WO2004032316A1 - 電動機の磁極位置推定装置および制御装置 - Google Patents
電動機の磁極位置推定装置および制御装置 Download PDFInfo
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- WO2004032316A1 WO2004032316A1 PCT/JP2003/012283 JP0312283W WO2004032316A1 WO 2004032316 A1 WO2004032316 A1 WO 2004032316A1 JP 0312283 W JP0312283 W JP 0312283W WO 2004032316 A1 WO2004032316 A1 WO 2004032316A1
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- WIPO (PCT)
- Prior art keywords
- magnetic pole
- pole position
- phases
- current
- axis
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Classifications
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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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
Definitions
- the present invention relates to a motor control device that accurately estimates a magnetic pole position from an extremely low speed including zero speed and controls torque, speed, and position based on the estimated magnetic pole position.
- the carrier signal of the PWM inverter has a phase difference of 120 degrees between the two phases of the three phases of UVW, thereby generating the carrier frequency component voltage and current other than the drive frequency, and the voltage during the carrier cycle.
- FIG. 6 is a block diagram of a conventional magnetic pole position detecting device.
- the magnetic pole position detector 62 converts the three-phase high-frequency current output from the band-pass filter into an ⁇ axis, Axis,,, axis,] Convert to 3 axes.
- the converted peak values of the four outputs are averaged by the absolute value calculator 65 and the low-pass filter 66, and tan (2 ⁇ ) is calculated by the magnetic pole position calculator 67 from the proportional relationship with the inductance of each axis. Then, the magnetic pole position is calculated.
- the method of estimating the magnetic pole position using the inverter output high frequency or the high frequency current of the carrier frequency component is based on the fact that the high frequency current flowing by the high frequency voltage is
- the carrier frequency is sufficiently large with respect to the rotation speed of the motor, torque disturbance does not occur.
- there is no restriction such as adding a low-pass filter to the current feedback value in the magnetic pole position estimation, and high response as a control system is possible.
- the magnitude of the high-frequency current is determined by the parameters of the motor. There was a problem that application was difficult.
- the present invention switches the three-phase carrier having an arbitrary phase difference between the phases in the PWM output to a single-phase carrier and adjusts the execution time of the magnetic pole estimation, thereby enabling the amplitude adjustment of the high-frequency current. It is an object of the present invention to provide a motor magnetic pole position estimation device and a control device that can be applied to a general-purpose system.
- the invention of a magnetic pole position estimating device according to claim 1 drives a motor with a voltage-type PWM inverter to control the torque of the motor, or the torque and speed, or the torque, speed, and position.
- the PWM carrier signal is converted into three phases of UVW by means of UV, VW, and WU so as to have an arbitrary phase difference between the two phases.
- Means for switching between the two phases such as W and WU, for zeroing the phase difference between the two phases; means for extracting a high-frequency current in the same frequency band as the carrier signal generated thereby from the estimated current; and And a means for estimating a magnetic pole position using the obtained high-frequency current.
- the means for estimating the magnetic pole position using the extracted high-frequency current includes: Means for extracting the high-frequency current from the current, and a three-phase stator winding Means for converting the high-frequency current into a two-phase current in a two-phase stationary coordinate system in which one phase of the line U VW is the ⁇ -axis and the axis orthogonal to 90 degrees is the ⁇ -axis; A two-phase stationary coordinate system with a 45-degree phase shift from the two-phase stationary coordinate system, that is, an axis that is 45-degree shifted from the ⁇ -axis, and an axis that is 90-degree orthogonal to the 13-axis.
- Means for converting the high-frequency current into two-phase currents in the system means for calculating respective maximum values by averaging the high-frequency currents in the four axes with the carrier frequency, and means for calculating the four axes.
- the feature is to estimate the magnetic pole position based on the maximum value.
- the means for estimating the magnetic pole position using the extracted high-frequency current includes: Means for extracting the high-frequency current from the current, and the high-frequency current in a two-phase stationary coordinate system in which one phase of the three-phase stator winding U VW is the ⁇ -axis and the axis orthogonal to it by 90 degrees is the ⁇ -axis.
