CN104638966B - Electric automobile inverter active discharge control system and controller - Google Patents
Electric automobile inverter active discharge control system and controller Download PDFInfo
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- CN104638966B CN104638966B CN201310545661.8A CN201310545661A CN104638966B CN 104638966 B CN104638966 B CN 104638966B CN 201310545661 A CN201310545661 A CN 201310545661A CN 104638966 B CN104638966 B CN 104638966B
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- waveform generation
- inverter
- generation module
- active discharge
- pwm waveform
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The invention discloses a kind of electric automobile inverter active discharge control system, including motor, inverter, high-tension battery, high-voltage relay, high-voltage capacitance, controller；Controller includes PWM waveform generation module, pulse width measuring module, main control module, the dutycycle for the PWM waveform that main control module exports according to PWM waveform generation module under active discharge pattern, whether monitoring inverter active discharge fails, and further monitor motor speed, the electric current in machine winding, high-voltage capacitance both ends voltage under by speed, enter safe mode so as to accordingly control PWM waveform generation module to exit active discharge pattern, improve vehicle security during inverter active discharge.The invention also discloses a kind of controller.
Description
Technical field
The present invention relates to new-energy automobile technology, more particularly to a kind of electric automobile inverter active discharge control system and
Controller.
Background technology
It is electronic（Pure electric or hybrid）In automobile, power drive system is mainly by motor, inverter and high battery
Composition.It is different from orthodox car,, will with motor as one of power driving part in the power drive system of such automobile
Electric energy is converted into mechanical energy to drive vehicle.High-tension battery generally exists as the electric energy energy storage component in the system, its voltage
More than hundreds of volts.If power drive system needs to be stopped, inverter direct-flow input end connects the relay of high-tension battery
It can disconnect, now because the high-voltage capacitance being connected between inverter DC terminal can store certain electricity, to prevent from causing the person
Injury is, it is necessary to which electricity therein is discharged.When there is electric discharge to require, after the relay of connection high-tension battery disconnects, high pressure
Discharge system needs quickly to discharge the electric charge in high-voltage capacitance, electronic according to regulation GB/8488.1-2006 requirements（It is pure electronic
Or hybrid power）Automobile disconnect high-tension battery after, it is necessary to by high-voltage capacitance both end voltage in 5s active discharge or 120s quilts
It is dynamic to discharge into below safe voltage.
Typical inverter is composed in parallel, each bridge arm by three bridge arms as shown in figure 1, be three-phase inverter bridge circuit
It is made up of two power switching device series, each device for power switching can be with one diode of reverse parallel connection, conventional work(
Rate switching device includes IGBT device, metal-oxide-semiconductor etc.；
Passive electric discharge is general by the way of discharge resistance.Active discharge has two kinds at present：One kind is to utilize DC/DC direct currents
Transformer, one kind are to utilize inverter.Output PWM can be controlled by controller（Pulse width modulation）Waveform exists by inverter
Switch between upper bridgc arm short state and lower bridgc arm short state, by the parasitic capacitance of the device for power switching in inverter come
Electric energy in high-voltage capacitance is discharged, so that after the relay of inverter direct-flow input end to high-tension battery disconnects, rapidly
The voltage at high-voltage capacitance both ends is reduced to below safe voltage, this active discharge technology is inverter active discharge.
During inverter active discharge, because the device for power switching in inverter is constantly in switch switching state, institute
Certain unsafe factor be present.Such as abnormal rotating speed, abnormal moment of torsion and electrion failure etc..In order to ensure vehicle
Safety during inverter active discharge, it is necessary to being monitored.
The content of the invention
The technical problem to be solved in the present invention is to improve inverter actively to being monitored during inverter active discharge
Vehicle security during electric discharge.
