EP3177107B1 - Verfahren zum betrieb eines induktionskochfelds - Google Patents

Verfahren zum betrieb eines induktionskochfelds Download PDF

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Publication number
EP3177107B1
EP3177107B1 EP15197633.9A EP15197633A EP3177107B1 EP 3177107 B1 EP3177107 B1 EP 3177107B1 EP 15197633 A EP15197633 A EP 15197633A EP 3177107 B1 EP3177107 B1 EP 3177107B1
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EP
European Patent Office
Prior art keywords
cooking vessel
temperature
heating
time
heating power
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.)
Active
Application number
EP15197633.9A
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German (de)
English (en)
French (fr)
Other versions
EP3177107A1 (de
Inventor
Marcus Frank
Marius Lehner
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.)
EGO Elektro Geratebau GmbH
Original Assignee
EGO Elektro Geratebau GmbH
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 EGO Elektro Geratebau GmbH filed Critical EGO Elektro Geratebau GmbH
Priority to EP15197633.9A priority Critical patent/EP3177107B1/de
Priority to US15/365,284 priority patent/US10595366B2/en
Priority to CN201611096593.1A priority patent/CN106895451B/zh
Publication of EP3177107A1 publication Critical patent/EP3177107A1/de
Application granted granted Critical
Publication of EP3177107B1 publication Critical patent/EP3177107B1/de
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    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B6/00Heating by electric, magnetic or electromagnetic fields
    • H05B6/02Induction heating
    • H05B6/06Control, e.g. of temperature, of power
    • H05B6/062Control, e.g. of temperature, of power for cooking plates or the like
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24HEATING; RANGES; VENTILATING
    • F24CDOMESTIC STOVES OR RANGES ; DETAILS OF DOMESTIC STOVES OR RANGES, OF GENERAL APPLICATION
    • F24C7/00Stoves or ranges heated by electric energy
    • F24C7/08Arrangement or mounting of control or safety devices
    • F24C7/081Arrangement or mounting of control or safety devices on stoves
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B6/00Heating by electric, magnetic or electromagnetic fields
    • H05B6/02Induction heating
    • H05B6/10Induction heating apparatus, other than furnaces, for specific applications
    • H05B6/12Cooking devices
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B2206/00Aspects relating to heating by electric, magnetic, or electromagnetic fields covered by group H05B6/00
    • H05B2206/02Induction heating
    • H05B2206/024Induction heating the resistive heat generated in the induction coil is conducted to the load
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B2213/00Aspects relating both to resistive heating and to induction heating, covered by H05B3/00 and H05B6/00
    • H05B2213/07Heating plates with temperature control means