- Means for converting the current into a two-phase current; and a two-phase ⁇ -axis in which the ⁇ axis is in the same direction as the magnetic pole position using the magnetic pole position estimation value from the two-phase current and the axis orthogonal to the 90-degree angle are 90 degrees.
- a coordinate system similarly shifted 45 degrees from the two-phase rotating coordinate system that is, an axis shifted 45 degrees from the ⁇ axis is ⁇ 'axis and 90 ° orthogonal to it.
- the high-frequency current in a two-phase rotating coordinate system with the axis Means for converting into phase currents, means for calculating respective maximum values by averaging high-frequency currents on the four axes with carrier frequencies, and magnetic pole positions based on the calculated maximum values on the four axes. It is characterized by estimating.
- the magnetic pole position estimating device for an electric motor according to the first aspect, at least two or more currents to be estimated are estimated within one carrier cycle.
- the arbitrary phase difference is set to 120 degrees.
- the invention according to claim 6 is the magnetic pole position estimating device according to claim 1, wherein the WM carrier signal is divided into three phases such as UV, VW, and WU in three phases of U VW. Means for providing an arbitrary phase difference between two phases 1 and uv, vw, w in three phases of U VW
- the execution time of the means 1 and the means 2 in the means for switching the phase difference between the two phases to zero, such as U, can be adjusted by adjusting the amplitude of the generated high-frequency current and reducing the power loss. It is characterized by being set for the purpose.
- the invention according to claim 7 is a motor magnetic pole position estimating device according to claim 1, wherein the PWM carrier signal is divided into three phases of UVW, such as UV, VW, and WU, respectively.
- Means 1 and means for switching between means 1 for providing an arbitrary phase difference between the two phases and means 2 for zeroing the phase difference between the two phases such as UV, VW and WU in the three phases of UVW The method is characterized in that means for adjusting the execution time according to the state of the load is provided.
- the invention according to claim 8 is the motor magnetic pole position estimating device according to claim 2, wherein the means for estimating the magnetic pole position using the extracted high-frequency current includes: In the three phases, UV, VW, WU, etc. are implemented during the execution time of the means 1 to give an arbitrary phase difference between each two phases, such as UV, VW, WU.
- the method is characterized in that it stops during the execution time of the means 2 for making the phase difference zero between the two phases, and uses the magnetic pole position estimated by the means 1.
- the means for estimating a magnetic pole position using the extracted high-frequency current includes: Means for providing an arbitrary phase difference between the two phases such as UV and VW ⁇ WU in the three phases 1 and Zero phase difference between the two phases such as UV, VW and WU in the three phases of U VW Means that are always performed irrespective of the execution time of 2 and that the high-frequency currents in the four axes are moving averaged at the carrier frequency to calculate respective maximum values, and based on the calculated maximum values in the four axes. Then, the magnetic pole position is estimated based on this.
- the high-frequency currents of the ⁇ ′-axis, the ⁇ -axis, and the axis are calculated from the high-frequency currents of the ⁇ -axis and the axis.
- the invention according to claim 11 is the magnetic pole position estimating device for an electric motor according to claim 3, wherein the means for estimating the magnetic pole position using the extracted high-frequency current includes: In the three phases of VW, such as UV, VW, WU, etc. are implemented during the execution time of the means 1 for giving an arbitrary phase difference between the two phases, such as UV, VW, and WU. It is characterized in that it stops during the execution time of the means 2 for making the phase difference between each of the two phases zero, and uses the magnetic pole position estimated by the means 1.
- the invention according to claim 12 is the magnetic pole position estimating device for an electric motor according to claim 3, wherein the means for estimating the magnetic pole position using the extracted high-frequency current includes: Means for providing an arbitrary phase difference between the two phases such as UV, VW, and WU in the three phases of VW, and the phase difference between the two phases such as uv, vw, and WU for the three phases of U VW Means that always performs irrespective of the execution time of 2 and the high-frequency currents in the four axes are moving averaged at the carrier frequency to calculate respective maximum values and the calculated maximum values in the four axes are calculated. It is characterized by estimating the magnetic pole position based on the value.
- the invention according to claim 13 is the magnetic pole position estimating device for an electric motor according to claim 3, wherein the high-frequency currents of the ⁇ -axis and the ⁇ ′-axis are calculated from the high-frequency currents of the ⁇ -axis and the ⁇ -axis. It is characterized by.
