WO2005041397A1 - Dcモータのコイル温度推定方法、dcモータ制御方法およびそれらの装置 - Google Patents
Dcモータのコイル温度推定方法、dcモータ制御方法およびそれらの装置 Download PDFInfo
- Publication number
- WO2005041397A1 WO2005041397A1 PCT/JP2004/015680 JP2004015680W WO2005041397A1 WO 2005041397 A1 WO2005041397 A1 WO 2005041397A1 JP 2004015680 W JP2004015680 W JP 2004015680W WO 2005041397 A1 WO2005041397 A1 WO 2005041397A1
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- coil
- coil temperature
- temperature
- estimating
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 72
- 238000001514 detection method Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 description 28
- 238000010586 diagram Methods 0.000 description 19
- 238000004364 calculation method Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 4
- 238000012935 Averaging Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 2
- 230000036760 body temperature Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010790 dilution Methods 0.000 description 1
- 239000012895 dilution Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
Definitions
- the present invention relates to a method of estimating a coil temperature of a DC motor without using a temperature sensor, a method of controlling a DC motor based on the estimated coil temperature, and devices thereof.
- an air conditioner has a compressor driven by a motor, so it is necessary to prevent inconvenience such as dilution of oil to cause seizure or the like. Therefore, it is necessary to detect the internal temperature of the compressor as an index of how far the preheating operation should be performed.
- thermocouple or the like is inserted inside the compressor to measure the internal temperature, a significant increase in cost will be caused. Therefore, the discharge pipe temperature of the compressor is detected, and Estimating the internal temperature of the compressor from the temperature has been proposed and put to practical use.
- the present invention has been made in view of the above-described problems, and a first object of the present invention is to provide a method and a device capable of accurately estimating the coil temperature of a DC motor without increasing the cost.
- a second object is to provide a method and an apparatus for controlling a DC motor based on an estimated temperature.
- a DC motor This is a method for calculating the resistance of the DC motor coil using the motor current and the motor voltage in the motor drive system supplied to the motor, and estimating the coil temperature using the resistance temperature characteristics of the coil.
- the DC motor coil temperature estimating method of the second aspect is a method of calculating the resistance of a DC motor coil using a plurality of duties and a duty difference and a current difference.
- the method for estimating the coil temperature of a DC motor according to a third aspect is a method in which a fixed coordinate system is employed, an electrical angle is set to be constant, and a voltage is applied.
- a DC motor coil temperature estimation method is a method of maintaining the same duty for at least 0.5 seconds or more.
- a method of estimating a coil temperature of a DC motor according to a fifth aspect is a method of detecting a motor current using a shunt resistor and calculating the coil resistance at a lower carrier frequency than during operation of the DC motor.
- a DC motor coil temperature estimating method is a method that employs a DC motor provided inside a casing of a compressor to drive the compressor.
- a DC motor control method sets the temperature of the DC motor to a predetermined temperature based on the coil temperature estimated by any one of the first to sixth aspects. Method.
- a DC motor control method based on the coil temperature estimated by the method according to any one of the first to sixth aspects, the time interval until the start of the DC motor is determined. How to set.
- a DC motor operation control method is set based on the coil temperature estimated by any one of the first to sixth aspects. Method.
- a DC motor coil temperature estimating apparatus provides a motor drive system that supplies an output of an inverter to a DC motor, wherein the motor current and the motor voltage are used to calculate a resistance of a coil of the DC motor, It includes coil temperature estimating means for estimating the coil temperature using the resistance temperature characteristics of the coil.
- the resistance of the DC motor coil is determined by using a plurality of duties and a duty difference and a current difference. The one to be calculated is adopted.
- a DC motor coil temperature estimating apparatus employs, as the coil temperature estimating means, one that employs a fixed coordinate system and sets a constant electrical angle to apply a voltage. is there.
- a DC motor coil temperature estimating apparatus employs a coil temperature estimating means that retains the same duty for at least 0.5 seconds or more.
- a coil temperature estimating device for a DC motor detects, as the coil temperature estimating means, a motor current using a shunt resistor, and detects the coil current at a lower carrier frequency than during operation of the DC motor. The one that calculates the resistance is adopted.
- a DC motor coil temperature estimating device employs, as the DC motor, a DC motor provided inside a casing of a compressor to drive the compressor.
- a DC motor control device is a control device for setting the temperature of the DC motor to a predetermined temperature based on the coil temperature estimated by the device according to the tenth aspect. Is included.