Definitions

  • the invention relates to a method for operating an induction hob, whereby a temperature adjustment is to be effected or a specific cooking vessel temperature is to be achieved or set as the target temperature and kept constant.
  • a special feature of the process is that no temperature measuring devices are used that record the absolute cooking vessel temperature.
  • the cooking vessel temperature is only determined indirectly via other properties of the cooking vessel, such as temperature-dependent changes in permeability. Only a relative temperature change can be recorded, but not an absolute temperature.
  • the measuring method is known from EP 2330866 A2 .
  • WO 2010/139598 A1 discloses a method for operating an induction hob according to the preamble of claim 1.
  • the invention is based on the object of creating a method mentioned at the beginning, with which problems of the prior art can be avoided and in particular it is possible for a predetermined or entered target temperature for an induction hob to be set in an advantageous manner Cooking vessel can be controlled and held automatically, so to speak.
  • An induction hob has a control and a hotplate with at least one induction heating coil.
  • a connection is advantageously stored in the control between a cooking vessel temperature and a heating output of the induction heating coil as area power or area power density, which sets or results in the specified and desired specific cooking vessel temperature in the steady state or stable state or in continuous operation.
  • a cooking vessel is placed on the hob and is inductively heated by the induction heating coil.
  • a target temperature for the cooking vessel or an application that implies a specific target temperature is entered into the control of the induction hob, for example as "roast steak".
  • the cooking vessel is heated for a first heating time with a first relatively large heating output as an area output, in order above all to bring about the fastest possible rise in temperature in order to quickly get close to the target temperature.
  • the heating output of the induction heating coil is reduced to a first relatively small heating output, which would lead to the target temperature in the long term.
  • This can correspond to the aforementioned relationship between cooking vessel temperature and heating output, if this is saved.
  • This first small heating output is significantly smaller than the aforementioned large heating output, preferably only about 1% to 20% or only up to 10%. Then it is checked, advantageously after a short checking time of one second to thirty seconds, whether the cooking vessel temperature remains constant, rises or falls at the first relatively small heating output. The process used for this will be explained in more detail below.
  • the cooking vessel temperature remains constant and corresponds to the target temperature, advantageously at least after the aforementioned short check time of a few seconds.
  • the target temperature is then considered to have been reached and is preferably maintained, for example the actual frying process can then begin.
  • the relatively small heating power is set by the control in adapted or changed to their size. You can try to find a different heating output that leads to a constant temperature during the short check time. This different heating output is advantageously also a relatively small heating output. This can also be used to get a temperature value at all to determine the temperature that is currently present in order to be able to approach the target temperature more specifically or quickly.
  • control After finding the corresponding correlation between heating power and cooking vessel temperature with sufficient accuracy, the control preferably considers the heating process to be complete and cooking or frying or cooking continues. This is advantageously signaled to an operator, and further procedural steps may also be initiated.
  • the cooking vessel temperature continues to rise after the short check time. Under certain circumstances, there may first be a brief drop in the signal used to determine the temperature, but this is not a problem here. Then the cooking vessel is heated again more strongly or further for an intermediate heating time with an intermediate heating power, since the cooking vessel temperature is still below the target temperature, so that its temperature increases again.
  • the intermediate heating output is advantageously greater than the first, relatively small heating output, but can also be the same size.
  • a cooking vessel temperature that is below the target temperature can be determined again.
  • the cooking vessel can then be heated more strongly again with an intermediate heating output for an intermediate heating time.
  • it can then be checked again by setting the relatively low heating output for a short checking time to see whether the cooking vessel temperature still increases or remains constant after this short checking time, with the cooking vessel temperature remaining constant being the first case of reaching the target temperature applies.
  • a cooking vessel temperature above the target temperature is determined.
  • the target temperature can then be achieved in different ways, which will be explained in more detail becomes. The simplest way is to simply continue heating with the relatively low heat output and after some time or a few minutes the target temperature will have been reached. Alternatively, the heating operation can be suspended for a short time, for example 5 seconds to 30 seconds or a minute.
  • the knowledge can be implemented that in a practically applied method a certain heating output as an area output leads to a certain final temperature or permanently maintained cooking vessel temperature, largely regardless of what is used for a cooking vessel.
