4) to by analog to digital converter.When needed, analog to digital converter comprises an anti-aliasing (Anti-Aliasing)-wave filter, just as known in prior art.A bandpass filter also can be set, to minimize the noise of received signal.
When starting the method, in other words when determining rotating speed for the first time, from digital signal by the known algorithm for frequency analysis, as FFT or Kepstrum (Kepstrum) analysis, obtain rotating speed starting value (step 6), this value is used as reference rotation speed.In this case, reference rotation speed has allowed mistake, because it is just used as by algorithm subsequently, accurately determines the starting point of rotating speed.
Then, the signal receiving from sensor cuts out a reference range, and this scope is corresponding to the rotation (step 8) of about one-period.
Reference range forms the benchmark of determining rotating speed below.With this, the initialization of method finishes.
Initialization step 6 and 8 is only implemented once when starting method.When rotating speed is below determined, carry out before the scope cutting out (measurement range) that rotating speed determines and now definite rotating speed be used as reference range or conduct for the definite starting value of current rotating speed.When in other words, the method rotating speed is below determined, after the analog to digital conversion according in step 4, directly by step 10, proceed
In step 10, from digitized measuring-signal, cut out the measurement range that a time point afterwards receives as reference range, this measurement range is roughly corresponding to the measured one or more rotation periods that rotatablely move.
So, by general known numerical method, the measurement range that for example, as the method for cross correlation function, it determines second, cut out in step 10 and the correlativity between reference range.Reference range is definite scope during initialization in step 8 when method is implemented for the first time.While repeating implementation method afterwards, carry out before the measurement range with application that rotating speed cuts out in determining be used as below the definite reference range of rotating speed.
Repeat correlativity determine before (step 14), for measurement range, accept the rotating speed of various hypothesis, measurement range is demarcated on the time interval (step 12) other, corresponding to each hypothesis rotating speed for the rotating speed of each hypothesis.
At this, within the scope of the rotating speed of the rotating speed of the hypothesis of accepting in expecting around definite before rotating speed.The scope of the rotating speed of expecting can draw from the dynamic perfromance of measured rotation, and for example from the characteristic of engine, draw in other words, this engine produces measured rotation.The acceleration of the plus or minus based on engine maximum possible, within the time interval providing in advance, rotating speed can only change with limited numerical value.At this, rotating speed must be in limited scope around definite before rotating speed.The rotating speed of selecting these hypothesis from this limited scope is just enough, for the rotating speed of hypothesis, determines correlativity.
Step 12,14 and 16 rotating speeds for different hypothesis carry out repetition and determine the rotating speed of that hypothesis, and the correlativity when this rotating speed between reference range and measurement range is maximum.Rotating speed when correlativity between reference range and measurement range is maximum is the true rotating speed rotatablely moving.
In addition, can carry out the threshold value inquiry of unshowned in Fig. 1, a resulting maximum correlation numerical value, to check tried to achieve result in its rationality.If maximum correlation numerical value is lower than the threshold value providing in advance, the result tried to achieve is so irrational and will be again carries out determining of correlativity for the rotating speed of different hypothesis.To this, apply in one embodiment an artificial reference signal and replace definite reference range before, to avoid also determining again an irrational rotating speed when repetition rotating speed is determined.
The rotating speed changing in order to define continuously, the method is continued by step 10, wherein measurement range so far and for the definite rotating speed of this scope be reference range or benchmark or the starting speed application that a back to back rotating speed of measurement range later receiving is determined use.Rotating speed can be so continuously respectively in the end the basis of definite rotating speed get on definite.
The method also can further develop, to also carry out arrangement analysis (Ordnungsanalyse) 22 except rotating speed is determined, carries out in other words the synchronous rotating speed in angle and determines.
For this reason, measuring-signal, after amplifying in step 2 and convert digital signal in step 4 after, intermediate storage is in a storer (step 20).
With digitized measuring-signal, first will determine according to the method (step 10 is to 16) of explanation before and carry out according to rotating speed of the present invention, to determine the rotating speed rotatablely moving.
After determining according to rotating speed of the present invention, with the rotating speed of the rotation that is stored in the measuring-signal in intermediate store and determines according to the present invention, carry out common arrangement analysis (step 22), arrangement analysis is just as known to professional.
With the known method for arrangement analysis is different so far, do not require secondary signal generator for this reason, this signal generator by one independently source provide rotary speed information for.Because saved secondary signal generator, reduced the expense that cost and measurement mechanism are installed.
Fig. 2 illustrates a curve map, uses the speed curves (dot-and-dash line) of trying to achieve according to the inventive method and contrast from the definite speed curves (solid line) of automobile batteries voltage residue ripple in this curve map.To this, rotating speed on y-axle and the time on the x-of figure axle.
Curve map shows, even if rotating speed is subject to very large fluctuation, according to method of the present invention, also can determine by pinpoint accuracy the rotating speed of internal combustion engine.Especially, the method also can be followed the quick change of rotating speed, occurring while for example accelerating in the scope between the 3rd and the 4th second just as rotating speed, as negative acceleration (engine braking) between the 5th and the 6th second.