- the invention according to claim 14 uses the magnetic pole position estimated by the magnetic pole position estimating device according to claim 1 to separate the estimated current into a magnetic pole direction component and a torque component, and feeds back each of the estimated current to the magnetic pole direction. A difference between the current command value and the current command value is obtained, and current control is performed so that the difference value becomes zero.
- the invention according to claim 15 is characterized in that the speed is estimated using the magnetic pole position estimated by the magnetic pole position estimating device according to claim 1.
- the invention according to claim 16 is configured such that the speed estimated based on the speed estimation device according to claim 15 is fed back to obtain a difference from the speed command value, and the speed is set so that the difference value becomes zero. It is characterized in that control is performed.
- the invention according to claim 17 is based on the magnetic pole position estimating device according to claim 1.
- the rotor position estimation value obtained based on the obtained magnetic pole position is fed back to obtain a difference from the rotor position command value, and the position is controlled so that the difference value becomes zero.
- the invention according to claim 18 is characterized by comprising the magnetic pole position estimating device of the electric motor according to claim 1 and the current control device according to claim 14.
- the invention according to claim 19 is a motor magnetic pole position estimating device according to claim 1, a current control device according to claim 14, a speed estimating device according to claim 15, and a speed according to claim 16. It is characterized by having a control device.
- the invention according to claim 20 is a magnetic pole position estimating device for an electric motor according to claim 1, a current control device according to claim 14, a speed estimating device according to claim 15, and a speed estimating device according to claim 16.
- a speed control device and a position control device according to claim 17 are provided.
- FIG. 1 is a block diagram of a sensorless speed control device including a magnetic pole position estimating device of a motor according to the present invention.
- Fig. 2 shows the synchronous motor model with a built-in permanent magnet shown in Fig. 1.
- FIG. 3 is a waveform chart for explaining execution time adjustment of the magnetic pole position estimating device shown in FIG.
- FIG. 4 is a block diagram of the PWM signal generator shown in FIG. .
- FIG. 5 is a block diagram of the magnetic pole position / velocity estimation device shown in FIG.
- FIG. 6 is a block diagram of a conventional magnetic pole position detecting device.
- FIG. 1 is a block diagram of a sensorless speed control device including a motor magnetic pole position estimation device according to an embodiment of the present invention.
- Fig. 2 shows the synchronous motor model with a built-in permanent magnet shown in Fig. 1.
- FIG. 3 is a waveform chart for explaining the execution time adjustment of the magnetic pole position estimating device shown in FIG.
- FIG. 4 is a block diagram of the PWM signal generator shown in FIG.
- FIG. 5 is a block diagram of the magnetic pole position / speed estimation device shown in FIG.
- 1-1 is a motor with a built-in permanent magnet
- 1-2 is a voltage-type inverter
- 1-3 is a PWM signal generator
- 1-4 is a magnetic pole position and speed estimation device
- 1-5 and 1-6 are 2
- 1 to 7 indicate a current controller and a speed controller
- 18 to 18 indicate a current detector.
- the current controller and the speed controller are composed of conventional control methods, for example, proportional integral (PI) or proportional integral derivative (PID) control.
- the magnetic pole position and speed estimation devices 1-4 use the AZD converter to separate the current detected from the current detectors 18 Input.
- the output of the magnetic pole position estimating device 1-4 is used for each control as a magnetic pole position and speed estimated value.
- the PWM signal generators 13 employ triangular wave comparison PWM control.
- the three-phase sine wave voltage command value is compared with the triangular carrier signal (carrier wave) having an arbitrary frequency in Fig. 1 13-5. If the voltage command is larger than the carrier wave, the positive side transistor of the PWM inverter is used. When the voltage command is smaller than the carrier, a signal is generated to turn off the positive transistor and turn on the negative transistor of the PWM inverter.
- the carrier amplitude, phase, and frequency are constant in all phases.
- the carrier wave has an arbitrary phase difference between the two phases such as UV, VW, and WU in the three phases of UVW (120 degrees in the embodiment).
- the carrier 1 is provided with an arbitrary phase difference between the two phases such as UV, VW, and WU in the three phases of UVW, and UV, VW, and WU are provided in the three phases of U VW.