  • the aforementioned relationship between the cooking vessel temperature and heating power as area power so to speak, requires the information as to what power the induction heating coil or several induction heating coils connected together in a cooking area generate, i.e. is introduced into the cooking vessel.
  • the approximate area of the cooking vessel or the bottom of the cooking vessel is required so that the area performance can be determined.
  • hotplates are usually designed for certain sizes of cooking vessels, and this is indicated in particular by a marking on the top of a hob plate, an approximate range of cooking vessel size to be expected for a defined hotplate is known. Furthermore, it is also possible, in particular, to determine whether the induction heating coil is covered by the cooking vessel by monitoring operating parameters of the induction heating coil, in particular an efficiency of the induction heating coil. If the size of the induction heating coil is known, the approximate area of the cooking vessel or the bottom of the cooking vessel can then be determined. This is already known to the person skilled in the art from another context. The method requires that there is no food in the dishes during the heating process and the determination of the cooking vessel temperature according to the invention. This would distort the temperature setting process described above. However, the falsification would be so significant that the control can detect this case and display it to an operator.
  • the target temperature can be entered into the control either by an operator using controls. Alternatively, the input can be through an automatic cooking program which takes place in the control itself. What is important is that a target temperature is given.
  • the first heating time mentioned can be relatively short. In particular, since relatively high target temperatures are to be approached, an attempt is made to select the first relatively large heating output as very large, advantageously as large as possible. So it can be 3 W/cm 2 to 12 or even 14 W/cm 2 , in particular 6 W/cm 2 to 10 W/cm 2 . Then this initial heating time can be between one minute and five minutes or even eight minutes. It can also be specified for a specific hotplate or induction heating coil depending on its size and thus an expected cooking vessel size from empirical values stored in a table in the control, for example two minutes for small induction heating coils, five minutes for medium-sized induction heating coils and eight minutes for large induction heating coils .
  • the first relatively small heating output can be significantly lower than the first large heating output.
  • the invention is between 0.3 W/cm 2 and 2 W/cm 2. Particularly advantageously it is between 0.6 W/cm 2 and 0.8 W/cm 2 .
  • cooking vessel temperatures between 200 ° C and 250 ° C can be maintained over the long term.
  • such cooking vessel temperatures could also be achieved simply by setting such a relatively small heating output as an area output, but this would then predictably take a very long time.
  • the first relatively small heating output is advantageously set or introduced into the cooking vessel for at least one second to 30 seconds or even a minute, i.e. the aforementioned short time as a check time before the cooking vessel temperature is expected to remain constant.
  • the temperature compensation processes usually take a few seconds, especially in the aforementioned first or second case, until the first small heating output defines the energy input.
  • the check time is advantageously 5 seconds to 20 seconds.
  • An aforementioned intermediate heating time can be in a range similar to the checking time, for example between 5 seconds and 60 seconds, preferably between 10 seconds and 20 seconds.
  • the intermediate heating output should advantageously be relatively larger than the first Small heating output, can also be significantly larger, but it doesn't have to be.
  • the intermediate heating power is between 1 W/cm 2 and 12 W/cm 2 , in particular between 1.5 W/cm 2 and 8 W/cm 2 , or it can be 5% to 100% larger than the first relatively small heating output.
  • the cooking vessel in the third case is simply heated with an intermediate heating power as described above after the cooking vessel temperature has been determined to be too high. Then, when the cooking vessel temperature becomes constant, it corresponds to the target temperature. However, this results in a somewhat slower drop in the cooking vessel temperature, which means that the determination of the specific cooking vessel temperature as the actual frying temperature can only take place later, in particular after several minutes, and therefore the operator can only start the frying process with a time delay.
  • heating can be carried out with a second intermediate heating output, which can then be slightly above the first, relatively small heating output, advantageously between 105% and 200% of it. It is waited until this second intermediate heating output leads to a constant cooking vessel temperature.
  • the cooking vessel temperature could then be determined from the relationship between the cooking vessel temperature and heating output stored in the control. This means that the control system can not only detect that the cooking vessel temperature is above the target temperature, but also how much it is above it. In this case, the cooking vessel temperature is not at the target temperature, but above it, but the control can again determine its absolute value based on the second intermediate heating power at a constant cooking vessel temperature. The heating output can then be reduced again.
