EP1710441A2 - Pump control method - Google Patents
Pump control method Download PDFInfo
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- EP1710441A2 EP1710441A2 EP06005255A EP06005255A EP1710441A2 EP 1710441 A2 EP1710441 A2 EP 1710441A2 EP 06005255 A EP06005255 A EP 06005255A EP 06005255 A EP06005255 A EP 06005255A EP 1710441 A2 EP1710441 A2 EP 1710441A2
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- EP
- European Patent Office
- Prior art keywords
- foam
- speed
- air
- pump
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/02—Stopping of pumps, or operating valves, on occurrence of unwanted conditions
- F04D15/0209—Stopping of pumps, or operating valves, on occurrence of unwanted conditions responsive to a condition of the working fluid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0066—Control, e.g. regulation, of pumps, pumping installations or systems by changing the speed, e.g. of the driving engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/02—Stopping of pumps, or operating valves, on occurrence of unwanted conditions
- F04D15/0209—Stopping of pumps, or operating valves, on occurrence of unwanted conditions responsive to a condition of the working fluid
- F04D15/0218—Stopping of pumps, or operating valves, on occurrence of unwanted conditions responsive to a condition of the working fluid the condition being a liquid level or a lack of liquid supply
- F04D15/0236—Lack of liquid level being detected by analysing the parameters of the electric drive, e.g. current or power consumption
Definitions
- the invention relates to an electronic motor control for a pump with multiphase permanent magnet synchronous motor (PMSM).
- the pump is controlled by a so-called inverter by pulse width modulation (PWM) of a DC voltage from a DC voltage intermediate circuit.
- PWM pulse width modulation
- the controller-internal arithmetic variables namely the estimated engine speed or the engine nominal voltage, or via power measurement or a combination of these variables, it is reliably detected whether the pump delivers liquid medium or air or foam. It describes the engine control and how the measured and calculated variables are favorably used and evaluated for foam or air detection.
- Fig. 1 shows the essential components of the electronically controlled pump system.
- the phases of the polyphase permanent magnet motor (3) are intermittently connected via 6 power switches with parallel freewheeling diodes (2a to 2f) to the high voltage or the low voltage side of a DC voltage source (1).
- a current transformer (4) measures the current which flows in total from the DC voltage (1) to the switches (2a-2f).
- a voltage transformer (5) measures the voltage of the source (1).
- a control unit (6) receives measurement signals from at least one of the phases of the motor (3), the current transformer (4) and the voltage converter (5) and controls the 6 power switches (2a-2f).
- a position observer (8) determines discrete-time, high-frequency estimation (13) of the current position of the engine.
- the phase detection (7) provides the position observer (8) with information (12) which states whether and, if so, how much the rotor of the motor is ahead of or behind the estimated position (13).
- the forward / backward information (12) is available whenever a voltage induced in the three motor windings, the so-called electromotive force (EMF), makes a zero crossing. This is the case in each phase twice per period. So with a 3phasigen engine a maximum of 6 times per period.
- the phase detection (7) can also be based on Hall sensors, which detect the phase position of the rotor via the magnetic field.
- the position observer (8) also supplies the time derivative of the estimated position (13), ie an estimated engine speed (14).
- a speed controller (9) calculates an output signal (15) based on the difference between the setpoint speed (16) and the estimated speed (14).
- the output signal (15) of the speed controller is here the desired motor voltage. But are also known configurations where the speed controller (9) specifies a desired motor current, which is supplied to a subordinate current controller. The lower-level current controller then produces the desired motor voltage as an output or directly influences the PWM unit (11).
- a coordinate transformer (10) converts the polar coordinates - voltage (15) and estimated position (13) - to a 3-phase voltage system, ie to 3 absolute values (16).
- the downstream PWM unit (11) determines from these values (16) a pulse pattern with which the 6 power switches (2a to 2f) are driven.
- the motor is thus applied with a 3-phase AC system (18) having the desired motor voltage (15) and the estimated motor speed (14). Due to the self-regulation of the motor, the speed (14) estimated by the position observer (8) is also the actual speed at the same time.
- the motor runs synchronously with the applied AC voltage system.
- the self-regulation of the engine also has its limits. If the speed estimate (14) and the position estimate (13) of the position observer (8) deviate too much from the actual conditions in the engine, the engine tilts and suddenly stops.
- the power supplied to the motor (17) can determine the control unit (8) by multiplying the measurement signals from the current transformer (4) and the voltage converter (5).
- Fig. 3 shows the time course of the estimated speed (14), the target motor voltage (15) and the determined power (17). In the first half the pump pumped liquid, in the second half foam was added. Most significant are the variations in speed (14).
