KR20030023006A - Apparatus for pwm controlling of electrical motor in electric vehicle application - Google Patents

Apparatus for pwm controlling of electrical motor in electric vehicle application Download PDF

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Publication number
KR20030023006A
KR20030023006A KR1020010055874A KR20010055874A KR20030023006A KR 20030023006 A KR20030023006 A KR 20030023006A KR 1020010055874 A KR1020010055874 A KR 1020010055874A KR 20010055874 A KR20010055874 A KR 20010055874A KR 20030023006 A KR20030023006 A KR 20030023006A
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South Korea
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pwm
signal
motor
photo coupler
electric vehicle
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KR1020010055874A
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Korean (ko)
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김종대
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현대자동차주식회사
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Priority to KR1020010055874A priority Critical patent/KR20030023006A/en
Publication of KR20030023006A publication Critical patent/KR20030023006A/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
    • H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
    • H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
    • H02H7/1222—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to abnormalities in the input circuit, e.g. transients in the DC input
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0061—Details of emergency protective circuit arrangements concerning transmission of signals
    • H02H1/0069—Details of emergency protective circuit arrangements concerning transmission of signals by means of light or heat rays
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
    • H02H9/04—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/20—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for electronic equipment

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)

Abstract

PURPOSE: A PWM control apparatus is provided to achieve improved reliability and stability of motor control by preventing the photo coupler serving as a switch unit from instantaneously turning on during the low state of the PWM driving signal. CONSTITUTION: A PWM control apparatus comprises a PWM signal driving unit(10) for outputting PWM driving signals(L1+,L1-,L2+,L2-,L3+,L3-) in accordance with trigger signals(TgU+,TgU-,TgV+,TgV-,TgW+,TgW-) applied for control of a three-phase AC motor; a photo coupler(20) serving as a switch unit performing a high speed switching in accordance with PWM driving signals; protective resistors(Rp) for protecting the photo coupler from over current; a gating circuit unit(30) for outputting a gating signal to the three-phase AC motor in accordance with the output of the photo coupler; and pull-up resistors(Rx) arranged at front ends of protective resistors, and which have levels same as the level of voltage connected to the photo coupler.

Description

전기 자동차의 모터 제어용 피 더블유 엠 제어장치{APPARATUS FOR PWM CONTROLLING OF ELECTRICAL MOTOR IN ELECTRIC VEHICLE APPLICATION}P.W.M control unit for motor control of electric vehicle {APPARATUS FOR PWM CONTROLLING OF ELECTRICAL MOTOR IN ELECTRIC VEHICLE APPLICATION}

본 발명은 전기 자동차에 관한 것으로, 더 상세하게는 3상 AC 모터 제어를 위해 사용되는 PWM(Pulse Width Modulation)기법의 적용에 있어서 파워소자(IGBT)를 온/오프하기 위한 PWM 게이팅(Gating)신호를 안정화시키도록 한 전기 자동차의 모터 제어용 PWM 제어장치에 관한 것이다.The present invention relates to an electric vehicle, and more particularly, a PWM gating signal for turning on / off a power device (IGBT) in the application of a pulse width modulation (PWM) technique used for controlling a three-phase AC motor. The present invention relates to a PWM control device for controlling a motor of an electric vehicle.

일반적으로 마이크로 프로세서(Micro Processor) 기술의 비약적인 발달로 인하여 전기 자동차의 모터를 제어하기 위해 사용되는 프로세서로서 고속의 32비트 DSP(Digital Signal Processor)가 적용되고 있으며, 전기 자동차에 적용되는 3상 AC 모터의 가변속 제어를 위해서는 벡터 제어가 사용되고 있으며 이는 PWM 제어기법 중에서 효율이 가장 좋은 공간전압벡터 PWM 제어기법이 사용되고 있다.In general, due to the rapid development of microprocessor technology, a high-speed 32-bit digital signal processor (DSP) is used as a processor used to control motors of an electric vehicle, and a three-phase AC motor applied to an electric vehicle. Vector control is used to control the variable speed of. The most efficient space voltage vector PWM control method is used.

