CN103460596A - Motor drive device and electric appliance using same - Google Patents
Motor drive device and electric appliance using same Download PDFInfo
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- CN103460596A CN103460596A CN2012800169324A CN201280016932A CN103460596A CN 103460596 A CN103460596 A CN 103460596A CN 2012800169324 A CN2012800169324 A CN 2012800169324A CN 201280016932 A CN201280016932 A CN 201280016932A CN 103460596 A CN103460596 A CN 103460596A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Provided is an inexpensive, small motor drive device (22) that can drive stably and smoothly without sudden increases in bus voltage even though small capacity flat capacitors are provided. The motor drive device (22) has a rectification and smoothing circuit (2), an inverter (3) that converts direct current power obtained from the rectification and smoothing circuit (2) to alternating current power and provides the same to a brushless DC motor (4), and a control unit (30) that outputs a drive signal to the inverter (3). During a period in which a switching element for one arm of a plurality of arms has a PWM output, the drive signal controls the inverter (3) such that a switching element for another arm of the plurality of arms, for which upper and lower are on the opposite side to the one arm, forms ON output. When the control unit (30) switches the phase of the electrification of the brushless DC motor (4), the drive signal is output such that the switching element for the arm on the opposite of the arm for which the ON output is complete starts an ON output.
Description
Technical field
The present invention relates to drive brushless DC(direct current) motor drive of motor and use its electric equipment.
Background technology
The first existing motor drive, according to actuating speed, carry out the speed feedback and drive, and carries out rectangular wave drive.Fig. 7 is the block diagram that carries out the first existing motor drive of rectangular wave drive.Fig. 8 means the figure of waveform of the driving signal of the first existing motor drive.
In Fig. 7, from the alternating electromotive force of AC power 201, by the rectification partes glabra 202 formed by four rectifier diode 202a～202d and smmothing capacitor 202e, become direct current power, this direct current power is input to inverter 203.Inverter 203 is that six arms by consisting of with diode 203g～203l six switch element 203a～203f and six back flow currents carry out three phase bridge and form.Inverter 203 is converted to the direct current power of input the alternating electromotive force of assigned frequency, outputs to brushless DC motor 204.
The voltage of the lead-out terminal of position detection part 205 based on inverter 203, obtain the information of the induced voltage produced by the rotation of brushless DC motor 204.Based on this information, position detection part 205 detects the relative position of the rotor 204a of brushless DC motor 204.The rotary speed of the calculated signals brushless DC motor 204 of speed estimating section 206 based on from position detection part 205.Waveform generating unit 207 is calculated PWM(Pulse Width Modulation according to the speed calculated by speed estimating section 206: duty ratio pulse-width modulation) is connected width, the arm of energising in signal deciding inverter 203 based on from position detection part 205, generate the waveform signal that means its result.The waveform signal of drive division 208 based on from waveform generating unit 207 carries out the driving of the switch element 203a～203f of inverter 203.Now, the driving signal from drive division 208 outputs, become the switching waveform shown in Fig. 8.Fig. 8 means to be input to the waveform of driving signal of the grid of six switch element 203a～203f.As shown in Figure 8, the switch element that carries out a upper arm in 3 upper arm carries out the PWM output that the conducting based on pulse-width modulation disconnects repeatedly, and carries out the conducting output of the always conducting of switch element of a underarm in 3 underarms.Thus, side switch element 203a, the 203c by forming upper arm and the PWM duty ratio of 203e are connected the electric current that width adjustment flows through brushless DC motor 204, can tackle the change of rotary speed of brushless DC motor 204 and the variation of load.
According to above-mentioned the first existing structure, on one side the motor drive that the speed of change brushless DC motor is driven arbitrarily on one side can be provided.
In addition, as the second existing motor drive, for example, as disclosed as patent documentation 1, feature with first existing motor drive, and make the existing motor drive of capacity ratio first of smoothing capacitor little, containing large ripple component ground in busbar voltage (the output voltage of rectification partes glabra, is applied to the direct voltage on inverter) is driven.Fig. 9 means the block diagram of the second existing motor drive of the smmothing capacitor that uses so little electric capacity.
In Fig. 9, from the alternating electromotive force of AC power 301, be rectified the rectifier diode 302a of partes glabra 302～302d rectification, smoothed capacitor 302e is level and smooth afterwards.At this, because the electric capacity of smmothing capacitor 302e is little, so come the voltage (busbar voltage) of self-rectifying partes glabra 302 to be imported into inverter 303 with the state that contains large ripple component.Inverter 303 is that six arm three phase bridge by consisting of with diode 303g～303l six switch element 303a～303f and six back flow currents form.The direct current power that contains pulsation that inverter 303 will be inputted is converted to the alternating electromotive force of assigned frequency, and outputing to brushless DC motor 304(is stator 304b strictly speaking).
The voltage of the lead-out terminal of position detection part 305 based on inverter 303, obtain the information of the induced voltage produced by the rotation of brushless DC motor 304.Based on this information, position detection part 305 detects the relative position of the rotor 304a of brushless DC motor 304.In addition, in the voltage that contains large pulsation of rectification partes glabra 302 outputs, when voltage is low, position detection part 305 is difficult to detect exactly above-mentioned relative position, so the relative position that the positional information of position deduction section 306 position-based test sections 305 is inferred rotor 304a.; in the situation that be below setting by the output voltage of the detected rectification partes glabra 302 of voltage detection department 307; switching part 308 adopts signal from position deduction section 306 as position detection signal; waveform generating unit 309 determines arm and the PWM duty ratio width of energising in inverter 303, generates the waveform signal that means its result.Waveform signal based on being generated by waveform generating unit 309, drive division 310 drives the switch element 303a～303f of inverter 303.
According to above-mentioned the second existing structure, even be the voltage that contains large pulsation from the busbar voltage of rectification partes glabra 302 outputs, the speed that also can change arbitrarily brushless DC motor on one side drives load on one side,, can make the existing motor drive of capacity ratio first of smmothing capacitor 302e little, so can provide than the more cheap and small-sized motor drive of the first existing motor drive.
