WO2001089090A1 - Composant a semiconducteur de puissance - Google Patents
Composant a semiconducteur de puissance Download PDFInfo
- Publication number
- WO2001089090A1 WO2001089090A1 PCT/JP2000/003196 JP0003196W WO0189090A1 WO 2001089090 A1 WO2001089090 A1 WO 2001089090A1 JP 0003196 W JP0003196 W JP 0003196W WO 0189090 A1 WO0189090 A1 WO 0189090A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gate
- wiring conductor
- semiconductor device
- emitter
- semiconductor switching
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/12—Modifications for increasing the maximum permissible switched current
- H03K17/122—Modifications for increasing the maximum permissible switched current in field-effect transistor switches
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/12—Modifications for increasing the maximum permissible switched current
- H03K17/127—Modifications for increasing the maximum permissible switched current in composite switches
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/16—Modifications for eliminating interference voltages or currents
- H03K17/168—Modifications for eliminating interference voltages or currents in composite switches
Definitions
- the present invention relates to a power semiconductor device in which a plurality of power semiconductor switching elements and a driving circuit for driving the switching elements are integrated and modularized to be electrically connected in parallel to each other.
- a driving circuit for a semiconductor switching element is disclosed.
- a semiconductor module that does not include a protection circuit is an external terminal that externally inputs a control signal and a control voltage for driving a transistor or an IGBT (Insulated Gate Bipolar Transistor) that constitutes a semiconductor switching element. Inevitably, it has a gate terminal and an emitter auxiliary terminal.
- an IPM Intelligent Power Module
- a semiconductor switching element and a drive circuit and a protection circuit for this switching element is, for example, a technology trend of high withstand voltage and large capacity power device (Mitsubishi Electric Technical Report As shown in Vo 1.73-No. 7 ⁇ 1999, pages 7 to 11)
- the drive signal (input signal) is input to the internal IGBT drive circuit (gate drive circuit). Input via control logic. Then, during the gate and emission period of the IGBT, a switching operation is performed by applying a drive voltage (gate voltage) by a gate drive circuit.
- Figure 5 shows a block diagram of a conventional IPM control protection circuit (Mitsubishi Electric Technical Report. Vol. 73 ⁇ No. 7. 1999, page 9).
- the conventional IPM uses a freewheeling diode as a collector.
- Main circuit section with built-in temperature sensor that detects the ambient temperature of IGBT and IGBT that is connected in the reverse direction during the emitter, the current sensor for output current control is connected to the emitter, and the gate drive is connected to the pace (gate)
- a gate drive that controls a gate signal output to the IGBT based on an output current control signal of the IGBT generated based on a detection signal of the current sensor, a current rise (di / dt) control signal, and a temperature sensor or
- a protection port for controlling the gate signal for IGBT protection and a gate drive signal to be output to the gate drive based on an input signal input from the outside via the input / output interface. It consists of a dedicated IC with a built-in control port for controlling.
- the IGBT of the IPM with the above configuration has the collector and emitter connected to the external terminals of the module for main circuit wiring connection, but has an auxiliary terminal for directly extracting the gate current and emitter current. Absent. Therefore, voltage cannot be applied directly to the gate of the IGBT.
- the operating time difference of the IGBT drive circuit between each IPM the time required for turning on and off the IGBT (hereinafter referred to as the switching time), and the collector-emitter saturation voltage when the IGBT is conducting
- the switching time the time required for turning on and off the IGBT
- the collector-emitter saturation voltage when the IGBT is conducting
- FIG. 6 is a diagram showing a conventional parallel arrangement of semiconductor modules described in, for example, JP-A-10-14215. If the two IGBTs shown in Figure 6 were separate IGBT modules, the gate connection between IGBT 2A gate resistance 3A and IGBT 2B gate resistance 3B would have some The length becomes longer and the inductance becomes larger.
- an IGBT module that is connected in parallel with the characteristics of only the collector-emitter saturation voltage can be selected.