이와 같이 공간전압벡터 PWM 제어기법을 적용하는 종래의 전기 자동차는 도 3에 도시된 바와 같이, 도시되지 않은 PWM 신호 발생수단으로부터 3상 AC 모터의 제어를 위해 인가되는 6개의 트리거 신호(Tg) 즉, U+,U-,V+,V-,W+,W-에 따라 6개의 PWM 구동 신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)를 출력하는 PWM 신호 구동부(1)와, 상기 PWM 구동신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)에 따라 고속 스위칭(4KHz)을 수행하는 스위치 수단인 포토 커플러(2)와, 상기 스위치 수단인 포토 커플러(2)에 과전류가 유입되는 것을 보호하기 위한 보호 저항(Rp) 및 상기 스위치 수단인 포토 커플러(2)의 출력에 따라 도시되지 않은 3상 AC 모터에 게이팅 신호를 출력하는 게이팅 회로부(3)로 이루어진다.As described above, the conventional electric vehicle applying the space voltage vector PWM controller method has six trigger signals Tg applied for controlling the three-phase AC motor from the PWM signal generating means, which is not shown. PWM signal driver for outputting six PWM driving signals L1 +, L1-, L2 +, L2-, L3 +, L3- in accordance with, U +, U-, V +, V-, W +, W- 1), a photo coupler (2) which is a switch means for performing high speed switching (4KHz) according to the PWM driving signals (L1 +) (L1-) (L2 +) (L2-) (L3 +) (L3-), and Gating for outputting a gating signal to a three-phase AC motor (not shown) according to the protection resistor Rp for protecting the overcurrent from flowing into the photocoupler 2 as the switch means and the output of the photo coupler 2 as the switch means. It consists of the circuit part 3.

상기에서 보호 저항(Rp)은 오픈 콜렉터 형(Open Collector Type)의 드라이브 IC의 출력전압을 제어하기 위해 필수적인 저항으로 하기의 수학식 1에 의거하여 설계된다.In the above description, the protection resistor Rp is an essential resistor for controlling the output voltage of an open collector type drive IC and is designed based on Equation 1 below.

여기서,는 제어수단에서 파워소자(IGBT) 게이팅부의 전원으로 사용하기 위해 공급하는 5V의 전원이며, I_F는 포토 커플러(2)의 발광 다이오드를 통해 흐르는 평균전류를 의미한다.here, Is a power supply of 5V supplied for use as a power source of the power element (IGBT) gating part in the control means, I_F means the average current flowing through the light emitting diode of the photo coupler (2).

전술한 바와 같은 구성을 갖는 종래 전기 자동차의 모터 제어장치는 도시되지 않은 PWM 신호 발생수단으로부터 3상 AC 모터의 제어를 위해 인가되는 6개의 트리거 신호(Tg) 즉, U+,U-,V+,V-,W+,W-에 따라 PWM 신호 구동부(1)에서 6개의 PWM 구동 신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)가 출력되면 보호저항(Rp)은 설정된 값으로 PWM 구동신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)를 안정화시킨 다음 포토 커플러(2)측에 인가하여 3상 AC 모터의 구동을 위한 고속 스위칭이 이루어지도록 한다.The motor control apparatus of a conventional electric vehicle having the configuration as described above has six trigger signals (Tg), U +, U-, V +, V, which are applied for control of a three-phase AC motor from a PWM signal generating means (not shown). When six PWM driving signals L1 +, L1-, L2 +, L2-, L3 + and L3- are output from the PWM signal driver 1 according to-, W +, W-, the protection resistor Rp is The PWM drive signals L1 +, L1- +, L2 +, L2-, L3 +, and L3- are stabilized and applied to the photo coupler 2 for high-speed switching to drive a three-phase AC motor. Let this be done.

일 예를들어 PWM 신호 구동부(1)에 입력되는 신호(Tg)가 "하이' 이면 출력되는 신호(L)는 "로우"로 되어 보호 저항(Rp)을 통해 포토 커플러(2)에 인가되어 포토 커플러(2)가 온 되어 IGBT 스위치가 온 동작을 수행하고, 입력되는 신호(Tg)가 "로우" 이면 출력되는 신호(L)는 "하이"로 되어 보호 저항(Rp)을 통해 포토 커플러(2)에 인가되어 포토 커플러(2)는 오프되어 IGBT 스위치가 오프/온 동작을 수행한다.For example, when the signal Tg input to the PWM signal driver 1 is "high", the output signal L becomes "low" and is applied to the photo coupler 2 through the protection resistor Rp to provide a photo. When the coupler 2 is turned on and the IGBT switch performs an on operation, and the input signal Tg is "low", the output signal L becomes "high" and the photocoupler 2 is provided through the protection resistor Rp. ), The photo coupler 2 is turned off, and the IGBT switch performs an off / on operation.

