CN104362931B - A kind of method and compressor adjusting apparatus for adjusting compressor - Google Patents
A kind of method and compressor adjusting apparatus for adjusting compressor Download PDFInfo
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- CN104362931B CN104362931B CN201410515949.5A CN201410515949A CN104362931B CN 104362931 B CN104362931 B CN 104362931B CN 201410515949 A CN201410515949 A CN 201410515949A CN 104362931 B CN104362931 B CN 104362931B
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Abstract
The invention discloses a kind of method and compressor adjusting apparatus for adjusting compressor, solves the inaccurate technical problem of compressor relevant parameter test of the prior art.This method includes：It is determined that driving current corresponding to the pulse voltage signal of the compressor inputted in air-conditioning equipment；Current parameters information corresponding to driving current is sent to air conditioner operation parameters monitoring device；Drive the rotor in compressor to be rotated by driving current, detect actual angle positional information corresponding to rotor, and send it to the air conditioner operation parameters monitoring device；Receive the misalignment angle that air conditioner operation parameters monitoring device is tested and determined to actual angle positional information based on estimation angular position information；Wherein, the information for the angle position that angular position information is the rotor determined comprising compressor according to pulse voltage signal is estimated；According to misalignment angle, control compressor is adjusted to the angle position of rotor.
Description
Technical field
The present invention relates to electronic technology field, more particularly to a kind of method and compressor adjusting apparatus for adjusting compressor.
Background technology
With the continuous development of scientific technology, the whole world is advocated " environmentally friendly low-carbon ", environmentally friendly convertible frequency air-conditioner enter one it is new when
Generation, convertible frequency air-conditioner also arise at the historic moment.Convertible frequency air-conditioner refers to that the frequency of the working power of its compressor and the rotating speed of compressor are all
Variable air-conditioning.Convertible frequency air-conditioner reaches the control to room temperature by the change of motor speed in compressor, therefore compressor is
The heart of air-conditioning, its rotating speed directly influence the service efficiency of air-conditioning, and frequency converter is exactly to be used for controlling and adjusting compressor rotary speed
Control system, be allowed to be in optimal rotary regimes all the time, so as to improve Energy Efficiency Ratio.
In the prior art, in the production phase, or before coming into the market, the driving that manufacturer can be to compressor is carried out compressor
Test, to assess whether the performance of compressor meets the requirements.The method of current test is typically to control frequency converter input one permanent
Determine the test signal of frequency, test signal is inputted in compressor.Then the operational factor of compressor is measured, passes through measurement parameter
Assessed again.
Then, when above-mentioned test mode can not detect to drive the rotor of compressor exactly, rotor
Position whether meet service condition, test result is not accurate enough.
The content of the invention
The embodiment of the present invention provides a kind of method and compressor adjusting apparatus for adjusting compressor, for realizing based on test
Adjustment of the misalignment angle to rotor it is also real so that compressor can be operated according to the angle position of anticipation
Reveal the technique effect for the driveability that compressor is more accurately tested out before factory.
A kind of method for adjusting compressor, using in air-conditioning equipment, may comprise steps of：
It is determined that driving current corresponding to the pulse voltage signal of the compressor inputted in the air-conditioning equipment；
Current parameters information corresponding to the driving current is sent to air conditioner operation parameters monitoring device；
Drive the rotor in the compressor to be rotated by the driving current, detect the rotor pair
The actual angle positional information answered, and the actual angle positional information is sent to the air conditioner operation parameters monitoring device；
The air conditioner operation parameters monitoring device is received to be based on estimating that angular position information believes the actual angle position
Cease the misalignment angle tested and determined；Wherein, it is described estimation angular position information for comprising the compressor according to institute
State the information of the angle position of the rotor of pulse voltage signal determination；
According to the misalignment angle, the compressor is controlled to be adjusted the angle position of the rotor.