- the collector-emitter saturation voltage and the turn-on time or evening off time must be controlled. There is a problem that it is necessary to make a plurality of switching characteristics uniform, which is a great limitation when using the IPM in parallel.
- the present invention has been made in order to solve the above-mentioned problems, and it is possible to connect IPMs in parallel without selecting IPMs having the same switching characteristics, which was necessary when connecting IPMs in parallel.
- the present invention provides a method for connecting a first semiconductor switching circuit composed of a semiconductor switching element and a second semiconductor switching circuit in parallel to a first main switching circuit on a main current input side of each of the semiconductor switching elements.
- the electrodes and the second main electrode on the main current output side are connected to each other, and a resistor having the same resistance value is connected to each of the second main electrodes.
- the second main electrode is connected to the second main electrode by a first wiring conductor through an auxiliary terminal through the resistor, and the control electrode of each semiconductor switching element is connected to the control electrode via an impedance element having a high impedance at a predetermined frequency. Connected by the second wiring conductor.
- Each semiconductor switching circuit according to the present invention is an intelligent power module in which a semiconductor switching element, a drive section of the switching element, and a protection circuit are integrally modularized.
- the first wiring conductor and the second wiring conductor are laid in close contact with each other.
- the first wiring conductor and the second wiring conductor are constituted by parallel plate conductors.
- the first wiring conductor and the second wiring conductor are formed of a twisted pair wire in which a plurality of lead wires are twisted.
- the first wiring conductor and the second wiring conductor are constituted by shield wires in which a plurality of leads are included in a shield member.
- FIG. 1 is a configuration diagram of a power semiconductor device according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram for explaining an operation when there is an operation time difference between the driving circuits of each IPM constituting the power semiconductor device shown in FIG.
- FIG. 3 is an explanatory diagram of a resonance circuit formed by a gate auxiliary terminal connection line of IGBT constituting the IPM according to the first embodiment.
- FIG. 4 is a configuration diagram of a power semiconductor device according to the second embodiment.
- FIG. 5 is a block diagram showing a configuration of a conventional IPM.
- FIG. 6 is a circuit diagram when conventional semiconductor modules are connected in parallel.
- FIG. 1 is a diagram showing a circuit configuration of the power semiconductor device according to the first embodiment.
- the power semiconductor device according to the first embodiment includes, for example, IGBT 2 which is a self-extinguishing switching element, a gate element 6 which emits a gate signal for driving the IGBT 2 ON-OFF, and the like.
- IGBT 2 which is a self-extinguishing switching element
- gate element 6 which emits a gate signal for driving the IGBT 2 ON-OFF
- two IPMs 1A and 1B which integrate a drive circuit with an IGBT protection circuit and the like (not shown) into a module, are placed on a board, for example. Electrically connected in parallel with circuit conductors.
- a primary winding of a common mode choke coil 13 for removing common mode noise transmitted to the ground line 12 of the drive circuit is provided on the substrate by the ground line 12 at the IPM 1A and the ground line 12 at the IPM1B. It is inserted between them.
- One end of the secondary winding of the common mode choke coil 13 is connected to the input terminal of the gate element 6A forming the drive circuit, and the other end of the secondary winding is connected to the input terminal of the gate element 6B forming the drive circuit. It is connected to the.
- a drive control signal source 20 for inputting a drive control signal 11 having a low level of 0 V or a high level of 15 V DC between each end of the primary winding and the secondary winding of the common mode choke coil 13. Is connected.
- IPM1A.1B The configuration of IPM1A.1B is equivalent, and A or a, B, or b is added to each code to distinguish IPM1A.1B.
- the collectors of IGBTs 2A and 2B in each IPM1A.1B are commonly connected to the positive collector side main circuit wiring CC, and the emitters are commonly connected to the negative emitter side main circuit wiring E C.
- Each IGBT 2A, 2B inputs an on-off drive signal from the drive circuit through the gate resistor 3A, 3B, respectively.
- the gate element 6 A that constitutes the driving circuit drives a +24 V driving signal when a +15 V DC voltage is input from the driving control signal source 20 to its input terminal, and a 0 V driving when a +0 V voltage is input.