그러나, 일 예를들어 도 3에서 알 수 있는 바와 같이 PWM 신호 구동부(1)에 "로우" 상태의 신호가 입력되어 "하이" 상태의 신호가 출력되는 경우 포토 커플러(2)의 전압강하가 "0.5V" 라고 할 때 (b)의 ①과 같은 "하이' 임피던스 상태의 신호로 출력되어 포토 커플러(2)를 스위칭 오프 시키게 되나, 고전압이 흐르는 파워보드에서 PWM 신호에 의해 발생하는 큰 di/dt 및 dv/dt에 의해 ①의 구간에서예기치 못한 PWM 현상이 발생하게 된다.However, for example, as shown in FIG. 3, when the signal of the "low" state is input to the PWM signal driver 1 and the signal of the "high" state is output, the voltage drop of the photo coupler 2 is " 0.5V "is output as a signal of" high "impedance state as in ① of (b) to switch off the photo coupler 2, but a large di / dt generated by a PWM signal in a high voltage power board And dv / dt cause an unexpected PWM phenomenon in the section ①.

따라서, 도 4의 파형도에서 알 수 있는 바와 같이 (b)의 ①구간에서는 고압 고전류에 의한 di/dt 및 dv/dt의 영향으로 간헐적인 펄스가 발생하여 PWM 신호 접압의 드롭(drop)이 발생하게 되며, 이로 인하여 도 4의 (c)에서 알 수 있는 바와 같이 포토 커플러(2)는 오프 상태를 유지하여야 하는 구간에서 온 상태를 유지하게 되어 파워소자(IGBT)를 온 시키게 되므로 파워소자(IGBT)를 파손시키게 되는 문제점을 초래하게 된다.Therefore, as can be seen from the waveform diagram of FIG. 4, in the section ① of (b), intermittent pulses are generated due to the influence of di / dt and dv / dt due to high voltage and high current, resulting in a drop in the PWM signal voltage drop. As a result, as shown in (c) of FIG. 4, the photo coupler 2 maintains an on state in a section in which an off state should be maintained, thereby turning on the power device IGBT, thereby power device IGBT. This will cause a problem to break.

본 발명은 상기와 같은 문제점을 해결하기 위하여 발명한 것으로, 그 목적은 보호 저항의 선단에 포토 커플러의 공급전압과 동일한 레벨의 풀업 저항을 구비하여 전기 자동차에서 모터 제어를 위한 PWM 신호가 파워소자(IGBT) 오프를 위한 신호로 출력되는 경우 포토 커플러의 공급전압을 상쇄시켜 파워소자(IGBT) 구동을 위한 PWM 신호를 안정화시키도록 한 것이다.The present invention has been made to solve the above problems, and its object is to provide a pull-up resistor of the same level as the supply voltage of the photo coupler at the tip of the protection resistor, so that the PWM signal for controlling the motor in the electric vehicle is a power device ( When outputted as a signal for turning off the IGBT, the supply voltage of the photo coupler is canceled to stabilize the PWM signal for driving the power element (IGBT).

도 1은 본 발명에 따른 전기 자동차의 모터 제어용 PWM 제어장치에 대한 구성 블록도.1 is a block diagram illustrating a PWM control apparatus for controlling a motor of an electric vehicle according to the present invention.

도 2는 본 발명에 따른 전기 자동차의 모터 제어용 PWM 제어장치 스위칭 출력 파형도.Figure 2 is a PWM control device switching output waveform diagram of the motor control of the electric vehicle according to the present invention.

도 3은 종래 전기 자동차의 모터 제어용 PWM 제어장치에 대한 구성 블록도.3 is a block diagram illustrating a PWM control apparatus for controlling a motor of a conventional electric vehicle.

도 4는 종래 전기 자동차의 모터 제어용 PWM 제어장치에서 스위칭 출력 파형도.Figure 4 is a switching output waveform diagram in the PWM control device for motor control of a conventional electric vehicle.

