WO1989011523A2 - Detection de la position d'un rotor - Google Patents

Detection de la position d'un rotor Download PDF

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Publication number
WO1989011523A2
WO1989011523A2 PCT/GB1989/000577 GB8900577W WO8911523A2 WO 1989011523 A2 WO1989011523 A2 WO 1989011523A2 GB 8900577 W GB8900577 W GB 8900577W WO 8911523 A2 WO8911523 A2 WO 8911523A2
Authority
WO
WIPO (PCT)
Prior art keywords
motor
winding
windings
phase
control means
Prior art date
Application number
PCT/GB1989/000577
Other languages
English (en)
Other versions
WO1989011523A3 (fr
Inventor
Peter Bruce Clark
John Talbot Boys
Original Assignee
Piper, James, William
Cadac Holdings Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Piper, James, William, Cadac Holdings Limited filed Critical Piper, James, William
Publication of WO1989011523A2 publication Critical patent/WO1989011523A2/fr
Publication of WO1989011523A3 publication Critical patent/WO1989011523A3/fr

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Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/12—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using detecting coils using the machine windings as detecting coil

Definitions

  • This invention relates to position sensing in an electric motor in which the wound poles (or “windings") are supported on a substantially non-conducting substrate of low magnetic permeability (called “a motor of the type described”).
  • the invention provides control means for a multiphase electric motor of the type described having a winding associated with each phase of the motor, a unidirectional electronic switching means in series with each winding, the windings being positioned in parallel between a power supply, current blocking means between the power supply and the windings, and means for sensing the voltages in each respective winding, the or each sensing means being connected to means for controlling the respective unidirectional switching means for that winding.
  • the invention provides means for reconstructing the switched phase of a multi-phase machine by comparing the voltages of the other phases.
  • the unidirectional switching means consists of silicon controlled rectifiers as they are extremely reliable switching devices and of very low cost.
  • these silicon controlled rectifiers make use of an effect we call the "phase commutation effect", effect which is possible with a motor of the type described having an ironless stator.
  • the sense windings may be the same as the motor windings.
  • the sense windings may be separate windings electrically isolated from the motor windings, and this is preferred in the case of higher voltage motors, or motors having a high starting current.
  • the sensing technique described above is particularly suited for the control of motors during running, and is also suitable for high speed motors at start-up.
  • Such a system may be used during the running of the motor, although we prefer in most cases that the magnetic sensors be used to sense the rotor position during start-up and then prefer to switch over to the electronic sensing technique during high speed running of the motor.
  • the invention provides means for detecting the position of a permanent magnetic pole in an electric motor, in which a plurality of permanent magnetic poles are provided on a support of a first motor component and one or more magnetic sensors are positioned relative thereto on a second motor component so that the magnetic flux sensors may detect the position of the permanent magnetic poles.
  • the magnetic flux sensors may for example be Hall-effect sensors, or magneto-strictive sensors.
  • the invention provides control means for a multi-phase electric motor of the type described having both the sensor windings as described above and the magnetic flux sensors as described above.
  • Figure 1 shows a general circuit diagram for a three phase motor of the type described.
  • Ficrure 2 shows the voltage "wave forms of the three windings of the motor having an ironless stator.
  • Figure 3 shows a preferred comparator amplifier on one of the motor windings capable of sensing when the voltage of that winding crosses the zero voltage point. Only one such amplifier is shown, although it will be appreciated that a separate comparator amplifier is provided on each of the windings of Figure 1.
  • Figure 4 shows the switching points on the wave forms for a three phase supply.
  • Figure 5 shows a general circuit diagram for a three phase motor of the type described having separate sensor windings as described above.
  • Figure 6 is a cross section of a motor having a cylindrical rotor with the permanent magnetic poles protruding beyond the end of the rotor.
  • Figure 7 is a partial end elevation of the rotor of Figure 6 showing the lines of magnetic flux from the protruding portions of the magnetic poles.
  • Figure 8 illustrates a partial end elevation of the rotor of Figure 6 showing one possible arrangement of the magnetic flux sensors.
