EP2530273A1 - Engin doté d'un réglage de régime de ventilateur automatique - Google Patents

Engin doté d'un réglage de régime de ventilateur automatique Download PDF

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Publication number
EP2530273A1
EP2530273A1 EP11004512A EP11004512A EP2530273A1 EP 2530273 A1 EP2530273 A1 EP 2530273A1 EP 11004512 A EP11004512 A EP 11004512A EP 11004512 A EP11004512 A EP 11004512A EP 2530273 A1 EP2530273 A1 EP 2530273A1
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EP
European Patent Office
Prior art keywords
construction machine
controller
speed
drive unit
viscous coupling
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.)
Granted
Application number
EP11004512A
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German (de)
English (en)
Other versions
EP2530273B1 (fr
Inventor
Tobias Noll
Ralf Weiser
Thomas Riedl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Joseph Voegele AG
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Joseph Voegele AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to EP11004512.7A priority Critical patent/EP2530273B1/fr
Priority to PL11004512T priority patent/PL2530273T3/pl
Priority to US13/482,034 priority patent/US9376954B2/en
Priority to JP2012123421A priority patent/JP6029324B2/ja
Priority to CN201210180558.3A priority patent/CN102808683B/zh
Publication of EP2530273A1 publication Critical patent/EP2530273A1/fr
Application granted granted Critical
Publication of EP2530273B1 publication Critical patent/EP2530273B1/fr
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Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P7/00—Controlling of coolant flow
    • F01P7/02—Controlling of coolant flow the coolant being cooling-air
    • F01P7/04—Controlling of coolant flow the coolant being cooling-air by varying pump speed, e.g. by changing pump-drive gear ratio
    • F01P7/042—Controlling of coolant flow the coolant being cooling-air by varying pump speed, e.g. by changing pump-drive gear ratio using fluid couplings

