CN108134559B - Switching frequency adjusting method and device, storage medium and servo driving system - Google Patents
Switching frequency adjusting method and device, storage medium and servo driving system Download PDFInfo
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- CN108134559B CN108134559B CN201711375220.2A CN201711375220A CN108134559B CN 108134559 B CN108134559 B CN 108134559B CN 201711375220 A CN201711375220 A CN 201711375220A CN 108134559 B CN108134559 B CN 108134559B
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
Abstract
The invention provides a switching frequency adjusting method and device of a servo driving system, a storage medium and the servo driving system. The switching frequency adjusting method of the servo driving system comprises the following steps: detecting the temperature of a power module of the servo driving system; if the temperature is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of the servo driving system between the preset first working frequency threshold and the preset second working frequency threshold, and controlling the switching frequency to decrease when the temperature increases and increase when the temperature decreases; if the temperature is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and if the temperature is lower than the first working temperature threshold value, controlling the switching frequency to keep running at a second working frequency threshold value. The technical scheme provided by the invention can reduce the heat productivity of the power module, so that the servo driver is suitable for the load size of the motor and the change of different occasions, and the servo driver can run more safely and reliably.
Description
Technical Field
The invention relates to the field of control, in particular to a switching frequency adjusting method and device of a servo driving system, a storage medium and the servo driving system.
Background
With the development of the automatic production technology, the application of the servo driver and the frequency converter in the automatic production equipment is more and more extensive. The servo driver is usually controlled by PWM (Pulse Width Modulation), and the output voltage is a series of pulses, the Width of the pulses depends on the crossing point of the modulated wave and the carrier wave, i.e. the switching frequency. The higher the switching frequency is, the more the number of pulses in a sine wave period is, the better the sine property of the current waveform is, the better the smoothness is, the smaller the harmonic wave is, but the larger the interference to other equipment is, and in addition, along with the improvement of the switching frequency, the power loss of the power module is increased, the heat generation of the power module is increased, and the overhigh temperature can reduce the service life of an electronic device, and even damage the device. The lower the switching frequency, the smaller the number of pulses in one sine wave cycle, the poorer the sinusoid and the smoothness of the current waveform, and the larger the harmonics, which also deteriorates the various performances of the servo driver. If the switching frequency is not set well, the motor will emit an unpleasant noise. The power module is very disadvantageous in the case that the carrier frequency requirement is high when the servo driver is in use and the ambient temperature requirement is also high.
In the prior art, the switching frequency of most servo drive systems is fixed and non-adjustable when leaving a factory, and the specific values of the switching frequency selected by different power levels of different manufacturers are also different, but along with the change of the load size of a motor carried by a servo driver and the use occasion, the servo driver with the fixed switching frequency also has certain change of the operation characteristic along with the change of the use occasion, for example, the temperature of a power module in the servo driver can change, if the temperature of the power module is too high, the service life of the power module can be reduced, and even devices can be damaged, so that the safety of the system is poor.
Disclosure of Invention
The present invention is directed to overcome the drawbacks of the prior art, and provides a method and an apparatus for adjusting a switching frequency of a servo driving system, a storage medium, and a servo driving system, so as to solve the problem of poor system safety caused by the switching frequency not being able to adapt to temperature variation.
The invention provides a switching frequency adjusting method of a servo driving system, which comprises the following steps: detecting the temperature of a power module of the servo driving system; if the detected temperature of the power module is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of a servo driving system between the preset first working frequency threshold and the preset second working frequency threshold, and controlling the switching frequency to be reduced when the temperature is increased and to be increased when the temperature is decreased; the first operating temperature threshold is less than the second operating temperature threshold; the first operating frequency threshold is less than the second operating frequency threshold; if the detected temperature of the power module is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and/or controlling the switching frequency to keep operating at the second operating frequency threshold if the detected temperature of the power module is lower than the first operating temperature threshold.
Optionally, the method further comprises controlling the switching frequency to increase and/or decrease by adjusting the frequency of the pulse width modulation signal sent to the driving circuit; the driving circuit is used for driving the power module.
Optionally, the method further comprises: the value range of the first working frequency threshold is 4kHz-6 kHz; the value range of the second working frequency threshold is 15kHz-25 kHz.
