JP6704523B2 - サイリスタ起動装置 - Google Patents
サイリスタ起動装置 Download PDFInfo
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- JP6704523B2 JP6704523B2 JP2019524771A JP2019524771A JP6704523B2 JP 6704523 B2 JP6704523 B2 JP 6704523B2 JP 2019524771 A JP2019524771 A JP 2019524771A JP 2019524771 A JP2019524771 A JP 2019524771A JP 6704523 B2 JP6704523 B2 JP 6704523B2
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- 230000001360 synchronised effect Effects 0.000 claims description 158
- 238000004804 winding Methods 0.000 claims description 30
- 239000002826 coolant Substances 0.000 claims description 10
- 238000010304 firing Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims 2
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- 238000002360 preparation method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 11
- 238000001816 cooling Methods 0.000 description 10
- 230000007423 decrease Effects 0.000 description 6
- 238000009423 ventilation Methods 0.000 description 6
- 238000013021 overheating Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
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- 239000007789 gas Substances 0.000 description 3
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
- H02P7/293—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC using phase control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/20—Stationary parts of the magnetic circuit with channels or ducts for flow of cooling medium
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K19/00—Synchronous motors or generators
- H02K19/02—Synchronous motors
- H02K19/10—Synchronous motors for multi-phase current
- H02K19/12—Synchronous motors for multi-phase current characterised by the arrangement of exciting windings, e.g. for self-excitation, compounding or pole-changing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K19/00—Synchronous motors or generators
- H02K19/16—Synchronous generators
- H02K19/26—Synchronous generators characterised by the arrangement of exciting windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/10—Arrangements for cooling or ventilating by gaseous cooling medium flowing in closed circuit, a part of which is external to the machine casing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/14—Arrangements for cooling or ventilating wherein gaseous cooling medium circulates between the machine casing and a surrounding mantle
- H02K9/18—Arrangements for cooling or ventilating wherein gaseous cooling medium circulates between the machine casing and a surrounding mantle wherein the external part of the closed circuit comprises a heat exchanger structurally associated with the machine casing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/443—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a thyratron or thyristor type requiring extinguishing means
- H02M5/45—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
- H02P1/52—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor by progressive increase of frequency of supply to motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/26—Devices for sensing voltage, or actuated thereby, e.g. overvoltage protection devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/27—Devices for sensing current, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
- H02P2201/13—DC-link of current link type, e.g. typically for thyristor bridges, having an inductor in series with rectifier
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Eletrric Generators (AREA)
- Motor And Converter Starters (AREA)
Description
図1は、この発明の実施の形態1によるサイリスタ起動装置の構成を示す回路ブロック図である。図1を参照して、この発明の実施の形態1によるサイリスタ起動装置100は、停止している同期機20を所定の回転速度まで加速させることにより、同期機20を起動させる。
図2は、サイリスタ起動装置100の基本動作を示すタイムチャートである。図2には、同期機20の回転速度、同期機20に発生する誘起電圧の実効値、コンバータ1から出力される直流電流Id、および界磁電流Ifが示されている。
上述した実施の形態1で述べたように、断続転流モードにおいて同期機20の誘起電圧の上昇を抑制した場合、インバータ2から同期機20に供給される交流電力が低下する。そのため、同期機20の昇速率(回転速度が上昇する比率)が低下し、断続転流モードに費やされる時間が長くなる可能性がある。その結果、同期機20の起動に時間がかかってしまうという不具合が起こり得る。
サイリスタ起動装置100によって同期機20の電機子巻線ATU,ATV,ATWを通電した場合、電機子巻線ATU,ATV,ATWには熱損失(ジュール熱)が発生する。熱損失は電流の大きさの二乗に比例する。熱損失によって同期機20が過熱されるのを防ぐため、同期機20には冷却構造が設けられているものがある。
Claims (8)
- 界磁巻線を有する回転子と固定子とを有する同期機を起動させるサイリスタ起動装置であって、
交流電力を直流電力に変換するように構成されたコンバータと、
前記直流電力を平滑化する直流リアクトルと、
前記コンバータから前記直流リアクトルを介して与えられる直流電力を可変周波数の交流電力に変換して前記固定子に供給するように構成されたインバータと、