Definitions

  • the present invention relates to a construction machine with automatic fan speed control according to the preamble of claim 1 or a method for driving a fan according to claim 15.
  • diesel engines are used as prime movers. Due to their efficiency, both the diesel engines and the units driven by them have a power loss that must be dissipated by the radiator.
  • different cooling media such as cooling water, charge air and / or hydraulic oil, cooled by heat exchangers to the required temperatures.
  • a fan is part of the cooling system. It is known that the fan is rigidly connected to the diesel engine, so that the fan assumes a fan speed at any time, which corresponds to the drive speed of the diesel engine.
  • the invention has for its object to provide a construction machine with an automatic fan speed control, whereby a cooling air flow automatically adapts to different operating conditions of the construction machine, using cost-effective and low-noise technical means are used. It is likewise the object of the invention to produce a method for the automatic regulation of a cooling air flow.
  • the construction machine is in particular a paver or a feeder.
  • the construction machine comprises a drive unit and a cooling system with a fan, which is provided for generating a cooling air flow.
  • the cooling system further comprises a controllable viscous coupling, which is connected on the drive side to the drive unit and on the output side to the fan of the cooling system. The viscous coupling transmits a drive torque of the drive unit to the fan located on the output side, so that it generates a cooling air flow.
  • Controllable viscous couplings offer in the invention the possibility to transmit different torques by different oil levels within the clutch.
  • the viscous coupling consists of two disks arranged against each other, one disk forming the drive unit and the second disk representing the output side. If torque is to be transmitted, the clutch chamber must be filled with oil, so that the drive side absorbs the drive side due to the shear viscosity of the oil. Due to the function, a lower speed than on the drive side will always be set on the output side of a viscous coupling. If you want to realize lower output speeds, this can be implemented by a lower oil level.
  • the oil level of the coupling can be regulated with the aid of an oil-switching valve and a constant oil-drain flow. If the request for a low speed on the output side of the viscous coupling, the oil switching valve is closed and the remaining oil in the clutch is displaced by centrifugal forces from the oil chamber through an oil drain hole. If there is no oil in the viscous coupling, a minimum speed, namely a towing speed, is established. If the target speed is increased on the output side, more oil must be supplied through the oil switching valve than can flow through the oil drain, which leads to an increase in speed.
  • the upstream speed control requires a long period of time until the output speed reaches the setpoint speed. This time lengthens, the lower the drive speed is. Especially at idle the internal oil circulation of the viscous coupling is greatly reduced, so that a speed control at this operating point is impossible.
  • controllable viscous coupling ensures a quiet connection between the drive unit and the fan. This improves the working condition for the personnel, which is located near the construction machine and facilitates communication with each other.
  • the controllable viscous coupling allows a situation-dependent control of the fan, depending on the oil level in the viscous coupling can set a desired speed for the fan, which can be independent of the speed of the drive unit. It is also advantageous that, in the invention, the viscous coupling can minimize or completely suppress a torque transmission between the drive unit and the fan, so that the fan moves or stands still at minimum speed. This is especially useful in order to achieve optimum operating temperatures as quickly as possible at a start of the construction machine at temperatures near freezing.
  • the viscous coupling allows a fuel-efficient way to drive the fan, as if it were rigidly connected to the drive unit.
  • For the fan is in fact in comparison to the drive speed of the drive unit, a reduced fan speed, which is sufficient at normal engine load.
  • the viscous coupling to a hydraulic control of the fan has the technical advantage of having a lower power loss, which results in an improved overall efficiency by means of the viscous coupling.
  • the viscous coupling is so adjustable that can be moments of the drive unit in a gentle way, so not abruptly but soft, transferred to the fan. As a result, the construction machine the proper functioning of the fan is retained longer.
  • the cooling system comprises a controller connected to the viscous coupling and / or the drive unit.
  • the controller can be used to set a specific oil level in the viscous coupling. Depending on the oil level, it is possible to use the viscous coupling to convert the drive torque into a specific output torque.
  • the viscous coupling can be adjusted so that sets a specific speed or torque ratio between the drive unit and the fan.
  • the controller is designed to detect at least one operating temperature of the cooling system.
  • this is an operating temperature of the charge air, the hydraulic oil and / or the cooling water. This allows the control system to monitor the operating status of the cooling system with real-time accuracy. In addition, this ensures that the controller controls the viscous coupling in good time, in order to counteract if necessary extreme temperatures of the cooling system.
  • the controller is designed to detect at least one operating temperature of the drive unit, preferably an intake and / or an ambient temperature. This offers the advantage that the control, in particular in summer, when it comes in the field of construction machinery due to the additionally generated heat through the newly laid road surface to extreme temperatures, also includes the environmental conditions for fan speed control.
  • the controller is designed to detect a lower and / or an upper limit temperature of the respective operating temperatures of the cooling system and / or the drive unit, so that the controller can respond quickly to overheating and / or supercooling of the operating temperatures ,