- the controller output (9) can be used to determine ratios for their variation and to use for air and foam detection. Since the speed controller (9) only a filter of its input variables - ie the estimated speed (14) and the target speed (16), the original sizes (14) and (16) are more useful for the foam and air detection.
- weighting factors for the various characteristic numbers and the resulting voti for foam and air can be defined and then the weighted sums for foam recognition can be evaluated.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Applications Or Details Of Rotary Compressors (AREA)
Abstract
Description
Die Erfindung bezieht sich auf eine elektronische Motorregelung für eine Pumpe mit Mehrphasen-Permanentmagnet-Synchronmotor (PMSM). Die Ansteuerung der Pumpe erfolgt über einen sogenannten Umrichter durch Pulsweitenmodulation (PWM) einer Gleichspannung aus einem Gleichspannungszwischenkreis. Insbesondere wird aufgrund der Reglerinternen Rechengrößen, namhaft der geschätzten Motordrehzahl oder der Motor-Soll-Spannung, oder über Leistungsmessung oder Kombination aus diesen Größen sicher erkannt, ob die Pumpe flüssiges Medium oder Luft oder Schaum fördert. Es wird die Motorregelung beschrieben und wie die Mess- und Rechengrößen günstigerweise zur Schaum-oder Lufterkennung herangezogen und ausgewertet werden.The invention relates to an electronic motor control for a pump with multiphase permanent magnet synchronous motor (PMSM). The pump is controlled by a so-called inverter by pulse width modulation (PWM) of a DC voltage from a DC voltage intermediate circuit. In particular, due to the controller-internal arithmetic variables, namely the estimated engine speed or the engine nominal voltage, or via power measurement or a combination of these variables, it is reliably detected whether the pump delivers liquid medium or air or foam. It describes the engine control and how the measured and calculated variables are favorably used and evaluated for foam or air detection.
Bei Pumpensystemen wie z.B. in einem Geschirrspüler ist die Förderung von Schaum oder Luft oft nicht erwünscht. Beim Geschirrspüler z.B. ist ein Betrieb mit Luft mit lästigen Geräuschen verbunden und beim Betrieb mit Schaum ist der Reinigungseffekt stark reduziert. Wird Luft- oder Schaumbetrieb erkannt, so kann die Gerätesteuerung verfahrenstechnisch eingreifen und den Missstand beheben. Es kann unter anderem z.B. mehr Flüssigkeit nachgefüllt werden oder die Pumpendrehzahl verändert werden um Schaum abzubauen. Erfindungsgemäß wird von der elektronischen Motorregelung der Pumpe auf kostengünstige Weise Luft-oder Schaumbetrieb detektiert und es kann so gegebenenfalls zusätzliche Sensorik eingespart werden.In pump systems such as e.g. In a dishwasher, the promotion of foam or air is often undesirable. In the dishwasher, e.g. If an operation with air is associated with annoying noises and when operating with foam, the cleaning effect is greatly reduced. If air or foam operation is detected, the device control can intervene procedurally and remedy the maladministration. It may, inter alia, e.g. be refilled more fluid or the pump speed can be changed to reduce foam. According to the invention, air or foam operation is detected in a cost-effective manner by the electronic engine control of the pump, and additional sensor technology can thus be saved if necessary.
In
Aus der
Aus der
Bei diesem Verfahren ist der Absolutwert der Leistung maßgeblich und erfordert deshalb eine genaue und auch teure Leistungsmesseinrichtung. Auch die Drehzahlsensorik verursacht gegenüber der hier vorgeschlagenen Erfindung zusätzliche Kosten.From the
In this method, the absolute value of the power is decisive and therefore requires an accurate and expensive power meter. The speed sensor also causes additional costs compared to the invention proposed here.
Aus der
Der Einfachheit halber wird die Erfindung anhand einer 3phasigen Ausgestaltung des Motors erklärt. Die Erfindung kann jedoch auch auf 2phasige und vielphasige Motoren angewendet werden.For the sake of simplicity, the invention will be explained with reference to a 3-phase design of the motor. However, the invention can also be applied to 2-phase and multi-phase motors.