  • Figure 9 illustrates a part exploded view of an electric motor for use with the control means of this invention.
  • FIGURE 1 is a diagrammatic representation of FIGURE 1:
  • each winding W1, W2, W3 has its own unidirectional switching means for example SCR1, SCR2, SCR3, each of which is in series with its respective winding. These windings are provided in parallel between a voltage supply V+ and ground.
  • Current controlling means L in the form of an external inductor, or DC-DC series choke converter preferably provides current controlling between the power supply and the electric motor in order to allow the phase commutation to occur.
  • phase commutation effect allows current flowing in winding W1 to stop when winding W2 is switched on. This occurs because when winding W2 is switched on its back EMF voltage is much less than that of winding W1, thus all the current which was previously flowing through winding W1 is transferred into winding W2. When this occurs, the current in winding W1 drops to zero, and when it reaches zero, SCR1 turns off and is therefore commutated. This will be explained in more detail with reference to the phase diagram of Figure 2.
  • FIGURE 2 is a diagrammatic representation of FIGURE 1
  • Figure 2 shows the voltage wave forms of the three windings of the motor. Current flows in winding W1 from zero to 120 electrical degrees, and then current flows in winding W2 from 120-240 electrical degrees, and finally current flows in winding W3 from 240-360 electrical degrees.
  • Phase commutation of winding W1 occurs at 120 electrical degrees when winding W2 is switched on by applying gate drive to SCR2.
  • a circulating current through winding W1 and W2 can exist while both SCR 1 and SCR 2 are on together.
  • This current is sourced from the back emf from winding W1 and reduces the current in SCR 1 .
  • SCR1 turns off (ie it is commutated).
  • Winding W3 has the same effect on winding W2, ie SCR3 is turned on at 240 electrical degrees and thus SCR2 is commutated.
  • winding W1 has the same effect on winding W3, as SCR1 is turned on at 360 electrical degrees and thus SCR3 is commutated. This cycle completes 360 degrees of electrical rotation of the motor.
  • each of the windings By sensing the voltages in each of the windings, it is possible to provide a suitable gate signal to turn each of the SCRs on at the correct positions, eg at 0, 120, and 240 electrical degrees.
  • FIGURE 3 is a diagrammatic representation of FIGURE 3
  • the amplifier A senses when the voltage on winding W1 crosses the zero voltage point (ie at 0 or 360 electrical degrees) and thus provides a gate signal to turn on SCR1.
  • the comparator amplifiers for windings W2 and W3 sense when the voltage on winding W2 passes the zero voltage point, ie at 120 electrical degrees, and senses when the voltage on winding W3 passes the zero voltage point, ie at 240 electrical degrees.
  • the voltage wave forms are substantially sinusoidal without slot ripple, and with minimal voltage variations caused by current flowing through either of the other two windings of the three phase motor. This allows very accurate rotor position sensing and provides a suitable gate signal to switch the SCRs on at the correct points to provide reliable commutation.
  • the preferred unidirectional switching means is a silicon controlled rectifier, although other possible switching devices may be used.
  • the comparator amplifier shown in Figure 3 is only one of many ways of sensing the crossing point of the voltage in the winding, and many other circuits can be used to monitor this position.
  • FIGURE 4
  • the "Red" phase should be switched at a negative going zero crossing and similarly for the other phases.
  • the "Red" terminal voltage is determined by the power supply voltage so that the sine wave, as shown in Figure 4, cannot be observed at the Red terminal. However, since the sum of the three terminal voltages must add to zero, the actual "Red" terminal voltage can be reconstructed by taking:
  • Such a technique means that the rotor position can be sensed at all times provided that the rotor is moving and generating terminal voltages. The resolution is then 3 x the number of poles, if all zero crossings are used.
  • the dots “ . " represent points of unstable equilibrium so that switching the phases there drives the motor from these points.
  • the crosses “X” represent stable points so that if the "Red” phase is switched ON the motor will finally settle at the stable Red point. Movement in either direction from this point would cause the Red phase voltage to go positive but such a change cannot be seen as the terminal voltage is at the switch potential.
  • the Red phase voltage can however be reconstructed from - (Y + B) .
  • This rotor position sensing technique need not be limited to only three phase zero crossings giving 3 x the number of poles. Extra zero crossings can be created - for example (R + Y/2) gives a new waveform.
  • this waveform has zero crossings displaced 30° from the parent waveforms.
