WO2006043584A1 - モータ駆動装置 - Google Patents
モータ駆動装置 Download PDFInfo
- Publication number
- WO2006043584A1 WO2006043584A1 PCT/JP2005/019185 JP2005019185W WO2006043584A1 WO 2006043584 A1 WO2006043584 A1 WO 2006043584A1 JP 2005019185 W JP2005019185 W JP 2005019185W WO 2006043584 A1 WO2006043584 A1 WO 2006043584A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control signal
- period
- generating means
- phase
- rotor
- Prior art date
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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
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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
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
Definitions
- the present invention relates to a motor drive device.
- Japanese Patent Application Laid-Open No. 9266690 discloses a sensorless DC brushless motor driving apparatus in a 120 ° energization method.
- This drive unit detects the rotational position of the rotor of the DC brushless motor by detecting the zero crossing point of the induced voltage generated in the non-energized section (period), and drives the sensorless DC brushless motor stably.
- Patent Document 1 Japanese Patent Laid-Open No. 9-266690
- Patent Document 2 Japanese Patent Laid-Open No. 2002-218787
- the above-mentioned conventional technique for detecting the rotational position using the induced voltage in the non-energized section exceeds the power of 10,000 rpm which is effective in the rotational speed region of about several thousand rpm, for example.
- noise is superimposed on the induced voltage
- the control circuit is a digital circuit such as a microcomputer, the number of samples of the input signal becomes small and unstable.
- the higher the number of rotations the shorter the rotation period, and thus it becomes necessary to detect the rotational position of the rotor more accurately.
- the signal component (high-frequency component) caused by the pulsed control signal input to the drive circuit is superimposed as noise on the induced voltage in this short non-energized section, so that the induced voltage can be acquired accurately and reliably. I can't.
- the phase of the induced voltage changes from the original phase by using a force filter that can obtain the induced voltage by removing the noise using a filter (for example, a low-pass filter).
- a force filter that can obtain the induced voltage by removing the noise using a filter (for example, a low-pass filter).
- a filter for example, a low-pass filter.
- this error is a very serious problem when driving a DC brushless motor so as to change the rotational speed significantly in a high rotational speed range exceeding several 10 OOOrpm.
- the rotational speed range is wide, there is a problem that the design of the filter is difficult.
- the present invention has been made in view of the above-described circumstances, and an object thereof is to accurately and reliably detect the rotational position of the rotor without being disturbed by noise superimposed on the induced voltage.
- a motor drive device that drives a rotor to rotate by supplying predetermined drive signals to stator windings corresponding to respective phases of a DC brushless motor.
- the DC power is switched by the switching element, and the driving signal generating means for generating the driving signal and the pulsed control signal are generated intermittently.
- the rotational position and the rotational speed of the rotor are determined based on the induced voltage obtained from the stator winding during the period in which the generation of the pulsed control signal is stopped for each phase.
- a control signal generating means for generating the pulse-like control signal based on the detection.
- Adopt means.
- the rotation state of the rotor is detected based on the induced voltage obtained from the stator winding during the period when the generation of the pulse-shaped control signal is paused, and based on this rotation state! Since the pulse-like control signal is generated, it is possible to accurately and reliably detect the rotation state of the rotor. Therefore, the pulse-like control signal is generated based on the rotation state thus accurately detected. It is possible to drive a DC brushless motor with certainty and accuracy.
- FIG. 1 is a block diagram showing a functional configuration of a motor drive device according to an embodiment of the present invention and a DC brushless motor that is a drive target.
- FIG. 2 is a control block diagram showing a control operation of the microcomputer 5 in one embodiment of the present invention.
- FIG. 3 is a control block diagram showing detailed processing of a phase detection unit in FIG.
- FIG. 4 is a timing chart showing the operation timing of the motor drive device according to the embodiment of the present invention.
- FIG. 1 is a block diagram showing a functional configuration of a motor drive device according to the present embodiment and a DC brushless motor that is a drive target.
- reference numeral 1 is an inverter circuit
- 2 is a DC power supply
- 3 is a DC voltage detector
- 4 is an AC voltage detector
- 5 is an ammeter
- 7 is a microcomputer
- X is a 3-phase DC brushless motor
- Y Is a turbine
- Z is a compressor.