The prior art document
Patent documentation
Patent documentation 1: TOHKEMY 2005-198376 communique
Summary of the invention
The problem that invention will solve
But, in the above-mentioned second existing motor drive, while having the switching of energising phase of brushless DC motor, busbar voltage sharply rises, the problem that the level and smooth driving of brushless DC motor becomes difficult.Particularly at electric currents such as high-speed driving or high capacity drivings, under large state, there is the circuit because overvoltage in the poorest situation and the problem of destroyed grade.Fig. 9, Figure 10 for concrete example and Figure 11 to such problem describe.Figure 10 means the driving signal of the second existing motor drive and the waveform of electric current, and Figure 11 means the current path of the second existing motor drive.
At this, the stator 304b of the brushless DC motor 304 that will be connected with switch element 303d with the switch element 303c of the inverter 303 of Fig. 9 describes mutually as V.In Figure 10, time (1)～(5) be the energising of brushless DC motor 304 mutually identical during, during this period, (switch element 303a carries out switch, PWM output), switch element 303d becomes 100% energising (that is, conducting output) (being conducting output at time (1)～(4) switch element 303d strictly speaking).In the time (1) and (3) of Figure 10, become identical switching mode, current path is the path shown in Figure 11 (a).In the time (2) and (4) of Figure 10, become identical switching mode, current path is Figure 11 (b).
In the time (5) of Figure 10, the switch element 303d that is positioned at underarm is switched to disconnection from conducting, switch element 303f is switched to conducting from disconnection, but now,, the switch element 303a of upper arm is for disconnecting, so use the electric current of diode 303h to flow to brushless DC motor 304 by back flow current, on the other hand, electric current from brushless DC motor 304 flows through back flow current diode 303i, consequently, by the path current shown in Figure 11 (c), flows into smmothing capacitor 302e.Now, because smmothing capacitor 302e is little electric capacity, so the voltage at the two ends of smmothing capacitor 302e, be that busbar voltage sharply rises.Like this, in the above-mentioned second existing motor drive, while having the switching when the energising phase of brushless DC motor, busbar voltage sharply rises, the problem that the level and smooth driving of brushless DC motor becomes difficult.
So, the present invention solves above-mentioned existing problem and researches and develops, purpose is to provide a kind of smmothing capacitor with having little electric capacity independently, can busbar voltage sharply not carry out the cheap and small-sized motor drive of more stable level and smooth driving with rising.
For solving the method for problem
The motor drive of a mode of the present invention, with AC power, be connected, the above-mentioned brushless DC motor of the energising mutual-assistance that has the brushless DC motor of a plurality of windings by switching rotarilys actuate, described motor drive comprises: rectification circuit, and it carries out rectification to the alternating electromotive force from above-mentioned AC power input, partes glabra, it comprises capacitor and reactor, and the output from above-mentioned rectification circuit is carried out smoothly, the resonance frequency of described capacitor and reactor is higher than 40 times of the frequency of above-mentioned alternating electromotive force, inverter, it will comprise that switch element and back flow current are with the circuit of diode during as an arm, there is a plurality of upper arm and underarm and be connected in series the branch road (leg) formed, the direct current power that utilizes above-mentioned partes glabra and obtain is converted to alternating electromotive force, be supplied to above-mentioned brushless DC motor, and control part, it will indicate above-mentioned inverter supply capability to output to above-mentioned inverter to the supply driving signal constantly of above-mentioned brushless DC motor, wherein, the above-mentioned inverter of above-mentioned driving signal controlling, make the switch element of an arm in described a plurality of arms made this switch element repeatedly carry out conducting based on pulse-width modulation and disconnection PWM output during, with this arm up and down the switch element of an arm in a plurality of arms of a contrary side carry out conducting output so that the always conducting of this switch element, above-mentioned control part is exported above-mentioned driving signal, so that switching the energising phase time of above-mentioned brushless DC motor, with the conducting end of output the switch element of arm of arm opposition side start conducting output.
According to described structure, even the energising phase of switching brushless DC motor, the path of returning to brushless DC motor due to the electric current of the energising phase that flows through disconnection always exists, so get back to the current path of little electric capacity smmothing capacitor, disappears, and the sharply rising of busbar voltage is suppressed.
The effect of invention
Motor drive of the present invention, when a kind of switching of the phase that suppresses to switch on can be provided, the sharply rising of busbar voltage, can realize more stable level and smooth electric motor driven cheapness and small-sized motor drive.
The accompanying drawing explanation
Fig. 1 is the block diagram of the motor drive of embodiments of the present invention.
Fig. 2 means the sequential chart of waveform of the driving signal of this execution mode.
Fig. 3 means the figure of the waveform of the driving signal of this execution mode and electric current.
Fig. 4 means the figure of the current path of this execution mode.
Fig. 5 (a) means the figure of waveform of the busbar voltage of existing motor drive, and Fig. 5 (b) means the figure of waveform of the busbar voltage of this execution mode.
Fig. 6 is the major part sectional view of the brushless DC motor of this execution mode.
Fig. 7 is the block diagram of the first existing motor drive.
Fig. 8 means the sequential chart of waveform of the driving signal of the first existing motor drive.
Fig. 9 is the block diagram of the second existing motor drive.
Figure 10 means the figure of the waveform of the driving signal of the second existing motor drive and electric current.
Figure 11 means the second existing motor drive and figure current path.