  • the controller is designed to regulate the viscous coupling so that the fan speed essentially corresponds to the drive speed of the drive unit.
  • a maximum cooling air flow can be made available. This is preferably the case when the controller determines that one of the monitored operating temperatures of the cooling system and / or the drive unit reaches or exceeds the upper limit temperature.
  • the controller is connected to the drive unit to detect a rated speed and / or a load factor of the drive unit.
  • the controller is adapted to detect different load factors according to the operating mode of the drive unit. It would be conceivable that the controller would detect a lower load factor, for example, during a drive-in drive at a constant speed than during a drive-in drive with changing speeds, during which the drive unit is loaded more. Consequently, the controller is also capable of adjusting the fan speed according to the load condition of the construction machine.
  • the controller comprises means which are designed to calculate an average of the detected operating temperatures of the cooling system and / or the drive unit. It would also be advantageous if the means were designed to calculate averaged values of the detected rated speed and / or of the detected load factor. The averaged values prevent extreme, short-term operational measured values from occurring in the automatic control of the viscous coupling.
  • the controller is adapted to detect a desired fan speed.
  • the desired fan speed can be produced by the controller and is based on the detected operating temperatures of the cooling system and / or the drive unit.
  • the desired fan speed is preferably also based on the rated operating speed and / or the load factor of the drive unit.
  • all or a specific selection of detected operating temperatures of the cooling system with a certain selection of drive-typical temperatures or parameters can be combined as desired with one another in order to determine the desired fan speed. This allows the controller complex operating conditions in a target size, namely the fan target speed to take into account to make an effective control of the viscous coupling.
  • the controller comprises a control unit which is connected to the viscous coupling and generates by means of the detected desired fan speed a manipulated variable through which the viscous coupling can be controlled.
  • the manipulated variable controls the oil level in the viscous coupling to a desired To reach the rated fan speed. It is advantageous that the control unit allows a low-noise change to the desired fan speed.
  • the controller comprises a memory from which memory data for generating the desired fan speed can be retrieved.
  • the storage data comprises an average load factor detected by the controller and an average ambient temperature of the drive unit detected by the controller. It is advantageous if the stored data can be converted directly into the nominal speed of the fan by using a characteristic map which is provided for the control.
  • the memory improves the reaction time to a possible overheating of the construction machine, because the data for determining the desired fan speed, in particular the average load factor and the average ambient temperature of the drive unit, immediately from the memory are retrievable, if the controller is a critical operating temperature of the cooling system and / or the drive unit was detected.
  • the control unit can be supplied with a maximum rated fan speed when the controller detects that one of the operating temperatures of the cooling system and / or the drive unit reaches or exceeds an upper limit temperature. This allows a maximum cooling capacity, so that the affected operating temperature again sets below the threshold temperature. It is also possible that the controller provides a minimum nominal fan speed for generating the manipulated variable when the controller detects that the drive unit is idling. As a result, the fan can be spared and it prevents unnecessary fuel consumption.
  • the viscous coupling comprises a sensor comprising a fan speed.
  • the control unit is designed to form, based on a difference between the Loudreerist loftiere and the desired fan speed, the manipulated variable with which the viscous coupling can be controlled.
  • the sensor may be a level sensor for detecting the oil level in the viscous coupling, wherein it is possible by the oil level and the applied drive speed of the drive unit to determine the Ldorferist loftiere.
  • the sensor may be a motion sensor that is configured to directly determine the fan speed. The sensor can be inexpensively installed in the viscous coupling.
  • the invention relates to a method for automatically controlling and controlling a cooling system of a construction machine by a viscous coupling.
  • the viscous coupling is the drive side connected to a drive unit and the output side with a fan of the cooling system
  • the viscous coupling is controlled in dependence of different operating parameters so that adjusts a certain fan speed on the output side of the viscous coupling.
  • the Fig. 1 shows a construction machine according to the invention 1 with a cooling system 2 and with a drive unit 3.
  • the cooling system 2 comprises a viscous coupling 4, which is the output side connected to a fan 5.
  • the fan 5 is provided for generating a cooling air flow, which cools cooling media such as charge air, cooling water and hydraulic oil.
  • the viscous coupling 4 is connected on the drive side to a motor 6 of the drive unit 3.
  • the cooling system 2 further includes a controller 7, which is provided for detecting an ambient temperature 8 and / or an intake temperature 9 of the drive unit 3.
  • the controller 7 is for detecting the temperature of the to be cooled Media, so a charge air temperature 10, a cooling water temperature 11, and / or a hydraulic temperature 12 is provided.
  • the fan 5 is not rigid or with a hydraulic motor, but with the help of the engine 6 attached to the viscous coupling 4 driven.
  • a fan speed 13 can be detected by a sensor 31, which is integrated in the viscous coupling 4. The fan speed 13 is transferable from the viscous coupling 4 to the controller 7.