- the inverter circuit 1 and the DC power supply 2 are the drives in the present embodiment.
- the DC signal detector 3, the AC voltage detector 4, the ammeters 5 and 6, and the microcomputer 7 constitute the control signal generator in this embodiment.
- the three-phase DC brushless motor X is a drive target of the motor driving device, and stator windings (U-phase winding wires Mu) corresponding to the three phases (U-phase, V-phase and W-phase), respectively. , V-phase magnetic wire Mv, W-phase magnetic wire Mw) and a rotor made up of a magnetic permanent magnet.
- the turbine Y uses the rotation shaft of such a three-phase DC brushless motor X as a common rotation shaft, and operates the compressor Z by being rotationally driven by gas supplied from outside.
- this motor drive device is driven by cutting off the power to the 3-phase DC brushless motor X when the 3-phase DC brushless motor X rotating by the driving force of the turbine Y is in a relatively low rotational speed range. Is stopped, and when the rotational speed is in the high rotational speed range exceeding several tens of rpm, the energization of the three-phase DC brushless motor X is started to accelerate the rotational speed to increase the rotational speed to several hundreds of thousand rpm. Let This motor drive device drives the 3-phase DC brushless motor X using the PWM sine wave energization method.
- Inverter circuit 1 is provided with three sets of a pair of switching circuits connected in series corresponding to a three-phase alternating current.
- PWM Pulse Width Modulation
- Aul, Au2, Avl, Av2, Awl, and Aw2 corresponding to the phase and W phase respectively generate three-phase drive signals Bu, Bv, and Bw.
- Signals Bu, Bv, Bw are output from each phase output terminal (U-phase output terminal, V-phase output terminal, W-phase output terminal).
- Each phase output terminal of the inverter circuit 1 is connected to each stator winding of the three-phase DC brushless motor X.
- the DC power supply 2 supplies DC power to such an inverter circuit 1.
- the switching circuit includes a semiconductor switching element such as an IGBT (Insulated Gate Bipolar Transistor) and a free-wheeling diode connected in parallel to the semiconductor switching element in reverse polarity.
- IGBT Insulated Gate Bipolar Transistor
- the DC voltage detection unit 3 is a resistor voltage divider composed of a pair of resistors inserted in series between the reference point n and the input terminal of the inverter circuit 1, and is an inverter circuit for the reference point n.
- DC detection voltage Vdn obtained by dividing input DC voltage of 1 with each resistor is output to microcomputer 5.
- the AC voltage detection unit 4 has three pairs inserted in series between the reference point n and each phase output terminal (U-phase output terminal, V-phase output terminal, W-phase output terminal) of the inverter circuit 1. It is a resistor voltage divider consisting of a resistor.
- the microcomputer 7 is a PWM which is a pulse-like control signal corresponding to the PWM sine wave energization method based on the speed command ⁇ ′ inputted from the outside, the DC detection voltage Vdn and the AC detection voltages Vun, Vvn, Vwn. Signals Aul, Au2, Avl, Av2, Awl, and Aw2 are generated intermittently and supplied to inverter circuit 1.
- the microcomputer 7 controls the inverter circuit 1 by sequentially generating the PWM signals Aul, Au2, Avl, Av2, Awl, and Aw2 sequentially in a generation cycle synchronized with the rotation of the three-phase DC brushless motor X.
- the generation process of the PWM signals Aul, Au2, Avl, Av2, Awl, Aw2 is suspended for a predetermined period (pause period T) every one rotation or two points depending on the operating state of the three-phase DC brushless motor X To do.
- the microcomputer 7 operates the three-phase DC brushless motor X based on the AC detection voltages Vun, Vvn, Vwn acquired during the pause period T, which interrupts the generation of the PWM signals Aul, Au2, Avl, Av2, Awl, Aw2.
- PWM signals Aul, Au2, Avl, Av2, Awl, and Aw2 are generated by detecting the state. The method for setting the suspension period T will be described later in detail.
- the drive signals Bu, Bv are connected to the output terminals of the respective phases of the inverter circuit 1.