Optionally, the method further comprises: selecting more than one temperature set value between the first working temperature threshold and the second working temperature threshold in advance; pre-making a control data table according to the corresponding relation between the temperature of the power module and the switching frequency controlled at the temperature, wherein the control data table comprises the switching frequency corresponding to the first working temperature threshold, the second working temperature threshold and the more than one temperature set values; controlling the switching frequency to increase and/or decrease according to the prepared table.
Yet another aspect of the present invention provides a switching frequency adjusting apparatus for a servo drive system, including: the temperature detection unit is used for detecting the temperature of a power module of the servo drive system; a control unit for: if the detected temperature of the power module is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of a servo driving system between the preset first working frequency threshold and the preset second working frequency threshold, and controlling the switching frequency to be reduced when the temperature is increased and to be increased when the temperature is decreased; the first operating temperature threshold is less than the second operating temperature threshold; the first operating frequency threshold is less than the second operating frequency threshold; if the detected temperature of the power module is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and/or controlling the switching frequency to keep operating at the second operating frequency threshold if the detected temperature of the power module is lower than the first operating temperature threshold.
Optionally, the power module further comprises a driving circuit, wherein the driving circuit is used for driving the power module; the control unit controls the switching frequency to increase and/or decrease by adjusting the frequency of the pulse width modulation signal sent to the drive circuit.
Optionally, the method further comprises: the value range of the first working frequency threshold is 4kHz-6 kHz; the value range of the second working frequency threshold is 15kHz-25 kHz.
Optionally, the control unit is further configured to: selecting more than one temperature set value between the first working temperature threshold and the second working temperature threshold in advance; pre-making a control data table according to the corresponding relation between the temperature of the power module and the switching frequency controlled at the temperature, wherein the control data table comprises the switching frequency corresponding to the first working temperature threshold, the second working temperature threshold and the more than one temperature set values; controlling the switching frequency to increase and/or decrease according to the prepared table.
In a further aspect of the invention, there is provided a servo drive system having the apparatus as defined in any one of the preceding claims.
Yet another aspect of the present invention provides a servo drive system, comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.
Yet another aspect of the present invention provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of any of the methods described above.
According to the technical scheme provided by the invention, the switching frequency of the inversion module of the servo driver is adjusted by detecting the temperature of the power module, the heat productivity of the power module is reduced, and the servo driver can be more suitable for the load of a motor and the change of different occasions, and can run more safely, reliably, stably and for a long time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is an overall frame diagram of a switching frequency adjustment method of a servo drive system provided by the present invention;
FIG. 2 is a schematic structural diagram of a servo drive system of the switching frequency adjustment method for the servo drive system according to the present invention;
FIG. 3 is a temperature-frequency relationship hysteresis characteristic curve of the switching frequency adjusting method of the servo driving system provided by the present invention;
FIG. 4 is a flowchart illustrating a method for adjusting the switching frequency of the servo driving system according to a preferred embodiment of the present invention;
fig. 5 is an overall frame diagram of the switching frequency adjusting device of the servo drive system provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a switching frequency adjusting method of a servo driving system. Fig. 1 is an overall frame diagram of a switching frequency adjustment method of a servo drive system according to the present invention. As shown in fig. 1, the switching frequency adjusting method of the servo driving system of the present invention includes: step S110, detecting the temperature of a power module of a servo driving system; step S120, if the detected temperature of the power module is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of the servo driving system between the preset first working frequency threshold and the preset second working frequency threshold, and controlling the switching frequency to decrease when the temperature increases and increase when the temperature decreases; step S130, the first working temperature threshold value is smaller than the second working temperature threshold value; the first operating frequency threshold is less than the second operating frequency threshold; if the detected temperature of the power module is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and/or controlling the switching frequency to keep operating at the second operating frequency threshold if the detected temperature of the power module is lower than the first operating temperature threshold.
The technical scheme provided by the invention directly detects the temperature of the power module and controls according to the detected temperature, and the direct detection mode ensures that the source of the control data is real and reliable; the temperature of the power module can be detected by the temperature detection device attached to the power module, so that the switching frequency of the inversion module of the servo driver can be adjusted on line, the heat productivity of the power module is reduced, the servo driver can be more suitable for the load of a motor and the change of different occasions, and the servo driver can run more safely, reliably, stably and for a long time; furthermore, when the temperature is lower than the first operating temperature threshold or higher than the second operating temperature threshold, the performance of the control system is considered, so that the temperature is stabilized at a certain frequency, and the system is safer and more reliable.