- Means for switching between the two means for making the phase difference zero between the two phases as described above is used. This is described in detail in FIGS.
- Figure 2 shows a synchronous motor model with a built-in permanent magnet.
- the U-phase is set to the a-axis
- the axis orthogonal to 90 degrees is set to the ⁇ -axis
- the two-phase stationary coordinate system is set to the axis.
- the magnetic pole position can be estimated based on the maximum value obtained by performing a moving average of the high-frequency currents on these four axes at the carrier frequency and calculating the respective maximum values.
- Figure 3 shows the means 1 (T1 section) for giving the carrier a desired phase difference between the two phases, such as UV, VW, and WU in the three phases of U VW, and UV, VW, and WU in the three phases of U VW And means 2 for switching the phase difference between each of the two phases to zero (T 2 section).
- T c indicates the carrier cycle
- T indicates the switching cycle.
- FIG. 4 is a diagram for explaining a PWM signal generator 13 that generates an output command signal to the voltage type inverter.
- the signal output from the carrier signal generator 1-3-1 is represented by UVW signals.
- an arbitrary phase difference between each of the two phases, such as UV, VW, and WU, is given by the phase shifter 1-3-2.
- the switching switches 113 to 4 turn on the T1 side and turn off the T2 side.
- T1 or T2 is counted by timer 1-3-3.
- the carrier wave becomes tro, trl 20, and tr 240 in FIG. 3, and the high-frequency voltage component included between the inverter output terminals is It can be expressed as in Equation 1.
- E is the dc link voltage
- u cfcu, cfcv, M c / cw is, U-phase, respectively, V-phase, W-phase of the high frequency voltage, u ref, v ref, w , e / the phase voltage command value, the Indicates the carrier angular frequency.
- i cfcu , i ⁇ v , and / cw are the high-frequency currents of the U, V, and W phases, respectively, and are the inductances, and L is the self phase of the U, V, and W phases, respectively.
- the conductance and others indicate the inductance between the phases.
- the motor having a permanent magnet built in the rotor has magnetic salient poles, and thus the inductance includes information on the magnetic pole position as shown in equation (3).
- Jg. Indicates the excitation inductance in the air gap magnetic flux, indicates the stator leakage inductance, and indicates the inductance whose magnitude depends on the angle.
- equation (2) When equation (2) is transformed into a stationary coordinate system based on the stator,
- the voltage integration value can be treated as a fixed value as in equation (8).
- a two-phase stationary coordinate system is defined in which the ⁇ 'axis is the point at which ⁇ advances 45 degrees from the axis, and the axis orthogonal to 90 degrees is the] 3' axis.
- the high-frequency current and voltage components are defined as in Eq. (13). fc + ⁇ ⁇ ⁇ L cfca + ⁇ ⁇
- each inductance is calculated using only the carrier frequency component current converted to each coordinate. You can do it.
- the absolute value of the current value sampled on each axis within the carrier frequency is taken and averaged. Since the peak value can be extracted, the accurate magnetic pole position can be estimated.
- the magnetic pole position is estimated from the current values in the stationary coordinate system of the four axes, but similarly, the rotating coordinate system ( ⁇ _ ⁇ , y′ ⁇ 1 ⁇ ′) as presented in claim 3 Note that this method can also be applied to).
- FIG. 5 is a block diagram for explaining a magnetic pole position / velocity estimation device.
- the band-pass filter (BPF) 1-4-1 extracts high-frequency current in the same frequency band as the generated carrier signal from the estimated current, and extracts the extracted high-frequency current by the current coordinate converter 1-4_2.
- One phase of the three-phase stator winding UVW is converted to a two-phase current in a two-phase stationary coordinate system in which one phase is set to the a-axis and the axis orthogonal to 90 degrees is set to the a-axis.
- High-frequency current is applied to a two-phase stationary coordinate system in which the coordinate system is shifted 45 degrees from the coordinate system, that is, the axis moved 45 degrees from the ⁇ axis is the ⁇ 'axis, and the axis orthogonal to the 90 degrees is the' axis.
- the coordinate system is shifted 45 degrees from the coordinate system, that is, the axis moved 45 degrees from the ⁇ axis is the ⁇ 'axis, and the axis orthogonal to the 90 degrees is the' axis.