前記界磁巻線に界磁電流を供給するように構成された励磁装置とを備え、
前記サイリスタ起動装置は、前記コンバータの直流出力電流を断続的に零にすることにより前記インバータの転流を行なう第1のモードと、前記同期機の誘起電圧により前記インバータの転流を行なう第2のモードとを順次実行することにより、前記同期機を停止状態から所定の回転速度まで加速させるように構成され、
前記サイリスタ起動装置は、さらに、前記第1のモードにおいて、前記界磁電流を一定とすることにより前記同期機の回転速度と比例的に前記誘起電圧を上昇させるとともに、前記誘起電圧が第1の電圧値に達した後は、前記界磁電流を低下させることにより前記誘起電圧の上昇を抑制するように構成される、サイリスタ起動装置。 - 前記サイリスタ起動装置は、前記誘起電圧が前記第1の電圧値に達した後は、前記同期機の回転速度に応じて前記界磁電流を低下させることにより前記誘起電圧を前記第1の電圧値に保つように構成される、請求項1に記載のサイリスタ起動装置。
- 前記第2のモードにおいて、前記励磁装置は、前記界磁電流を一定とすることにより前記誘起電圧を前記第1の電圧値からさらに増加させ、かつ、前記誘起電圧が前記第1の電圧値よりも高い第2の電圧値に達した後は、前記同期機の回転速度に応じて前記界磁電流を低下させることにより前記誘起電圧を一定に保つように構成される、請求項1または2に記載のサイリスタ起動装置。
- 前記同期機の前記回転子の位置を検出する位置検出器と、
前記位置検出器の検出信号に基づいて、前記インバータにおけるサイリスタの点弧位相を制御するように構成された第1の制御部と、
前記位置検出器の検出信号に基づいて、前記コンバータの直流出力電流が電流指令値に一致するように、前記コンバータにおけるサイリスタの点弧位相を制御するように構成された第2の制御部とをさらに備え、
前記第1のモードにおいて、前記誘起電圧が前記第1の電圧値となる回転速度における前記電流指令値は、前記誘起電圧が前記第1の電圧値よりも低くなる回転速度における前記電流指令値よりも大きい電流値に設定される、請求項1〜3のいずれか1項に記載のサイリスタ起動装置。 - 前記誘起電圧が前記第1の電圧値となる回転速度範囲において、前記電流指令値は、前記同期機の回転速度が高くなるに従って電流値が大きくなるように設定される、請求項4に記載のサイリスタ起動装置。
- 前記同期機の回転速度が前記回転速度範囲にあるときには、前記電流指令値は、前記同期機の回転速度に応じて離散的に変化する、請求項5に記載のサイリスタ起動装置。
- 前記同期機の回転速度が前記回転速度範囲にあるときには、前記電流指令値は、前記同期機の回転速度に応じて連続的に変化する、請求項5に記載のサイリスタ起動装置。
- 前記同期機は、前記回転子の回転軸に取り付けられ、前記固定子および前記回転子に形成された通風路に冷却媒体を循環させるように構成されたファンをさらに含む、請求項5〜7のいずれか1項に記載のサイリスタ起動装置。
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PCT/JP2017/022844 WO2018235189A1 (ja) | 2017-06-21 | 2017-06-21 | サイリスタ起動装置 |
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JP6704523B2 true JP6704523B2 (ja) | 2020-06-03 |
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US (1) | US11233466B2 (ja) |
EP (1) | EP3644494A4 (ja) |
JP (1) | JP6704523B2 (ja) |
KR (1) | KR102409164B1 (ja) |
CN (1) | CN110785921B (ja) |
WO (1) | WO2018235189A1 (ja) |
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JP6933728B2 (ja) * | 2019-01-04 | 2021-09-08 | 東芝三菱電機産業システム株式会社 | サイリスタ起動装置 |
RU2761865C1 (ru) * | 2021-04-29 | 2021-12-13 | Общество с ограниченной ответственностью Научно-производственное предприятие "ЭКРА" | Способ пуска синхронной машины (варианты) |
RU2766862C1 (ru) * | 2021-04-29 | 2022-03-16 | Общество с ограниченной ответственностью Научно-производственное предприятие "ЭКРА" | Устройство для пуска синхронной машины |
RU205355U1 (ru) * | 2021-04-29 | 2021-07-12 | Общество с ограниченной ответственностью Научно-производственное предприятие "ЭКРА" | Устройство для пуска синхронной машины |
CN113676093B (zh) * | 2021-07-19 | 2023-08-18 | 中国长江电力股份有限公司 | 一种基于开环控制的发电机起励方法 |
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JPS53132720A (en) * | 1977-04-22 | 1978-11-18 | Mitsubishi Electric Corp | Synchronous dynamotor starter |
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US4443747A (en) * | 1982-04-01 | 1984-04-17 | General Electric Company | Transitioning between multiple modes of inverter control in a load commutated inverter motor drive |
JPS58190288A (ja) * | 1982-04-30 | 1983-11-07 | Hitachi Ltd | 同期機の駆動装置 |
US4527109A (en) * | 1983-02-22 | 1985-07-02 | Mitsubishi Denki Kabushiki Kaisha | Control apparatus for thyristor motor |
US4565957A (en) * | 1983-06-30 | 1986-01-21 | Borg-Warner Corporation | Method and system for starting a motor-commutated SCR inverter |
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JPH0612954B2 (ja) * | 1984-11-27 | 1994-02-16 | 株式会社東芝 | 同期電動機の制御方法 |
JP2007215261A (ja) | 2006-02-07 | 2007-08-23 | Mitsubishi Electric Corp | 空冷式電動機 |
DE102007021723B4 (de) | 2007-05-09 | 2009-09-17 | Siemens Ag | Luftgekühlte rotierende elektrische Maschine |
JP4486114B2 (ja) * | 2007-09-03 | 2010-06-23 | 株式会社日立製作所 | 回転電機 |
CN102664572B (zh) * | 2012-05-31 | 2015-07-08 | 哈尔滨同为电气股份有限公司 | 一种中高压无换向器电机的无位置传感器控制装置 |
WO2014033849A1 (ja) | 2012-08-29 | 2014-03-06 | 東芝三菱電機産業システム株式会社 | サイリスタ起動装置 |
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- 2017-06-21 WO PCT/JP2017/022844 patent/WO2018235189A1/ja unknown
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KR102409164B1 (ko) | 2022-06-15 |
KR20200017490A (ko) | 2020-02-18 |
US20210083602A1 (en) | 2021-03-18 |
EP3644494A4 (en) | 2020-12-30 |
CN110785921B (zh) | 2023-02-03 |
US11233466B2 (en) | 2022-01-25 |
CN110785921A (zh) | 2020-02-11 |
JPWO2018235189A1 (ja) | 2019-11-14 |
EP3644494A1 (en) | 2020-04-29 |
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