Embodiment
The motor drive of a mode of the present invention, with AC power, be connected, the above-mentioned brushless DC motor of the energising mutual-assistance that has the brushless DC motor of a plurality of windings by switching rotarilys actuate, described motor drive comprises: rectification circuit, and it carries out rectification to the alternating electromotive force from above-mentioned AC power input, partes glabra, it comprises capacitor and reactor, and the output from above-mentioned rectification circuit is carried out smoothly, the resonance frequency of described capacitor and reactor is higher than 40 times of the frequency of above-mentioned alternating electromotive force, inverter, it will be in the time comprising that circuit that switch element and back flow current form with diode is as an arm, there is a plurality of upper arm and underarm and be connected in series the branch road formed, the direct current power that utilizes above-mentioned partes glabra and obtain is converted to alternating electromotive force, be supplied to above-mentioned brushless DC motor, and control part, it will indicate above-mentioned inverter supply capability to output to above-mentioned inverter to the supply driving signal constantly of above-mentioned brushless DC motor, wherein, the above-mentioned inverter of above-mentioned driving signal controlling, make the switch element of an arm in described a plurality of arms made this switch element repeatedly carry out conducting based on pulse-width modulation and disconnection PWM output during, with this arm up and down the switch element of an arm in a plurality of arms of a contrary side carry out conducting output so that the always conducting of this switch element, above-mentioned control part is exported above-mentioned driving signal, so that switching the energising phase time of above-mentioned brushless DC motor, with the conducting end of output the switch element of arm of arm opposition side start conducting output.
Thus, even the energising phase of switching brushless DC motor, the path that the energy of accumulating in the energising mutually disconnected returns to brushless DC motor also always is present in inverter, energy does not return the smmothing capacitor of little electric capacity thus, the sharply rising of busbar voltage is suppressed, and the small-sized and cheap motor drive that can carry out the level and smooth driving of stablizing of above-mentioned brushless DC motor can be provided.
At this, above-mentioned control part can also switch the energising phase time of above-mentioned brushless DC motor, before the busbar voltage of the voltage as from the output of above-mentioned partes glabra rises to assigned voltage, make to start with the conducting output of the switch element of the arm of the arm opposition side of above-mentioned conducting end of output.By adopting such structure, busbar voltage can be suppressed become the impossible voltage rising value of bad influence such as unstable of the overvoltage of problem and driving for busbar voltage rises, and stable motor drive can be provided.
In addition, with above-mentioned conducting end of output the switch element of arm of arm opposition side continue conducting output during, also can be at least until flow through above-mentioned conducting end of output the electric current of arm to become setting following.Thus, even busbar voltage rises, also can not become the following electric current inflow capacitor of the current value of problem, can carry out more stable driving.
In addition, with above-mentioned conducting end of output the switch element of arm of arm opposition side continue conducting output during, also can be for until the energising of above-mentioned brushless DC motor switching next time mutually.Thus, the setting of powered-on mode becomes easily, for the software and the system that drive, can simplify, so can improve maintainability and quality.
In addition, the rotor of above-mentioned brushless DC motor also can form by imbed permanent magnet in iron core, and has salient pole.Thus, in the driving of brushless DC motor, with together with the magnet torque of permanent magnet, also can effectively utilize the reluctance torque of salient pole, so export the reduction of torque and relaxed by obtain large advance angle when busbar voltage descends, can carry out more stable driving thus.
In addition, above-mentioned brushless DC motor also can the drive compression machine.In the driving of above-mentioned compressor is controlled, do not need the industrial servomotor control of picture etc., high-precision rotating speed is controlled and acceleration control, and above-mentioned compressor is the load that inertia ratio is larger, so be the considerably less load of change in the speed of short time.Therefore, even when busbar voltage descends, speed fluctuation is also few, can carry out more stable driving.
In addition, above-mentioned compressor can be also reciprocating compressor.Thus, what move back and forth is reciprocating, owing to structurally on rotor, being connected with bent axle, the piston that metallicity and weight are large, so inertia is very large, during lower voltage, can more stably move.
In addition, the cold-producing medium used in above-mentioned compressor can be R600a.Thus, for obtain refrigerating capacity make volume of cylinder and inertia larger, and then can be not easy to be applied in the stable driving of the influence of change of torque.
Another mode of the present invention can be also a kind of electric equipment, and it comprises above-mentioned motor drive and the brushless DC motor driven by above-mentioned motor drive.Thus, in the situation that be used for refrigerator as electric equipment, because above-mentioned motor drive can miniaturization, so motor drive can be accommodated in the little space of the refrigerator that carries out the certain speed driving, can provide the cheap better refrigerator of efficiency that can carry out the speed change.In addition, as electric equipment, be used in the situation of forced draft fan, because the inertia of forced draft fan is very large, so can realize that carrying is easy to small-sized forced draft fan.
Below use accompanying drawing to describe embodiments of the present invention in detail.In addition, below the execution mode of explanation, all mean a preferred concrete example of the present invention.In the moment of the allocation position of the numerical value shown in following execution mode, shape, material, inscape, inscape and connected mode, signal waveform, signal etc., be an example, is not to limit purport of the present invention.The present invention is by the circumscription of claims.Thus, in the inscape of following execution mode, the inscape of not putting down in writing about the independent claims that mean upper concept of the present invention, be not necessary in order to reach solution problem of the present invention, but describe as the inscape that forms preferred mode.
Fig. 1 is the block diagram of the motor drive 22 of embodiments of the present invention.In Fig. 1, AC power 1 is general power frequency supply, the power supply of 50 or the 60Hz that is effective value 100V in Japan.Motor drive 22 is connected with AC power 1, drives brushless DC motor 4.Below motor drive 22 is described.
This motor drive 22, to adopt the PWM of the rotary speed that can change arbitrarily brushless DC motor 4 to control, and independently can stablize the motor drive that drives smoothly brushless DC motor 4 with the smmothing capacitor with little electric capacity, there is rectifier smoothing circuit 2, inverter 3 and control part 30.
Rectifier smoothing circuit 2 is to be smoothly the circuit of direct current power by the alternating electromotive force rectification from exchanging power supply 1, comprises four rectifier diode 2a～2d, smmothing capacitor 2e and the reactor 2f of bridge joint.Output from rectifier smoothing circuit 2 is imported into inverter 3.At this, in rectifier smoothing circuit 2, four rectifier diode 2a～2d form the rectification part that the alternating electromotive force from AC power 1 is carried out to rectification.