  • control unit 14 is provided to send a control variable 15 to the viscous coupling 4.
  • the controller 7 is connected to the motor 6 of the drive unit 3, and is designed to detect a rated speed 16 and / or a load factor 17 of the motor 6 of the drive unit 3.
  • the controller 7 is able to generate the manipulated variable 15 by means of the detected signals 8, 9, 10, 11, 12, 13, 16, 17 or at least by means of a specific selection thereof.
  • the controller 7 includes a map 18, which is provided for determining a desired fan speed by means of the detected load factor and the detected ambient temperature 8, and the intake temperature 9. Furthermore, the controller 7 comprises means 19, which are provided for averaging the detected signals 8, 9, 10, 11, 12, 13, 16, 17. In this case, the controller 7 is designed to detect a plurality of values of each measured variable with the number 2 to 1000 and with a sampling rate of 10 msec to 360 sec. From these values, a mean value with a fixed sampling rate in the range from 10 msec to 360 sec can be derived. Preferably, 20 values are acquired with a sampling rate of 1 second. It is also conceivable that an alternative averaging can be carried out by a moving average, geometric mean, harmonic mean, quadratic mean or by cubic mean.
  • the controller 7 includes a ramp function 20 in order to dampen speed jumps on the fan. If a new speed setpoint for the fan 5 is present, it can be targeted by a stepwise adjustment of the desired speed of the fan with a predefined slope. To avoid giving the operator the impression of a speed jump receives, the slope of the ramp function is formed substantially flat. On the other hand, it is provided that the slope of the ramp function 20 does not fail too flat in order to prevent overheating of the cooling system 2.
  • the slope of the ramp function 20 is preferably set in a range between 0.1 revolutions / sec to 200 revolutions / sec. It is advantageous if the slope of the ramp function is 12 revolutions / sec.
  • the controller 7 comprises a memory 21 which is adapted to the input variables of the controller 7, namely the ambient temperature 8, the intake temperature 9, the charge air temperature 10, the cooling water temperature 11, the hydraulic oil temperature 12, the fan speed 13, the diesel engine nominal speed 16 and / or to store the load factor 17.
  • the memory 21 is provided for buffering the input signals.
  • the Fig. 2 shows the operation of the controller 7.
  • the controller 7 comprises an evaluation logic 22, which is arranged at the beginning of the control unit 14.
  • the evaluation logic 22 is provided so that the fan speed is unnoticed as possible changed by the operator.
  • the control behavior of the viscous coupling 4 is tuned to the speed behavior of the construction machine 1.
  • the control unit 14 with a linearization 23 and with a downstream P-controller 24, which may optionally be designed as a PI or PID controller equipped.
  • the linearization 23 determines the control factors Kp, Ki or Ka, which are constant or variable depending on the input variables, such as the fan speed 13 and the rated speed 16.
  • the control factors are preferably adapted to the operating points of the viscous coupling 4 by means of defined characteristic curves.
  • the evaluation logic 22 comprises a first logic element 25, which is designed to monitor whether the temperatures 10, 11, 12 of the cooling system 2 have reached or exceeded an upper limit. Upon reaching or when the upper limit temperature is exceeded, a desired fan speed is transmitted by the first logic element 25 of the control unit 14, which corresponds to the detected rated speed of the motor 6 of the drive unit 3. So that the control unit 14 is not responding strictly, the desired fan speed is damped by the ramp function 20.
  • the controller 7 is adapted to maintain the maximum fan speed by falling below the limit temperature for a certain time by an optional follow-up time 31.
  • the first logic element 25 is alternatively (not shown) configured to check the operating temperatures of the cooling system 2 to see whether they reach or fall below a lower limit temperature. If this is the case, then the control unit 14 is forwarded by the first logic element 25 a desired fan speed, which corresponds to a towing speed of the drive unit 3.
  • the evaluation logic 22 comprises a second logic element 26.
  • the second logic element 26 is designed to detect the rated speed 16 of the drive unit 3, or to detect whether a nominal speed change has taken place. If the controller 7 detects the rated speed 16 of the drive unit 3, the evaluation logic 22 is checked in a further third logic element 27 as to whether an optional switch-on delay 28 has expired.
  • the switch-on delay 28 is activated when the nominal rotational speed 16 of the drive unit 3 is changed, so that, for a predetermined time interval, namely the switch-on delay 28, the drag rotational speed is initially forwarded to the control unit 14 as the desired fan speed.
  • the switch-on delay 28 If the switch-on delay 28 has expired, the first, the second and the third logic element 25, 26, 27 are switched so that a connection is established between the control unit 14 and the memory 21 so that the averaged values can be retrieved from the memory 21 in order to obtain a to determine specific fan target speed.
  • the desired fan speed can be determined from the map 18 by comparing averaged and stored values of the load factor 17 and the ambient temperature 8. The determined desired fan speed may be passed through the ramp function 20 in a damped manner to the control unit 14, so that the control unit 14 does not react hectically.
  • the current load factor 17 and the current ambient temperature 8 are stored in the memory 21 so that these values are available for a subsequent change to the rated speed of the construction machine 1. Likewise it can come to the storage of averaged values.
  • the Fig. 3 shows a diagram of the method for fan speed control.
  • the controller checks whether one of the operating temperatures 10, 11, 12 of the cooling system 2 has reached or exceeded an upper limit temperature. If this is the case, then sets the controller 7, the fan speed equal to the rated speed of the motor 6.