In order to solve the above technical problems, electric automobile inverter active discharge control system provided by the invention, including electricity
Machine, inverter, high-tension battery, high-voltage relay, high-voltage capacitance, controller；
The inverter, it is three-phase inverter bridge circuit, is composed in parallel by three bridge arms, each bridge arm includes what is be in series
Two device for power switching, two DC terminals of the input of bridge arm two as inverter, the central point of three bridge arms is as three friendships
End is flowed, is connected for the three-phase alternating current port with the motor；
The high-voltage capacitance, it is connected between two DC terminals of the inverter；
The controller, including PWM waveform generation module, pulse width measuring module, main control module；
The PWM waveform generation module, for the control signal according to main control module, 6 road PWM waveforms of output to inverter
6 device for power switching control terminal；
The PWM waveform generation module, under active discharge pattern, replace etc. the cycle the control of upper bridgc arm short and
Lower bridgc arm short control；Under safe-discharge pattern, lower bridgc arm short control is carried out；
The pulse width measuring module, for detecting dutycycle of the 6 road PWM waveforms in a PWM cycle；
The main control module, after receiving inverter active discharge request signal, start to control the PWM waveform to produce mould
Block enters active discharge pattern；After the PWM waveform generation module enters active discharge pattern：
If it is output to dutycycle of the 3 road PWM waveforms of bridge arm or lower bridge arm in a PWM cycle on inverter to be less than
（50%-n%）Or it is more than（50%+n%）, or 3 road PWM waveforms of bridge arm or lower bridge arm are output on inverter in a PWM
The difference of dutycycle between any two in cycle is more than m%, then master control module controls PWM waveform generation module enters safe mode,
N is the positive number less than or equal to 1, and m is the positive number less than or equal to 1.
Preferably, after the PWM waveform generation module enters active discharge pattern, if motor speed is more than setting and turned
Speed, then master control module controls PWM waveform generation module enter safe mode.
Preferably, after the PWM waveform generation module enters active discharge pattern, if the electric current between machine winding is more than
Setting electric current, then master control module controls PWM waveform generation module enter safe mode.
Preferably, after the PWM waveform generation module enters active discharge pattern, if under the voltage at high-voltage capacitance both ends
Reduction of speed rate is less than setting voltage decreasing rate, then master control module controls PWM waveform generation module enters safe mode.
In order to solve the above technical problems, controller provided by the invention, it includes PWM waveform generation module, pulse width
Measurement module, main control module；
The PWM waveform generation module, for the control signal according to main control module, 6 road PWM waveforms of output to inverter
The control terminal of 6 device for power switching of middle three bridge arms in parallel；
The PWM waveform generation module, under active discharge pattern, replace etc. the cycle the control of upper bridgc arm short and
Lower bridgc arm short control；Under safe-discharge pattern, lower bridgc arm short control is carried out；
The pulse width measuring module, for detecting dutycycle of the 6 road PWM waveforms in a PWM cycle；
The main control module, after receiving inverter active discharge request signal, start to control the PWM waveform to produce mould
Block enters active discharge pattern；After the PWM waveform generation module enters active discharge pattern：
If it is output to dutycycle of the 3 road PWM waveforms of bridge arm or lower bridge arm in a PWM cycle on inverter to be less than
（50%-n%）Or it is more than（50%+n%）, or 3 road PWM waveforms of bridge arm or lower bridge arm are output on inverter in a PWM
The difference of dutycycle between any two in cycle is more than m%, then master control module controls PWM waveform generation module enters safe mode,
N is the positive number less than or equal to 1, and m is the positive number less than or equal to 1.
Preferably, after the PWM waveform generation module enters active discharge pattern, if motor speed is more than setting and turned
Speed, then master control module controls PWM waveform generation module enter safe mode.
Preferably, after the PWM waveform generation module enters active discharge pattern, if the electric current between machine winding is more than
Setting electric current, then master control module controls PWM waveform generation module enter safe mode.
Preferably, after the PWM waveform generation module enters active discharge pattern, if under the voltage at high-voltage capacitance both ends
Reduction of speed rate is less than setting voltage decreasing rate, then master control module controls PWM waveform generation module enters safe mode.
The electric automobile inverter active discharge control system of the present invention, controller include PWM waveform generation module, pulse
Width measure module, main control module, the PWM ripples that main control module exports according to PWM waveform generation module under active discharge pattern
Whether the dutycycle of shape, monitoring inverter active discharge fail, and further monitor motor speed, the electricity in machine winding
Stream, high-voltage capacitance both ends voltage under by speed, so as to which accordingly control PWM waveform generation module exits the entrance of active discharge pattern
Safe mode, improve vehicle security during inverter active discharge.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, the accompanying drawing used required for the present invention is made below simple
Introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill people
For member, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a typical inverter schematic diagram；
Fig. 2 be under certain modulation algorithm on three PWM waveforms of bridge arm situation of change schematic diagram；
Fig. 3 is three PWM waveform schematic diagrames of ideal of the upper bridge arm in the case of inverter active discharge；
Fig. 4 is the embodiment schematic diagram of electric automobile inverter active discharge control system one of the present invention.
Embodiment
Below in conjunction with accompanying drawing, clear, complete description is carried out to the technical scheme in the present invention, it is clear that described
Embodiment is the part of the embodiment of the present invention, rather than whole embodiments.It is general based on the embodiment in the present invention, this area
All other embodiment that logical technical staff is obtained on the premise of creative work is not made, belongs to protection of the present invention
Scope.