In addition, smmothing capacitor 2e and reactor 2f, set resonance frequency for recently from 40 times of high frequencies of frequency of the alternating electromotive force that exchanges power supply 1, forms partes glabra 2g.Thus, the electric current of resonance frequency becomes outside the scope of power high-order harmonic generation restriction, can reduce higher harmonic current.In addition, by making smmothing capacitor 2e, be such value (little electric capacity, details aftermentioned), busbar voltage contains large ripple component, the electric current that flows to smmothing capacitor 2e from AC power 1 also becomes the electric current of the frequency content that approaches AC power 1, so can reduce higher harmonic current.
In addition, reactor 2f is inserted between AC power 1 and smmothing capacitor 2e, so front or rear all right at rectifier diode 2a～2d.And reactor 2f, remove the common-mode filter of unit and be arranged at rectifier smoothing circuit 2 in the situation that will form high order harmonic component, is equivalent to remove with this high order harmonic component the synthetic ingredient of the reactive component of unit.
At this, driving signal controlling inverter 3 from control part 30 outputs, so that the switch element of an arm in forming a plurality of arms of inverter 3 made this switch element repeatedly carry out conducting based on pulse-width modulation (PWM) and disconnection PWM output during, with this arm up and down the switch element of an arm in a plurality of arms of a contrary side carry out conducting output so that the always conducting of this switch element.Thus, by changing the PWM duty ratio, connect width, can at random change the speed of brushless DC motor 4.
Now, control part 30 output drive signals so that at the energising phase time that has switched brushless DC motor 4, with the conducting end of output the switch element of arm of arm opposition side start conducting output.That is,, so that seamlessly continuous mode is exported in conducting, switching is as the arm (being switch element) of the object of conducting output.Thus, switching the energising phase time, generation current does not flow through the such current path of smmothing capacitor 2e of little electric capacity, so the sharply rising of busbar voltage is suppressed.Below each inscape that forms control part 30 is elaborated.
The both end voltage that voltage detection department 6 detects as the smmothing capacitor 2e of the voltage between DC bus (busbar voltage).
Due to the positional information from position detection part 5 when busbar voltage be that assigned voltage becomes unstable when following, so switching part 8 is in the situation that be below threshold value by the detected value of voltage detection department 6 detected busbar voltages, the positional information of chosen position test section 5 and chosen position are not inferred the positional information of section 9 and are exported.In the situation that be more than threshold value by the detected magnitude of voltage of voltage detection department 6, switching part 8 positional information of chosen position test section 5 is again exported.
Relative position the output of the rotor 4a of brushless DC motor 4, according to the positional information from switching part 8 outputs and the speed of being inferred by speed estimating section 7, is inferred by position deduction section 9.For example, in the situation that control cycle was 100 μ seconds, from the relative position shown in the positional information of switching part 8, be electric angle 60deg, in the situation that the speed of being inferred by speed estimating section 7 is 50r/s, brushless DC motor 4 has the structure of 4 utmost points in the present embodiment, power frequency becomes the 100Hz of 2 times of speed, so 9 outputs of position deduction section add the signal of the signal of 100Hz in 100 μ leading phase place (3.6deg) between second, the i.e. positional information of 63.6deg on 60deg.
Switch arm determination section 10, the positional information based on by switching part 8 output, which in the underarm that determines whether to make to comprise the upper arm of switch element 3a, 3c and 3e and comprise switch element 3b, 3d and 3f carries out switch and carries out PWM output.These are by having in advance for the table of positional information and can realizing simply.In present embodiment, switch arm determination section 10 about the change (that is, at upper arm, carry out PWM output, or carry out PWM output at underarm) of the arm of the side of carrying out PWM output, determines with the switching of the energising phase of brushless DC motor 4 simultaneously.
In present embodiment, upper and lower arm continue respectively that PWM output and conducting export during, the phase angle of getting brushless DC motor 4 is 60deg.Carry out position probing in the situation that take the zero crossing of induced voltage as benchmark (base), the current value of exporting the energising phase stopped in the scope that can drive during 60deg is 0.That is, at least until become the following lasting conducting output of 0 this rated current value.
In addition, waveform generating unit 11, utilize the detected busbar voltage of voltage detection department 6, becomes large mode with advance angle when the decline of voltage and controlled.
Drive division 12, the waveform signal based on from 11 outputs of waveform generating unit, output indication inverter 3 supply capabilities are to the supply driving signal constantly of three phase windings of brushless DC motor 4.Particularly, drive signal to make the switch element 3a of inverter 3～3f conducting or disconnection (below be denoted as conducting/disconnection).Thus, stator 4b is applied to best alternating electromotive force, rotor 4a rotation, brushless DC motor 4 is driven.
Then, the electric equipment of the motor drive 22 that uses present embodiment described.An example as electric equipment, describe refrigerator 21.
Be mounted with compressor 17 in refrigerator 21, but rotatablely moving of the rotor 4a of brushless DC motor 4 is converted to reciprocating motion by bent axle (not shown).The piston be connected with bent axle (not shown), by reciprocating motion in cylinder, by the refrigerant compression in cylinder.That is, compressor 17 comprises brushless DC motor 4, bent axle, piston, cylinder.
The compress mode of compressor 17 (mechanism's mode), can adopt the mode arbitrarily such as rotary-type, Scrawl.In present embodiment, the situation of Reciprocatory is described.The compressor 17 of Reciprocatory, the volume-variation of the cylinder that the reciprocating motion by piston causes is carried out compressed refrigerant, so inertia is large.Therefore, even descend in busbar voltage, when torque reduces, the change of the rotary speed of brushless DC motor 4 is also little, so the driving of compressor 17 is stable.