  • the same process can be repeated for the other phases to give 6 more zero crossings/cycle or a resolution of 6 x the number of poles.
  • phase commutation effect provides a simple and reliable means of controlling the direct current motor as described in our earlier patent specification and is also applicable to any other type of permanent magnetic motor in which the wound poles are provided on a substrate of low magnetic permeability.
  • this effect is particularly suited to our earlier motor, it is applicable also to the "pancake motor” in which the permanent magnets are mounted on a flat disc adjacent another disc on which the wound poles are provided.
  • the control means of this invention are applicable to any form of motor having an ironless stator (ie having wound poles on a substrate of low magnetic permeability) as this minimises voltage variations caused by the current flowing through the other windings.
  • FIGURE 5 Separate Sense Windings
  • each of the windings W1, W2, W3... supplying power to the motor is wound together with a separate, electrically isolated winding W1*, W2*, W3*... magnetically coupled so as to sense rotor position by means of the back-emf voltage generated within the corresponding power winding during action of the motor.
  • These sense windings are connected with correct polarity to the inputs of an electronic device (10) which constructs the proper control signals to the stator current-switching devices (11,12,13) on the basis of external commands plus information from the sense windings.
  • the current-switching devices shown in Figure 5 are transistors.
  • An advantage of this invention is that the signals available from the sense windings are less distorted than signals from the power windings; an important advantage if the motor is to be started with high currents.
  • Another advantage of this invention is that the option of a high-voltage motor supply can be selected without consideration for the rotational sensing system because the voltages available from the separate sense windings remain compatible with the electronic circuitry.
  • a further advantage is that, in contrast to our earlier schemes involving direct sensing of voltages from the motor's supply windings, accurately divided signal voltages which were especially necessary at startup and required precision resistors or careful adjustments are no longer needed because the input voltages from the sense coils are now compared with zero volts instead of a fraction of the voltage across both the motor and its current-switching devices.
  • FIGURE 6 The Magnetic Position Sensor
  • Figure 6 shows one example of the use of magnetic position sensors to determine the position of the magnetic poles irrespective of motion.
  • Transducers (21) of a steady magnetic flux passing through a small volume are required and by way of example are shown as the solid-state Hall-effect devices.
  • the type of motor used by way of example carries on its rotor (22) an alternating series of longitudinal north and south poles (23) and uses the inner series of poles, interacting with the magnetic fields of the energised stator coils, to generate motion.
  • the outer series of poles incidentally present though preferably constructed to protrude beyond the structure of the rotor (22) are made to interact with the fixed set of magnetic position sensors (21) (and 41, 42, 43 in Figure 8) to provide information concerning the relative position of the sensors and the array of magnetic poles.
  • a convenient extent of protrusion is 5 mm.
  • Hall-effect or similar sensors are placed at the end, or within the rotors of outside-rotor electric motors.
  • the flux transducers are preferably placed on the outside.
  • magnétique flux sensors are screened from the flux generated by currents in the stator windings. Such interference would alter the accuracy of determining switching points and lower the efficiency of the motor. Furthermore, it is preferable to mount them outside the circumference of the rotor, because the volume within it is consumed by the flat stator winding (not shown).
  • the array of magnetic position sensors is then coupled to the electronic controller described with reference to Figure 5, using the appropriate interfacing and signal conditioning elements.
  • FIGURE 7 Flux Diagram for the Magnetic Position Sensor
  • Figure 7 is a partial end elevation of the series of magnetic poles (31, 32, and 33) which by way of example are mounted along the edge of the rotor of a simple motor.
  • the flux lines, or lines of magnetic force are shown. It will be appreciated that the amount of flux is considerably larger if the poles project beyond the confines of the iron rotor frame.
  • FIGURE 8 The Magnetic Position Sensor
  • Figure 8 is a partial end elevation of the series of magnetic poles which by way of example are mounted along the edge of the rotor of a simple motor.