- the signal is output from each output terminal P 3 A.
- the drain of switching element 4a composed of FET is connected to + terminal of first power supply 7A
- the drain of the switching element 5 a which is turned on by a drive signal of 15 V and turned off by a drive signal of 0 V and also composed of a FET, is connected to the negative terminal of the second power supply 8.
- the sources of the switching elements 4a and 5a are connected at the connection point PA4 through the gate resistors 4A and 5A, respectively.
- the connection point PA4 is connected to the gate of the IGBT 2 A through the gate resistance 3 A of the IGBT 2 A.
- each switching element 4a, 5a inputs an on / off drive signal from the output terminal P A3 of the gate element 6A.
- connection point PA 1 The negative terminal of the first power supply 7 A and the + terminal of the second power supply 8 A are connected at the connection point PA 1, and the connection point PA 1 is connected to the connection point PA 7 at the IGB T 2 A emitter through the circuit pattern. Connected.
- connection is also made in the same manner in I PM 1B.
- the collectors of the IGBTs 2A and 2B are connected to the collector main circuit wiring CC by the external terminals 9 and 9, and the emitters of the IGBTs 2A and 2B are connected to the external terminals 10 and 9.
- the IGBTs 2A and 2B are connected in parallel by being connected by the main circuit wiring EC.
- the circuit pattern connecting the connection point PA 4 and the gate resistance 3 A at IPM 1 A and the circuit pattern connecting the connection point PB 4 and the gate resistance 3 B at IPM 1 B are IPM1A, Gate auxiliary terminals 14A and 14B, which are external terminals of 1B, are connected in circuit patterns from connection points PA5 and PB5 in the above circuit patterns.
- a circuit pattern for connecting the connection point PA1 on the + terminal side of the second power supply 8A in the IPM 1A and the connection point PA7 on the emitter side of the IGB T2A in the IPM 1A is the emitter pattern that is the external terminal of IPM1A and 1B. Connected to evening auxiliary terminals 15A and 15B via resistor 16As 16B.
- the gate auxiliary terminal 14 A is connected to the connection point PA 5 on the current input side of the gate resistor 3 A by a circuit pattern. Connect a circuit pattern to the current input side of the gate resistor 3B.
- the connected gate auxiliary terminal 14 B is connected to a gate auxiliary terminal connection wiring 17 via a ferrite beads core 19.
- the emitter auxiliary terminals 15 A and 15 B are connected by the emitter auxiliary terminal connection wiring 18 paired with the gate auxiliary terminal connection wiring 17.
- gate auxiliary terminal connection wiring 17 and the emitter auxiliary terminal connection wiring 18 are laid closely together with a parallel flat plate conductor, twisted pair wire or shield wire.
- the gate resistances 4A and 4B are used only when the IGBTs 2A and 2B are turned on, and the gate resistances 5A and 58 are used only when the 108 and 2B are turned off. This is the gate resistance.
- DC power supplies 7 A and 7B are DC power supplies for applying a positive potential in the evening when the IGBTs 2A and 2B are turned on.
- DC power supplies 8A and 8B are gate-emitters when the IGBTs 2A and 2B are turned on.
- Each of the gate auxiliary terminals 14 A, 14 B and each emitter auxiliary terminal 15 A, 15 B are connected by a gate auxiliary terminal connection wiring 17 and an emitter auxiliary terminal connection wiring 18, respectively, so that each of the gates is connected in parallel. Keep the gate potential and emission potential between IGBTs 2A and 2B at the same potential.
- each of the IGB T 2 A and 2 B is connected to the respective emitter auxiliary terminals 15 A and 15 B and the gate auxiliary terminals 14 A and 14 B, the gate emitter potential immediately before turn-off is It is kept at the same potential.
- the gate elements 6 A, 6 A potential of +24 is generated at the B output terminals PA3 and PB3.
- the switching elements 4a and 4b are turned off, and the switching elements 5a and 5b are turned on.