상기와 같은 목적을 실현하기 위한 본 발명은 전기자동차에 있어서, 3상 AC 모터의 제어를 위해 인가되는 트리거 신호에 PWM 구동 신호를 출력하는 PWM 신호 구동수단과, 상기 PWM 구동신호에 따라 고속 스위칭을 수행하는 스위치 수단과, 상기 스위치 수단에 과전류가 유입되는 것을 보호하기 위한 보호 저항과, 상기 스위치 수단의 출력에 따라 3상 AC 모터에 게이팅 신호를 출력하는 게이팅 수단 및, 상기 보호 저항의 선단에 구비되며, 상기 스위치 수단에 연결되는 공급전압과 동일레벨로 설정되는 풀업저항을 포함하는 것을 특징으로 한다.The present invention for achieving the above object, in the electric vehicle, PWM signal driving means for outputting a PWM drive signal to the trigger signal applied for the control of a three-phase AC motor, and high-speed switching in accordance with the PWM drive signal Switch means for performing, a protection resistor for protecting overcurrent from flowing into the switch means, gating means for outputting a gating signal to a three-phase AC motor according to the output of the switch means, and at the tip of the protection resistor. And a pull-up resistor set to the same level as the supply voltage connected to the switch means.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 일 실시예를 상세하게 설명하면 다음과 같다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1에서 알 수 있는 바와 같이 본 발명에 따른 전기 자동차의 모터 제어용 PWM 제어장치는, 도시되지 않은 PWM 신호 발생수단으로부터 3상 AC 모터의 제어를 위해 인가되는 6개의 트리거 신호(Tg), 즉 U+,U-,V+,V-,W+,W- 신호에 따라 6개의 PWM 구동 신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)를 출력하는 PWM 신호 구동부(10)와, 상기 PWM 구동신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)에 따라 고속 스위칭(4KHz)을 수행하는 스위치 수단인 포토 커플러(20)와, 상기 스위치 수단인 포토 커플러(20)에 과전류가 유입되는 것을 보호하기 위한 보호 저항(Rp)과, 상기 보호 저항(Rp)의 선단에 구비되며, 상기 포토 커플러(20)의 다이오드측 애노드 단자에 연결되는 공급전압(Vp5I_opto)의 동일 레벨로 설정되는 풀업저항(Rx)와, 상기 스위치 수단인 포토 커플러(20)의 출력에 따라 도시되지 않은 3상 AC 모터에 게이팅 신호를 출력하는 게이팅 회로부(30)로 이루어진다.As can be seen in FIG. 1, the PWM control apparatus for controlling a motor of an electric vehicle according to the present invention includes six trigger signals Tg applied to control a three-phase AC motor from a PWM signal generating means (not shown), that is, U +. PWM signal driver 10 for outputting six PWM driving signals L1 +, L1-, L2 +, L2-, L3 +, and L3- according to the U-, V +, V-, W +, and W- signals. ), A photo coupler 20 which is a switch means for performing fast switching (4KHz) according to the PWM driving signals L1 +, L1-, L2 +, L2-, L3 +, L3-, and the switch. Supply is provided at the tip of the protection resistor (Rp) and the protection resistor (Rp) for protecting over current flow into the photo coupler 20, which is a means, connected to the anode terminal of the diode side of the photo coupler 20 A gating signal to a three-phase AC motor, not shown, in accordance with the pull-up resistor Rx set to the same level of the voltage Vp5I_opto and the output of the photo coupler 20 as the switch means. It consists of a gating circuit unit 30 for outputting.

전술한 바와 같은 구성을 갖는 본 발명에서 모터 제어를 수행하는 동작은 다음과 같다.In the present invention having the configuration as described above, the operation of performing the motor control is as follows.

도시되지 않은 PWM 신호 발생수단으로부터 3상 AC 모터의 제어를 위해 인가되는 6개의 트리거 신호(Tg), 즉 U+,U-,V+,V-,W+,W-에 따라 PWM 신호 구동부(10)에서 6개의 PWM 구동 신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)가 출력되면 보호저항(Rp)각각은 대응되는 PWM 구동신호(L1+)(L1-)(L2+)(L2-)(L3+)(L3-)를 설정된 값으로 안정화시킨 다음 포토 커플러(20)측에 인가하여 모터 구동을 위한 고속 스위칭이 이루어지도록 한다.In the PWM signal driver 10 according to the six trigger signals Tg applied for controlling the three-phase AC motor from the PWM signal generating means (not shown), that is, U +, U-, V +, V-, W +, and W-. When six PWM drive signals (L1 +) (L1-) (L2 +) (L2-) (L3 +) (L3-) are output, each of the protection resistors (Rp) corresponds to the corresponding PWM drive signals (L1 +) (L1-) (L2 +). (L2-) (L3 +) (L3-) is stabilized to the set value and then applied to the photo coupler 20 to achieve high-speed switching for driving the motor.