On the other hand, this application provides a kind of compressor adjusting apparatus, including：
Test signal determining unit, the pulse voltage signal of the compressor for determining to input in the air-conditioning equipment are corresponding
Driving current；
Transmitting element, set for current parameters information corresponding to the driving current to be sent to air conditioner operation parameters monitoring
It is standby；
Test cell, for driving the rotor in the compressor to be rotated by the driving current, detect
Actual angle positional information corresponding to the rotor, and the actual angle positional information is sent to the operation of air conditioner
Parameter monitoring equipment；
The test cell is additionally operable to receive the air conditioner operation parameters monitoring device based on estimation angular position information pair
The misalignment angle that the actual angle positional information is tested and determined；Wherein, the estimation angular position information is institute
State the information of the angle position for the rotor that compressor determines according to the pulse voltage signal；
Adjustment unit, for according to the misalignment angle, controlling angle position of the compressor to the rotor
It is adjusted.
Said one or multiple technical schemes in the embodiment of the present application, at least there is following one or more technology effects
Fruit：
In the technical scheme of the application, the electricity of driving compressor is determined by obtaining the voltage signal inputted in air-conditioning equipment
The driving current of machine rotor, and driving current is sent to air conditioner operation parameters monitoring device and tested, while detect acquisition
Under the driving current, actual angle position corresponding to rotor in compressor, by its with it is directly true according to driving current
Fixed estimation angle position is compared, and determines existing error, i.e. misalignment angle, so as to be somebody's turn to do according to what is detected
Misalignment angle is adjusted to the angle of rotor.For example, in brshless DC motor, by detecting and adjusting rotor
The angle position of (more magnetic pole ring-shaped rotors), realizes the commutation to stator current, so that rotor is continuously stable to a direction
Ground rotates, therefore solve causes the angular error of the rotor in compressor larger because testing inaccuracy in the prior art
Technical problem, realize by detection of the air conditioner operation parameters monitoring device to the position of the rotor of compressor, and be based on
Adjustment of the misalignment angle of test to rotor, so that compressor can be operated according to the angle position of anticipation,
Also the technique effect for the driveability that compressor is more accurately tested out before dispatching from the factory is realized.
Brief description of the drawings
Fig. 1 is the method flow diagram of the adjustment compressor in the embodiment of the present application；
Fig. 2 is the primary structure figure of the compressor adjusting apparatus in the embodiment of the present application.
Embodiment
The embodiment of the present application provides a kind of method and compressor adjusting apparatus for adjusting compressor, for based on the inclined of test
Adjustment of the declinate degree to rotor, so that compressor can be operated according to the angle position of anticipation, also realize out
The technique effect of the driveability of compressor is more accurately tested out before factory.
In order to solve the above-mentioned technical problem, the technical scheme general thought that the application provides is as follows：
It is determined that driving current corresponding to the pulse voltage signal of the compressor inputted in the air-conditioning equipment；
Current parameters information corresponding to the driving current is sent to air conditioner operation parameters monitoring device；
Drive the rotor in the compressor to be rotated by the driving current, detect the rotor pair
The actual angle positional information answered, and the actual angle positional information is sent to the air conditioner operation parameters monitoring device；
The air conditioner operation parameters monitoring device is received to be based on estimating that angular position information believes the actual angle position
Cease the misalignment angle tested and determined；Wherein, it is described estimation angular position information for comprising the compressor according to institute
State the information of the angle position of the rotor of pulse voltage signal determination；
According to the misalignment angle, the compressor is controlled to be adjusted the angle position of the rotor.
In the technical scheme of the application, the electricity of driving compressor is determined by obtaining the voltage signal inputted in air-conditioning equipment
The driving current of machine rotor, and driving current is sent to air conditioner operation parameters monitoring device and tested, while detect acquisition
Under the driving current, actual angle position corresponding to rotor in compressor, by its with it is directly true according to driving current
Fixed estimation angle position is compared, therefore can determine a misalignment angle, so as to according to the deviation detected
Angle is adjusted to the angle of rotor.For example, in brshless DC motor, by detecting and adjusting rotor (more magnetic
Pole ring-shaped rotor) angle position, the commutation to stator current is realized, so that rotor continuously stably turns to a direction
It is dynamic, therefore solve causes in the larger technology of the angular error of the rotor of compressor because testing inaccuracy in the prior art
Problem, realize by detection of the air conditioner operation parameters monitoring device to the position of the rotor of compressor, and based on test
Adjustment of the misalignment angle to rotor it is also real so that compressor can be operated according to the angle position of anticipation
Reveal the technique effect for the driveability that compressor is more accurately tested out before factory.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, expression may have three kinds of passes
System, for example, A and/or B, can be represented：Individualism A, while A and B be present, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.