It is electronic（Pure electric or hybrid）In automobile, power drive system mainly include motor, inverter, high-tension battery,
High-voltage relay, high-voltage capacitance, controller；
The inverter, it is three-phase inverter bridge circuit, is composed in parallel by three bridge arms, each bridge arm includes what is be in series
Two device for power switching, two DC terminals of each input of bridge arm two as inverter, the central point of three bridge arms is as three
Individual exchange end, it is connected for the three-phase alternating current port with the motor；
The high-voltage capacitance, it is connected between two DC terminals of the inverter；
The controller, 6 road PWM waveforms of output arrive the control terminal of 6 device for power switching of inverter respectively.Controller
The output form of 6 road PWM waveforms is controlled using different modulation systems, but because the three-phase current of controlled motor needs phase
The sinusoidal waveform that 120 degree of potential difference, so 6 road PWM waveforms also have similar phase difference and the dutycycle changed with certain rule, figure
2 illustrate the situation of change of three PWM waveforms of bridge arm under certain modulation algorithm.And during inverter active discharge, controller
The PWM waveform requirement of output makes the state of 6 device for power switching of inverter between upper bridgc arm short and lower bridgc arm short
Switching, Fig. 3 illustrates three PWM waveforms of ideal of the upper bridge arm in the case of inverter active discharge, with 50% dutycycle with
And without phase difference feature, because the PWM waveform of reality contains dead time and dead area compensation, during inverter active discharge
The dutycycle of PWM waveform should be 50% or so, and mutual phase difference is close to 0.
The present invention's is electronic（Pure electric or hybrid）Vehicle inverter active discharge control system, an embodiment is such as
Shown in Fig. 4, including motor, inverter, high-tension battery, high-voltage relay, high-voltage capacitance, controller；
The inverter, it is three-phase inverter bridge circuit, is composed in parallel by three bridge arms, each bridge arm includes what is be in series
Two device for power switching, two DC terminals of the input of bridge arm two as inverter, the central point of three bridge arms is as three friendships
End is flowed, is connected for the three-phase alternating current port with the motor；
The high-voltage capacitance, it is connected between two DC terminals of the inverter；
The controller, including PWM（Pulse width modulation）Waveform generation module, pulse width measuring module, master control mould
Block；
The PWM waveform generation module, for the control signal according to main control module, 6 road PWM waveforms of output to inverter
6 device for power switching control terminal；The PWM waveform generation module, under active discharge pattern, carry out the cycle such as replacing
Upper bridgc arm short control and lower bridgc arm short control；Under safe-discharge pattern, lower bridgc arm short control is carried out；
The pulse width measuring module, for detecting dutycycle of the 6 road PWM waveforms in a PWM cycle；
The main control module, after receiving inverter active discharge request signal, start to control the PWM waveform to produce mould
Block enters active discharge pattern, and inverter carries out active discharge；After the PWM waveform generation module enters active discharge pattern：
If it is output to dutycycle of the 3 road PWM waveforms of bridge arm or lower bridge arm in a PWM cycle on inverter to be less than
（50%-n%）Or it is more than（50%+n%）, or 3 road PWM waveforms of bridge arm or lower bridge arm are output on inverter in a PWM
The difference of dutycycle between any two in cycle is more than m%, then master control module controls PWM waveform generation module enters safe mode；
N is the positive number less than or equal to 1（If n can be 1,0.5,0.1 or 0.01）, m is the positive number less than or equal to 1（As m can be 1,
0.5th, 0.1 or 0.01）.
Preferably, after the PWM waveform generation module enters active discharge pattern, if motor speed is more than setting and turned
Speed, then master control module controls PWM waveform generation module enter safe mode.
Preferably, after the PWM waveform generation module enters active discharge pattern, if the electric current between machine winding is more than
Setting electric current, then master control module controls PWM waveform generation module enter safe mode.
Preferably, after the PWM waveform generation module enters active discharge pattern, if under the voltage at high-voltage capacitance both ends
Reduction of speed rate is less than setting voltage decreasing rate, then master control module controls PWM waveform generation module enters safe mode.
