JP2002125392A - Method of controlling load sharing shift between motors for driving both shafts of load, and its device - Google Patents
Method of controlling load sharing shift between motors for driving both shafts of load, and its deviceInfo
- Publication number
- JP2002125392A JP2002125392A JP2000312140A JP2000312140A JP2002125392A JP 2002125392 A JP2002125392 A JP 2002125392A JP 2000312140 A JP2000312140 A JP 2000312140A JP 2000312140 A JP2000312140 A JP 2000312140A JP 2002125392 A JP2002125392 A JP 2002125392A
- Authority
- JP
- Japan
- Prior art keywords
- load sharing
- torque command
- command value
- motor
- torque
- 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
Links
Landscapes
- Winding Of Webs (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、紙、フィルム、ア
ルミ箔等のウェブの巻取りロールまたは巻戻しロールの
両軸端をそれぞれ駆動する２台の電動機間の負荷分担比
率を、外部から指示されたトルク指令の大きさに対応し
て選定する、電動機間負荷分担制御方法とその装置に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to externally indicating a load sharing ratio between two electric motors for driving both shaft ends of a take-up roll or a rewind roll of a web of paper, film, aluminum foil or the like. The present invention relates to a load sharing control method between motors and a device therefor, which is selected in accordance with the magnitude of a specified torque command.
【０００２】[0002]
【従来の技術】図３はこの種の電動機負荷分担制御方法
を行う駆動装置の従来例の構成を示す。2. Description of the Related Art FIG. 3 shows the configuration of a conventional driving apparatus for performing this type of motor load sharing control method.
【０００３】巻取りロールまたは巻戻しロール１はその
両軸１A, １Bにクラッチ１A, ２Bを介してそれぞれ結合
された電動機３A（容量MAkW）と電動機３B(容量MBkW）
とにより駆動され、電動機３A, ３Bはインバーター４A,
４Bによりそれぞれ駆動される。外部から入力されたト
ルク指令値TREFは負荷分担比率設定器７A, ７Bにそれぞ
れ入力され、負荷分担比率KA, KB（但しKA＋KB＝１）を
それぞれ乗じた分担トルク指定値τrefKA（＝TREF×K
A）、τrefKB（＝TREF×KB）が、トルク指令リミター６
A, ６Bを経てインバータ４A, ４Bにそれぞれ入力され
る。但し、負荷分担比率KA, KBは電動機３Aの容量MAkW
と電動機３Bの容量MBkW とにそれぞれ対応して定められ
た固定値であり、かつ、MAkW＞MBkWとする。トルク補償
指令器５A,５Bはそれぞれ、軸A側駆動装置とB側駆動装
置との機械損失補償と加減速時の慣性補償とのための補
償トルク指令τcomA, τcomBを、インバータ４A, ４Bに
入力させる。A take-up roll or a rewind roll 1 has an electric motor 3A (capacity MAkW) and an electric motor 3B (capacity MBkW) respectively coupled to both shafts 1A and 1B via clutches 1A and 2B.
And the motors 3A and 3B are driven by inverters 4A and
4B. The torque command value TREF input from the outside is input to the load sharing ratio setting devices 7A and 7B, respectively, and the shared torque designation value τrefKA (= TREF × K) multiplied by the load sharing ratios KA and KB (where KA + KB = 1).
A), τrefKB (= TREF × KB) is the torque command limiter 6
The signals are input to inverters 4A and 4B via A and 6B, respectively. However, the load sharing ratio KA, KB is the capacity MAkW of the motor 3A
And the capacity 3kW of the electric motor 3B are fixed values respectively set, and MAkW> MBkW. The torque compensation command devices 5A and 5B input compensation torque commands τcomA and τcomB for mechanical loss compensation and inertia compensation during acceleration / deceleration of the shaft A-side drive device and the B-side drive device to the inverters 4A and 4B, respectively. Let it.