  • One preferable arrangement for the mounting of the magnetic flux sensors (41, 42, and 43) is shown in which physical separation around the circumference of the rotor in relation to the spacing of the magnetic poles may indicate the present position of the rotor and be used as a source of signals with which to control the starting and running of the motor.
  • the indicated spacing in degrees refers to the electrical phasing of the sensors with reference to a three-phase system using three sets of stator coils.
  • FIGURE 9 External Rotor Motor
  • a co-axial motor having an external rotor construction utilizing closely spaced straight bar magnets, and a substantially "ironless stator".
  • the motor 110 has a cylindrical sleeve 111 which is conveniently in the form of a cup having an end face 112, which is attached to a central shaft 113.
  • This shaft is preferably mounted within bearings 115 mounted within a stator 116.
  • the shaft has a tapped end 117 for connection to other machinery.
  • the inner face of the sleeve 111 is provided with a plurality of side by side bar magnets 127, aligned with their axes parallel to the axis of the rotor and with their ends preferably protruding slightly beyond the end of the sleeve 11. It will be appreciated that there will be an even number of such closely spaced magnets, s ⁇ that the polarity of the permanent magnetic poles alternates as one travels around the inner circumference presented by these magnets.
  • the magnets are preferably rare earth or ceramic bar magnets, and 20 such magnets are shown in Figure 9, for the purpose of illustration. Any even number of such magnets can be used depending upon design criteria such as size, weight, price, availability and frequency.
  • the bar magnets are formed from either rare earth or ceramic magnets, and have a high field strength enabling them to provide a higher magnetic flux across a much wider air gap than is possible with conventional magnets, but at the same time it is preferred that the adjacent permanent magnetic poles are close together to provide a short magnetic flux path between adjacent magnetic poles.
  • the rotor sleeve and end face are formed of steel although other materials could be used.
  • the stator 116 is preferably connected to a mounting plate (not shown), which may also support magnetic flux sensors as shown in Figure 8, if magnetic sensors are also used to detect the position of the magnets.
  • the rotor and stator are spaced apart by a relatively large cylindrical air gap of the order of 0.25mm to 1.5mm and preferably 0.75mm for the 20 pole motor/alternator of this example. This enables the wound poles to intersect the magnetic flux path as at substantially right angles thereto.
  • the air gap is preferably less than the depth of the magnets and should be of such a size as to allow for normal engineering clearances and tolerances.
  • the stator has an annular generally cylindrical substrate 124 of low magnetic permeability material with a plurality of wound poles or windings 125 on its outer cylindrical surface.
  • a preferred substance is glass reinforced plastics resin as this can be formed into a sufficiently rigid cylindrical surface which on a prototype machine without a fan has not distorted in use.
  • the number of wound poles correspond to the number of permanent magnetic poles inside the rotor.
  • the wound poles are relatively shallow in that they are formed on or close to the surface of the substrate (unlike conventional wound poles which are wound within slots formed in steel laminations).
  • the depth of the wound poles on or close to the surface of the stator will depend upon the size of the stator and required rating of the motor. In the example shown, the depth would be of the order of 1mm to 10mm, and preferably about 3mm.
  • FIG. 9 shows the wave windings W1, W2, W3 each providing a plurality of wound poles on the surface of a substrate 124 for a three phase stator winding.
  • a three phase winding is preferred for most applications but other phases have their uses for particular applications. They may be exposed to the air or encapsulated in a plastic resin of low magnetic permeability.
  • Each winding W1, W2, W3 may provide both the sense windings and the motor windings as shown in Figure 1, or separate sense windings W1*, W2*, W3* may be superimposed over but electrically insulated from motor their respective windings as described with reference to Figure 5.
  • the wound poles may be provided in a variety of forms and may provide for one or more phases.
  • the substrate is of low magnetic permeability there is consequently no iron (at least in the outer portion of the substrate) to provide a magnet flux path in the stator.
  • the wound poles on the surface of the stator areso positioned as to intersect the magnetic flux lines connecting adjacent ceramic magnets as the flux lines essentially form a series of loops from one magnet to the next as one travels around the inner circumference of the rotor.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Brushless Motors (AREA)