Embodiment one
The application first aspect provides a kind of method for adjusting compressor, using in air-conditioning equipment, refer to Fig. 1, should
Method may comprise steps of：
S1：It is determined that driving current corresponding to the pulse voltage signal of the compressor inputted in the air-conditioning equipment.
S2：Current parameters information corresponding to the driving current is sent to air conditioner operation parameters monitoring device.
S3：Drive the rotor in the compressor to be rotated by the driving current, detect the motor and turn
Actual angle positional information corresponding to son, and the actual angle positional information is sent to the air conditioner operation parameters monitoring and set
It is standby.
S4：Receive the air conditioner operation parameters monitoring device and be based on estimation angular position information to the actual angle position
The misalignment angle that information is tested and determined；Wherein, it is described estimation angular position information be comprising the compressor according to
The information of the angle position for the rotor that the pulse voltage signal determines.
S5：According to the misalignment angle, the compressor is controlled to be adjusted the angle position of the rotor.
First, when to air-conditioning equipment input supply voltage, input can be obtained by the driving plate in the compressor
The pulse voltage signal of the compressor, and by pulse voltage signal be converted to driving compressor rotor driving voltage
Or driving current, then by the driving plate in air-conditioning equipment can detect to driving voltage and driving current corresponding to it is related ginseng
Number, relevant parameter is sent to air conditioner operation parameters monitoring device tested calmly.Wherein, described air-conditioning equipment can herein
To be frequency-variable air-conditioner, motor is made up of rotor and stator two parts, and rotor is the rotary part in motor, Ke Yiyong
To realize the conversion between electric energy and mechanical energy and mechanical energy and electric energy.
Because the control of convertible frequency air-conditioner is complex, in the present invention implements profit, determining to drive according to pulse voltage signal
After streaming current, step S2 is can perform, i.e., its corresponding current parameters information is sent to functional test air-conditioning as test parameter
Tested in operational factor monitoring device.
In the technical scheme of the application, air conditioner operation parameters monitoring device is by automatically controlled establishment, fictitious load and detection point
Module composition is analysed, can be communicated by communication interface between them.Wherein, electrically-controlled component is divided into driving plate and master control electricity
Road, driving plate include the electric current of inverter, the electrical parameter of detection and analysis module detection electrically-controlled component and the UVW three-phases of fictitious load
Value, detection and analysis module can obtain the actual current value of fictitious load and input to the target current value of fictitious load, pass through
Whether the electrical parameter that comparative analysis can detect electrically-controlled component is correct.
While step S2, this programme can also include：The compressor is controlled according to driving current determination and motor
Estimation angular position information corresponding to rotor, control driving plate will estimate that angular position information and current parameters information are sent to institute
State air conditioner operation parameters monitoring device.
It can stablize in the embodiment of the present invention, between air conditioner operation parameters monitoring device input voltage 160-260VC normal
Work, can detect whether each functional module of outdoor unit, component working state are normal, and outdoor unit can be by correlation by driving plate
Parameter information is transmitted to air conditioner operation parameters monitoring device, such as：Outdoor temperature, external disk (evaporator) temperature, compressor air-discharging temperature
The parameter information such as degree, compressor operation frequency, outdoor unit fault code, outdoor unit protection code.And can be according to dependency number
After being tested, to the evaluation that individual part is integrated in the air-conditioning equipment.For example, the output of test AC blower fan relay,
The output of four-way valve relay is consistent with AC-input voltage, and various electric currents, voltage accuracy, waveform are accurately detected and shown.
In actual applications, using the air conditioner operation parameters monitoring device in detection voltage, electric current, PFC (power factor (PF))
When data can be accurate to after decimal point 2, and be shown in man-machine interface, and every electrically-controlled component commissioning content and knot can be said
Fruit is stored, convenient to consult.