【０００４】そこで運転に際してはオペレータが運転に
必要なトルク指令値TREFにより片軸駆動か両軸駆動かを
判断し、軸停止中にクラッチ操作により片軸駆動（A軸
またはB軸）または両軸駆動（A軸＋B軸）に切り替え
る。一般的にはトルク指令値TREFが低値設定であるとき
の運転では片軸駆動としている。[0004] In operation, the operator determines whether the drive is single-axis drive or double-axis drive based on the torque command value TREF required for operation, and operates the single-axis drive (A-axis or B-axis) or double-axis drive by operating the clutch while the axis is stopped. Switch to driving (A axis + B axis). Generally, in the operation when the torque command value TREF is set to a low value, single-axis drive is used.
【０００５】[0005]
【発明が解決しようとする課題】上述した従来の技術で
は、トルク指令値TREFが低い設定の場合、A軸・B軸イン
バータ４A, ４Bに与えられる分担トルク指令τrefKA,
τrefKBの値が小さくなり、負荷分担率ＫＡ，ＫＢは固
定値であるため両軸駆動で負荷分担比率を掛けている状
態では、トルク指令設定分解能低下による分担トルク設
定精度の低下によりトルク精度の低下の状態になり、ト
ルク制御精度を確保できないという問題があった。In the prior art described above, when the torque command value TREF is set low, the shared torque command τrefKA, which is given to the A-axis / B-axis inverters 4A and 4B,
Since the value of τrefKB becomes small and the load sharing ratios KA and KB are fixed values, in the state where the load sharing ratio is multiplied by the two-axis drive, the torque accuracy decreases due to the decrease in the sharing torque setting accuracy due to the decrease in the torque command setting resolution. And the torque control accuracy cannot be ensured.
【０００６】そのため、軸１Ａ、軸１Ｂに機械的クラッ
チ２A, ２Bを準備し、低トルク指令時は両軸駆動（軸１
Ａ＋軸１Ｂ）から片軸駆動（軸１Ａまたは軸１Ｂ）への
オペレータ操作による切り替え作業の必要性があり、し
かも巻取り巻戻し軸運転中の切り替えができない等の問
題があった。そこで本発明は、低張力設定時のクラッチ
切り替え作業をなくして運転中でも自動的に両軸運転か
ら片軸運転への切り替えを可能として、トルク制御精度
確保のできる両軸駆動電動機の負荷分担移行制御方法と
その装置を提供することを目的とする。For this reason, mechanical clutches 2A and 2B are prepared for the shafts 1A and 1B, and when a low torque command is issued, both shafts are driven (the shafts 1 and 2).
There is a need to switch from A + axis 1B) to single-axis drive (axis 1A or axis 1B) by an operator's operation, and there is a problem that switching during winding / rewinding axis operation is not possible. Therefore, the present invention eliminates the clutch switching operation at the time of setting the low tension and enables the automatic switching from the double-axis operation to the single-axis operation even during the operation, so that the load sharing transfer control of the double-axis drive motor that can ensure the torque control accuracy. It is an object to provide a method and its device.
【０００７】[0007]
【課題を解決するための手段】この目的を達成するため
に本願発明の負荷分担移行制御方法は、巻取りロールま
たは巻戻しロールの両軸をそれぞれ駆動する２台の電動
機間の負荷分担比率を、外部から指示されたウェブの所
要張力に応じるトルク指令値の大きさに対応して自動的
に選定することとしている。In order to achieve the above object, a load sharing transition control method according to the present invention is directed to a load sharing ratio between two electric motors respectively driving both shafts of a take-up roll or a rewind roll. The automatic selection is made according to the magnitude of the torque command value according to the required tension of the web instructed from the outside.
【０００８】その１実施態様においては、２台の電動機
のうち、第１の電動機の負荷分担比率をKAとし第２の電
動機の負荷分担比率をKB (＝１−KA)として、 （１）トルク指令値TREFがP1以下のときは KA＝０、 KB＝１ （２）トルク指令値TREFがP1とP1より大きいP2との間に
あるときはIn one embodiment, of the two motors, the load sharing ratio of the first motor is KA and the load sharing ratio of the second motor is KB (= 1−KA). when the command value TREF when the P 1 following KA = 0, KB = 1 to (2) the torque command value TREF is between P 1 and P 1 is greater than P 2 is
【０００９】[0009]
【数３】 （３）トルク指令値がP2より大きいときは KA＝α、 KB＝β、 （α, βは固定値） としている。この場合、 P1≦（第２の電動機定格トルク−トルク補償分）、 P2≦（第１および第２の両電動機定格トルクの和−両電
動機のトルク補償分の和）、 α、βはそれぞれ、トルク指令値TREFがP2のときの負荷
分担比率であり、また第２の電動機の定格容量MAkWは第
２の電動機の定格容量MBkWより大きいものとする。[Equation 3] (3) when the torque command value is greater than P 2 is KA = α, KB = β, it is set to (alpha, beta is a fixed value). In this case, P 1 ≦ (second motor rated torque−torque compensation), P 2 ≦ (sum of first and second motor rated torque−sum of torque compensation of both motors), α, β are each torque command value TREF is the load sharing ratio at the time of P 2, also rated capacity MAkW the second electric motor is made larger than the rated capacity MBkW the second electric motor.