  • the follow-up time is activated and the switch-on delay 28 is deactivated. So that the set desired fan speed does not cause a chaotic reaction of the control unit 14, the desired fan speed is first damped with the ramp function 20.
  • the current load factor 17 and ambient temperature 8 and / or intake temperature 9 are stored in the memory 21 after an optional averaging 19, so that the current state of the drive unit when leaving the limit temperatures of the controller 7 is available.
  • the damped fan target speed value is transferred as a manipulated variable 15 to the viscous coupling 4. Consequently, the oil level of the viscous coupling 4 is controlled so that the desired fan target speed is set at the fan 5.
  • the setpoint fan speed is left at rated speed for a lag time.
  • the controller 7 does not detect that one of the operating temperatures has reached the upper limit temperature and the overshoot time has elapsed after overheating, ie that the operating temperatures of the refrigeration system 2 are below the limit temperatures and the time of the trailing phase has elapsed, then the operating condition of the engine 6 checked. If this is not at rated speed, the desired fan speed is set equal to the drag speed of the viscous coupling. After activating the switch-on delay 28, the manipulated variable for the viscous coupling is generated from the setpoint speed in the control device 14. The viscous coupling is controlled in such a way that the fan speed is adjusted.
  • a query is made about the expiry of the switch-on delay 28. As long as the switch-on delay 28 is active, this counted down and the target speed value with the adjoining control unit 14 transmits the towing speed as a target value. If, on the other hand, the condition about the elapsed switch-on delay 28 applies, a desired fan speed value is generated with the aid of stored values of load factor 17 and ambient temperature 8 from the stored characteristic map 18 and attenuated with the ramp function 20. The current state of the drive unit is subsequently stored in the memory 21, so that these values of the control for a renewed desired fan speed generation from the characteristic map 18 are available. The setpoint speed value generated from the map is transferred to the control device 14, so that the setpoint speed is set on the fan.
  • Fig. 4 a typical speed curve of a construction machine 1 according to the invention is shown. This results in the change between idle phases 29, in which the construction machine 1 is, and installation or transport phases in which the motor 6 of the drive unit 3 is operated at the rated speed 16.
  • the viscous coupling 4 can be regulated only slightly to a predetermined nominal fan speed.
  • a speed jump 30 to a rated speed 16 of the drive unit 3 takes place, so when changing the construction machine from idle to installation, runs after detecting the rated speed 16, first a time delay from 28 before a specification of the desired fan speed through the controller 7 takes place.
  • the switch-on delay 28, after which the control unit 14 receives the desired fan speed and generates the control variable 15 therefrom, depends on the overshoot behavior the viscous coupling 4 and may be in the range of 0.1 to 10 seconds. Preferably, the turn-on delay 28 passes through 3 seconds.
  • the last active load state and the last ambient temperature 8 are retrievable from the memory 21 and can be converted by the use of the map 18 in the desired fan speed. Subsequently, 8 average values from recorded measured values with a predetermined sampling rate are formed from the current load factor 17 and the current ambient temperature. These average values are stored in the memory 21 and are available for the next cycle in which a new speed specification takes place.
  • This automatic fan target speed control is based on the assumption that the average utilization of the drive unit 3 changes only insignificantly during an installation process.
  • the desired fan speed is set equal to the towing speed. In this case, the last load state and the last ambient temperature remain at the rated speed 16 in the memory 21 available.
  • the cooling air flow is adjusted.
  • the determined by the map 18 fan target speed is set by the ramp 20 with a predetermined slope.
  • the thus determined desired fan speed serves as input for the control unit 14 of the viscous coupling 4.
  • the resulting fan speed specification is in the Fig. 4 shown in dashed lines.
  • Construction machines such as road pavers or feeders, require the maximum cooling air volume flow only in extreme working conditions with very high ambient temperatures and at very high engine loads. However, this operating condition rarely occurs, so that the fan speed can be reduced in a variety of applications and thus leads to a lower noise level on the construction machine. If the fan is not operated at the maximum design point of the construction machine, fuel can be saved due to the reduced fan speed. Compared with a hydraulically driven fan, the viscous coupling has lower losses in reducing the speed of the fan, so the viscous clutch system has better overall efficiency. So far, in road pavers, due to the speed profile no regulated viscous coupling used. A big advantage of a controlled fan speed is in the reaction time to a possible overheating of the machine.
  • the fan speed can be adjusted before the temperature in the cooler rises.
  • dead times are bypassed in the motor-cooler fan system, because before a possible overheating the correct air flow through the cooler is adjustable.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Road Paving Machines (AREA)
  • Control Of Positive-Displacement Air Blowers (AREA)
EP11004512.7A 2011-06-01 2011-06-01 Engin doté d'un réglage de régime de ventilateur automatique Active EP2530273B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP11004512.7A EP2530273B1 (fr) 2011-06-01 2011-06-01 Engin doté d'un réglage de régime de ventilateur automatique
PL11004512T PL2530273T3 (pl) 2011-06-01 2011-06-01 Maszyna budowlana z automatyczną regulacją prędkości obrotowej wentylatora
US13/482,034 US9376954B2 (en) 2011-06-01 2012-05-29 Construction machine with automatic fan rotational speed regulation
JP2012123421A JP6029324B2 (ja) 2011-06-01 2012-05-30 自動的にファン回転速度を調節する建設機械
CN201210180558.3A CN102808683B (zh) 2011-06-01 2012-06-01 具有自动风扇旋转速度调节的建筑机械