With known method is contrary so far, measurement result is also directly followed the rotating speed of change when rotating speed change fast, and does not have time of occurrence to postpone.Therefore, the method is applicable to determine rotating speed surging and that change fast by pinpoint accuracy well.
Claims (10)
1. for determining the rotatablely move method of rotating speed of machine, there is the following step:
A) provide reference signal, this signal is corresponding at least approximate known machine datum rotating speed;
B) from reference signal, cut out (8) reference range, wherein reference range is corresponding to one or more rotations of machine;
C) when machine rotates with unknown rotating speed, receive (1) measuring-signal;
D) from measuring-signal, cut out (10) measurement range;
E) determine the correlativity (14) between reference range and measurement range, wherein for measurement range, accept the rotating speed of a plurality of hypothesis that differ from one another and measurement range is demarcated to the time interval upper (12) corresponding to corresponding hypothesis rotating speed;
F) determine the rotating speed of hypothesis, the correlativity when the rotating speed of this hypothesis between reference range and measurement range is maximum, is the true rotating speed of rotatablely move (16).
2. the method for claim 1, wherein correlativity is determined by means of cross correlation function.
3. method as claimed in claim 1 or 2, wherein by step c) to f) repeatedly repeat and the measurement range of process n be used as below the reference range of process n+1.
4. the method for claim 1, wherein the method step a) in fft analysis by reference signal or Kepstrum analysis (6) comprise that at least approximate of reference rotation speed determine.
5. the method for claim 1, wherein at step e) in the rotating speed of the hypothesis the accepted scope in expecting to change around the last rotating speed that rotatablely moves of determining.
6. method as described in claim 1, wherein the method also comprises step:
G) check at step f) in the rationality of definite rotating speed; With
H) if it is irrational that rational inspection draws tried to achieve rotating speed, repeating step e) and f).
7. method as claimed in claim 6, wherein at repeating step e) and f) time, application from the scope of the signal of artificial generation as reference range.
8. the method for claim 1, wherein the method also comprises
The step of the measuring-signal that c1) storage (20) is received by sensor; With
L) at step c) in receive and at step c1) in storage measuring-signal and at step f) in carry out the step of arrangement analysis (22) on the determined rotating speed basis rotatablely moving.
9. for the definite device of rotating speed, with
At least one sensor, this sensor design is used for receiving the signal being sent by the equipment rotating and is at least one electric signal for changing received signal, and
Analytic unit, arranges this analytic unit, for the electric signal with producing as the methods analyst sensor of one of the claims, to determine the rotating speed of the equipment of rotation.
10. device as claimed in claim 9 is wherein that acoustical signal and sensor are sonic transducers from the signal that the equipment of rotation sends.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009045410.1A DE102009045410B4 (en) | 2009-10-07 | 2009-10-07 | Method and device for speed determination |
| DE102009045410.1 | 2009-10-07 |
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| CN102053166A CN102053166A (en) | 2011-05-11 |
| CN102053166B true CN102053166B (en) | 2014-11-26 |
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| CN201010540328.4A Active CN102053166B (en) | 2009-10-07 | 2010-09-30 | Method for determining speed |
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| CN (1) | CN102053166B (en) |
| DE (1) | DE102009045410B4 (en) |
| IT (1) | IT1401164B1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3015866A1 (en) * | 2014-10-30 | 2016-05-04 | ABB Technology AG | A method of automatic determination of rotational speed of a shaft in a rotating machine |
| CN107918032B (en) * | 2017-11-14 | 2020-04-14 | 湖南大学 | Rotating speed measuring method for spatial multi-source sound signal fusion |
| CN110163991A (en) * | 2019-05-14 | 2019-08-23 | 吉旗（成都）科技有限公司 | Vehicle host speed and slave speed proofreading method and device based on Internet of Things |
| CN110308300B (en) * | 2019-06-27 | 2021-09-21 | 厦门盈趣科技股份有限公司 | Rotating speed measuring method and device fusing multiple characteristic data |
| CN110514862B (en) * | 2019-08-16 | 2020-10-27 | 西安交通大学 | High-speed rail running speed estimation method utilizing speed scanning |
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- 2010-09-30 CN CN201010540328.4A patent/CN102053166B/en active Active
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| EP0863404A1 (en) * | 1997-03-07 | 1998-09-09 | AVL List GmbH | Method and apparatus for the detection of an engine speed value from the emitted sound |
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| EP1043590A1 (en) * | 1999-04-08 | 2000-10-11 | HKR Climatec GmbH | Method and device for determining the rotational speed of a DC commutator motor |
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Also Published As
| Publication number | Publication date |
|---|---|
| ITMI20101787A1 (en) | 2011-04-08 |
| IT1401164B1 (en) | 2013-07-12 |
| CN102053166A (en) | 2011-05-11 |
| DE102009045410A1 (en) | 2011-04-14 |
| DE102009045410B4 (en) | 2021-05-06 |
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