【００１０】上述した負荷分担移行制御方法を使用する
両軸駆動負荷分担制御装置では、トルク指令値区分判定
回路を用いて外部から入力されたトルク指令値TREFの大
きさに対応する区分を自動的に判定する。また、負荷分
担移行制御回路はトルク指令値区分判定回路の判定結果
にしたがってそのトルク指令値区分において、２台の電
動機のうち、第１の電動機の負荷分担比率をKAとし第２
の電動機の負荷分担比率をKB(＝１−KA）として、 （１）トルク指令値がP1以下のときは KA＝０、 KB＝１ （２）トルク指令値がP1とP1より大きいP2との間にある
ときはIn the dual-shaft drive load sharing control device using the load sharing transition control method described above, the torque command value classification judging circuit automatically determines the category corresponding to the magnitude of the externally input torque command value TREF. Is determined. In addition, the load sharing transfer control circuit sets the load sharing ratio of the first motor among the two motors to KA in the torque command value division according to the determination result of the torque command value division determination circuit.
As KB load sharing ratio of motor (= 1-KA), ( 1) KA = 0 when the torque command value is P 1 or less, KB = 1 (2) torque command value is greater than P 1 and P 1 when it is between P 2 is
【００１１】[0011]
【数４】 （３）トルク指令値がP2より大きいときは KA＝α、 KB＝β、 （α, βは固定値） としている。ここでは、 P1≦（第２の電動機定格トルク−トルク補償分）、 P2≦（第１および第２の両電動機定格トルクの和−両電
動機のトルク補償分の和）、 TREFはトルク指令値、 α、βはそれぞれ、トルク指令値TREFがP2のときの負荷
分担比率であり、また第２の電動機の定格容量MAkWは第
２の電動機の定格容量MBkWより大きいものとする。(Equation 4) (3) when the torque command value is greater than P 2 is KA = α, KB = β, it is set to (alpha, beta is a fixed value). Here, P 1 ≦ (second motor rated torque−torque compensation), P 2 ≦ (sum of first and second motor rated torque−sum of torque compensation of both motors), and TREF is a torque command. value, alpha, respectively beta, the torque command value TREF is a load sharing ratio at the time of P 2, also rated capacity MAkW the second electric motor is made larger than the rated capacity MBkW the second electric motor.
【００１２】このような方法と装置を用いることによ
り、トルク指令値TREFが低値の場合は容量の小さい電動
機のみによる片軸運転としてトルク設定分解能低下によ
るトルク精度の低下を防止し、トルク指令値TREFの増加
に伴い、クラッチ操作を要せずに両軸運転に適宜移行す
ることが可能となる。By using such a method and apparatus, when the torque command value TREF is a low value, it is possible to prevent a decrease in torque accuracy due to a decrease in the torque setting resolution as a single-axis operation using only a small-capacity motor. With an increase in TREF, it becomes possible to appropriately shift to double-axis operation without requiring a clutch operation.