  • the control can estimate this based on stored empirical values. Then the first relatively small heating output can be set, which leads to the target temperature. Alternatively, the operator can also be given the signal to start the frying process. The inserted food will then cool the cooking vessel to the target temperature relatively quickly. The control can then use the actually desired target temperature for the temperature control already described, even if this was not explicitly set beforehand.
  • the vibration response on at least one induction heating coil is used to determine whether the temperature of the cooking vessel or the bottom of the cooking vessel above this induction heating coil changes or whether this temperature increases.
  • a temperature gradient of the cooking vessel can thus be detected by the induction heating coil, which is preferably done according to a method as described in EP 2330866 A2 is described. If this determination of the vibration response only takes place periodically, it should advantageously be every 0.01 milliseconds to 1 second, advantageously up to 1 millisecond.
  • the vibration response of an induction heating coil can be understood as the evaluation of the change in oscillating circuit parameters due to temperature changes of the cooking vessel or cooking vessel bottom, in particular the changing permeability.
  • the vibration response can be recorded when operating several induction heating coils on the hotplate or, for this cooking vessel, on each induction heating coil.
  • This method advantageously comprises the steps: generating an intermediate circuit voltage at least temporarily depending on a single-phase or multi-phase, in particular three-phase, alternating network voltage; Generating a high-frequency control voltage or a control current from the intermediate circuit voltage, for example with a frequency in a range of 20kHz to 70kHz; and applying the control voltage or the control current to a resonant circuit comprising the induction heating coil.
  • the cooking vessel is conventionally heated inductively.
  • the following steps are then carried out: Generating the intermediate circuit voltage during predetermined time periods, in particular periodically, with a constant voltage level, the intermediate circuit voltage preferably being generated independently of the AC mains voltage during the time periods; Generating the control voltage during the predetermined time periods such that the resonant circuit oscillates at its natural resonance frequency in a substantially undamped manner; Measuring at least one vibration parameter of the vibration during the predetermined time periods; and evaluating the at least one measured vibration parameter to determine the temperature. Since the intermediate circuit voltage is kept constant during the temperature measurement, signal influences due to a changing intermediate circuit voltage can be eliminated, thereby enabling a reliable and interference-free temperature determination or determination of a temperature change.
  • the method includes the steps: determining zero crossings of the AC mains voltage and selecting the time periods in the area of the zero crossings.
  • the intermediate circuit voltage In the area of zero crossings with single-phase AC mains voltage, the intermediate circuit voltage usually decreases sharply.
  • the constant voltage level is preferably chosen such that it is greater than the voltage level that usually occurs in the area of zero crossings, so that the intermediate circuit voltage is clamped to the constant voltage level in the area of zero crossings. There are then constant voltage conditions in the area of zero crossings, which enable reliable temperature measurement. So no additional temperature sensors are needed here, even if they could be present.
  • induction heating coil it is possible for not just a single induction heating coil to be provided at the cooking point for the cooking vessel, but several. In principle, the same applies here, in which case the stated performance values are based on all induction heating coils that are present on the hob and are used to heat the cooking vessel. Your output or area output or heating output is then considered together as described above for temperature measurement.
  • the control can vary the heating output slightly or, above all, set the first heat-up time, the check time, the intermediate heating time or off times.
  • the aforementioned check times in the various cases can be the same or similar, but do not have to be. They can also differ by a factor of 1 to 5.
  • Fig. 2 is an induction hob 11 shown with a hob plate 12, on which a hotplate 13 is formed.
  • An induction heating coil 15 is arranged under the hob plate 12, which defines and also heats the hotplate 13. This could also consist of several induction heating coils, which plays no role for the invention.
  • the induction heating coil 15 is supplied with power and controlled by a controller 17, whereby the controller 17 can monitor the power fed into the induction heating coil 15.
  • the controller 17 has a memory, not shown, in which, so to speak Fig. 1 A connection is stored between the cooking vessel temperature and the area output. Either the mathematical relationships can be saved when the temperature curves are out Fig. 1 can be viewed as a straight line. Alternatively, temperature values for gradually increasing area performance can be stored with sufficiently good resolution.
  • this it is possible for this to be stored in the control 17 for several cooking vessels, so that the control 17 knows exactly which of the four or more curves from the Fig. 1 should be used in the respective case.
  • certain parameters could also be entered into the control 17 by an operator or programmed from the outside, which, detached from the specific cooking vessel present, inform the control 17 which cooking vessel is now being used or which of the stored curves applies.
  • the controller 17 can then also recognize the size range in which a cooking vessel placed above the hotplate 13 is located.