In S3, when motor rotor is rotated, in electric motor starting, pass through the stator magnet of continuous control motor
The amplitude of field and direction, rotor can be caused to be swung in certain a small range.Then pass through air conditioner operation parameters monitoring device
Actual angle position corresponding to rotor can be detected.It is for instance possible to use the vector control mode without sensor, i.e., to spy
Determine three-phase or two phase windings are passed through electric current, rotor is fixed on a certain position, as zero point, pass through the inductance difference of d axles and q axles
The detection of position when can realize static.To obtain high-precision position feedback information, can select appropriate voltage/current to
Amount excitation motor, makes rotor produce fine motion；If motor stalling illustrates current stator field direction and rotor magnetic pole position center line
Overlap.
Specifically, the rotor for driving the compressor by the driving current is rotated, the motor is detected
Actual angle positional information corresponding to rotor, including：Determine corresponding when the driving current drives the rotor to rotate
Rotor rotating speed, and the actual angle positional information according to corresponding to the rotor rotating speed determines the rotor.I.e.
By detecting rotating speed of the rotor within the unit interval, angular speed corresponding to rotor can be tested out, it is initial based on its
Angle can calculate corresponding actual angle positional information when motor rotates.
For example, if the power frequency of rotor is 50HZ, i.e., in 1s time, can motor rotor rotate 50 circles,
The rotational angle often enclosed is 360 °, then within a certain period of time, power frequency and the motor of test turn according to corresponding to driving current
The initial angle positional information of son determines actual angle positional information.
Or after being converted into pulse voltage signal to drive driving voltage or the driving current of compressor drum,
The rotation of the rotor of compressor can be controlled by the conversion of deviation and sound coordinate system again, so as to pass through counter electromotive force
To detect the position of rotor.
In actual mechanical process, the mode for detecting the actual angle position of rotor is not limited only to aforesaid way, existing skill
The technical approach deposited in art can turn into the technological means that the present invention realizes the test, will not be repeated here.
In the embodiment of the present application, S4 specific implementation procedure is：Determine to estimate by air conditioner operation parameters monitoring device
First angle location parameter corresponding to angular position information, and second angle position corresponding with actual angle positional information ginseng
Number；Then receive again it is from air conditioner operation parameters monitoring device, joined according to first angle location parameter and second angle position
The misalignment angle that number determines.Wherein, misalignment angle can with when joined according to above-mentioned first angle location parameter and second angle position
What the difference of number determined, and it can be the rotor that the power frequency according to corresponding to driving current is estimated to estimate angular position information
Angular position information, specific estimation procedure can be identical with already present implementation in the prior art, will not be repeated here.
When realizing S5, it can specifically determine whether the misalignment angle is more than or less than predetermined angle threshold value；It is if big
In or be less than, the rotor is adjusted according to the misalignment angle, so that the rotor after adjustment is corresponding
Actual angle positional information with it is described estimation angular position information it is identical.That is air conditioner operation parameters monitoring device measurement error angle
Degree can determine rotor existing angular error between estimation in real-world operation in compressor, so as to be missed according to angle
Difference effectively can change or adjust the parameter of compressor.For example, adjust the reality of electronics rotor by adjusting power frequency
Angle position, make it consistent with estimation angle position, so as to the operation that when starting compressor, motor can be stablized.
Embodiment two
It refer to Fig. 2, the compressor adjusting apparatus in the embodiment of the present application can mainly include：
Test signal determining unit 201, for the pulse voltage signal for the compressor for determining to input in the air-conditioning equipment
Corresponding driving current.
Transmitting element 202, supervised for current parameters information corresponding to the driving current to be sent to air conditioner operation parameters
Measurement equipment.
Test cell 203, for driving the rotor in the compressor to be rotated by the driving current, examine
Actual angle positional information corresponding to the rotor is surveyed, and the actual angle positional information is sent to the air-conditioning and transported
Row parameter monitoring equipment.
The test cell 203 is additionally operable to receive the air conditioner operation parameters monitoring device based on estimation angular position information
The misalignment angle that the actual angle positional information is tested and determined；Wherein, the estimation angular position information is
The information of the angle position for the rotor that the compressor determines according to the pulse voltage signal.
Adjustment unit 204 is used for according to the misalignment angle, controls angle position of the compressor to the rotor
Put and be adjusted.