【００１３】[0013]
【発明の実施の形態】以下に本発明の実施の形態とし
て、図１に示すブロック構成を有する巻取りロールまた
は巻戻しロールの駆動装置例の使用する方法について説
明する。図１に示す駆動装置の構成は、上述した図３に
示す従来の駆動装置の構成よりクラッチ２A, ２Bを省略
するとともに、両軸駆動電動機３A, ３Bのそれぞれに対
する負荷分担比率KA, KBを固定値とせず、トルク指令値
の大きさに対応する区分を判定するトルク指令値区分判
定回路９ならびにトルク指令区分判定回路９の判定によ
りそれぞれの区分に対応する負荷分担比率KA, KBを出力
する負荷分担移行制御回路８をそれぞれ追加したもので
ある。その他の構成については図３の従来例の場合と同
様であるので、個々の説明を省略する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, as an embodiment of the present invention, a method of using an example of a drive device of a winding roll or a rewinding roll having a block configuration shown in FIG. 1 will be described. 1, the clutches 2A and 2B are omitted from the configuration of the conventional drive device shown in FIG. 3, and the load sharing ratios KA and KB for the two-axis drive motors 3A and 3B are fixed. A load that outputs a load sharing ratio KA, KB corresponding to each section according to the determination of the torque command value section determination circuit 9 and the torque command section determination circuit 9 that determines the section corresponding to the magnitude of the torque command value instead of the value. The assignment transfer control circuit 8 is added. The other configuration is the same as that of the conventional example of FIG. 3, and the description thereof is omitted.
【００１４】次に、本実施形態例による負荷分担移行制
御方法について詳細に説明する。Next, the load sharing transfer control method according to this embodiment will be described in detail.
【００１５】図２は負荷分担移行制御回路８に内蔵され
ている負荷分担移行制御図を示しており、横軸のトルク
指令値TREFに対応する縦軸の負荷分担比率KA, KBのグラ
フ線図が示されている。トルク指令判別回路９は入力さ
れたトルク指令値TREFが図２の横軸上に設定されたトル
ク指令値P1, P2に関して、 区分（１） トルク指令値TREF≦P1、 区分（２） P1＜トルク指令値TREF＜P2、 区分（３） P2＜トルク指令値TREF、 それぞれどの区分にあるかを判別し、負荷分担移行制御
回路８に判別した区分を通知する。負荷分担移行制御回
路８は入力された区分にしたがって、 区分（１）の場合：KB＝１、KA＝０として、すなわち電
動機３Bによる１B軸のみの片軸運転とし、 区分（２）の場合：KA, KBを次の演算式で算出して電動
機３A,３Bによる軸１A, 1Bの両軸運転とし、FIG. 2 shows a load-sharing transition control diagram incorporated in the load-sharing transition control circuit 8, wherein a graph of the load sharing ratios KA and KB on the vertical axis corresponding to the torque command value TREF on the horizontal axis. It is shown. The torque command discriminating circuit 9 determines that the input torque command value TREF is related to the torque command values P 1 and P 2 set on the horizontal axis in FIG. 2, and the torque command value TREF ≦ P 1 and the category (2). P 1 <Torque command value TREF <P 2 , category (3) P 2 <Torque command value TREF, each category is determined, and the load sharing transition control circuit 8 is notified of the determined category. According to the input division, the load sharing transition control circuit 8 sets the KB to 1 and KA = 0 according to the input division, that is, sets the single-axis operation of only the 1B axis by the motor 3B, and the division (2): KA and KB are calculated by the following equations, and the motors 3A and 3B are used to operate the shafts 1A and 1B on both axes.
【００１６】[0016]
【数５】 区分（３）の場合：KA＝α、KB＝βとして電動機３A,
３Bによる軸１A, １Bの両軸運転とする。(Equation 5) In the case of category (3): KA = α, KB = β, and the motor 3A,
It is assumed that both axes 1A and 1B are operated by 3B.
【００１７】但し、この場合、α、βはそれぞれ、トル
ク指令値ＴＲＥＦがＰ2のときの負荷分担比率であり、 α＋β＝１ MAkW ≧MBkW：電動機容量 P1≦（第２の電動機定格トルク−トルク補償分）、 P2≦（第１および第２の両電動機定格トルクの和−両電
動機のトルク補償分の和）、が満足されるものとする。[0017] However, in this case, alpha, respectively beta, a load sharing ratio when the torque command value TREF of P 2, α + β = 1 MAkW ≧ MBkW: motor capacity P 1 ≦ (second electric motor rated torque - Torque compensation), P 2 ≦ (sum of rated torques of first and second motors−sum of torque compensation of both motors).
【００１８】[0018]
【発明の効果】以上述べたように本発明によれば、機械
の運転中でも負荷分担トルク値の設定変更が可能とな
り、低トルク指令値設定時のクラッチ切り替え動作が不
用となり機械的なクラッチ機構をなくすことができる。
また、両軸駆動時において低トルク設定値時には片軸側
のみにトルク設定を分担させることでトルク設定分解能
を向上させることによりトルク精度が上がり、巻戻し装
置では張力が安定した送り出しができ、巻取り装置では
巻き姿の綺麗な製品ロールができるという効果もある。As described above, according to the present invention, it is possible to change the setting of the load sharing torque value even during the operation of the machine, and it is unnecessary to perform the clutch switching operation when setting the low torque command value. Can be eliminated.
Also, at the time of a low torque setting value at the time of the dual axis drive, the torque setting is shared only on one axis side, thereby improving the torque setting resolution, thereby increasing the torque accuracy. The take-up device also has the effect of producing a beautiful product roll in a rolled shape.
【図１】本発明の電動機負荷分担移行制御方法を用いる
巻取り／巻戻し装置の構成を示すブロック図である。FIG. 1 is a block diagram showing a configuration of a winding / rewinding device using a motor load sharing transfer control method of the present invention.
【図２】負荷分担移行制御回路による負荷分担比率の移
行グラフ図である。FIG. 2 is a transition graph diagram of a load sharing ratio by a load sharing transition control circuit.
【図３】巻取り／巻戻し装置の構成の従来例を示すブロ
ック図である。FIG. 3 is a block diagram showing a conventional example of a configuration of a winding / rewinding device.
１ 巻取りまたは巻戻しロール ２A, ２B クラッチ ３A, ３B 電動機 ４A, ４B インバータ ５A, ５B トルク補償指令器 ６A, ６B トルク指令リミター ７A, ７Ｂ 負荷分担比率設定器 ８ 負荷分担移行制御回路 ９ トルク指令値区分判定回路 TREF, P1, P2 トルク指令値 KA, KB 負荷分担比率DESCRIPTION OF SYMBOLS 1 Winding or rewinding roll 2A, 2B Clutch 3A, 3B Motor 4A, 4B Inverter 5A, 5B Torque compensation commander 6A, 6B Torque command limiter 7A, 7B Load sharing ratio setting device 8 Load sharing transition control circuit 9 Torque command value category determination circuit TREF, P 1, P 2 torque command value KA, KB load sharing ratio
Claims (4)
取りロールまたは巻戻しロールの両軸をそれぞれ駆動す
る２台の電動機間の負荷分担を制御する両軸駆動張力制
御方法において、 ２台の電動機間の負荷分担比率を、外部から指示された
ウェブの所要張力に応じるトルク指令値の大きさに対応
して自動的に選定することを特徴とする電動機間負荷分
担移行制御方法。1. A double-shaft drive tension control method for controlling load sharing between two motors for driving both shafts of a take-up roll or a rewind roll of a web of paper, film, aluminum foil or the like, respectively. Wherein the load sharing ratio between the motors is automatically selected in accordance with the magnitude of the torque command value corresponding to the required tension of the web instructed from the outside.
荷分担比率をKAとし第２の電動機の負荷分担比率をKB
(＝１−KA)として、 （１）トルク指令値がP1以下のときは KA＝０、 KB＝１ （２）トルク指令値がP1とP1より大きいP2との間にある
ときは 【数１】 （３）トルク指令値がP2より大きいときは KA＝α、 KB＝β、 （α, βは固定値） とし、ここに、 P1≦（第２の電動機定格トルク−トルク補償分）、 P2≦（第１および第２の両電動機定格トルクの和−両電
動機のトルク補償分の和）、 TREFはトルク指令値、 α、βはそれぞれ、トルク指令値TREFがP2のときの負荷
分担比率であり、また第２の電動機の定格容量MAkWは第
２の電動機の定格容量MBkWより大きい、請求項１記載の
電動機間負荷分担移行制御方法。2. The load sharing ratio of the first motor among the two motors is KA, and the load sharing ratio of the second motor is KB.