  • the area of the induction heating coil 15 is known.
  • the area output mentioned is not based on the area of the induction heating coil 15, but rather on the area of the cooking vessel 19.
  • Matching the cooking area 13, the surface or the bottom surface of the cooking vessel 19 will move in a relatively narrow range, since suitable cooking vessels within certain diameter classes usually only have a diameter variation of up to 3 cm. Cooking vessels that are significantly too large or significantly too small are rarely put on; this could also be recognized by the control 17 and signaled to an operator as an error.
  • a target person or an automatic control or the like Beforehand, a target person or an automatic control or the like. a target temperature of 200°C has been entered. This temperature should be maintained permanently on the cooking vessel 19, which here is a pan. This temperature applies advantageously to the top of the bottom of the cooking vessel, i.e. where food to be cooked, for example a steak to be fried, comes into contact with the cooking vessel 19. The top curve from the applies to the cooking vessel 19 Fig. 1 .
  • the heating output is greatly reduced and set to 0.68 W/cm 2 . This corresponds to the Fig. 1 the top curve or at this area performance the temperature of 200°C is permanently maintained.
  • the temperature T only drops slightly and then becomes constant relatively quickly, for example in 5 seconds to 20 or 30 seconds as the adaptation time.
  • Both the small temperature drop and the constant Temperature can be achieved by a method mentioned above or in accordance with the EP 2330866 A2 or the EP 2574144 A2 be recognized.
  • the second time or intermediate heating time with high heating output Fig. 4 between t2 ⁇ and t3 ⁇ could also be done with a different area performance than the heating time up to time t1'.
  • the heating processes should take place relatively quickly, so that at least a high area performance close to the maximum area performance should be selected.
  • the case of overheating during the heating time is in the Fig. 5 shown.
  • heating is carried out with the high power of 7 W / cm 2 , whereupon the temperature T increases.
  • time t1" for a check -Heated for a period of time with the low area output of 0.68 W/cm 2 i.e.
  • the controller 17 determines via the aforementioned temperature monitoring that the cooking vessel temperature falls permanently even after the check time has elapsed, even after one or two minutes as an adjustment time. This means that the cooking vessel temperature is well above the target temperature. Now either the power can be switched off completely for a short time, for example for 10 seconds to 30 seconds, in order to achieve rapid cooling to the target temperature or close to it. Then operation could start again with the low heating output of 0.68 W/cm 2 and experience has shown that the temperature would then have to become constant relatively quickly and then be the target temperature of 200°C.
  • the area output of 0.68 W/cm 2 corresponding to the target temperature can be set from time t3", so that the cooking vessel temperature T falls somewhat more slowly to the target temperature, which is then ultimately reached and maintained.
  • Faster cooling can also be achieved can be achieved by inserting the food to be cooked.
  • the measured value that corresponds to 200 ° C is used as the setpoint and not the measured value that corresponds to 230 ° C.
  • Fig. 6 shows a further advantageous embodiment of the method for achieving a specific cooking vessel temperature in a defined manner. If the constant steady-state temperature is not reached after a short period of time, regardless of whether the signal falls or rises, no discrete power levels are subsequently approached between t2′′′ and t3′′′. Rather, one will Setpoint T S of the temperature signal is determined after a set time, here at t2′′′ with 230°C. The control then regulates to this setpoint T S , for example using a proportional controller, which can also have integral or derivative components. This means that a constant temperature is reached relatively quickly at t3′′′, faster than would be possible with discrete temperature levels. According to Fig.
  • the invention is advantageous in that in a steady state, i.e. a permanently prevailing state, a thermal conduction resistor is connected in series to a parallel connection as a radiant heat resistance and a convection heat resistance. This results in the in Fig. 1 connection to be recognized.
  • the invention therefore uses an energy balance to solve the problem set out at the beginning.
  • a steady state i.e. a state without a change in the cooking vessel temperature
  • the internal energy of the cooking vessel is kept constant.
  • the energy introduced into the cooking vessel by the heating is completely released again, be it through convection, heat radiation or heat conduction into the hob surface.
  • the energy introduced can be measured by the heating.
  • the connection Fig. 1 is known, the absolute temperature can be determined by measuring energy per time or power, under certain general conditions.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Cookers (AREA)
  • Induction Heating Cooking Devices (AREA)
  • Electric Stoves And Ranges (AREA)
EP15197633.9A 2015-12-02 2015-12-02 Verfahren zum betrieb eines induktionskochfelds Active EP3177107B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP15197633.9A EP3177107B1 (de) 2015-12-02 2015-12-02 Verfahren zum betrieb eines induktionskochfelds
US15/365,284 US10595366B2 (en) 2015-12-02 2016-11-30 Method for operating an induction hob
CN201611096593.1A CN106895451B (zh) 2015-12-02 2016-12-02 用于操作电磁炉的方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15197633.9A EP3177107B1 (de) 2015-12-02 2015-12-02 Verfahren zum betrieb eines induktionskochfelds