Abstract

On a mis au point un moyen électronique détectant la position d'un rotor pour un moteur CC (110) à aimant permanent multiphase comportant des enroulements (W1, W2, W3) sur un substrat (124) à faible perméabilité magnétique. On utilise un moyen pour détecter les tensions dans les enroulements afin de mettre en circuit des thyristors au silicium aux positions correctes du rotor, afin d'assurer la commutation électronique. Ces enroulements de détection peuvent être les mêmes enroulements que les enroulements (W1, W2, W3) du moteur, ou des enroulements (W1*, W2*, W3*) de détection séparés isolés électriquement des enroulements (W1, W2, W3) du moteur mais couplés magnétiquement à ceux-ci. Dans un moteur multiphase on peut reconstruire électroniquement chaque phase en mesurant les tensions des autres phases afin d'augmenter la résolution de commutation. On a mis au point une résolution de 6 fois le nombre des pôles magnétiques permanents.
PCT/GB1989/000577 1988-05-25 1989-05-25 Detection de la position d'un rotor WO1989011523A2 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
NZ22478188 1988-05-25
NZ224781 1988-05-25
NZ226883 1988-11-08
NZ22688388 1988-11-08
NZ228153 1989-02-27
NZ22815389 1989-02-27

Publications (2)

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WO1989011523A2 true WO1989011523A2 (fr) 1989-11-30
WO1989011523A3 WO1989011523A3 (fr) 1989-12-28

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PCT/GB1989/000577 WO1989011523A2 (fr) 1988-05-25 1989-05-25 Detection de la position d'un rotor

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JP (1) JPH03504915A (fr)
AU (1) AU3693589A (fr)
WO (1) WO1989011523A2 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0515974A2 (fr) * 1991-05-28 1992-12-02 David L. Kruse Appareil de commande d'un moteur biphasé à courant continu sans balai
US5486742A (en) * 1991-09-17 1996-01-23 Ebara Corporation Easily started DC motor apparatus
EP0802613A2 (fr) * 1996-04-16 1997-10-22 PM DM Precision Motors Deutsche Minebea GmbH Moteur à courant continu sans balai, multiphase
EP1099092A1 (fr) * 1998-07-20 2001-05-16 Unique Mobility, Inc. Detecteur de position precise du rotor et procede utilisant un anneau magnetique et des detecteurs de sorties lineaires a effet hall
US6717300B2 (en) * 2000-07-24 2004-04-06 Anadish Kumar Pal Arrangement for using induction motor as a sensor to sense its own rotation when electrical power is not being supplied to it
WO2005055401A1 (fr) * 2003-12-01 2005-06-16 Pratt & Whitney Canada Corp. Systeme de commande sans capteur dans une machine a aimants permanents
WO2009098143A2 (fr) * 2008-02-04 2009-08-13 BSH Bosch und Siemens Hausgeräte GmbH Machine électrique excitée par aimant permanent pour un appareil électroménager et circuiterie comprenant une machine excitée par aimant permanent
US8076882B2 (en) 2007-12-26 2011-12-13 Pratt & Whitney Canada Corp. Motor drive architecture with active snubber