- a DC motor control device sets a time interval until the DC motor starts based on the coil temperature estimated by the device according to any of the tenth aspect and the fifteenth aspect. It includes control means.
- a DC motor control device sets a DC motor operation control method based on the coil temperature estimated by the device according to any of the tenth aspect and the fifteenth aspect. It includes control means.
- a method for estimating a coil temperature of a DC motor is a method of calculating a coil resistance by correcting a voltage drop caused by a transistor and a diode included in an inverter.
- the twentieth aspect of the DC motor coil temperature estimation method is a method of performing a correction based on a resistance value of a power supply line when estimating a coil temperature using a value obtained by calibration.
- the rotor position of the DC motor is detected. Then, an inductance is calculated from the detected rotor position, and the coil temperature calculated from the resistance of the coil is corrected in accordance with the calculated inductance.
- the detection of the motor current is performed by an O
- This method is performed at the center of N hours or OFF time.
- the detection of the motor current may be performed by PA
- the coil temperature estimating means the coil resistance is calculated by correcting a voltage drop caused by a transistor and a diode included in an inverter, and the coil resistance is calculated. It adopts one that estimates the temperature of the coil
- the coil temperature estimating means performs correction based on the resistance value of a power supply line when estimating the coil temperature using a value obtained by calibration. What you do is adopted.
- a DC motor coil temperature estimating device as the coil temperature estimating means, detects a rotor position of the DC motor, calculates an inductance from the detected rotor position, and corresponds to the calculated inductance. Then, the one that corrects the coil temperature calculated from the resistance of the coil is adopted.
- the coil temperature estimating device for a DC motor employs, as the coil temperature estimating means, a device that detects the motor current at the center of an ON time or an OFF time.
- a coil temperature estimating device for a DC motor according to a twenty-eighth aspect, wherein the coil temperature estimating means detects the motor current in a state where a predetermined voltage is output using a PAM circuit. Is adopted.
- the invention of the first aspect has a unique effect that the coil temperature can be estimated with high accuracy without using a temperature sensor.
- the invention of the second aspect has a unique effect that the resistance can be accurately calculated even when there is no guarantee that the current passes through the zero point, and that the accuracy of estimating the coil temperature can be improved. Play.
- the invention of the third aspect can reduce an operation error, and can reduce the computation error.
- the invention of the fourth aspect can improve the accuracy by averaging processing and the like, and has the same effects as the second aspect.
- the invention according to the fifth aspect can improve the calculation accuracy, and can also use the first to fourth aspects.
- the invention of the sixth aspect is capable of estimating the internal temperature of the compressor, and has the same effects as any of the first to fifth aspects.
- the invention of the seventh aspect has a unique effect that the DC motor can be controlled to accurately set the temperature of the DC motor to a predetermined temperature before starting.
- the invention of the eighth aspect has a specific effect that a time interval can be accurately set for retry for starting the DC motor.
- the ninth aspect of the invention has a special effect when the operation control method can be set for retry for starting the DC motor.
- the tenth aspect of the invention has a unique effect that the coil temperature without using a temperature sensor can be estimated with high accuracy!
- the invention of the eleventh aspect has a specific effect that the resistance can be accurately calculated even when there is no guarantee that the zero point is passed, and that the accuracy of estimating the coil temperature can be improved.
- the invention of the twelfth aspect can reduce the calculation error, and has the same effect as the tenth aspect or the eleventh aspect.
- the invention of the thirteenth aspect can improve accuracy by averaging processing and the like, and has the same effects as the eleventh aspect.
- the invention of the fourteenth aspect can increase the calculation accuracy, and the tenth aspect power has the same effect as any of the powers of the thirteenth aspect.
- the internal temperature of the compressor can be estimated, and the tenth aspect is provided. The same effects as in any of the fourteenth aspect are achieved.
- the invention of the sixteenth aspect has a unique effect that the DC motor can be controlled to accurately set the temperature of the DC motor to a predetermined temperature before starting.
- the invention of the seventeenth aspect has a unique effect that a time interval can be accurately set for retry for starting the DC motor.
- the invention of the eighteenth aspect has a special effect when the operation control method can be set for retry for starting the DC motor.
- the invention of the nineteenth aspect can improve the estimation accuracy, and has the same effect as any one of the first to sixth aspects.