Publications (2)

Publication Number Publication Date
EP3177107A1 EP3177107A1 (de) 2017-06-07
EP3177107B1 true EP3177107B1 (de) 2024-01-24

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US (1) US10595366B2 (zh)
EP (1) EP3177107B1 (zh)
CN (1) CN106895451B (zh)

Families Citing this family (5)

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DE102017220815B4 (de) * 2017-11-22 2019-06-19 E.G.O. Elektro-Gerätebau GmbH Verfahren zur Steuerung eines Kochgeräts mit einem externen Steuergerät, Kochgerät und System
CN109936883B (zh) * 2017-12-15 2021-10-26 佛山市顺德区美的电热电器制造有限公司 加热控制方法、装置、加热器具和计算机可读存储介质
DE102019205408B4 (de) * 2019-04-15 2021-12-02 E.G.O. Elektro-Gerätebau GmbH Verfahren zum Betrieb eines Kochfelds mit Dampfgarfunktion und Kochfeld
DE102020201005A1 (de) 2020-01-28 2021-07-29 E.G.O. Elektro-Gerätebau GmbH System mit einem Kochfeld und einem Kochgeschirr und Verfahren zum Betrieb des Systems
DE102020215319A1 (de) 2020-12-03 2022-06-09 E.G.O. Elektro-Gerätebau GmbH Verfahren zum Betrieb eines Kochfelds, Kochfeld und Kochfeldsystem

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DE102005028829A1 (de) 2005-06-14 2007-01-11 E.G.O. Elektro-Gerätebau GmbH Verfahren und Anordnung zur Leistungsversorgung einer Induktionsheizeinrichtung
DE102005050038A1 (de) 2005-10-14 2007-05-24 E.G.O. Elektro-Gerätebau GmbH Verfahren zum Betrieb einer Induktionsheizeinrichtung
JP4936814B2 (ja) * 2006-07-28 2012-05-23 株式会社東芝 加熱調理器
CN201001206Y (zh) 2007-01-29 2008-01-02 深圳市鑫汇科电子有限公司 实现稳定小功率加热的电磁炉电路
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DE102009047185B4 (de) 2009-11-26 2012-10-31 E.G.O. Elektro-Gerätebau GmbH Verfahren und Induktionsheizeinrichtung zum Ermitteln einer Temperatur eines mittels einer Induktionsheizspule erwärmten Kochgefäßbodens
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Also Published As

Publication number Publication date
CN106895451A (zh) 2017-06-27
US20170164427A1 (en) 2017-06-08
CN106895451B (zh) 2021-08-06
US10595366B2 (en) 2020-03-17
EP3177107A1 (de) 2017-06-07

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