Optionally, the test signal determining unit 201 is specifically used for：Obtained by the driving plate in the compressor defeated
Enter the pulse voltage signal of the compressor；The pulse voltage signal is converted to and drives the motor of the compressor to turn
The driving current of son.
Optionally, the transmitting element 202 is specifically used for：The compressor is controlled to be determined according to the driving current and institute
State estimation angular position information corresponding to rotor；The driving plate is controlled by the estimation angular position information and the electricity
Stream parameter information is sent to the air conditioner operation parameters monitoring device.
Optionally, the test cell 203 is specifically additionally operable to：Determine that the driving current drives the rotor to rotate
When corresponding rotor rotating speed；Actual angle position is believed according to corresponding to the rotor rotating speed determines the rotor
Breath.
Optionally, the test cell 203 is specifically additionally operable to：By described in air conditioner operation parameters monitoring device determination
Estimate first angle location parameter corresponding to angular position information, and second angle corresponding with the actual angle positional information
Location parameter；Receive it is from the air conditioner operation parameters monitoring device, according to the first angle location parameter and described the
The misalignment angle that two angle position parameters determine.
Optionally, the adjustment unit 204 is specifically used for：Determine whether the misalignment angle is more than or less than predetermined angle
Threshold value；If being more than or less than, the rotor is adjusted according to the misalignment angle, so that the motor after adjustment
Actual angle positional information corresponding to rotor is identical with the estimation angular position information.
Claims (10)
- A kind of 1. method for adjusting compressor, using in air-conditioning equipment, it is characterised in that methods described includes：It is determined that driving current corresponding to the pulse voltage signal of the compressor inputted in the air-conditioning equipment；Current parameters information corresponding to the driving current is sent to air conditioner operation parameters monitoring device；Drive the rotor in the compressor to be rotated by the driving current, detect corresponding to the rotor Actual angle positional information, and the actual angle positional information is sent to the air conditioner operation parameters monitoring device；The air conditioner operation parameters monitoring device is received to be based on estimating that angular position information enters the actual angle positional information The misalignment angle that row is tested and determined；Wherein, the estimation angular position information is according to the arteries and veins comprising the compressor Rush the information of the angle position of the rotor of voltage signal determination；According to the misalignment angle, the compressor is controlled to be adjusted the angle position of the rotor；Wherein, it is described to drive the rotor of the compressor to be rotated by the driving current, detect the motor and turn Actual angle positional information corresponding to son, is specifically included：Determine corresponding rotor rotating speed when the driving current drives the rotor rotation；The actual angle positional information according to corresponding to the rotor rotating speed determines the rotor.
- 2. the method as described in claim 1, it is characterised in that the arteries and veins of the compressor for determining to input in the air-conditioning equipment Driving current corresponding to voltage signal is rushed, is specifically included：The pulse voltage signal for inputting the compressor is obtained by the driving plate in the compressor；The pulse voltage signal is converted to the driving current for the rotor for driving the compressor.
- 3. method as claimed in claim 2, it is characterised in that sent by current parameters information corresponding to the driving current While to air conditioner operation parameters monitoring device, methods described also includes：The compressor is controlled to estimate angular position information according to driving current determination is corresponding with the rotor；The driving plate is controlled to send the estimation angular position information and the current parameters information to the operation of air conditioner Parameter monitoring equipment.
- 4. method as claimed in claim 3, it is characterised in that the reception air conditioner operation parameters monitoring device is based on estimating The misalignment angle that meter angular position information is tested and determined to the actual angle positional information, is specifically included:Determine that first angle position corresponding to the estimation angular position information is joined by the air conditioner operation parameters monitoring device Number, and second angle location parameter corresponding with the actual angle positional information；Receive from the air conditioner operation parameters monitoring device, according to the first angle location parameter and the second angle The misalignment angle that location parameter determines.
- 5. method as claimed in claim 4, it is characterised in that it is described according to the misalignment angle, control the compressor pair The angle position of the rotor is adjusted, and is specifically included：Determine whether the misalignment angle is more than or less than predetermined angle threshold value；If being more than or less than, the rotor is adjusted according to the misalignment angle, so that the motor after adjustment Actual angle positional information corresponding to rotor is identical with the estimation angular position information.