- the invention of the twentieth aspect can improve the estimation accuracy and has the same effects as the first aspect.
- the invention of the twenty-first aspect can improve the estimation accuracy and has the same effects as the nineteenth aspect.
- the invention of the twenty-third aspect can eliminate the jibbing sound and has the same effect as any of the powers of the first to sixth aspects.
- the invention of the twenty-fourth aspect can improve the estimation accuracy, and the tenth aspect power has the same effect as any of the powers of the fifteenth aspect.
- the invention of the twenty-fifth aspect can improve the estimation accuracy, and has the same effects as the tenth aspect.
- the invention of the twenty-sixth aspect can improve the estimation accuracy, and has the same effects as the twenty-fourth aspect.
- the invention of the twenty-seventh aspect can suppress a decrease in the accuracy of current detection even when the average current is not detected, and the tenth aspect power is equal to any of the powers of the fifteenth aspect. It has the same effect.
- the invention of the twenty-eighth aspect can eliminate the jibbing sound, and can reduce the noise from the tenth aspect. The same effects as those of any of the fifteenth aspects are achieved.
- FIG. 1 is a block diagram schematically showing a DC motor driving device.
- FIG. 2 is a block diagram showing another configuration of the inverter control unit.
- FIG. 3 is a flowchart illustrating an example of a process in a temperature estimating unit 6.
- FIG. 4 is a diagram showing an example of DC current supply.
- FIG. 5 is a diagram for explaining measuring a DC current value in accordance with each duty ratio while changing the duty ratio.
- FIG. 6 A description will be given of obtaining voltage-current characteristics based on a plurality of measured DC current values and corresponding voltage values, and calculating a slope of the obtained voltage-current characteristics as a coil resistance. It is a figure.
- FIG. 7 is a diagram for explaining that an accurate coil temperature is obtained by applying a calculated coil resistance to a previously obtained resistance temperature characteristic.
- FIG. 8 is a block diagram showing a configuration of a temperature estimating unit.
- FIG. 9 is a waveform diagram showing a state where the carrier frequency is set to 1Z5 without changing the duty.
- FIG. 10 is a diagram for explaining turning on a current for a simulation of a measurement of a DC current value.
- FIG. 11 is a diagram showing a DC current waveform.
- FIG. 12 is a block diagram showing a configuration for controlling a motor temperature to a predetermined temperature (target temperature) using an estimated temperature value (actually measured temperature value).
- FIG. 13 is a flowchart illustrating a method for controlling the motor temperature when the compressor is stopped.
- FIG. 14 is a flowchart illustrating an example of a process until a compressor stop force is restarted.
- FIG. 15 is a flowchart illustrating a process of correcting a voltage drop of a transistor and a diode.
- FIG. 16 is a diagram showing an example of a current path.
- FIG. 17 is a diagram showing an example of rated characteristics of a transistor and a diode.
- FIG. 18 is a flowchart illustrating temperature correction based on inductance determined by a rotor position.
- FIG. 19 is a diagram showing an example of the relationship between the inductance and the calculated temperature.
- FIG. 20 is a diagram showing an example of a current waveform when measuring a coil temperature.
- FIG. 21 is an electric circuit diagram showing an example of a motor driving device using a PAM circuit.
- FIG. 1 is a block diagram schematically showing a DC motor driving device.
- This DC motor driving device includes a converter 2 having a three-phase AC power supply 1 as an input, an inverter 3 having a DC output of the converter 2 as an input, a DC motor 4 having an AC output of the inverter 3 supplied thereto, An inverter control unit 5 for controlling the inverter 3 based on the magnetic pole position of the rotor of the DC motor 4 is provided. Further, it has a temperature estimating unit 6 for estimating the coil temperature of the DC motor 4.
- FIG. 2 is a block diagram showing another configuration of the inverter control unit 5.
- the inverter control unit 5 receives the current on the DC side of the inverter 3 and the divided voltage of the voltage on the DC side of the inverter 3 and outputs a PWM command for controlling each switching transistor of the inverter 3. More specifically, the motion of a DC motor is described by a dq-axis model consisting of current, voltage, rotation angle, and equipment constant.Based on this model, the measured current, voltage, and equipment constant force also rotate. The angle can be calculated, and a PWM command corresponding to the angle is output and supplied to the inverter 3, whereby the DC motor can be efficiently driven. Therefore, in this case, it is not necessary to receive the magnetic pole position of the rotor of the DC motor 4.