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2267650A1 (fr) * 1974-04-11 1975-11-07 Teldix Gmbh
US4051417A (en) * 1974-09-04 1977-09-27 Hitachi, Ltd. Control system for a brushless motor
JPS57196893A (en) * 1981-05-29 1982-12-02 Toshiba Corp Phase detector for commutatorless motor
FR2577355A1 (fr) * 1985-02-11 1986-08-14 Rotron Inc Moteur a courant continu sans fer, sans balais, a enroulement ondule
EP0231046A2 (fr) * 1986-01-25 1987-08-05 Philips Patentverwaltung GmbH Circuit de commutation pour un moteur à courant continu sans collecteur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2267650A1 (fr) * 1974-04-11 1975-11-07 Teldix Gmbh
US4051417A (en) * 1974-09-04 1977-09-27 Hitachi, Ltd. Control system for a brushless motor
JPS57196893A (en) * 1981-05-29 1982-12-02 Toshiba Corp Phase detector for commutatorless motor
FR2577355A1 (fr) * 1985-02-11 1986-08-14 Rotron Inc Moteur a courant continu sans fer, sans balais, a enroulement ondule
EP0231046A2 (fr) * 1986-01-25 1987-08-05 Philips Patentverwaltung GmbH Circuit de commutation pour un moteur à courant continu sans collecteur

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 7, no. 45 (E-160)(1190) 23 February 1983, & JP-A-57 196893 (TOKYO SHIBAURA DENKI K.K.) 02 December 1982, see the whole document *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0515974A2 (fr) * 1991-05-28 1992-12-02 David L. Kruse Appareil de commande d'un moteur biphasé à courant continu sans balai
EP0515974A3 (fr) * 1991-05-28 1995-02-01 David L Kruse
US5486742A (en) * 1991-09-17 1996-01-23 Ebara Corporation Easily started DC motor apparatus
EP0802613A2 (fr) * 1996-04-16 1997-10-22 PM DM Precision Motors Deutsche Minebea GmbH Moteur à courant continu sans balai, multiphase
EP0802613A3 (fr) * 1996-04-16 1997-11-05 PM DM Precision Motors Deutsche Minebea GmbH Moteur à courant continu sans balai, multiphase
EP1099092A4 (fr) * 1998-07-20 2001-09-26 Unique Mobility Inc Detecteur de position precise du rotor et procede utilisant un anneau magnetique et des detecteurs de sorties lineaires a effet hall
EP1099092A1 (fr) * 1998-07-20 2001-05-16 Unique Mobility, Inc. Detecteur de position precise du rotor et procede utilisant un anneau magnetique et des detecteurs de sorties lineaires a effet hall
US6522130B1 (en) 1998-07-20 2003-02-18 Uqm Technologies, Inc. Accurate rotor position sensor and method using magnet and sensors mounted adjacent to the magnet and motor
US6693422B2 (en) 1998-07-20 2004-02-17 Uqm Technologies, Inc. Accurate rotor position sensor and method using magnet and sensors mounted adjacent to the magnet and motor
US6717300B2 (en) * 2000-07-24 2004-04-06 Anadish Kumar Pal Arrangement for using induction motor as a sensor to sense its own rotation when electrical power is not being supplied to it
WO2005055401A1 (fr) * 2003-12-01 2005-06-16 Pratt & Whitney Canada Corp. Systeme de commande sans capteur dans une machine a aimants permanents
US7288910B2 (en) 2003-12-01 2007-10-30 Pratt & Whitney Canada Corp. Sensorless control in a permanent magnet machine
US8076882B2 (en) 2007-12-26 2011-12-13 Pratt & Whitney Canada Corp. Motor drive architecture with active snubber
WO2009098143A2 (fr) * 2008-02-04 2009-08-13 BSH Bosch und Siemens Hausgeräte GmbH Machine électrique excitée par aimant permanent pour un appareil électroménager et circuiterie comprenant une machine excitée par aimant permanent
WO2009098143A3 (fr) * 2008-02-04 2010-01-28 BSH Bosch und Siemens Hausgeräte GmbH Machine électrique excitée par aimant permanent pour un appareil électroménager et circuiterie comprenant une machine excitée par aimant permanent

Also Published As

Publication number Publication date
JPH03504915A (ja) 1991-10-24
WO1989011523A3 (fr) 1989-12-28
AU3693589A (en) 1989-12-12

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