Fig. 2 is a schematic structural diagram of a servo drive system of the switching frequency adjusting method of the servo drive system provided by the invention. As shown in fig. 2, in the servo driver, a main control MCU chip (e.g., a DSP chip) controls a driving circuit of the module by controlling the frequency of 6 PWM signals, so as to control the on and off of 6 IGBT modules inside an IGBT (Insulated Gate Bipolar Transistor), thereby implementing the conversion from dc power to ac power, and enabling to precisely control the operation of the motor M. The temperature of the power module is detected by a temperature detection device attached to the power module, so that the switching frequency of the inversion module of the servo driver is adjusted on line.
According to one embodiment of the switching frequency adjusting method of the servo drive system, the method further comprises controlling the switching frequency to increase and/or decrease by adjusting the frequency of the pulse width modulation signal sent to the drive circuit; the driving circuit is used for driving the power module. Referring to fig. 2, the master control MCU chip (DSP chip) reduces the switching frequency of the servo driver by reducing the frequency of the 6-way PWM signal, and the heat generation amount of the power module inside the servo driver is reduced; similarly, the master control MCU chip (DSP chip) improves the switching frequency of the servo driver by improving the frequency of 6 paths of PWM signals, so that the sine of the current waveform of the servo driver is better, the smoothness is better, and the harmonic wave is smaller.
Fig. 3 is a temperature-frequency relationship hysteresis characteristic curve of the switching frequency adjusting method of the servo drive system provided by the invention. In fig. 3, T1 is a first operating temperature threshold of the servo driver, T2 is a second operating temperature threshold of the servo driver, and T1 is less than T2; f1 is the first working frequency threshold of the servo driver, f2 is the second working frequency threshold of the servo driver, and f1 is smaller than f 2; curve 1 shows the variation of the switching frequency with temperature when the temperature of the power module increases, and curve 2 shows the variation of the switching frequency with temperature when the temperature of the power module decreases.
When the temperature of the power module rises, referring to curve 1 of fig. 3, when the temperature detection device attached to the power module detects that the temperature T on the module is higher than the set lower limit value of the module working temperature (first working temperature threshold T1), the main control MCU chip (DSP chip) reduces the switching frequency of the servo driver by reducing the frequency of the 6-way PWM signal, so that the switching frequency f is adjusted downward in a range greater than f1 and less than f2, and the heat generation amount of the power module inside the servo driver is reduced, so that the servo driver can operate stably and reliably; when the temperature T exceeds the upper limit value (the second operating temperature threshold value T2), the lower the switching frequency, the smaller the number of pulses in one sine wave cycle, the worse the sinusoidality and the smoothness of the current waveform, and the larger the harmonics, which deteriorates various performances of the servo driver, so that when the temperature T exceeds the upper limit value T2, the value of the switching frequency f is maintained at the lower limit value (the first operating frequency threshold value f1) of the operating frequency of the servo driver, and the stable operation is performed.
When the temperature of the power module is lowered, referring to curve 2 of fig. 3, when the temperature detection device attached to the power module detects that the temperature T on the module is lower than the set lower limit value T2 of the module operating temperature, the main control MCU chip (DSP chip) increases the switching frequency of the servo driver by increasing the frequency of the 6-way PWM signal, so that the switching frequency f is adjusted upward within a range greater than f1 and less than f2, and the better the sine of the current waveform of the servo driver, the better the smoothness, and the smaller the harmonic; since the higher the switching frequency is, the more the number of pulses in one sine wave period is, the better the sine of the current waveform is, the better the smoothness is, the smaller the harmonic wave is, but the larger the interference to other equipment is, and in addition, as the switching frequency is increased, the power loss of the power module is increased, the heat generation of the power module is increased, and an excessively high temperature may reduce the service life of the electronic device, or even damage the device, when the temperature T is lower than the lower limit value T1, the value of the switching frequency f is maintained at the upper limit value (the second operating frequency threshold value f2) of the operating frequency of the servo driver to operate stably.