- the drive circuits inside the IPMs 1A and 1B have operating time differences including the gate elements 6A and 6B and the switching elements 4a, 5a, 4b, and 5b. For example, if the operating speed of the drive circuit is slower,
- the switching element 4a of PM 1A remains on.
- the switching element 4b of IPM 1B which has the higher operation speed of the drive circuit, is turned off, and the switching element 5b is turned on.
- IPM1A is turned on and the switching element 4a is turned on, the switching element 5a is turned off, and the IPM1B is turned off and the switching element 4b is turned off and the switching element 5b is turned on.
- the series combined voltage of the first power supply 7A and the second power supply 8B is equally divided by the resistors 4A and 5B, and each divided voltage is connected to the connection point PA5, PB of each of the resistors 4A, 5B. From 5. Applied equally to each gate of IGBT 2A and 2B. Therefore, the gates of the IGBTs 2A and 2B connected in parallel are kept at the same potential even if the operating speed of the drive circuit built in each IP MIA and 1B is different, so that the IGBTs 2A and 12B operate at the same time. There is no imbalance between them.
- auxiliary auxiliary terminals 15A, 15B are connected to the input / output common lines of the IGBTs 2A, 2B via the low-resistance resistors 16A, 16B of 1 to 2 ⁇ respectively.
- the emitters of the IGBTs 2A and 2B in each IPM 1A and 1B are connected to each other by the emitter main circuit wiring E C, so that the emitters are always kept at almost the same potential.
- the drive circuit on the IPM1A side which has a slower operating speed, operates, and when one potential is applied to the gate of the IGBT2A, each IGBT2A, 2 in each IPM1A, 1B connected in parallel. Both the gate potentials of B become one potential and the off-off operation starts simultaneously.
- the operation is the reverse of this, and turns on at the same time regardless of the variation in the operating speed of the parallel-connected IPM drive circuits.
- the variation in the operating speed of the drive circuit is canceled out, and in the transient state of the evening-on operation or the evening-off operation, the parallel connection is performed regardless of the variation in the operating speed of the drive circuit built in the IPM. Since the gate and emitter potentials of the IGBT at each of the set IPMs can be kept equal, the current can flow evenly through the parallel modules.
- a loop is formed between the gate auxiliary terminal connection line 17 and the collector-side main circuit wiring CC through the gate-collector capacitance 20.
- the collector-side main circuit wiring CC and the gate auxiliary terminal connection line 17 are connected.
- a resonance loop is formed by adding the inductances 22 and 24.
- a loop is formed between the gate auxiliary terminal connection line 17 and the main circuit wiring EC on the emitter side via a gate emitter capacitance 21, and this loop forms a gate auxiliary terminal connection line 17 and the main circuit side on the emitter side.
- a resonance loop is formed by adding the inductances 23, 24 of the wiring EC. As a result, a problem that resonance occurs due to these resonance loops occurs.
- the gate auxiliary terminal connection line 17 connecting the gate auxiliary terminals 14 A and 14 B between the IPMs 1 A and 1 B and the IPM 1 A and 1 B Connect the gate auxiliary terminal connection line 18 connecting the emitter auxiliary terminals 15A and 15B with a pair of conductors. There are the following three methods for such connection.
- connection methods can reduce the inductance of the wiring, and the best connection method can be selected from the viewpoint of cost, assemblability, and the like according to the configuration of the device.
- each gate auxiliary terminal 14 A, 14 B is connected via a ferrite beads core 19 having high impedance characteristics in the resonance frequency band (several MHz or more). Connect with gate auxiliary terminal connection wiring 17.
- gate auxiliary terminal connection wiring 17 use the reduced inductance wiring for the gate auxiliary terminal connection wiring 17 and the emitter auxiliary terminal connection wiring 18 and insert the ferrite beads core 19 in the gate auxiliary terminal connection wiring 17. By doing so, it is possible to completely suppress the resonance caused by the formed resonance loop via the gate auxiliary terminal connection line 17.
- this emitter loop When an emitter loop is formed between the emitter auxiliary terminal connection line 18 and the main circuit on the emitter side, this emitter loop has a flux linkage at the time of switching or a current flowing through the parallel IPMs 1A and 1B. An unbalanced current flows due to the imbalance of. A malfunction may occur in the drive circuit due to the unbalanced current.