Cold-producing medium used in compressor 17, be generally R134a(HFC:Hydro Fluoro Carbon) etc., but, in present embodiment, cold-producing medium is used the R600a(iso-butane).R600a compares the global warming coefficient with R134a less, and refrigerating capacity is low.In the present embodiment, compressor 17 consists of reciprocating-type compressor, and, in order to ensure refrigerating capacity, increases volume of cylinder.The compressor 17 that volume of cylinder is large, because inertia is large, so even, in the situation that busbar voltage descends, brushless DC motor 4 also rotates because of inertia.Thus, the change of rotary speed tails off, and can carry out more stable synchronous driving.
Cold-producing medium by after compressor 17 compressions, by condenser 18, pressure reducer 19, evaporator 20, return to compressor 17 successively again.Form such kind of refrigeration cycle.Now, because condenser 18 carries out heat release, evaporator 20 is absorbed heat, so can carry out cooling and heating.Load this kind of refrigeration cycle and form refrigerator 21.Herein, the example as other electric equipment, have forced draft fan, particularly, the forced draft fan that possesses the fan that brushless DC motor 4 driven arranged.
Then, the action of the motor drive 22 that forms as mentioned above described.At first, about driving signal and the decision of carrying out the phase (arm) of PWM output to describe.Fig. 2 means the sequential chart of waveform of the signal of the driving to inverter 3 of the present embodiment in 1 cycle of electric angle.
In Fig. 2, each waveform is for making the driving signal of switch element 3a, 3c, 3e, 3b, 3d, 3f conducting/disconnection.Switch element 3a～3f is the element that makes the high level effective (active high) of switch element conducting when driving signal to be high level.Switch arm determination section 10 as shown in Figure 2, has table in advance, so that take 30deg as benchmark, carries out the arm of a side of PWM output by every 60deg switching.The phase place that upper arm carries out PWM output is 30～90deg, 150～210deg, 270～330deg, at phase place underarm in addition, carries out PWM output.It is conducting output during this period that the arm that does not carry out a side of PWM output is set for.The waveform that means the moment of energising is determined by waveform generating unit 11.That is, in the present embodiment, waveform generating unit 11 is used the 120deg square waves, and switch element 3a, 3c, the 3e of the side arm 120deg that staggers is respectively switched on.Lower side arm staggers 120deg ground too by switch element 3b, 3d, 3f energising.About switch element 3a and 3b, 3c and 3d, 3e and 3f, respectively there is respectively the off period of 60deg between during energising each other.Arm carries out PWM output or becomes the decision that switch arm determination section 10 is deferred in conducting output, sets the switching of arm of energising and the switching that makes the arm of upper and lower which side carry out PWM output for and carries out simultaneously.
In addition, describe in the 120deg energising in present embodiment, but also can be driven with wide-angles such as 150deg.Now, same with the control at 120deg, only the arm by the arm opposition side that makes and disconnect becomes conducting state and just can easily realize.By becoming the wide-angle current peak, descend, and the reduction of the teeth groove of electric current (cogging) composition, so relaxed by the power high-order harmonic generation that amasss the frequency content showed of actuating speed and number of poles.
Waveform and the mobile of electric current of the driving signal while then, the energising of brushless DC motor 4 being switched mutually describe.Fig. 3 means the figure of the waveform of the driving signal of the present embodiment of the moment amplification of the switching mutually of switching on and electric current.Fig. 4 means the figure of the current path of present embodiment.
The V phase current of Fig. 3 is the electric current of the winding (V phase) that flows through the stator 4b be connected with 3d with switch element 3c.The bus current of Fig. 3 means to flow to from smmothing capacitor 2e the electric current of inverter 3.
Phase place when time (4) of Fig. 3～time (5) powered-on mode (energising phase) switching becomes the 90deg of Fig. 2.In time (1) and the time (3) of Fig. 3, the V phase current is by identical current path.Particularly, by following current path: from smmothing capacitor 2e, switch element 3a and the switch element 3d by inverter 3 returns to smmothing capacitor 2e again as shown in Figure 4 (a).
In addition, in time (2) and the time (4) of Fig. 3, the V phase current is by identical current path.Particularly, as shown in Figure 4 (b),, from the current path of smmothing capacitor 2e, do not flow through the electric current of switch element 3a by back flow current diode 3h, become back flow current.
Under this state, move to the time (5) from the time (4) of Fig. 3, when energising is switched mutually, become the current path shown in Fig. 4 (c).Because phase place is 90deg, so switch side by side mutually with energising, the arm of PWM output is switched to underarm (switch element 3f) from upper arm (switch element 3a).Thus, switch element 3a starts conducting output, and switch element 3f starts PWM output.That is, with the switching of energising phase side by side, the arm (upper arm (switch element 3a)) of arm (underarm (switch element the 3d)) opposition side made with the conducting end of output becomes conducting output (having started conducting output).In addition, at the conducting end of output the arm (underarm) of a side become PWM output while starting to export next time, the control of this PWM output can continue.But, in the time (5) of Fig. 3, PWM is for disconnecting constantly, so can not become immediately conducting.
Like this, in the time of with the conducting end of output of switch element 3d as underarm, beginning is as the conducting output of the switch element 3a of upper arm, so form following loop (loop): the V phase current passes through switch element 3a after using diode 3i by back flow current, and electric current is to brushless DC motor 4 mobile (Fig. 4 (c)).In switch element 3a, during conducting is maintained at 60deg, so continue conducting until the V phase current becomes 0 switch element 3a, do not produce to the current path of smmothing capacitor 2e, busbar voltage can not rise.That is, in the conducting end of output of an arm, the conducting of the arm of opposition side output starts, the switch element of the arm of its opposition side continue conducting output during, be at least until flow through the conducting end of output the electric current of arm to become setting following.
Time (6) at Fig. 3 is also flow through V phase current (Fig. 3), but because switch element 3a is conducting, so same with the time (5) of Fig. 3, do not produce the path that the V phase current is got back to smmothing capacitor 2e.Now switch element 3f becomes for the first time conducting after the switching of being switched on mutually, so electric current starts to flow through the current path shown in Fig. 4 (d), bus current starts to flow.Because (7) the V phase current of the time at Fig. 3 becomes 0(Fig. 3), so, as current path, be only the current path of Fig. 4 (d).In the time (8) of Fig. 3, the current path while becoming disconnecting with the same PWM of prior art shown in Fig. 4 (e), do not produce too to the current path of smmothing capacitor 2e, do not cause the rising of busbar voltage.