- the maximum value of each can be extracted.
- the moving average method is used. It has been experimentally found that at least two current detections are required in the T1 section.
- the low-pass filter (LPF) 1_4-4 removes the noise component from the extracted current maximum value.
- the speed can be estimated from the estimated value.
- the velocity ⁇ is estimated by differentiating the estimated magnetic flux position with a differentiator 1-45 and passing it through a mouth-pass filter (LPF) 1-4-6.
- LPF mouth-pass filter
- the switching switches 1-1 3-4 turn off the 1 side and turn on the 2 side.
- ⁇ 1 or ⁇ 2 is counted by timer 1-3-3. ⁇
- the carrier wave in two sections is single as shown in Fig.3.
- the high-frequency voltage component included between the output terminals of the inverter can be expressed by the following equation (18).
- the T2 section normal triangular wave modulation is used, and the three-phase voltage command value and a single triangular wave are compared. Therefore, as shown in equation (18), the high-frequency voltage components have the same phase. Therefore, the high-frequency voltage between the phases is canceled, and no high-frequency current is generated. Therefore, it is impossible to estimate the magnetic pole position in the ⁇ 2 section. Therefore, in the ⁇ 2 section, the magnetic pole position estimated in the ⁇ 1 section will be used. ⁇ If the section 2 is lengthened, power loss and magnetic noise due to high-frequency current are reduced theoretically, but the accuracy of magnetic flux position estimation deteriorates.
- the carrier signal of the PWM inverter is given an arbitrary phase difference between two phases of the three phases of UVW, and the voltage and current of the carrier frequency components other than the drive frequency are reduced. Estimate the position using the carrier frequency component current.
- By switching the three-phase carrier to a single-phase carrier and adjusting the execution time it is possible to adjust the amplitude of the high-frequency current, reduce power loss and magnetic noise, and improve the accuracy of magnetic flux position estimation. There is an effect of improving.
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10393429T DE10393429T5 (de) | 2002-10-03 | 2003-09-25 | Vorrichtung zum Schätzen einer Magnetpolposition eines Motors und Steuervorrichtung |
US10/530,173 US7157876B2 (en) | 2002-10-03 | 2003-09-25 | Motor magnetic pole position estimation device and control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2002291261A JP4352678B2 (ja) | 2002-10-03 | 2002-10-03 | 電動機の磁極位置推定装置および制御装置 |
JP2002-291261 | 2002-10-03 |
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WO2004032316A1 true WO2004032316A1 (ja) | 2004-04-15 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2003/012283 WO2004032316A1 (ja) | 2002-10-03 | 2003-09-25 | 電動機の磁極位置推定装置および制御装置 |
Country Status (5)
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US (1) | US7157876B2 (ja) |
JP (1) | JP4352678B2 (ja) |
CN (1) | CN1321495C (ja) |
DE (1) | DE10393429T5 (ja) |
WO (1) | WO2004032316A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007073853A1 (de) * | 2005-12-15 | 2007-07-05 | Rolf Strothmann | Vorrichtung und verfahren zur ermittlung der drehlage des rotors einer elektrischen maschine |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4674516B2 (ja) * | 2005-09-27 | 2011-04-20 | 株式会社デンソー | 同期モータの磁極位置推定方法 |
JP4928855B2 (ja) * | 2006-07-05 | 2012-05-09 | 株式会社東芝 | 同期機のセンサレス制御装置 |