- the current of this emitter loop needs to be reduced as much as possible.
- the current is suppressed by inserting an inductance (see FIG. 6) between each emitter and auxiliary terminals.
- the emitter auxiliary terminal connection line is used to reduce the inductance between the gate auxiliary terminal connection lines, and it is not appropriate to insert an inductance.
- the current is reduced by inserting resistors 16A and 16B into the emitter loop.
- the resistances of the resistors 16A and 16B are large, there will be a large difference between the EMG potentials of the IGBTs 2A and 2B connected in parallel depending on the flowing current value. It should be about 2 ⁇ .
- FIG. 4 is a configuration diagram of a power semiconductor device according to Embodiment 2 of the present invention.
- the same reference numerals as those in FIG. 1 indicate the same or corresponding parts.
- connection point PA6 formed on the input / output common line connecting the series connection point of the first power supply 7A (7B) and the second power supply 8A (8B) and the emitter of the IGBT 2A (2B).
- a (15 B) is connected with a circuit pattern, and a resistor 25
- the current in the emitter loop can be reduced as much as possible in the first embodiment.
- the selection criteria of the switching elements based on the switching characteristics of the switching elements constituting the intelligent power module are relaxed, and each of the intelligently connected intelligent power modules is relaxed. Apply current evenly to the Gent Power Module.
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/019,679 US6583976B1 (en) | 2000-05-18 | 2000-05-18 | Power semiconductor device |
EP00929791A EP1292027B1 (en) | 2000-05-18 | 2000-05-18 | Power semiconductor device |
JP2001585403A JP3696833B2 (ja) | 2000-05-18 | 2000-05-18 | 電力用半導体装置 |
PCT/JP2000/003196 WO2001089090A1 (fr) | 2000-05-18 | 2000-05-18 | Composant a semiconducteur de puissance |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2000/003196 WO2001089090A1 (fr) | 2000-05-18 | 2000-05-18 | Composant a semiconducteur de puissance |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001089090A1 true WO2001089090A1 (fr) | 2001-11-22 |
Family
ID=11736043
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/003196 WO2001089090A1 (fr) | 2000-05-18 | 2000-05-18 | Composant a semiconducteur de puissance |
Country Status (4)
Country | Link |
---|---|
US (1) | US6583976B1 (ja) |
EP (1) | EP1292027B1 (ja) |
JP (1) | JP3696833B2 (ja) |
WO (1) | WO2001089090A1 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002369496A (ja) * | 2001-06-05 | 2002-12-20 | Fuji Electric Co Ltd | Ipm回路 |
JP2002369497A (ja) * | 2001-06-05 | 2002-12-20 | Fuji Electric Co Ltd | Ipm回路 |
JP2005510995A (ja) * | 2001-11-27 | 2005-04-21 | ウェイブクレスト ラボラトリーズ リミテッド ライアビリティ カンパニー | 各ステータ電磁石毎に個別の制御モジュールを有する回転電動機 |
DE102006008512B4 (de) * | 2005-02-25 | 2008-10-23 | Mitsubishi Denki K.K. | Leistungshalbleitervorrichtung, welche mit parallel zueinander geschalteten Leistungssteuerungs-Halbleitermodulen versehen ist |
US7547992B2 (en) | 2007-06-04 | 2009-06-16 | Mitsubishi Electric Corporation | Drive device driving a plurality of semiconductor elements having respective reference potential electrodes coupled via a main electrode unit and alternating current power supply device provided with the drive device |
JP2009148031A (ja) * | 2007-12-12 | 2009-07-02 | Mitsubishi Electric Corp | 半導体電力変換装置の過電流保護装置 |