- Bw is not output (that is, the 3-phase DC brushless motor X is de-energized), so the voltage at each phase output terminal of the inverter circuit 1 is driven by the rotor of the 3-phase DC brushless motor X.
- the induced voltages Cu, Cv, and Cw are induced in the wires (U-phase lead Mu, V-phase lead Mv, and W-phase lead Mw).
- FIG. 2 is a control block diagram showing the control function of the microcomputer 7.
- This control function is realized by a control program installed in the microcomputer 7.
- the control function of the microcomputer 7 is as follows: phase detection unit 8, PWM (Pulse Width Modulation) pause period generation unit 9, subtraction units 10, 13, PI gain setting units 11, 15, limiters 12, 16 , An induced current calculation unit 14, an addition unit 17, a division unit 18, and a PWM (Pulse Width Modulation) signal generation unit 19.
- the microcomputer 7 controls the inverter circuit 1 based on the control function configured as described above.
- the phase detection unit 8 is based on the AC detection voltages Vun, Vvn, Vwn supplied from the AC detection unit 4, and the angular velocity ⁇ of the rotor of the three-phase DC brushless motor X, the phase angle estimated value 0 and
- an induced voltage Vm as shown in FIG. 3, comprising an AC voltage conversion unit 8a, a three-phase Z2 phase conversion unit 8b, a phase angle calculation unit 8c, and a phase angle estimation unit 8d.
- the phase angle estimator 8d is composed of an angular velocity calculator 8dl and an estimated phase angle calculator 8d2.
- the AC voltage converter 8a calculates the U-phase voltage Vu and the W-phase voltage Vw by substituting the AC detection voltages Vun, Vvn, and Vwn into the following equations (1) to (4). Supply to phase Z2 phase converter 8b.
- Vwv Vwn ⁇ Vvn (2)
- the three-phase Z2-phase conversion unit 8b substitutes the U-phase voltage V u and the W-phase voltage vw into the following equation (5) to fix the stationary orthogonal coordinate system ( ⁇ axis and
- the ⁇ -axis voltage V and j8-axis voltage V which are voltages on the Cartesian coordinate system consisting of 8 axes), are calculated and supplied to the phase angle calculation unit 8c and the angular velocity calculation unit 8dl.
- a pause signal D for instructing the pause period T is supplied from the PWM pause period generator 9 to the phase angle calculator 8c.
- the phase angle calculator 8c includes the pause signal D and the ⁇ -axis voltage. Based on V and the j8-axis voltage V, the instantaneous phase angle 0 during the rest period T is calculated. In other words, the phase angle calculation unit 8c calculates the instantaneous phase angle ⁇ by substituting the a-axis voltage v and j8-axis voltage V into the following equation (6) only during the rest period ⁇ ⁇ , and calculates the estimated phase angle calculation unit. Supply to 8d2.
- the instantaneous phase angle ⁇ is the induced voltages Cu, Cv, and Cw. Based on the above, the rotational position of the rotor is accurately indicated. Since the instantaneous phase angle 0 is calculated based on the a-axis voltage V and the axis voltage V, it naturally indicates the instantaneous value of the rotation angle of the rotor on the stationary orthogonal coordinate system.
- the pause signal D is also supplied from the PWM pause period generator 9 to the angular velocity calculator 8dl, and the angular velocity calculator 8dl substitutes the a-axis voltage V and the j8-axis voltage V into Equation (7).
- the induced voltage Vm in the idle period ⁇ is calculated and output to the adder 17, and the rotor in the idle period T is substituted by substituting the induced voltage Vm in the idle period T into Equation (8).
- the constant Ke in this equation (8) is the induced voltage constant.
- the estimated phase angle calculator 8d2 rotates the instantaneous phase angle ⁇ of the rotor in the pause period ⁇ supplied from the phase angle calculator 8c and the pause period ⁇ supplied from the angular velocity calculator 8dl.
- the estimated value of the instantaneous phase angle (estimated instantaneous phase angle ⁇ ) from the rest period ⁇ to the next rest period ⁇ is calculated.
- the estimated phase angle calculator 8d2 substitutes the angular velocity ⁇ obtained from the latest pause period T and the angular velocity ⁇ obtained from the previous pause period ⁇ into the equation (9) to rotate ⁇ -1
- the constant Tpwm in Equation (9) is a force that is the generation period (PWM pause period) of the pause period T.