- FIG. 3 is a flowchart for explaining an example of the processing in the temperature estimating unit 6.
- step SP1 the inverter 3 is controlled to output a DC current and supply it to the DC motor 4.
- step SP2 the DC current value is measured.
- step SP3 the known DC voltage value and the measured DC current value are measured.
- the coil resistance value of the DC motor 4 is calculated from the above, and in step SP4, the calculated coil resistance value is measured in advance to obtain the resistance temperature characteristic. Calculate the temperature from.
- the u-phase + side switching transistor of the inverter 3 and the V-phase “f-law” switching transistor are turned on to connect the DC motor 4 to the Y connection.
- DC current to the selected u-phase coil and V-phase coil are turned on.
- a calculation based on Ohm's law can be performed to calculate a coil resistance value (a resistance value in which two-phase coils are connected in series).
- the coil temperature can be obtained by applying the calculated coil resistance value (specifically, 1Z2 of the calculated coil resistance value) to a previously measured resistance temperature characteristic.
- the duty ratio is changed, and the DC current value is measured corresponding to each duty ratio. Then, a voltage-current characteristic is obtained based on a plurality of measured DC current values and a corresponding voltage value (for example, VOX duty ratio), and a slope of the obtained voltage-current characteristic is calculated as a coil resistance. (See Figure 6). Next, an accurate coil temperature can be obtained by applying the calculated coil resistance to a previously obtained resistance temperature characteristic (see FIG. 7).
- FIG. 8 is a block diagram showing a configuration of the temperature estimating unit 6 for performing the above processing.
- the temperature control unit 6 receives the current change amount ⁇ I and the voltage change amount ⁇ V obtained by changing the current and the voltage in a step-like manner and inputs the ⁇ VZ ⁇ I
- a resistance value calculation unit 6a that performs a calculation to calculate a resistance value R, and a temperature table that uses the calculated resistance value R as an input, obtains a temperature using a preset temperature-resistance characteristic, and outputs it as an estimated temperature. 6b and have!
- the accuracy of the DC current value can be improved by performing the averaging process, which preferably sets the duration of each duty ratio to 0.5 seconds or more.
- the voltage is applied in the rotating coordinate system, and that the force can be applied in the fixed coordinate system. It is possible to reduce an operation error caused by a target conversion or the like.
- the noise can be reduced by increasing the carrier frequency.
- the carrier frequency it is preferable to increase the carrier frequency. Specifically, it is preferable to increase the carrier frequency to 100000 Hz or more.
- the detection accuracy of the DC current can be improved.
- the resistance value is extremely small for the purpose of high efficiency. For this reason, the measurement of the resistance value requires a very small duty. Therefore, in current measurement with a shunt resistor, it is necessary to lower the carrier frequency so that the minimum time limit is not imposed, and adopt a lower carrier frequency than during DC motor 4 operation to detect DC current (estimate ) Can improve the accuracy of DC current detection.
- the carrier frequency can be reduced by increasing the carrier frequency. Therefore, it is preferable to use current measurement using DCCT instead of current measurement with a shunt resistor. Raise the noise.
- the current can be turned on in accordance with these set voltages.
- the u-phase voltage is off
- the V-phase voltage is on
- the w-phase voltage is on and off.
- the current waveform for the TZ2 cycle is, for example, a waveform in which the current value increases while the current is on and gradually decreases in other periods as shown in FIG.
- a measured value of the DC current can be obtained by calculating an average value based on the current waveforms for two cycles of TZ.
- the voltage drop in the diode and the switching transistor is neglected.
- the calculation accuracy of the coil resistance can be improved by considering these voltage drops.
- FIG. 12 is a block diagram showing a configuration for controlling the motor temperature to a predetermined temperature (target temperature) using the estimated temperature value (actual measured value), and calculates a difference between the target temperature and the measured temperature.
- a DC motor 74 heated by the heater 73 a DC motor 74 heated by the heater 73.
- the temperature of DC motor 74 can be set to the target temperature.
- FIG. 13 is a flowchart illustrating a method for controlling the motor temperature when the compressor is stopped.
- step SP1 it is determined whether the measured temperature is lower than the threshold value. If it is determined that the measured temperature is lower than the threshold value, in step SP2, the heater is turned on (the heater is energized). ), After a certain period of time has passed in step SP3, the judgment in step SP1 is performed again.