Fig. 5 (a) expression for waveform of the existing busbar voltage of switching energising phase time, Fig. 5 for busbar voltage (b) of the switching energising phase time of present embodiment means.In existing mode, the current path that switching energising phase time exists energy to charge in smmothing capacitor 2e, so, as shown in the waveform 35 of Fig. 5 (a), busbar voltage sharply rises.On the other hand, in the present embodiment, the current path that switching energising phase time does not exist energy to charge in smmothing capacitor 2e, so, as shown in the busbar voltage waveform of Fig. 5 (b), the rising of busbar voltage does not occur, can carry out stable level and smooth driving.
Then, the structure of the brushless DC motor 4 of present embodiment described.Fig. 6 means the sectional view in rotor 4a, vertical with rotating shaft cross section of the brushless DC motor 4 of present embodiment.
In the rotor 4a of such structure, axle that now will the central authorities of magnet of mind-set (for example magnet 4f) go from rotor 4a is called the d axle, will be from rotor 4a magnet of mind-set (for example magnet 4f) and the axle that for example, goes between adjacent magnet (magnet 4c) with it be called the q axle.At this, the axial inductance L d of d and the axial inductance L q of q have contrary salient pole, are not identical.That is, this means, as motor, except the torque (magnet torque) that the magnetic flux of magnet brings, effectively use the torque (reluctance torque) that utilizes contrary salient pole.Therefore, as motor, can more effectively utilize torque.Consequently, as present embodiment, can access high efficiency motor.
In addition, in the present embodiment, due to the electric capacity that reduces smmothing capacitor 2e, so produce pulsation in busbar voltage, the interval output torque descended in busbar voltage reduces.But, by waveform generating unit 11, controlled so that the decline of the busbar voltage detected with voltage detection department 6 makes the advance angle amount increase ordinatedly, can suppress to export the minimizing of torque, can carry out stable driving.
In addition, the brushless DC motor 4 of present embodiment has at iron core 4g imbeds the rotor 4a that magnet 4c～4f forms, and has salient pole.In addition, except the magnet torque of magnet 4c～4f, the reluctance torque of also using salient pole to bring.Thus, the efficiency in the time of not only can improving low speed, and can further improve the high-speed driving performance.In addition, magnet 4c～4f adopts the rare earth element magnet such as neodymium and improves the ratio of magnet torque, or increases the difference of inductance L d, Lq and while improving the ratio of reluctance torque, can raise the efficiency by changing best energising angle.
Then, to the motor drive 22 by present embodiment, for refrigerator 21 and air conditioner, the situation of drive compression machine 17 describes.In existing motor drive, smmothing capacitor, reactor are larger, and the system that is assembled into needs large space.But smmothing capacitor 2e needs 400 μ F left and right in the prior art, in present embodiment, it can be reduced to several μ F, volume can be reduced to below 1/3.In addition, during driving under the low load as refrigerator 21, reactor 2f is number milli H in the prior art, and the inductance composition compensation of the enough filters of energy (being generally common-mode filter), can realize that the significantly size of motor drive 22 descends and cost degradation.
In addition, in the system of the compressor control only driven with certain speed, can the carrying out in the motor drive of variable speed drive of prior art, the narrow space of system, can not easily be assembled into motor drive in system.But, in the present embodiment, owing to very miniaturization of motor drive can being relaxed so the restriction in space is set, can easily the motor drive that can carry out variable speed drive be assembled in the compressor assembly only driven with certain speed.If speed is variable, can improve the system effectiveness of refrigerator, the refrigerator of more economizing the energy can be provided.
Like this, the motor drive 22 of present embodiment, with AC power 1, be connected, the energising mutual-assistance brushless DC motor 4 that has the brushless DC motor 4 of a plurality of windings by switching rotarilys actuate, described motor drive comprises: rectification circuit (rectifier diode 2a～2d), and it carries out rectification to the alternating electromotive force from AC power 1 input; Partes glabra 2g, it,, by become than the mode of 40 times of the frequency of alternating electromotive force high resonance frequencys, having determined that the smmothing capacitor 2e of value and reactor 2f form, carries out smoothly the output that carrys out self-rectifying circuit; Inverter 3, it is at the circuit that will consist of with diode switch element and back flow current during as an arm, have a plurality of upper arm and underarm and be connected in series the branch road formed, the direct current power that will be obtained by partes glabra 2g is converted to alternating electromotive force, is supplied to brushless DC motor 4; With control part 30, it will indicate inverter 3 supply capabilities to output to inverter 3 to the supply driving signal constantly of brushless DC motor 4.At this, drive signal controlling inverter 3, make the switch element of an arm in a plurality of arms made this switch element repeatedly carry out conducting based on pulse-width modulation and disconnection PWM output during, carry out conducting output so that the always conducting of this switch element with the switch element of an arm in a plurality of arms of the upper and lower opposition side of this arm.And, control part 30 output drive signals so that at the energising phase time of switching brushless DC motor 4, with the conducting end of output the switch element of arm of arm opposition side start conducting output.Thus, even the energising phase of switching brushless DC motor 4, the path that the energy of accumulating in the energising mutually disconnected returns to brushless DC motor 4 also always is present in inverter 3, energy does not return the smmothing capacitor 2e of little electric capacity, the sharply rising of busbar voltage is suppressed, so the small-sized and cheap motor drive that can carry out the level and smooth driving of stablizing of brushless DC motor 4 can be provided.
In addition, as rectifier smoothing circuit 2, comprise becoming than the mode of 40 times of the frequency of AC power 1 high resonance frequencys and determined that the smmothing capacitor 2e of value and reactor 2f form, thus because of the mobile electric current of resonance outside the scope of high order harmonic component power limitations, so can reduce higher harmonic current.