JP4279886B2 (ja) * | 2007-02-28 | 2009-06-17 | 株式会社日立製作所 | 同期モータ駆動装置および方法 |
JP5324159B2 (ja) * | 2008-08-20 | 2013-10-23 | 三洋電機株式会社 | モータ制御装置 |
RU2470453C1 (ru) * | 2009-03-25 | 2012-12-20 | Мицубиси Электрик Корпорейшн | Устройство управления для электрической вращающейся машины |
EP2293430A1 (de) | 2009-09-07 | 2011-03-09 | Technische Universität Darmstadt | Vorrichtung und Verfahren zur Rotorpositionsermittlung bei geringer Drehzahl oder bei Stillstand |
JP5161985B2 (ja) * | 2011-02-16 | 2013-03-13 | 三菱電機株式会社 | 電力変換装置および電動パワーステアリングの制御装置 |
JP5433657B2 (ja) | 2011-09-15 | 2014-03-05 | 株式会社東芝 | モータ制御装置 |
JP5843687B2 (ja) * | 2012-04-17 | 2016-01-13 | 三菱電機株式会社 | モータ制御装置及びモータ制御システム |
JP5644820B2 (ja) * | 2012-08-17 | 2014-12-24 | 株式会社安川電機 | モータ制御装置 |
JP5667153B2 (ja) | 2012-12-03 | 2015-02-12 | ファナック株式会社 | 同期電動機の磁極位置検出装置 |
JP5761243B2 (ja) * | 2013-03-29 | 2015-08-12 | 株式会社安川電機 | モータ制御装置および磁極位置推定方法 |
JP2016201924A (ja) | 2015-04-10 | 2016-12-01 | ニデック シンガポール ピーティーイー リミテッド | モータの回転位置推定方法およびモータの制御装置 |
JP2016201923A (ja) * | 2015-04-10 | 2016-12-01 | ニデック シンガポール ピーティーイー リミテッド | モータの回転位置推定方法およびモータの制御装置 |
US10879825B2 (en) * | 2019-04-01 | 2020-12-29 | Naroller Electronics Co., Ltd. | Sensorless position measurement system for permanent magnet machine and measuring method thereof |
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JP2002078391A (ja) * | 2000-08-30 | 2002-03-15 | Hitachi Ltd | 交流電動機の駆動システム |
JP2003052193A (ja) * | 2001-08-06 | 2003-02-21 | Yaskawa Electric Corp | 電動機の磁極位置検出方法および磁極位置検出装置とそれを用いた電動機制御装置 |
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US5196775A (en) * | 1991-02-20 | 1993-03-23 | Honeywell Inc. | Switched reluctance motor position by resonant signal injection |
US6552666B1 (en) * | 1996-03-16 | 2003-04-22 | Atsutoshi Goto | Phase difference detection device and method for a position detector |
US6034494A (en) * | 1998-01-20 | 2000-03-07 | Denso Corporation | Control device for brushless DC motor |
JP3570328B2 (ja) | 2000-02-25 | 2004-09-29 | 村田機械株式会社 | 通信端末装置 |
KR100966879B1 (ko) * | 2003-01-08 | 2010-06-30 | 삼성전자주식회사 | 브러시리스 직류 모터의 제어 장치 및 방법 |
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2002
- 2002-10-03 JP JP2002291261A patent/JP4352678B2/ja not_active Expired - Fee Related
-
2003
- 2003-09-25 DE DE10393429T patent/DE10393429T5/de not_active Withdrawn
- 2003-09-25 US US10/530,173 patent/US7157876B2/en not_active Expired - Fee Related
- 2003-09-25 CN CNB038236591A patent/CN1321495C/zh not_active Expired - Fee Related
- 2003-09-25 WO PCT/JP2003/012283 patent/WO2004032316A1/ja active Application Filing
Patent Citations (2)
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JP2002078391A (ja) * | 2000-08-30 | 2002-03-15 | Hitachi Ltd | 交流電動機の駆動システム |
JP2003052193A (ja) * | 2001-08-06 | 2003-02-21 | Yaskawa Electric Corp | 電動機の磁極位置検出方法および磁極位置検出装置とそれを用いた電動機制御装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2007073853A1 (de) * | 2005-12-15 | 2007-07-05 | Rolf Strothmann | Vorrichtung und verfahren zur ermittlung der drehlage des rotors einer elektrischen maschine |
US8222847B2 (en) | 2005-12-15 | 2012-07-17 | Rolf Strothmann | Device and method for determining the rotational position of a rotor in an electric machine |
Also Published As
Publication number | Publication date |
---|---|
JP4352678B2 (ja) | 2009-10-28 |
JP2004129410A (ja) | 2004-04-22 |
US20060049787A1 (en) | 2006-03-09 |
CN1689219A (zh) | 2005-10-26 |
DE10393429T5 (de) | 2005-09-29 |
US7157876B2 (en) | 2007-01-02 |
CN1321495C (zh) | 2007-06-13 |
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