As shown in fig. 3, an embodiment of the method for adjusting the switching frequency of the servo drive system according to the present invention further includes: the value range of the first working frequency threshold is 4kHz-6 kHz; the value range of the second working frequency threshold is 15kHz-25 kHz. The value ranges of the first working temperature threshold and the second working temperature threshold are determined according to the specific working temperature and bearing capacity of the power module. The temperature frequency relation hysteresis characteristic curve can be constructed according to the specific data characteristics of the temperature of the power module and the switching frequency of the inversion unit thereof provided by a manufacturer or actually tested, and the switching frequency is adjusted according to the curve so as to realize the smooth change of the switching frequency.
Fig. 4 is a flowchart of a preferred embodiment of a switching frequency adjusting method of a servo drive system according to the present invention. As shown in fig. 4, an embodiment of the method for adjusting the switching frequency of the servo drive system according to the present invention further includes: step S121, selecting more than one temperature set value in advance between the first working temperature threshold and the second working temperature threshold; step S122, a control data table is prepared in advance according to the corresponding relation between the temperature of the power module and the switching frequency controlled under the temperature, and the control data table comprises the switching frequency corresponding to the first working temperature threshold, the second working temperature threshold and the more than one temperature set values; and S123, controlling the switching frequency to increase and/or decrease according to the prepared table.
The switching frequency characteristic of the inversion unit of the power module can be adjusted according to the temperature change of the power module according to the table or the specific function corresponding relation corresponding to the specific data, so that the servo driver can run more safely, reliably, for a long time and stably.
The invention further provides a switching frequency adjusting device of the servo driving system. Fig. 5 is an overall frame diagram of the switching frequency adjusting device of the servo drive system provided by the invention. As shown in fig. 5, the switching frequency adjusting apparatus of the servo drive system of the present invention includes: a temperature detection unit 100 for detecting a temperature of a power module of the servo driving system; a control unit 200 for: if the detected temperature of the power module is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of a servo driving system between the preset first working frequency threshold and the preset second working frequency threshold, and controlling the switching frequency to be reduced when the temperature is increased and to be increased when the temperature is decreased; the first operating temperature threshold is less than the second operating temperature threshold; the first operating frequency threshold is less than the second operating frequency threshold; if the detected temperature of the power module is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and/or controlling the switching frequency to keep operating at the second operating frequency threshold if the detected temperature of the power module is lower than the first operating temperature threshold.
According to an embodiment of the switching frequency adjusting apparatus of the servo drive system, the apparatus further includes a driving circuit, wherein the driving circuit is configured to drive the power module; the control unit controls the switching frequency to increase and/or decrease by adjusting the frequency of the pulse width modulation signal sent to the drive circuit.
According to an embodiment of the switching frequency adjusting apparatus of the servo drive system, the apparatus further includes: the value range of the first working frequency threshold is 4kHz-6 kHz; the value range of the second working frequency threshold is 15kHz-25 kHz.
According to an embodiment of the switching frequency adjusting apparatus of the servo drive system of the present invention, the control unit 200 is further configured to: selecting more than one temperature set value between the first working temperature threshold and the second working temperature threshold in advance; pre-making a control data table according to the corresponding relation between the temperature of the power module and the switching frequency controlled at the temperature, wherein the control data table comprises the switching frequency corresponding to the first working temperature threshold, the second working temperature threshold and the more than one temperature set values; controlling the switching frequency to increase and/or decrease according to the prepared table.
In a further aspect of the invention, there is provided a servo drive system having the apparatus as defined in any one of the preceding claims.
Yet another aspect of the present invention provides a servo drive system, comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.
Yet another aspect of the present invention provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of any of the methods described above.
According to the technical scheme provided by the invention, the switching frequency of the inversion module of the servo driver is adjusted by detecting the temperature of the power module, the heat productivity of the power module is reduced, and the servo driver can be more suitable for the load of a motor and the change of different occasions, and can run more safely, reliably, stably and for a long time.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts serving as control devices may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (11)
1. A switching frequency adjusting method of a servo driving system is characterized by comprising the following steps:
detecting the temperature of a power module of the servo driving system;
if the detected temperature of the power module is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of a servo driving system between the preset first working frequency threshold and the preset second working frequency threshold according to a temperature frequency relation hysteresis characteristic curve, and controlling the switching frequency to be reduced when the temperature is increased and to be increased when the temperature is reduced; the first operating temperature threshold is less than the second operating temperature threshold; the first operating frequency threshold is less than the second operating frequency threshold;
if the detected temperature of the power module is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and/or controlling the switching frequency to keep operating at the second operating frequency threshold if the detected temperature of the power module is lower than the first operating temperature threshold.