Fig. 1 zeigt die wesentlichen Komponenten des elektronisch geregelten Pumpensystems. Die Phasen des mehrphasigen Permanentmagnetmotors (3) werden über 6 Leistungsschalter mit parallelen Freilaufdioden (2a bis 2f) intermittierend auf die Hochspannungs- bzw auf die Niederspannungsseite einer Gleichspannungsquelle (1) geschaltet. Ein Stromwandler (4) misst den Strom, welcher in Summe aus der Gleichspannung (1) zu den Schaltern (2a-2f) fließt. Ein Spannungswandler (5) misst die Spannung der Quelle (1). Eine Regelungseinheit (6) empfängt Messsignale von mindestens einer der Phasen des Motors (3), vom Stromwandler (4) und vom Spannungswandler (5) und sie steuert die 6 Leistungsschalter (2a-2f) an. Fig. 1 shows the essential components of the electronically controlled pump system. The phases of the polyphase permanent magnet motor (3) are intermittently connected via 6 power switches with parallel freewheeling diodes (2a to 2f) to the high voltage or the low voltage side of a DC voltage source (1). A current transformer (4) measures the current which flows in total from the DC voltage (1) to the switches (2a-2f). A voltage transformer (5) measures the voltage of the source (1). A control unit (6) receives measurement signals from at least one of the phases of the motor (3), the current transformer (4) and the voltage converter (5) and controls the 6 power switches (2a-2f).
Fig. 2 zeigt eine mögliche Ausgestaltung der Regelungseinheit 6. Ein Positionsbeobachter (8) ermittelt zeitdiskret mit hoher Frequenz eine Abschätzung (13) der aktuellen Position des Motors. Die Phasendetektierung (7) liefert dem Positionsbeobachter (8) dazu eine Information (12), welche aussagt, ob und gegebenenfalls wie viel der Rotor des Motors der geschätzten Position (13) voraus- bzw hinterher ist. Die Voraus/Hinterher-Information (12) steht maximal immer dann zur Verfügung, wenn eine der in die 3 Motorwicklungen induzierte Spannung, die sogenannte elektromotorische Kraft (EMK), einen Nulldurchgang vollzieht. Dies ist in jeder Phase 2mal pro Periode der Fall. Also bei einem 3phasigen Motor maximal 6 mal pro Periode. Die Phasendetektierung (7) kann auch auf Hall-Sensoren basieren, welche über das Magnetfeld des Rotors dessen Phasenlage detektieren. In so einem Fall wird aus Kostengründen auch oft nur ein Hall-Sensor verwendet, wodurch die Häufigkeit der Informationen (12) reduziert ist. Der Positionsbeobachter (8) liefert gleichzeitig auch die zeitliche Ableitung der geschätzten Position (13), also eine geschätzte Motordrehzahl (14). Ein Drehzahlregler (9) berechnet aufgrund der Differenz aus Solldrehzahl (16) und der geschätzten Drehzahl (14) ein Ausgangssignal (15).2 shows a possible embodiment of the
Das Ausgangssignal (15) des Drehzahlreglers sei hier die Soll-Motorspannung. Bekannt sind aber auch Ausgestaltungen, wo der Drehzahlregler (9) einen Soll-Motorstrom vorgibt, welcher einem unterlagerten Stromregler zugeführt wird. Dabei produziert der unterlagerte Stromregler dann als Ausgang die Soll-Motorspannung oder beeinflusst direkt die PWM-Einheit (11).The output signal (15) of the speed controller is here the desired motor voltage. But are also known configurations where the speed controller (9) specifies a desired motor current, which is supplied to a subordinate current controller. The lower-level current controller then produces the desired motor voltage as an output or directly influences the PWM unit (11).
Ein Koordinatentransformator (10) rechnet die Polarkoordinaten - Spannung (15) und geschätzte Position (13) - auf ein 3-phasen-Spannungssystem um, also auf 3 Absolutwerte (16). Die nachgeschaltete PWM-Einheit (11) ermittelt aus diesen Werten (16) ein Pulsmuster mit dem die 6 Leistungsschalter (2a bis 2f) angesteuert werden. An den Motor wird so ein 3phasiges Wechselspannungssystem (18) angelegt, welches die Soll-Motorspannung (15) und die geschätzte Motordrehzahl (14) aufweist. Aufgrund der Selbstregelung des Motors ist die vom Positionsbeobachter (8) geschätzte Drehzahl (14) auch gleichzeitig die Ist-Drehzahl. Der Motor läuft synchron zu dem angelegten Wechselspannungssystem.A coordinate transformer (10) converts the polar coordinates - voltage (15) and estimated position (13) - to a 3-phase voltage system, ie to 3 absolute values (16). The downstream PWM unit (11) determines from these values (16) a pulse pattern with which the 6 power switches (2a to 2f) are driven. The motor is thus applied with a 3-phase AC system (18) having the desired motor voltage (15) and the estimated motor speed (14). Due to the self-regulation of the motor, the speed (14) estimated by the position observer (8) is also the actual speed at the same time. The motor runs synchronously with the applied AC voltage system.