이때, PWM 신호 구동부(10)에서 "로우" 상태의 신호가 출력되는 경우 보호저항(Rp)의 선단에 연결되어 있는 풀업저항(Rx)이 오프 상태를 유지하는 포토 커플러(20)가 도통되어지는 차단시켜 고압 고전류에 의한 di/dt 및 dv/dt로 간헐적인 펄스가 발생되는 것을 방지하여 줌으로써 파워소자(IGBT)에 안정적인 PWM 구동신호를 공급하여 준다.At this time, when the signal of the "low" state is output from the PWM signal driver 10, the photo-coupler 20, in which the pull-up resistor Rx connected to the tip of the protection resistor Rp, is kept off, is turned on. It prevents the occurrence of intermittent pulses by di / dt and dv / dt by high voltage and high current to supply stable PWM driving signal to IGBT.

따라서, 도 2에서 (a)와 같이 PWM 구동신호(Tg)가 "로우" 상태의 신호로 입력되어 "하이" 상태로 출력되는 신호는 (b)와 같이 안정되게 유지되어 (c) 및 (d)와 같이 파워소자(IGBT)에 공급되는 전압은 안정된다.Therefore, as shown in (a) of FIG. 2, the PWM driving signal Tg is input as a signal of the "low" state and the signal output to the "high" state is kept stable as shown in (b) so that (c) and (d The voltage supplied to the power element IGBT is stabilized.

상술한 바와 같이 본 발명은 전기 자동차의 모터 제어에 있어서 PWM 구동신호가 "로우" 상태에서 풀업저항을 통해 포토 커플러가 순간적으로 도통되는 것을 차단하므로 파워소자에 공급되는 전압이 안정되어 파손이 배제되고, 보다 신뢰성있는 모터 제어로 신뢰성이 제공된다.As described above, the present invention blocks the instantaneous conduction of the photo coupler through the pull-up resistor in the "low" state in the motor control of the electric vehicle, so that the voltage supplied to the power device is stabilized to prevent damage. In addition, reliability is provided by more reliable motor control.

Claims (1)

전기자동차에 있어서,In electric vehicles, 3상 AC 모터의 제어를 위해 인가되는 트리거 신호(Tg)에 PWM 구동 신호를 출력하는 PWM 신호 구동수단과;PWM signal driving means for outputting a PWM driving signal to the trigger signal (Tg) applied for controlling the three-phase AC motor; 상기 PWM 구동신호에 따라 고속 스위칭을 수행하는 스위치 수단과;Switch means for performing high speed switching in accordance with the PWM drive signal; 상기 스위치 수단에 과전류가 유입되는 것을 보호하기 위한 보호 저항과;A protection resistor for protecting overcurrent from flowing into the switch means; 상기 스위치 수단의 출력에 따라 3상 AC 모터에 게이팅 신호를 출력하는 게이팅 수단 및;Gating means for outputting a gating signal to a three-phase AC motor in accordance with the output of said switch means; 상기 보호 저항의 선단에 구비되며, 상기 스위치 수단에 연결되는 공급전압과 동일 레벨로 설정되는 풀업저항을 포함하는 것을 특징으로 하는 전기 자동차의 모터 제어용 피 더불유 엠 제어장치.And a pull-up resistor provided at the front end of the protection resistor, the pull-up resistor being set to the same level as the supply voltage connected to the switch means.
KR1020010055874A 2001-09-11 2001-09-11 Apparatus for pwm controlling of electrical motor in electric vehicle application KR20030023006A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101104541B1 (en) * 2009-05-25 2012-01-11 광운대학교 산학협력단 Shear reinforcement component for a slab-column connection and shear reinforcement structure using the same
KR101246650B1 (en) * 2011-04-13 2013-03-25 서울특별시도시철도공사 Driving board for switching device used in electrical power conversion apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101104541B1 (en) * 2009-05-25 2012-01-11 광운대학교 산학협력단 Shear reinforcement component for a slab-column connection and shear reinforcement structure using the same
KR101246650B1 (en) * 2011-04-13 2013-03-25 서울특별시도시철도공사 Driving board for switching device used in electrical power conversion apparatus

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