In addition, as rectifier smoothing circuit 2, comprise becoming smmothing capacitor 2e and the reactor 2f formation that has determined value than the mode of 40 times of the frequency of AC power 1 high resonance frequencys, smmothing capacitor becomes little electric capacity thus, the impulse current peak value descends, so can reduce higher harmonic current.
In addition, in the present embodiment, control part 30 and then at the energising phase time of switching brushless DC motor 4, before the busbar voltage of the voltage as from partes glabra 2g output rises to assigned voltage, the conducting output of the switch element of the arm of the arm opposition side made with the conducting end of output starts.Thus, busbar voltage can be suppressed become unstable grade of the overvoltage of problem and driving and affect impossible voltage rising value for busbar voltage rises, and stable motor drive can be provided.
In addition, in the present embodiment, with the conducting end of output the switch element of arm of arm opposition side continue conducting output during, be at least until flow through the conducting end of output the electric current of arm to become setting following.Thus, busbar voltage rises also can not become the following electric current inflow smmothing capacitor 2e of the current value of problem, can carry out more stable driving.
In addition, in the present embodiment, with the conducting end of output the switch element of arm of arm opposition side continue conducting output during, for until the energising of brushless DC motor 4 switching next time mutually.Thus, the setting of powered-on mode becomes easily, for the software and the system that drive, can simplify, so can improve maintainability and quality.
In addition, in present embodiment, the rotor 4a of brushless DC motor 4 forms by imbed magnet (permanent magnet) 4c～4f at iron core 4g, and has salient pole.Thus, in the driving of brushless DC motor 4, with together with the magnet torque of permanent magnet, also can effectively utilize the reluctance torque of salient pole, so waveform generating unit 11 is larger for the busbar voltage advance angle that more descends, the reduction of output torque is relaxed, and can carry out more stable driving thus.
In addition, in the present embodiment, brushless DC motor 4 drive compression machines 17.In the driving of compressor 17 is controlled, do not need the industrial servomotor control of picture etc., high-precision rotating speed is controlled and acceleration control, and compressor 17 is loads that inertia ratio is larger, so be the considerably less load of change in the speed of short time.Therefore, even busbar voltage descends, speed fluctuation is also few, can carry out more stable driving.
In addition, in the present embodiment, compressor 17 is reciprocating compressors.Thus, what move back and forth is reciprocating, structurally at rotor, is connected with metallicity and the large crankshaft and piston of weight, so inertia is very large, during lower voltage, can more stably move.
In addition, in present embodiment, the cold-producing medium used in compressor 17 is R600a.Thus, in order to obtain refrigerating capacity, it is large that volume of cylinder and inertia become, and then can be not easy the stable driving that impact applies the change of torque.
In addition, as the electric equipment of the motor drive 22 that uses present embodiment, in the situation for refrigerator 21, because motor drive can miniaturization, so can be accommodated in the little space of the refrigerator that carries out the certain speed driving, the cheap better refrigerator 21 of efficiency can be provided.
As electric equipment, be used in the situation of forced draft fan in addition, the inertia of forced draft fan is very large, thus can realize carrying out stable driving, and carrying is easy to small-sized forced draft fan.
Above, based on execution mode, motor drive of the present invention and the electric equipment that uses it are illustrated, but the invention is not restricted to such execution mode.Without departing from the spirit and scope of the invention, to each execution mode implement various distortion that those skilled in the art expect and mode, by the inscape combination in any of execution mode and mode, be also contained in the present invention.
Industrial utilizability
Motor drive of the present invention, by the little electric capacity of smmothing capacitor, small-sized and can be stablized level and smooth driving.Thus, motor drive of the present invention is not only applicable to refrigerator and forced draft fan, can be applicable to the compressor of automatic vending machine, showcase, Teat pump boiler yet.In addition, the miniaturization of the electric equipment of the use brushless DC motors such as washing machine, dust catcher, pump also can be used motor drive of the present invention.
Symbol description
1 AC power
2 rectifier smoothing circuits
2a, 2b, 2c, 2d rectifier diode
The 2e smmothing capacitor
The 2f reactor
3 inverters
3a, 3b, 3c, 3d, 3e, 3f switch element
3g, 3h, 3i, 3j, 3k, 3l back flow current diode
4 brushless DC motors
The 4a rotor
The 4b stator
4c, 4d, 4e, 4f magnet (permanent magnet)
The 4g iron core
5 position detection parts
6 voltage detection departments
7 speed estimating sections
8 switching parts
9 position deduction sections
10 switch arm determination sections
11 waveform generating units
12 drive divisions
17 compressors
18 condensers
19 pressure reducers
20 evaporators
21 refrigerators (electric equipment)
22 motor drives
30 control parts
Claims (9)
1. a motor drive is characterized in that:
Described motor drive is connected with AC power, by switching, have a plurality of windings brushless DC motor the energising phase and described brushless DC motor is rotated to driving,
Described motor drive comprises:
Rectification circuit, it carries out rectification to the alternating electromotive force from described AC power input;
Partes glabra, it comprises capacitor and reactor, and the output from described rectification circuit is carried out smoothly, the resonance frequency of described capacitor and reactor is higher than 40 times of the frequency of described alternating electromotive force;
Inverter, it will comprise that switch element and back flow current are with the circuit of diode during as an arm, have a plurality of upper arm and underarm and be connected in series the branch road formed, the direct current power that will be obtained by described partes glabra is converted to alternating electromotive force, and it is supplied to described brushless DC motor; With
Control part, it will indicate described inverter supply capability to output to described inverter to the supply driving signal constantly of described brushless DC motor,
The described inverter of described driving signal controlling, make the switch element of an arm in described a plurality of arms made this switch element repeatedly carry out conducting based on pulse-width modulation and disconnection PWM output during, with this arm up and down the switch element of an arm in a plurality of arms of a contrary side carry out conducting output so that the always conducting of this switch element
Described control part is exported described driving signal, makes the energising phase time at the described brushless DC motor of switching, with the conducting end of output the switch element of arm of arm opposition side start conducting output.