Die Selbstregelung des Motors hat jedoch auch seine Grenzen. Falls die Drehzahlschätzung (14) und die Positionsschätzung (13) des Positionsbeobachters (8) zu weit von den tatsächlichen Verhältnissen im Motor abweichen, kippt der Motor ab und steht schlagartig still.However, the self-regulation of the engine also has its limits. If the speed estimate (14) and the position estimate (13) of the position observer (8) deviate too much from the actual conditions in the engine, the engine tilts and suddenly stops.
Die dem Motor zugeführte Leistung (17) kann die Regeleinheit (8) durch Multiplikation der Messsignale aus dem Stromwandler (4) und dem Spannungswandler (5) ermitteln.The power supplied to the motor (17) can determine the control unit (8) by multiplying the measurement signals from the current transformer (4) and the voltage converter (5).
Fig. 3 zeigt den zeitlichen Verlauf der geschätzten Drehzahl (14), der Soll-Motorspannung (15) und der ermittelten Leistung (17). In der ersten Hälfte förderte die Pumpe Flüssigkeit, in der zweiten Hälfte kam Schaum hinzu. Am meisten signifikant sind die Schwankungen der Drehzahl (14).Fig. 3 shows the time course of the estimated speed (14), the target motor voltage (15) and the determined power (17). In the first half the pump pumped liquid, in the second half foam was added. Most significant are the variations in speed (14).
Erfindungsgemäß wird vorgeschlagen, Kennzahlen für die Schwankungen einer Größe zu errechnen, indem
- die Min/Max-Werte zyklisch über einen gewissen Zeitraum wie z.B. 1 bis 10sec. ermittelt werden
und / oder - die Summe der Abweichungen vom Sollwert oder gleitenden Mittelwert aufsummiert werden
und / oder - die Summe der Quadrate der Abweichungen vom Sollwert oder Mittelwert ermittelt werden.
- the min / max values cyclically over a certain period of time,
eg 1 to 10 sec. be determined
and or - the sum of the deviations from the nominal value or moving average is added up
and or - the sum of the squares of the deviations from the desired value or mean value can be determined.
Zur Schaum- und Lufterkennung wird vorgeschlagen, eine oder mehrere der o.g. Kennzahlen zur Schwankung der geschätzten Drehzahl (14) zu ermitteln. Es lassen sich dann leicht Bereiche dieser Kennzahlen definieren, welche typisch für Schaum und Luft sind.For foam and air detection, it is proposed to use one or more of the o. To determine ratios for the fluctuation of the estimated speed (14). It is then easy to define areas of these indices that are typical of foam and air.
Erfindungsgemäß wird außerdem vorgeschlagen, die Kennzahlen der Schwankungen und den Absolutwert der ermittelten Leistung (17) zur Schaum- und Lufterkennung zusätzlich heranzuziehen.According to the invention, it is also proposed to additionally use the characteristic numbers of the fluctuations and the absolute value of the determined power (17) for foam and air detection.
Zusätzlich zur Drehzahl (14) oder an Stelle dieser kann auch die Regler-Ausgangsgröße (9) herangezogen werden, um Kennzahlen zu deren Schwankung zu ermitteln und für die Luft- und Schaumerkennung heranzuziehen. Da der Drehzahlregler (9) nur ein Filter seiner Eingangsgrößen - also der geschätzten Drehzahl (14) und der Soll-Drehzahl (16) darstellt, sind die Originalgrößen (14) und (16) sinnvoller für die Schaum- und Lufterkennung.In addition to the speed (14) or in place of this, the controller output (9) can be used to determine ratios for their variation and to use for air and foam detection. Since the speed controller (9) only a filter of its input variables - ie the estimated speed (14) and the target speed (16), the original sizes (14) and (16) are more useful for the foam and air detection.
In einer Matrix können gemäß Fuzzy-Logik Gewichtungsfaktoren für die verschiedenen Kennzahlen und der daraus resultierenden Voti für Schaum- und Luft definiert werden und dann die gewichteten Summen zur Schaumerkennung gewertet werden.In a matrix, according to fuzzy logic, weighting factors for the various characteristic numbers and the resulting voti for foam and air can be defined and then the weighted sums for foam recognition can be evaluated.