- step SP1 when it is determined that the measured temperature is equal to or higher than the threshold, the determination in step SP1 is performed again.
- the temperature of the DC motor can be controlled to the threshold value.
- FIG. 14 is a flowchart illustrating an example of a process until the compressor stopping force is also restarted.
- step SP1 it is determined whether or not the measured temperature is lower than the threshold value. If it is determined that the measured temperature is lower than the threshold value, in step SP2, the discharge pipe temperature target value of the compressor is determined. Lower the upper limit and restart in step SP3.
- FIG. 15 is a flowchart illustrating an example of a process for correcting a voltage drop of a transistor and a diode.
- step SP1 for example, as shown in FIG. 16, the upper-arm transistor of the V-phase and the lower-arm transistor of the U-phase of the inverter are turned on to energize the stator winding of the DC motor.
- the current value is measured according to the state.
- step SP2 the voltage drops Vt and Vd of the transistor and the diode are calculated using the measured current value and the rated characteristics indicated by (A) and (B) in FIG.
- step SP3 the voltage VO before correction is calculated by multiplying the DC voltage by the duty ratio.
- step SP4 the voltage drop of the transistor and the diode from the voltage VO before correction
- the output voltage of the inverter is calculated by subtracting Vt and Vd.
- the coil resistance can be calculated with high accuracy as described above, and the coil temperature can be estimated with high accuracy.
- the temperature at the time of calibration is t
- FIG. 18 is a flowchart illustrating an example of a process of correcting the inductance value and estimating the temperature.
- step SP1 the rotor position of the DC motor is detected by using a conventionally known method.
- step SP2 the inductance L of the phase used for temperature detection is calculated from the detected rotor position by using a conventionally known method.
- step SP3 a temperature correction value ⁇ based on the inductance L is obtained in advance using the relationship between the inductance L and the calculated temperature as shown in FIG. 19, and the temperature obtained from only the resistance value is set to T. At this time, the temperature is calculated by calculating T + ⁇ T.
- the inductance L decreases as the inductance L increases, and the inductance L decreases as the inductance L decreases. Since this affects the value and the operating point on the rated characteristic fluctuates, the accuracy of temperature estimation can be improved by performing the correction processing as described above.
- the current is measured at the center of the ON time or the OFF time (for example, at the time of 1Z2 of the ON time or 1Z2 of the OFF time). Prefer to do.
- This current measurement is effective when the average current is not measured, and can greatly reduce the variation in the current measurement.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Inverter Devices (AREA)
Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/576,769 US7265954B2 (en) | 2003-10-24 | 2004-10-22 | Method for estimating DC motor coil temperature, DC motor control method and their devices |
EP04792822.1A EP1677411A4 (en) | 2003-10-24 | 2004-10-22 | METHOD FOR ESTIMATING DIRECT CURRENT MOTOR COIL TEMPERATURE, DIRECT CURRENT MOTOR CONTROL METHOD, AND DEVICES THEREFOR |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2003365130 | 2003-10-24 | ||
JP2003-365130 | 2003-10-24 | ||
JP2004004905A JP4501433B2 (ja) | 2003-10-24 | 2004-01-13 | Dcモータのコイル温度推定方法およびその装置 |
JP2004-004905 | 2004-01-13 |
Publications (1)
Publication Number | Publication Date |
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WO2005041397A1 true WO2005041397A1 (ja) | 2005-05-06 |
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ID=34525450
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/015680 WO2005041397A1 (ja) | 2003-10-24 | 2004-10-22 | Dcモータのコイル温度推定方法、dcモータ制御方法およびそれらの装置 |
Country Status (4)
Country | Link |
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US (1) | US7265954B2 (ja) |
EP (1) | EP1677411A4 (ja) |
JP (1) | JP4501433B2 (ja) |
WO (1) | WO2005041397A1 (ja) |
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JP6279192B1 (ja) * | 2017-07-28 | 2018-02-14 | 三菱電機株式会社 | インバータ装置およびインバータ装置の異常検出方法 |
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Also Published As
Publication number | Publication date |
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US20070070560A1 (en) | 2007-03-29 |
EP1677411A1 (en) | 2006-07-05 |
US7265954B2 (en) | 2007-09-04 |
JP2005151790A (ja) | 2005-06-09 |
EP1677411A4 (en) | 2016-05-25 |
JP4501433B2 (ja) | 2010-07-14 |
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