The electric automobile inverter active discharge control system of the present invention, the pulse width measuring module of controller, every
The high level width for being output to 3 road PWM waveforms of bridge arm or lower bridge arm on inverter is all calculated in individual PWM cycle, is calculated simultaneously
PWM cycle width, in each PWM cycle finish time, the high level width of 3 road PWM waveforms and periodic width numerical value are passed to
In an array into internal memory, in each PWM cycle interrupt routine, dutycycle is calculated：Dutycycle=high level width/week
Phase width, the precision of dutycycle depend on being used for the time reference for calculating width.When the main control module of controller receives inversion
Device active discharge request signal and control PWM waveform generation module enter active discharge pattern after, if pulse width measuring mould
The dutycycle for the 3 road PWM waveforms that block calculates is all 50% or so, and dutycycle Difference then illustrates that PWM waveform produces close to 0
The active discharge pattern of module is normal, otherwise illustrates the request failure of inverter active discharge, and master control module controls PWM waveform produces
Module enters safe mode, and control inverter enters lower bridgc arm short state, it is ensured that motor safety.Simultaneously as inverter master
One of condition of dynamic electric discharge is the motor slow-speed of revolution, so in inverter active discharge, it is necessary to monitor whether motor speed approaches
0, if motor speed is larger, master control module controls PWM waveform generation module enters safe mode, and control inverter enters lower bridge
Arm short-circuit condition, it is ensured that motor safety.Simultaneously as during inverter active discharge, machine winding and high pressure have disconnected,
Now the electric current in machine winding will eventually become 0, if the electric current during inverter active discharge in machine winding is excessive,
Illustrate the failure of inverter active discharge or mean that motor may export unexpected moment of torsion, so in the inverter active discharge phase
Between need monitor machine winding in electric current whether close to 0, if the electric current in machine winding is excessive, master control module controls PWM
Waveform generation module enters safe mode, and control inverter enters lower bridgc arm short state, it is ensured that motor safety.Simultaneously as
The effect of inverter active discharge is exactly after the relay of high-tension battery is disconnected, and makes the height being connected between inverter DC terminal
The voltage at voltage capacitance both ends is rapidly dropped to below safe voltage, if the voltage at the high-voltage capacitance both ends is not at the appointed time
Drop under safe voltage, then illustrate that inverter active discharge fails, the high-voltage capacitance two can be sampled by hardware circuit
The voltage at end, by judging whether the voltage decreasing rate meets requirement to monitor whether inverter active discharge succeeds, if should
High-voltage capacitance both end voltage fall off rate is little, then illustrates that inverter active discharge fails, master control module controls PWM waveform produces
Module enters safe mode, and control inverter enters lower bridgc arm short state, it is ensured that motor safety.
The electric automobile inverter active discharge control system of the present invention, controller include PWM waveform generation module, pulse
Width measure module, main control module, the PWM ripples that main control module exports according to PWM waveform generation module under active discharge pattern
Whether the dutycycle of shape, monitoring inverter active discharge fail, and further monitor motor speed, the electricity in machine winding
Stream, high-voltage capacitance both ends voltage under by speed, so as to which accordingly control PWM waveform generation module exits the entrance of active discharge pattern
Safe mode, improve vehicle security during inverter active discharge.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the invention with principle.
Claims (10)
1. a kind of electric automobile inverter active discharge control system, including motor, inverter, high-tension battery, high-voltage relay,
High-voltage capacitance, controller；
The inverter, it is three-phase inverter bridge circuit, is composed in parallel by three bridge arms, each bridge arm includes two to be in series
Device for power switching, two DC terminals of the input of bridge arm two as inverter, the central point of three bridge arms exchange ends as three,
It is connected for the three-phase alternating current port with the motor；
The high-voltage capacitance, it is connected between two DC terminals of the inverter；Characterized in that,
The controller, including PWM waveform generation module, pulse width measuring module, main control module；
The PWM waveform generation module, for the control signal according to main control module, 6 road PWM waveforms of output to the 6 of inverter
The control terminal of individual device for power switching；
The PWM waveform generation module, under active discharge pattern, replace etc. the upper bridgc arm short control in cycle and lower bridge
Arm fault control；Under safe-discharge pattern, lower bridgc arm short control is carried out；
The pulse width measuring module, for detecting dutycycle of the 6 road PWM waveforms in a PWM cycle；
The main control module, after receiving inverter active discharge request signal, start to control the PWM waveform generation module to enter
Enter active discharge mode；After the PWM waveform generation module enters active discharge pattern：
If it is output to dutycycle of the 3 road PWM waveforms of bridge arm or lower bridge arm in a PWM cycle on inverter to be less than
(50%-n%) either more than (50%+n%) or is output on inverter 3 road PWM waveforms of bridge arm or lower bridge arm at one
The difference of dutycycle between any two in PWM cycle is more than m%, then master control module controls PWM waveform generation module enters safety
Pattern, n are the positive number less than or equal to 1, and m is the positive number less than or equal to 1.