WO2015001883A1 (ja) * | 2013-07-03 | 2015-01-08 | 富士電機株式会社 | 絶縁ゲート型半導体素子の駆動装置および電力変換装置 |
WO2018056213A1 (ja) * | 2016-09-23 | 2018-03-29 | 三菱電機株式会社 | 電力用半導体モジュール及び電力用半導体装置 |
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US8188814B2 (en) * | 2008-02-15 | 2012-05-29 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | High voltage isolation dual capacitor communication system |
US7741896B2 (en) * | 2008-02-15 | 2010-06-22 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | High voltage drive circuit employing capacitive signal coupling and associated devices and methods |
US7741935B2 (en) * | 2008-02-15 | 2010-06-22 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | High voltage isolation semiconductor capacitor digital communication device and corresponding package |
US9793889B2 (en) * | 2011-03-15 | 2017-10-17 | Infineon Technologies Ag | Semiconductor device including a circuit to compensate for parasitic inductance |
WO2013032906A1 (en) * | 2011-08-29 | 2013-03-07 | Efficient Power Conversion Corporation | Parallel connection methods for high performance transistors |
DE102016001742A1 (de) | 2015-08-06 | 2017-02-09 | DEHN + SÖHNE GmbH + Co. KG. | Schaltungsanordnung zum Schutz einer aus einem Versorgungsnetz zu betreibenden Einheit gegen Überspannungen |
DE102016207381A1 (de) * | 2016-04-29 | 2017-11-02 | Robert Bosch Gmbh | Schaltelement mit einer Temperaturüberwachung und Verfahren zur Temperaturüberwachung |
EP3652857B1 (en) * | 2017-07-13 | 2021-06-30 | ABB Schweiz AG | Power semiconductor module gate driver with input common mode choke |
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- 2000-05-18 US US10/019,679 patent/US6583976B1/en not_active Expired - Lifetime
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002369496A (ja) * | 2001-06-05 | 2002-12-20 | Fuji Electric Co Ltd | Ipm回路 |
JP2002369497A (ja) * | 2001-06-05 | 2002-12-20 | Fuji Electric Co Ltd | Ipm回路 |
JP2005510995A (ja) * | 2001-11-27 | 2005-04-21 | ウェイブクレスト ラボラトリーズ リミテッド ライアビリティ カンパニー | 各ステータ電磁石毎に個別の制御モジュールを有する回転電動機 |
DE102006008512B4 (de) * | 2005-02-25 | 2008-10-23 | Mitsubishi Denki K.K. | Leistungshalbleitervorrichtung, welche mit parallel zueinander geschalteten Leistungssteuerungs-Halbleitermodulen versehen ist |
US7619503B2 (en) | 2005-02-25 | 2009-11-17 | Mitsubishi Denki Kabushiki Kaisha | Power semiconductor apparatus provided with power controlling semiconductor modules connected in parallel to each other |
US7547992B2 (en) | 2007-06-04 | 2009-06-16 | Mitsubishi Electric Corporation | Drive device driving a plurality of semiconductor elements having respective reference potential electrodes coupled via a main electrode unit and alternating current power supply device provided with the drive device |
JP2009148031A (ja) * | 2007-12-12 | 2009-07-02 | Mitsubishi Electric Corp | 半導体電力変換装置の過電流保護装置 |
JP4712024B2 (ja) * | 2007-12-12 | 2011-06-29 | 三菱電機株式会社 | 半導体電力変換装置の過電流保護装置 |
WO2015001883A1 (ja) * | 2013-07-03 | 2015-01-08 | 富士電機株式会社 | 絶縁ゲート型半導体素子の駆動装置および電力変換装置 |
US9608622B2 (en) | 2013-07-03 | 2017-03-28 | Fuji Electric Co., Ltd. | Drive device for insulated-gate semiconductor element, and power converter |
WO2018056213A1 (ja) * | 2016-09-23 | 2018-03-29 | 三菱電機株式会社 | 電力用半導体モジュール及び電力用半導体装置 |
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EP1292027B1 (en) | 2011-07-13 |
EP1292027A4 (en) | 2005-05-04 |
US6583976B1 (en) | 2003-06-24 |
EP1292027A1 (en) | 2003-03-12 |
JP3696833B2 (ja) | 2005-09-21 |
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