Sehr typisch für Schaum ist ein sehr kurzes Überschiessen der Drehzahl. Um ein Überschiessen der Drehzahl zu verhindern, wird vorgeschlagen, die Frequenz der angelegten Motorspannung (18) nach oben zu begrenzen. In so einem Begrenzungsfall würde der Motor mit schlechterem Wirkungsgrad arbeiten oder als Generator betrieben werden. Für kurze Zeit sind diese Betriebszustände jedoch nicht von Nachteil. Bei geeigneter Wahl der oberen Drehzahlgrenze - abhängig vom Drehzahlsollwert - kann das Auftreten einer derartigen Begrenzung ebenfalls als Indikation für Schaum oder Luft herangezogen werden.Very typical for foam is a very short overshoot of the speed. To prevent overshooting the speed, it is proposed to limit the frequency of the applied motor voltage (18) upwards. In such a limiting case, the motor would operate with worse efficiency or be operated as a generator. However, these operating conditions are not disadvantageous for a short time. With a suitable choice of the upper speed limit - depending on the speed setpoint - the occurrence of such a limit can also be used as an indication for foam or air.
Claims (4)
dadurch gekennzeichnet,
dass über Schwankungen der geschätzten Rotorgeschwindigkeit Schaum-oder Luftbetrieb erkannt wird.Electronic motor control for a multiphase permanent magnet synchronous motor (PMSM) pump with means for detecting and estimating the rotor phasing and rotor speed,
characterized,
that is detected by variations in the estimated rotor speed foam or air operation.
dadurch gekennzeichnet,
dass zur Schaum- oder Lufterkennung zusätzlich der gemessene Leistungsfluss herangezogen wird.Electronic motor control for a pump according to claim 1) with additional means for measuring the power flow from the DC voltage source,
characterized,
in addition, the measured power flow is used for foam or air detection.
dadurch gekennzeichnet,
dass zur Schaum- oder Lufterkennung zusätzlich der gemessene Leistungsfluss herangezogen wird.Electronic motor control for a pump according to claim 1) with additional means for measuring the power flow from the DC voltage source,
characterized,
in addition, the measured power flow is used for foam or air detection.
dadurch gekennzeichnet,
dass die Frequenz der ausgegebenen Motor-Spannung nach oben begrenzt wird und diese Ereignisse der Begrenzung als Indikator für Schaum- oder Luft herangezogen wird.Electronic motor control for a multiphase permanent magnet synchronous motor (PMSM) pump with means for detecting and estimating the rotor phasing and rotor speed
characterized,
that the frequency of the output motor voltage is limited to the top and these events of the limitation is used as an indicator of foam or air.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005013773A DE102005013773A1 (en) | 2005-03-22 | 2005-03-22 | Electronic motor regulation for pump used in e.g. dishwasher, involves detecting and estimating rotor phase position and rotor speed of motor and determining fluctuations in rotor phase position and rotor speed to control pump operation |
Publications (2)
Publication Number | Publication Date |
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EP1710441A2 true EP1710441A2 (en) | 2006-10-11 |
EP1710441A3 EP1710441A3 (en) | 2010-05-26 |
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Application Number | Title | Priority Date | Filing Date |
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EP06005255A Withdrawn EP1710441A3 (en) | 2005-03-22 | 2006-03-15 | Pump control method |
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US (1) | US7595603B2 (en) |
EP (1) | EP1710441A3 (en) |
DE (1) | DE102005013773A1 (en) |
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JP4513536B2 (en) * | 2004-12-06 | 2010-07-28 | 株式会社豊田自動織機 | Inverter device |
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KR101041076B1 (en) * | 2004-12-17 | 2011-06-13 | 삼성전자주식회사 | Method for control starting of brushless DC motor |
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2006
- 2006-03-15 EP EP06005255A patent/EP1710441A3/en not_active Withdrawn
- 2006-03-22 US US11/386,261 patent/US7595603B2/en not_active Expired - Fee Related
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102009055203B4 (en) | 2009-12-22 | 2022-06-15 | Hanning Elektro-Werke Gmbh & Co. Kg | Method and device for detecting an operating state of a pump |
CN111456933A (en) * | 2020-05-08 | 2020-07-28 | 河海大学常州校区 | Method for detecting idle state of automobile electronic water pump |
CN111456933B (en) * | 2020-05-08 | 2022-03-08 | 河海大学常州校区 | Method for detecting idle state of automobile electronic water pump |
Also Published As
Publication number | Publication date |
---|---|
DE102005013773A1 (en) | 2006-09-28 |
US7595603B2 (en) | 2009-09-29 |
EP1710441A3 (en) | 2010-05-26 |
US20060245931A1 (en) | 2006-11-02 |
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