- This PWM pause period Tpwm is variably set by the PWM pause period generator 7 as will be described later.
- the acceleration a obtained by Equation (9) is used as the estimated instantaneous angular velocity (corrected estimated instantaneous velocity) for each sampling period Ts of the AC detection voltages Vun, Vvn, and Vwn in the microcomputer 7. Integrate angular velocity ⁇ ) with equation (10) with angular velocity ⁇ as initial value
- the corrected estimated instantaneous angular velocity ⁇ is determined as the initial value of the instantaneous phase angle 0.
- the estimated instantaneous phase angle ⁇ is calculated by substituting TS ⁇ into equation (11) and integrating.
- the PWM pause period generator 7 sets the pause period ⁇ ⁇ ⁇ based on the angular velocity ⁇ supplied from the phase detector 8, and indicates the pause period ⁇ .
- the pause signal D is generated and supplied to the phase detector 6, the induced current calculator 14 and the PWM signal generator 19. That is, the PWM pause period generator 7 determines whether the three-phase DC brushless motor X is in the accelerated state based on the change in the angular velocity ⁇ supplied from the phase detector 6 every pause period ⁇ , and the acceleration state Is set to a pause period T for each rotation of the rotor, and when it is in a constant speed state, the pause period T is set once for every two rotations of the rotor, and the timing of such a pause period T is set.
- the pause signal D shown is output.
- the rest period T is set for every one or two rotations of the rotor depending on whether or not the three-phase DC brushless motor X is in an acceleration state.
- the M pause period Tpwm changes according to the rotational speed of the rotor.
- the length of the rest period T is set to a predetermined angular ratio, for example, a time corresponding to 30 ° with respect to one rotation (360 °) of the rotor, and accordingly, according to the rotational speed of the rotor. Change.
- the PWM pause period generator 7 in this embodiment excludes the return periods of the free-wheeling diodes constituting the inverter circuit 1 when setting the timing of the pause period T, so that the return current in the return period is reduced. Exclude the impact.
- the subtraction unit 10 subtracts the angular velocity ⁇ of the rotor supplied from the angular velocity calculation unit 8d2 from the speed command ⁇ 'supplied from the outside to thereby reduce the angular velocity of the rotor with respect to the speed command ⁇ '.
- the error speed ⁇ of degree ⁇ is calculated and supplied to the ⁇ gain setting unit 11.
- the ⁇ gain setting unit 11 generates a current I by proportionally integrating the error speed ⁇ with a predetermined ⁇ gain and supplies the current I to the limiter 12.
- the limiter 12 supplies the current I as a current ⁇ to the subtractor 13 by limiting the current I to a predetermined limit value.
- the subtracting unit 13 generates an error current ⁇ ⁇ ⁇ by subtracting the induced current Im supplied from the induced current computing unit 14 from the current ⁇ to generate ⁇ Supply to I gain setting section 15.
- the induced current calculator 14 is fixed on the stator by substituting the U-phase current iu supplied from the ammeter 5 and the W-phase current iw supplied from the ammeter 6 into the following equation (12).
- A-axis current i and ⁇ -axis current i which are the currents on the static orthogonal coordinate system (orthogonal coordinate system consisting of ⁇ -axis and j8-axis), and then calculate the ⁇ -axis current i and j8-axis current i By substituting into (13), the induced current Im is calculated and supplied to the subtractor 13.
- the PI gain setting unit 15 generates a voltage V by performing proportional integration processing on the error current ⁇ I with a predetermined PI gain, and supplies the voltage V to the limiter 16.
- the limiter 16 limits the voltage V within a predetermined limit value and supplies it to the adder 17 as the voltage V ′.
- the adder 17 generates the voltage Vs by adding the induced voltage Vm supplied from the angle calculator 8 dl to the voltage V ′, and supplies the voltage Vs to the divider 18.
- the divider 18 divides this voltage Vs by the DC detection voltage Vdn supplied from the DC voltage detector 3 to generate a speed control value S and supplies it to the PWM signal generator 19.
- the PWM signal generator 19 generates a PWM signal Aul, Au2, