JP2013198374A - Drive controller of actuator, and drive controller of motor - Google Patents

Drive controller of actuator, and drive controller of motor Download PDF

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Publication number
JP2013198374A
JP2013198374A JP2012065799A JP2012065799A JP2013198374A JP 2013198374 A JP2013198374 A JP 2013198374A JP 2012065799 A JP2012065799 A JP 2012065799A JP 2012065799 A JP2012065799 A JP 2012065799A JP 2013198374 A JP2013198374 A JP 2013198374A
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Prior art keywords
motor
power supply
supply voltage
circuit
drive
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JP2012065799A
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Masato Aoki
政人 青木
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Minebea Co Ltd
ミネベア株式会社
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Abstract

A drive control device that can easily control a motor to a desired rotation speed and can be configured simply and inexpensively is realized.
A drive control device for a motor performs feedback control based on a power supply voltage Vcc. The drive control device 1 for the motor 10 includes an inverter circuit 2 and a predrive circuit 3 that drive the motor 10 by supplying electric power, and a control circuit unit 5 that controls the inverter circuit 2 via the predrive circuit 3. I have. The control circuit unit 5 detects the power supply voltage Vcc and the rotation speed of the motor 10, and performs feedback control so that the rotation speed of the motor 10 becomes a rotation speed set in advance according to the power supply voltage Vcc, thereby driving control. The signal S2 is output to the predrive circuit 3.
[Selection] Figure 1

Description

  The present invention relates to an actuator drive control device that controls the position, speed, torque (drive force), and the like of an actuator. Furthermore, the present invention relates to a motor drive control device that controls a motor that is an actuator and controls the rotational speed, rotational position, torque (driving force), and the like of the motor.

Conventionally, there are the following two methods for changing the rotational speed of the motor.
The first method is a method of changing the power supply voltage and varying the rotation speed accordingly. Hereinafter, this first method is referred to as “voltage control”. The first method is open loop control.
As an example of the first method, Patent Document 1 describes an invention of a brushed motor that supplies power to an armature winding via a commutator.

  The second method is a method in which an external speed command signal (such as a pulse signal) is input and the current speed of the motor is detected to control the rotational speed to become the command speed. Hereinafter, this second method is referred to as “speed feedback control”. The second method is closed loop control.

  As an example of the second method, Patent Document 2 discloses a speed control circuit that outputs a speed control signal based on a target speed command and motor rotation speed information, and a PWM (Pulse Width Modulation) signal based on the speed control signal. An invention of a motor drive device including a PWM signal generation circuit that generates and outputs and a switching circuit that energizes windings of the motor based on the PWM signal is described.

JP 2010-246315 A JP 2007-143265 A

  Each of the first method and the second method has the following problems.

  In voltage control, which is the first method, the rotational speed of the motor becomes a speed that depends on the characteristics of the motor (load torque, etc.), and the speed remains constant even if the power supply voltage changes. Etc.) cannot be controlled. Further, the brushless motor requires a voltage for the drive circuit, and the power supply voltage cannot be less than the minimum operation voltage of the drive circuit, so that the control range of the rotation speed is limited.

In speed feedback control as the second method, the rotational speed of the motor can be controlled to the command speed, but it is necessary to input a speed control signal (pulse signal) separately from the power supply voltage. Therefore, a circuit for generating a speed control signal (pulse signal), a signal line for transmitting the speed control signal, and an input terminal for the speed control signal are necessary, and there is a problem that costs increase.
Accordingly, an object of the present invention is to provide an actuator drive control device that can easily control the state of the actuator to a desired state while having a simple and inexpensive configuration.

In order to solve the above-described problems, the actuator drive control device of the present invention is configured as follows.
That is, according to the first aspect of the present invention, there is provided an actuator drive control device that performs control based on a power supply voltage, the actuator drive circuit that drives the actuator by supplying power, and the power supply voltage. A control circuit unit that detects a state of the actuator, performs feedback control so that the state of the actuator is set in advance according to the power supply voltage, and outputs a drive control signal to the actuator drive circuit; And an actuator drive control device comprising:
Other means will be described in the embodiment for carrying out the invention.

  According to the present invention, it is possible to provide an actuator drive control device that can easily control the state of the actuator to a desired state while having a simple and inexpensive configuration.

It is a circuit diagram which shows the drive control apparatus of the motor in this embodiment. It is a graph which shows the relationship between a power supply voltage and a target rotational speed. It is a graph which shows the relationship between load torque and rotational speed.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

(Configuration of the drive control device 1 of the motor 10 of the present embodiment)

Based on FIG. 1, the circuit configuration of the drive control device 1 of the motor 10 in the present embodiment will be described.
The drive control device 1 for the motor 10 includes an inverter circuit 2, a pre-drive circuit 3, a rotational position detector 4, and a control circuit unit 5. The drive control device 1 is connected to a DC power supply 20 via a power supply voltage switching circuit 21. The power supply voltage switching circuit 21 is connected to the host device 100 and receives the voltage control signal S0. The drive control device 1 is further connected to the motor 10 by three phases of U-phase wiring, V-phase wiring, and W-phase wiring. The drive control device 1 outputs a three-phase alternating current to the motor 10 to control the rotation speed. The motor 10 is an actuator that receives electric power and converts it into physical motion (rotational motion).

The DC power supply 20 has one output terminal connected to the power supply voltage switching circuit 21 and the other output terminal connected to the ground. The DC power supply 20 is a power supply that supplies power to the drive control device 1 and the motor 10 via the power supply voltage switching circuit 21. The power supply voltage switching circuit 21 is connected to the host device 100 and switches the power supply voltage Vcc supplied by the DC power supply 20 according to the voltage control signal S0.
The output terminal of the host device 100 is connected to the power supply voltage switching circuit 21. The host device 100 is a host device that switches the power supply voltage Vcc by outputting the voltage control signal S0 to the power supply voltage switching circuit 21 and thereby controls the rotational speed of the motor 10.

  The control circuit unit 5 includes a rotation speed command circuit 6 and a rotation speed control circuit 7. The control circuit unit 5 is connected to the output terminal of the power supply voltage switching circuit 21 and the output terminal of the rotational position detector 4. The control circuit unit 5 has six output terminals. Six output terminals of the control circuit unit 5 are connected to the pre-drive circuit 3. In FIG. 1, the connection lines of these six output terminals are omitted and are represented by one line. The control circuit unit 5 detects the power supply voltage Vcc output from the power supply voltage switching circuit 21 connected to the DC power supply 20, and further detects the rotational speed (state) of the motor 10 by the rotational position detector 4. In order to feedback control the motor 10 so as to achieve a rotational speed corresponding to Vcc, a drive control signal S2 composed of six signals is output to the pre-drive circuit 3.

  The rotation speed command circuit 6 includes a power supply voltage detection unit 8 and a command speed setting unit 9. The power supply voltage detector 8 detects the power supply voltage Vcc, performs analog / digital conversion, and outputs it to the command speed setting unit 9. The command speed setting unit 9 stores a correspondence table in which the relationship between the power supply voltage Vcc and the command speed information S1 is set in advance. The command speed setting unit 9 converts the digital value of the power supply voltage Vcc into command speed information S1 based on the correspondence table and outputs it. That is, the rotation speed command circuit 6 outputs command speed information S1 set in advance corresponding to the power supply voltage Vcc.

  The rotational speed control circuit 7 is connected to the output terminal of the rotational position detector 4 and outputs the command speed information S1 of the rotational speed command circuit 6. When the command speed information S1 is input from the rotation speed command circuit 6, the rotation speed control circuit 7 detects the rotation speed of the motor 10 based on the three pulse signals output from the rotation position detector 4, and the command speed information S1. The feedback control is performed so that the rotation speed is in accordance with the output, and the drive control signal S2 is output to the pre-drive circuit 3. In FIG. 1, the connection between the rotational position detector 4 and the rotational speed control circuit 7 is indicated by a single line, omitting three signal lines through which three pulse signals flow. In this feedback control, the difference between the target rotational speed indicated by the command speed information S1 and the actual rotational speed of the motor 10 detected by the pulse signal is calculated, and the drive control signal S2 is calculated so that the difference becomes zero. Output. The drive control signal S2 is six signals for switching the switching elements Q1 to Q6 of the inverter circuit 2, respectively.

  The pre-drive circuit 3 includes, for example, six gate drive circuits (not shown). The pre-drive 3 is connected to six output terminals of the control circuit unit 5. Six output terminals of the pre-drive circuit 3 are connected to the inverter circuit 2. When the drive control signal S2 consisting of six signals is input to the pre-drive circuit 3, each gate drive circuit (not shown) has six drive signals Vu, Vul, Vvu, Vvl, Vwu corresponding thereto. , Vwl are generated and output to the inverter circuit 2 to drive it.

  The inverter circuit 2 has, for example, six FETs (Field Effect Transistors) as the switching elements Q1 to Q6. The inverter circuit 2 includes a U-phase switching leg, a V-phase switching leg, and a W-phase switching leg. Six output terminals of the pre-drive circuit 3 are connected to the inverter circuit 2. The three output terminals of the inverter circuit 2 are connected to the U phase, V phase, and W phase of the motor 10, respectively. The pre-drive circuit 3 and the inverter circuit 2 constitute a motor drive circuit or an actuator drive circuit in the present embodiment, and are driven by supplying electric power to the motor 10.

  The U-phase switching leg includes an upper arm (first arm) switching element Q1 and a lower arm (second arm) switching element Q2. The drain terminal of the switching element Q1 is connected to the power supply voltage switching circuit 21 and is supplied with the power supply voltage Vcc. The source terminal of the switching element Q1 outputs a U-phase AC signal and is connected to the drain terminal of the switching element Q2. The source terminal of the switching element Q2 is connected to the DC ground via the resistor R1. The drive signal Vuu is input to the gate terminal of the switching element Q1. The drive signal Vul is input to the gate terminal of the switching element Q2.

  The V-phase switching leg includes an upper arm side switching element Q3 and a lower arm side switching element Q4. The drain terminal of the switching element Q3 is connected to the power supply voltage switching circuit 21 and supplied with the power supply voltage Vcc. The source terminal of the switching element Q3 outputs a V-phase AC signal and is connected to the drain terminal of the switching element Q4. The source terminal of the switching element Q4 is connected to the DC ground via the resistor R1. A drive signal Vvu is output to the gate terminal of the switching element Q3. The drive signal Vvl is input to the gate terminal of the switching element Q4.

  The W-phase switching leg includes an upper arm side switching element Q5 and a lower arm side switching element Q6. The drain terminal of the switching element Q5 is connected to the power supply voltage switching circuit 21 and is supplied with the power supply voltage Vcc. The source terminal of the switching element Q5 outputs a W-phase AC signal and is connected to the drain terminal of the switching element Q6. The source terminal of the switching element Q6 is connected to the DC ground via the resistor R1. The drive signal Vwu is input to the gate terminal of the switching element Q5. The drive signal Vwl is input to the gate terminal of the switching element Q6.

  That is, the inverter circuit 2 includes upper arm side switching elements Q1, Q3, Q5 connected between the respective phases of the armature coils Lu, Lv, Lw of the motor 10 and the output terminal of the power supply voltage switching circuit 21, and Lower arm side switching elements Q2, Q4, and Q6 are connected between the respective phases of the armature coils Lu, Lv, and Lw and the ground terminal of the DC power supply 20 via a resistor R1.

  The inverter circuit 2 is supplied with electric power from the DC power supply 20 via the power supply voltage switching circuit 21, and when six drive signals Vuu, Vul, Vvu, Vvl, Vwu, Vwl are input, the three-phase alternating current is converted into a motor. 10 U-phase wiring, V-phase wiring, and W-phase wiring.

  The motor 10 includes armature coils Lu, Lv, and Lw. One end of each armature coil Lu, Lv, Lw is Y-shaped. The other end of the armature coil Lu is connected to the U phase, the other end of the armature coil Lv is connected to the V phase, and the other end of the armature coil Lw is connected to the W phase. The motor 10 is driven to rotate when three-phase alternating current is input from the inverter circuit 2 to the U phase, the V phase, and the W phase.

  The rotational position detector 4 detects the rotational position of a rotor (not shown) of the motor 10, and has, for example, a combination of three sets of hall sensors and amplifiers. A pulse signal is generated and output to the rotation speed control circuit 7 of the control circuit unit 5. The rotational position detector 4 is a state detector that detects the state of the motor 10.

(Operation of the drive control device 1 of the motor 10 of the present embodiment)

  With reference to FIGS. 2A and 2B (refer to FIG. 1 as appropriate), an operation example of conventional voltage control and an operation example in the control of this embodiment will be described.

  FIG. 2A is a graph showing the relationship between the power supply voltage applied to the motor 10 and the target rotational speed in the conventional voltage control. The horizontal axis in FIG. 2A indicates the power supply voltage applied to the motor 10. The vertical axis | shaft of Fig.2 (a) has shown the target rotational speed. Here, the target rotational speed refers to the rotational speed of the motor 10 corresponding to the power supply voltage. Specifically, the value when the rotational speed of the motor 10 becomes constant after the power supply voltage of a predetermined value is applied to the motor 10 is the target rotational speed.

  FIG. 2A shows that the target rotational speed changes linearly (linearly) with respect to the power supply voltage. When the power supply voltage Vcc = V3, the target rotational speed is N4. Furthermore, since the conventional voltage control is open loop control and not feedback control, the rotation speed of the motor 10 rises with a long time constant and then converges to a target rotation speed that is in a steady state.

  FIG. 2B is a graph showing the relationship between the power supply voltage applied to the motor 10 and the rotation speed in the control of this embodiment. The horizontal axis of FIG. 2B indicates the power supply voltage applied to the motor 10. The vertical axis in FIG. 2B indicates the target rotation speed.

FIG. 2B shows that the target rotational speed changes linearly with respect to the power supply voltage and partially changes stepwise.
When the power supply voltage Vcc is 0 or more and less than V1, the drive control device 1 drives the motor 10 at a rotation speed proportional to the power supply voltage Vcc. At this time, the rotational speed of the motor 10 changes linearly with respect to the power supply voltage Vcc.
When the power supply voltage Vcc is not less than V1 and less than V2, the drive control device 1 drives the motor 10 at a constant rotational speed N1. Further, since the drive control device 1 performs feedback control, it can converge to the target rotational speed N1 in a shorter time than the conventional voltage control.
When the power supply voltage Vcc is equal to or higher than V2 and lower than V3, the drive control device 1 drives the motor 10 at a constant rotational speed N2. Furthermore, since the drive control device 1 performs feedback control, it can converge to the target rotational speed N2 in a shorter time than the conventional voltage control.
When the power supply voltage Vcc is V3 or more, the drive control device 1 drives the motor 10 at a constant rotational speed N3. Furthermore, since the drive control device 1 performs feedback control, it can converge to the target rotational speed N3 in a shorter time than the conventional voltage control.

  The host device 100 controls the power supply voltage Vcc = ((V1 + V2) / 2) by the power supply voltage switching circuit 21 when rotating the motor 10 at the rotational speed N1. As a result, even when noise is added to the power supply voltage Vcc or when the power supply voltage Vcc drops due to the rotational drive of the motor 10, the fluctuation of the power supply voltage Vcc is ((V2−V1) ÷ 2) or less. If this is the case, the host device 100 can rotate the motor 10 at a constant rotational speed N1.

  Similarly, the host device 100 can rotate the motor 10 at a constant rotational speed N2 without being affected by noise or voltage drop by controlling the power supply voltage Vcc = ((V2 + V3) / 2). .

  With reference to FIGS. 3A and 3B (refer to FIG. 1 as appropriate), an operation example of conventional voltage control and an operation example in the control of this embodiment will be described.

FIG. 3A is a graph showing the relationship between the load torque and the rotation speed of the motor 10 in the conventional voltage control. The horizontal axis in FIG. 3A indicates the load torque of the motor 10. The vertical axis in FIG. 3A indicates the rotational speed of the motor 10. FIG. 3A shows the case of the power supply voltage Vcc = V1, V2, V3 by solid lines, respectively.
At the power supply voltage Vcc = V1, the motor 10 rotates at the rotational speed n4 when the load torque is no load, and the rotational speed decreases linearly (linearly) as the load torque increases. Stop rotating.
At the power supply voltage Vcc = V2, the motor 10 rotates at the rotational speed n5 when the load torque is no load, and the rotational speed decreases linearly (linearly) as the load torque increases. Stop rotating.
At the power supply voltage Vcc = V3, the motor 10 rotates at the rotational speed n6 when the load torque is no load, and the rotational speed decreases linearly (linearly) as the load torque increases, and the load torque T1. At a rotational speed N4, and stops at a load torque T6.

  FIG. 3B is a graph showing the relationship between the load torque of the motor 10 and the rotation speed in the control of this embodiment. The horizontal axis in FIG. 3B indicates the load torque of the motor 10. The vertical axis in FIG. 3B indicates the rotational speed of the motor 10. FIG. 3B shows the case of the power supply voltage Vcc = V1, V2, V3 by solid lines.

At the power supply voltage Vcc = V1, the motor 10 always rotates at the rotational speed N1 when the load torque is in the range of no load to the load torque T1. In the range of the load torques T1 to T4, the rotation speed of the motor 10 decreases linearly (linearly), and stops rotating at the load torque T4.
At the power supply voltage Vcc = V2, the motor 10 always rotates at the rotational speed N2 when the load torque is in the range of no load to the load torque T2. In the range of the load torque T2 to T5, the rotation speed of the motor 10 decreases linearly (linearly), and stops rotating at the load torque T5.
At the power supply voltage Vcc = V3, the motor 10 always rotates at the rotational speed N3 when the load torque is in the range of no load to load torque T3. The motor 10 linearly (linearly) decreases in rotation speed in the range of load torques T3 to T6, and stops rotating at load torque T6.

(Effect of this embodiment)
The present embodiment described above has the following effects (A) to (G).

(A) The drive control device 1 does not require the input of a speed command signal, and does not need to provide an input terminal for the speed command signal. Therefore, the circuit is simplified and the structure is inexpensive.

(B) The host device 100 does not need to output a PWM signal that is a speed command signal. Therefore, the PWM signal generation circuit is unnecessary, and the circuit is simplified and the structure is inexpensive.

(C) A speed command signal line for connecting the host device 100 and the drive control device 1 is not necessary. Therefore, the system configuration is simplified and the cost is reduced.

(D) The drive control device 1 can freely set the correspondence table of the rotational speed with respect to the power supply voltage Vcc. Therefore, it is possible to drive the motor 10 accurately at the target rotational speed by eliminating the influence of fluctuations in power supply voltage Vcc, noise, load torque characteristics of the motor 10, and the like.

(E) In the conventional voltage control, the power supply voltage Vcc is limited to the minimum operating voltage of the drive circuit. Therefore, the lower limit value of the target rotational speed of the motor 10 is limited to the minimum operating voltage of the drive circuit. However, since the drive control device 1 of the present embodiment can freely set the rotation speed within an arbitrary variable range of the power supply voltage Vcc, the degree of freedom of control is increased.

(F) Since the drive control apparatus 1 of the present embodiment feeds back the speed by the rotation speed control circuit 7, the rotation speed of the motor 10 is set to a target value (a constant value) faster than in the case of the conventional voltage control. It can be converged.

(G) The voltage range of the power supply voltage Vcc that operates at a constant rotational speed so that the drive control apparatus 1 of the present embodiment rotates at the rotational speeds N2, N3, etc. according to the instruction of the host device 100 is the power supply voltage. It can be set wider than the fluctuation of Vcc (noise or voltage drop due to driving of the motor 10). Thereby, compared with the case of the conventional voltage control, the rotational speed of the motor 10 can be correctly converged on the target rotational speeds N2, N3, and the like.

(Modification)
The present invention is not limited to the above embodiment, and can be modified without departing from the spirit of the present invention. For example, the following forms (a) to (h) are used as the usage forms and modifications.

(A) The motor 10 may be of any type such as a motor with a brush or a brushless motor. The number of phases of the motor is not particularly limited.

(B) The correspondence table of the power supply voltage and the target rotation speed stored in the command speed setting unit 9 is not limited to the aspect of the present embodiment, and may be set arbitrarily.

(C) In the drive control device 1 of the motor 10 of the present embodiment, the rotational position detector 4 has a combination of three sets of hall sensors and amplifiers. However, the present invention is not limited to this, and the drive control device 1 of the motor 10 detects the back electromotive force generated in the armature coils Lu, Lv, Lw without using the rotational position detector 4 having a combination of the Hall sensor and the amplifier. Thus, the rotational position of the rotor may be detected.

(D) The switching elements Q1 to Q6 are not limited to FETs, and may be other types of switching elements represented by IGBT (Insulated Gate Bipolar Transistor).

(E) The drive control device 1 of the present embodiment is configured as a hardware circuit. However, the present invention is not limited to this, and the drive control device 1 may be configured by a microcomputer or a DSP (Digital Signal Processor) and controlled by software.

(F) The command speed setting unit 9 of the rotation speed command circuit 6 is not necessarily required to store the “correspondence table”. For example, the command speed information S1 is generated by a circuit that clips the power supply voltage Vcc with a predetermined value, The command speed information S1 may be generated by performing a predetermined calculation on the detected value of the power supply voltage Vcc.

(G) The drive control device 1 of the present embodiment controls the rotational speed of the motor 10 by the power supply voltage Vcc. However, the present invention is not limited to this, and the drive control device 1 may control the rotational position of the motor 10 with the power supply voltage Vcc, and may further control the torque of the motor 10 with the power supply voltage Vcc.

(H) The present embodiment relates to the drive control device 1 that drives the motor 10 by the inverter circuit 2. However, the present invention is not limited to this, and the drive control circuit may be applied to feedback control in the drive control circuit of the actuator in general. At this time, the drive control circuit performs feedback control of a state including any of the speed, position, and torque of the actuator. Here, the actuator is, for example, a solenoid, a servo motor, a linear motor, a rubber actuator, or the like.

1 Drive control device 2 Inverter circuit (motor / actuator drive circuit)
3 Pre-drive circuit (motor / actuator drive circuit)
4 Rotation position detector (status detector)
5 Control Circuit Unit 6 Rotation Speed Command Circuit 7 Rotation Speed Control Circuit 8 Power Supply Voltage Detection Unit 9 Command Speed Setting Unit 10 Motor (Actuator)
20 DC power supply 21 Power supply voltage switching circuit 100 Host device S1 Command speed information S2 Drive control signal

Claims (5)

  1. An actuator drive control device that performs control based on a power supply voltage,
    An actuator drive circuit for supplying power to the actuator to drive it;
    The power supply voltage and the actuator state are detected, feedback control is performed so that the actuator state is set in advance according to the power supply voltage, and a drive control signal is output to the actuator drive circuit. A control circuit unit;
    An actuator drive control device comprising:
  2. The state of the actuator includes any of the speed, position, and torque of the actuator.
    The actuator drive control device according to claim 1.
  3. A motor drive control device that performs control based on a power supply voltage,
    A motor driving circuit for supplying electric power to the motor and driving the motor;
    The power supply voltage and the motor state are detected, feedback control is performed so that the motor state is preset according to the power supply voltage, and a drive control signal is output to the motor drive circuit. A control circuit unit;
    A motor drive control device comprising:
  4. The state of the motor is the rotational speed of the motor,
    The control circuit unit is
    A rotational speed command circuit that outputs command speed information according to the power supply voltage;
    A rotational speed control circuit that performs feedback control based on the command speed information and the rotational speed information of the motor, and outputs the drive control signal to the motor drive circuit;
    The motor drive control device according to claim 3, further comprising:
  5. The rotational speed command circuit is
    A power supply voltage detector for detecting the power supply voltage;
    A command speed setting unit for storing a correspondence table in which a relationship between a power supply voltage and a command speed is set in advance, and outputting the command speed information corresponding to the power supply voltage based on the correspondence table;
    The drive control apparatus of the motor of Claim 4 characterized by the above-mentioned.
JP2012065799A 2012-03-22 2012-03-22 Drive controller of actuator, and drive controller of motor Pending JP2013198374A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015226331A (en) * 2014-05-26 2015-12-14 日本電産サンキョー株式会社 Motor control device and motor control method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011016210A (en) * 2009-07-10 2011-01-27 Hitachi Koki Co Ltd Power tool

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011016210A (en) * 2009-07-10 2011-01-27 Hitachi Koki Co Ltd Power tool

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015226331A (en) * 2014-05-26 2015-12-14 日本電産サンキョー株式会社 Motor control device and motor control method

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