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11004512.7A EP2530273B1 (fr) 2011-06-01 2011-06-01 Engin doté d'un réglage de régime de ventilateur automatique

Publications (2)

Publication Number Publication Date
EP2530273A1 true EP2530273A1 (fr) 2012-12-05
EP2530273B1 EP2530273B1 (fr) 2020-04-08

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EP11004512.7A Active EP2530273B1 (fr) 2011-06-01 2011-06-01 Engin doté d'un réglage de régime de ventilateur automatique

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US (1) US9376954B2 (fr)
EP (1) EP2530273B1 (fr)
JP (1) JP6029324B2 (fr)
CN (1) CN102808683B (fr)
PL (1) PL2530273T3 (fr)

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DE102010031835A1 (de) * 2010-07-22 2012-01-26 Liebherr-Werk Nenzing Gmbh Lüfterregelung
CN108291763B (zh) * 2015-09-30 2021-04-13 伊莱克斯家用产品公司 低环境温度条件下的制冷腔的温度控制
JP6628311B2 (ja) * 2016-03-24 2020-01-08 Ｎｅｃプラットフォームズ株式会社 ファン制御装置、冷却ファン・システム、コンピュータ装置、ファン制御方法及びプログラム
JP6539629B2 (ja) * 2016-09-29 2019-07-03 日立建機株式会社 作業機械のクラッチ制御装置
PL3569764T3 (pl) * 2018-05-15 2021-12-27 Joseph Vögele AG Sposób przewidywanego sterowania układarką
CN112031916A (zh) * 2020-09-04 2020-12-04 北京理工大学 发动机冷却风扇调速控制系统、装置及终端设备
CN114337467B (zh) * 2021-12-23 2024-01-12 昂宝电子（上海）有限公司 用于调整电机转速的方法及计算机存储介质

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US20120305232A1 (en) 2012-12-06
PL2530273T3 (pl) 2020-11-16
JP6029324B2 (ja) 2016-11-24
US9376954B2 (en) 2016-06-28
CN102808683B (zh) 2016-03-02
JP2012251553A (ja) 2012-12-20
CN102808683A (zh) 2012-12-05
EP2530273B1 (fr) 2020-04-08

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