2. electric automobile inverter active discharge control system according to claim 1, it is characterised in that
After the PWM waveform generation module enters active discharge pattern, if motor speed is more than setting speed, main control module
Control PWM waveform generation module enters safe mode.
3. electric automobile inverter active discharge control system according to claim 1, it is characterised in that
After the PWM waveform generation module enters active discharge pattern, if the electric current between machine winding is more than setting electric current,
Master control module controls PWM waveform generation module enters safe mode.
4. electric automobile inverter active discharge control system according to claim 1, it is characterised in that
After the PWM waveform generation module enters active discharge pattern, if the voltage decreasing rate at high-voltage capacitance both ends is less than
Voltage decreasing rate is set, then master control module controls PWM waveform generation module enters safe mode.
5. electric automobile inverter active discharge control system according to claim 1, it is characterised in that
N is 1,0.5,0.1 or 0.01, m 1,0.5,0.1 or 0.01.
6. a kind of controller, it is characterised in that including PWM waveform generation module, pulse width measuring module, main control module；
The PWM waveform generation module, for the control signal according to main control module, 6 road PWM waveforms of output into inverter simultaneously
The control terminal of 6 device for power switching of three bridge arms of connection；
The PWM waveform generation module, under active discharge pattern, replace etc. the upper bridgc arm short control in cycle and lower bridge
Arm fault control；Under safe-discharge pattern, lower bridgc arm short control is carried out；
The pulse width measuring module, for detecting dutycycle of the 6 road PWM waveforms in a PWM cycle；
The main control module, after receiving inverter active discharge request signal, start to control the PWM waveform generation module to enter
Enter active discharge mode；After the PWM waveform generation module enters active discharge pattern：
If it is output to dutycycle of the 3 road PWM waveforms of bridge arm or lower bridge arm in a PWM cycle on inverter to be less than
(50%-n%) either more than (50%+n%) or is output on inverter 3 road PWM waveforms of bridge arm or lower bridge arm at one
The difference of dutycycle between any two in PWM cycle is more than m%, then master control module controls PWM waveform generation module enters safety
Pattern, n are the positive number less than or equal to 1, and m is the positive number less than or equal to 1.
7. controller according to claim 6, it is characterised in that
After the PWM waveform generation module enters active discharge pattern, if motor speed is more than setting speed, main control module
Control PWM waveform generation module enters safe mode.
8. controller according to claim 6, it is characterised in that
After the PWM waveform generation module enters active discharge pattern, if the electric current between machine winding is more than setting electric current,
Master control module controls PWM waveform generation module enters safe mode.
9. controller according to claim 6, it is characterised in that
After the PWM waveform generation module enters active discharge pattern, if the voltage decreasing rate at high-voltage capacitance both ends is less than
Voltage decreasing rate is set, then master control module controls PWM waveform generation module enters safe mode.
10. controller according to claim 9, it is characterised in that
N is 1,0.5,0.1 or 0.01, m 1,0.5,0.1 or 0.01.
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| CN107599847A (en) * | 2017-09-27 | 2018-01-19 | 安捷励电控技术南京有限公司 | Electrion system |
| CN109800499B (en) * | 2019-01-16 | 2020-06-30 | 电子科技大学 | Modeling simulation method for electromagnetic interference emission of inverter motor driving system |
| CN110311584B (en) * | 2019-07-26 | 2021-02-12 | 阳光电源股份有限公司 | Inverter and photovoltaic grid-connected system |
| CN112721640A (en) * | 2020-12-16 | 2021-04-30 | 武汉格罗夫氢能汽车有限公司 | Active discharge control method for hydrogen fuel electric automobile |
| WO2023272574A1 (en) * | 2021-06-30 | 2023-01-05 | 华为数字能源技术有限公司 | Photovoltaic system, fast turn-off method, and photovoltaic inverter |
| CN116937692A (en) * | 2023-09-11 | 2023-10-24 | 杭州禾迈电力电子股份有限公司 | Inverter alternating-current side discharge control method and inverter |
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| JP2010220286A (en) * | 2009-03-13 | 2010-09-30 | Aisin Seiki Co Ltd | Motor control device and vehicle system |
| JP2010220287A (en) * | 2009-03-13 | 2010-09-30 | Aisin Seiki Co Ltd | Motor control device and vehicle system |
| CN102088187A (en) * | 2009-12-07 | 2011-06-08 | 通用汽车环球科技运作有限责任公司 | Systems and methods for discharging bus voltage using semiconductor devices |
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