As (= 1-KA), ( 1) when KA = 0 when the torque command value is P 1 or less, KB = 1 to (2) the torque command value is between P 1 and P 1 is greater than P 2 Is (3) When the torque command value is larger than P2, KA = α, KB = β, (α and β are fixed values), where P 1 ≦ (second motor rated torque−torque compensation), P 2 ≦ (first and second sum of both the motor rated torque - the sum of the torque compensation amount of both electric motors), TREF is the torque command value, alpha, beta, respectively, load sharing when the torque command value TREF of P 2 The load sharing transfer control method between motors according to claim 1, wherein the ratio is a ratio, and the rated capacity MAkW of the second motor is larger than the rated capacity MBkW of the second motor.
取りロールまたは巻戻しロールの両軸端を、それぞれに
駆動する２台の電動機間の負荷分担比率にしたがい駆動
する両軸駆動張力制御装置において、 外部より入力されたトルク指令値TREFの大きさに対応す
る区分を判定するトルク指令値区分判定回路と、 トルク指令値区分判定回路の判定した区分に対応する所
定の負荷分担比率を出力する負荷分担移行制御回路とを
有することを特徴とする両軸駆動制御装置。3. A double shaft drive tension control for driving both shaft ends of a take-up roll or a rewind roll of a web of paper, film, aluminum foil or the like in accordance with a load sharing ratio between two electric motors respectively driving the two rolls. In the device, a torque command value division determining circuit that determines a category corresponding to the magnitude of the torque command value TREF input from the outside, and a predetermined load sharing ratio corresponding to the category determined by the torque command value category determining circuit are output. And a load sharing transition control circuit.
荷分担比率は、２台の電動機のうち、第１の電動機の負
荷分担比率をKAとし第２の電動機の負荷分担比率をKB
(＝１−KA）として、 （１）トルク指令値TREFがP1以下のときは KA＝０、 KB＝１ （２）トルク指令値TREFがP1とP1より大きいP2との間に
あるときは 【数２】 （３）トルク指令値がP2より大きいときは KA＝α、 KB＝β、 （α, βは固定値） であり、ここに、 P1≦（第２の電動機定格トルク−トルク補償分）、 P2≦（第１および第２の両電動機定格トルクの和−両電
動機のトルク補償分の和）、 α、βはそれぞれ、トルク指令値TREFがP2のときの負荷
分担比率であり、また第２の電動機の定格容量MAkWは第
２の電動機の定格容量MBkWより大きい、請求項３記載の
両軸駆動制御装置。4. A load sharing ratio output by the load sharing transition control circuit, wherein the load sharing ratio of the first motor among the two motors is KA, and the load sharing ratio of the second motor is KB.
As (= 1-KA), ( 1) the torque command value when TREF is P 1 or less KA = 0, KB = 1 ( 2) torque command value TREF is between P 1 and P 1 is greater than P 2 When there is (3) when the torque command value is greater than P 2 is KA = α, KB = β, (α, β is a fixed value), and here, P 1 ≦ (second electric motor rated torque - torque compensation amount) , P 2 ≦ (sum of rated torques of both first and second motors−sum of torque compensation of both motors), α and β are load sharing ratios when torque command value TREF is P 2 , respectively. The dual-shaft drive control device according to claim 3, wherein the rated capacity MAkW of the second motor is larger than the rated capacity MBkW of the second motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000312140A JP4737353B2 (en) | 2000-10-12 | 2000-10-12 | Method and apparatus for controlling load sharing between motors driving both shafts of load |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000312140A JP4737353B2 (en) | 2000-10-12 | 2000-10-12 | Method and apparatus for controlling load sharing between motors driving both shafts of load |
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| JP4737353B2 JP4737353B2 (en) | 2011-07-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006115664A (en) * | 2004-10-18 | 2006-04-27 | Toyota Motor Corp | Driving apparatus, vehicle mounted therewith, and method for controlling driving apparatus |
| JP2011219222A (en) * | 2010-04-09 | 2011-11-04 | Seiko Epson Corp | Winding apparatus, and recording apparatus including the same |
| WO2021149194A1 (en) * | 2020-01-22 | 2021-07-29 | 三菱電機株式会社 | Motor control device and motor control system |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4737353B2 (en) | 2011-07-27 |
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