2. motor drive as claimed in claim 1 is characterized in that:
Control part is also switching the energising phase time of described brushless DC motor, before the busbar voltage of the voltage as from the output of described partes glabra rises to assigned voltage, the conducting output of the switch element of the arm of the arm opposition side made with described conducting end of output starts.
3. motor drive as claimed in claim 1 or 2 is characterized in that:
With described conducting end of output the switch element of arm of arm opposition side continue conducting output during, be at least until flow through described conducting end of output the electric current of arm to become setting following.
4. motor drive as described as any one in claim 1～3 is characterized in that:
With described conducting end of output the switch element of arm of arm opposition side continue conducting output during, for until the energising of described brushless DC motor switching next time mutually.
5. motor drive as described as any one in claim 1～4 is characterized in that:
The rotor of described brushless DC motor forms by imbed permanent magnet in iron core, and has salient pole.
6. motor drive as described as any one in claim 1～5 is characterized in that:
Described brushless DC motor drive compression machine.
7. motor drive as claimed in claim 6 is characterized in that:
Described compressor is reciprocating compressor.
8. motor drive as claimed in claim 7 is characterized in that:
The cold-producing medium used in described compressor is R600a.
9. an electric equipment, is characterized in that, comprising:
The described motor drive of any one in claim 1～5; With
The brushless DC motor driven by described motor drive.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011082483A JP2012222842A (en) | 2011-04-04 | 2011-04-04 | Motor drive device and electric appliance using the same |
| JP2011-082483 | 2011-04-04 | ||
| PCT/JP2012/001050 WO2012137399A1 (en) | 2011-04-04 | 2012-02-17 | Motor drive device and electric appliance using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103460596A true CN103460596A (en) | 2013-12-18 |
| CN103460596B CN103460596B (en) | 2016-08-17 |
Family
ID=46968818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280016932.4A Expired - Fee Related CN103460596B (en) | 2011-04-04 | 2012-02-17 | Motor drive and the electric equipment using it |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2012222842A (en) |
| CN (1) | CN103460596B (en) |
| BR (1) | BR112013024711A2 (en) |
| WO (1) | WO2012137399A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3282202A4 (en) * | 2015-04-07 | 2018-12-05 | Hitachi-Johnson Controls Air Conditioning, Inc. | Air conditioner |
| CN109660183A (en) * | 2018-12-24 | 2019-04-19 | 哈尔滨工业大学 | A kind of capacitor miniaturization motor driver |
| CN111886792A (en) * | 2018-06-19 | 2020-11-03 | 松下知识产权经营株式会社 | Motor drive device and refrigerator using same |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6134905B2 (en) * | 2013-03-15 | 2017-05-31 | パナソニックＩｐマネジメント株式会社 | MOTOR DRIVE DEVICE AND ELECTRIC DEVICE USING THE SAME |
| JP6383940B2 (en) * | 2014-03-06 | 2018-09-05 | パナソニックＩｐマネジメント株式会社 | Motor drive device |
| CN107749725B (en) * | 2017-10-20 | 2020-04-07 | 哈尔滨工程大学 | Commutation correction method of position-sensorless direct-current brushless motor |
| JP6776432B2 (en) * | 2019-11-06 | 2020-10-28 | 株式会社ミツバ | Rotating electric machine control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001259281A (en) * | 2000-03-17 | 2001-09-25 | Matsushita Electric Ind Co Ltd | Electric washing machine |
| CN1399402A (en) * | 2001-07-19 | 2003-02-26 | 松下电器产业株式会社 | Motor driver for washing machine |
| JP2011010476A (en) * | 2009-06-26 | 2011-01-13 | Panasonic Corp | Motor drive device and electric apparatus employing the same |
| JP2011010432A (en) * | 2009-06-25 | 2011-01-13 | Panasonic Corp | Motor drive device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4467520B2 (en) * | 2003-09-05 | 2010-05-26 | パナソニック株式会社 | Permanent magnet synchronous motor driving apparatus and driving method for expanding weakening magnetic flux region |
-
2011
- 2011-04-04 JP JP2011082483A patent/JP2012222842A/en active Pending
-
2012
- 2012-02-17 CN CN201280016932.4A patent/CN103460596B/en not_active Expired - Fee Related
- 2012-02-17 WO PCT/JP2012/001050 patent/WO2012137399A1/en active Application Filing
- 2012-02-17 BR BR112013024711A patent/BR112013024711A2/en not_active Application Discontinuation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001259281A (en) * | 2000-03-17 | 2001-09-25 | Matsushita Electric Ind Co Ltd | Electric washing machine |
| CN1399402A (en) * | 2001-07-19 | 2003-02-26 | 松下电器产业株式会社 | Motor driver for washing machine |
| JP2011010432A (en) * | 2009-06-25 | 2011-01-13 | Panasonic Corp | Motor drive device |
| JP2011010476A (en) * | 2009-06-26 | 2011-01-13 | Panasonic Corp | Motor drive device and electric apparatus employing the same |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3282202A4 (en) * | 2015-04-07 | 2018-12-05 | Hitachi-Johnson Controls Air Conditioning, Inc. | Air conditioner |
| US10274211B2 (en) | 2015-04-07 | 2019-04-30 | Hitachi-Johnson Controls Air Conditioning, Inc. | Air conditioner |
| CN111886792A (en) * | 2018-06-19 | 2020-11-03 | 松下知识产权经营株式会社 | Motor drive device and refrigerator using same |
| CN109660183A (en) * | 2018-12-24 | 2019-04-19 | 哈尔滨工业大学 | A kind of capacitor miniaturization motor driver |
Also Published As
| Publication number | Publication date |
|---|---|
| BR112013024711A2 (en) | 2016-12-20 |
| WO2012137399A1 (en) | 2012-10-11 |
| JP2012222842A (en) | 2012-11-12 |
| CN103460596B (en) | 2016-08-17 |
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