- A kind of 6. compressor adjusting apparatus, it is characterised in that including：Test signal determining unit, for driving electricity corresponding to the pulse voltage signal for the compressor for determining to input in air-conditioning equipment Stream；Transmitting element, for current parameters information corresponding to the driving current to be sent to air conditioner operation parameters monitoring device；Test cell, for driving the rotor in the compressor to be rotated by the driving current, described in detection Actual angle positional information corresponding to rotor, and the actual angle positional information is sent to the air conditioner operation parameters Monitoring device；The test cell is additionally operable to receive the air conditioner operation parameters monitoring device based on estimation angular position information to described The misalignment angle that actual angle positional information is tested and determined；Wherein, the estimation angular position information is the pressure The information of the angle position for the rotor that contracting machine determines according to the pulse voltage signal；Adjustment unit, for according to the misalignment angle, controlling the compressor to carry out the angle position of the rotor Adjustment；Wherein, the test cell is specifically additionally operable to：Determine corresponding rotor rotating speed when the driving current drives the rotor rotation；The actual angle positional information according to corresponding to the rotor rotating speed determines the rotor.
- 7. device as claimed in claim 6, it is characterised in that the test signal determining unit is specifically used for：The pulse voltage signal for inputting the compressor is obtained by the driving plate in the compressor；The pulse voltage signal is converted to the driving current for the rotor for driving the compressor.
- 8. device as claimed in claim 7, it is characterised in that the transmitting element is specifically used for：The compressor is controlled to estimate angular position information according to driving current determination is corresponding with the rotor；The driving plate is controlled to send the estimation angular position information and the current parameters information to the operation of air conditioner Parameter monitoring equipment.
- 9. device as claimed in claim 8, it is characterised in that the test cell is specifically additionally operable to：Determine that first angle position corresponding to the estimation angular position information is joined by the air conditioner operation parameters monitoring device Number, and second angle location parameter corresponding with the actual angle positional information；Receive from the air conditioner operation parameters monitoring device, according to the first angle location parameter and the second angle The misalignment angle that location parameter determines.
- 10. device as claimed in claim 9, it is characterised in that the adjustment unit is specifically used for：Determine whether the misalignment angle is more than or less than predetermined angle threshold value；If being more than or less than, the rotor is adjusted according to the misalignment angle, so that the motor after adjustment Actual angle positional information corresponding to rotor is identical with the estimation angular position information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410515949.5A CN104362931B (en) | 2014-09-29 | 2014-09-29 | A kind of method and compressor adjusting apparatus for adjusting compressor |
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|---|---|---|---|
| CN201410515949.5A CN104362931B (en) | 2014-09-29 | 2014-09-29 | A kind of method and compressor adjusting apparatus for adjusting compressor |
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| CN104362931A CN104362931A (en) | 2015-02-18 |
| CN104362931B true CN104362931B (en) | 2017-12-26 |
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| CN201410515949.5A Active CN104362931B (en) | 2014-09-29 | 2014-09-29 | A kind of method and compressor adjusting apparatus for adjusting compressor |
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| CN106130430A (en) * | 2016-08-11 | 2016-11-16 | 创驱（上海）新能源科技有限公司 | The detection method at permanent-magnetic synchronous motor rotor initial positional deviation angle and off-line test device |
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| KR20110090546A (en) * | 2010-02-04 | 2011-08-10 | 엘지전자 주식회사 | Refrigerator and controlling method thereof |
| JP2012222950A (en) * | 2011-04-08 | 2012-11-12 | Panasonic Corp | Compressor motor control device |
| CN103375392A (en) * | 2012-04-20 | 2013-10-30 | 珠海格力电器股份有限公司 | Compressor control method and device and air conditioner |
| CN103828224A (en) * | 2011-02-24 | 2014-05-28 | 迪尔公司 | Method and system for determining a position of a rotor of an electric motor with noise reduction |
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| CN101041918A (en) * | 2006-03-24 | 2007-09-26 | 爱吉尔电子股份公司 | Positive yarn feeder for textile machines, with feedback-controlled synchronous motor |
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| KR20110090546A (en) * | 2010-02-04 | 2011-08-10 | 엘지전자 주식회사 | Refrigerator and controlling method thereof |
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