2. The method of claim 1, further comprising controlling the switching frequency to increase and/or decrease by adjusting the frequency of a pulse width modulated signal sent to a driver circuit; the driving circuit is used for driving the power module.
3. The method of claim 1 or 2, further comprising: the value range of the first working frequency threshold is 4kHz-6 kHz; the value range of the second working frequency threshold is 15kHz-25 kHz.
4. The method of claim 1 or 2, further comprising:
selecting more than one temperature set value between the first working temperature threshold and the second working temperature threshold in advance;
pre-making a control data table according to the corresponding relation between the temperature of the power module and the switching frequency controlled at the temperature, wherein the control data table comprises the switching frequency corresponding to the first working temperature threshold, the second working temperature threshold and the more than one temperature set values;
controlling the switching frequency to increase and/or decrease according to the prepared table.
5. A switching frequency adjustment device for a servo drive system, comprising:
the temperature detection unit is used for detecting the temperature of a power module of the servo drive system;
a control unit for:
if the detected temperature of the power module is higher than a preset first working temperature threshold and lower than a preset second working temperature threshold, adjusting the switching frequency of a servo driving system between the preset first working frequency threshold and the preset second working frequency threshold according to a temperature frequency relation hysteresis characteristic curve, and controlling the switching frequency to be reduced when the temperature is increased and to be increased when the temperature is reduced; the first operating temperature threshold is less than the second operating temperature threshold; the first operating frequency threshold is less than the second operating frequency threshold;
if the detected temperature of the power module is higher than the second working temperature threshold, controlling the switching frequency to keep running at the first working frequency threshold; and/or controlling the switching frequency to keep operating at the second operating frequency threshold if the detected temperature of the power module is lower than the first operating temperature threshold.
6. The apparatus of claim 5, further comprising a driver circuit to drive the power module; the control unit controls the switching frequency to increase and/or decrease by adjusting the frequency of the pulse width modulation signal sent to the drive circuit.
7. The apparatus of claim 5 or 6, further comprising: the value range of the first working frequency threshold is 4kHz-6 kHz; the value range of the second working frequency threshold is 15kHz-25 kHz.
8. The apparatus of claim 5 or 6, wherein the control unit is further configured to:
selecting more than one temperature set value between the first working temperature threshold and the second working temperature threshold in advance;
pre-making a control data table according to the corresponding relation between the temperature of the power module and the switching frequency controlled at the temperature, wherein the control data table comprises the switching frequency corresponding to the first working temperature threshold, the second working temperature threshold and the more than one temperature set values;
controlling the switching frequency to increase and/or decrease according to the prepared table.
9. A servo drive system having a device according to any of claims 5-8.
10. A servo drive system comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any of claims 1 to 4 when executing the program.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| TWI625929B (en) * | 2017-07-20 | 2018-06-01 | 益航電子股份有限公司 | Motor apparatus and motor driving circuit |
| JP7198028B2 (en) * | 2018-10-01 | 2022-12-28 | ローム株式会社 | Driver device |
| CN112054744B (en) * | 2020-09-18 | 2022-07-05 | 中国第一汽车股份有限公司 | Inverter temperature control method, system, vehicle and medium |
| CN114545189A (en) * | 2022-03-02 | 2022-05-27 | 上海陆芯电子科技有限公司 | Power device test system and method |
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| CN1764052A (en) * | 2004-08-18 | 2006-04-26 | 国际整流器公司 | PWM controller with temperature regulation of switching frequency |
| CN201188195Y (en) * | 2008-04-30 | 2009-01-28 | 微星科技股份有限公司 | Apparatus for controlling temperature of pulse duration modulation device |
| CN102177650A (en) * | 2008-10-09 | 2011-09-07 | 丰田自动车株式会社 | Motor driver and method of controlling the same |
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|---|---|---|---|---|
| CN1764052A (en) * | 2004-08-18 | 2006-04-26 | 国际整流器公司 | PWM controller with temperature regulation of switching frequency |
| CN201188195Y (en) * | 2008-04-30 | 2009-01-28 | 微星科技股份有限公司 | Apparatus for controlling temperature of pulse duration modulation device |
| CN102177650A (en) * | 2008-10-09 | 2011-09-07 | 丰田自动车株式会社 | Motor driver and method of controlling the same |
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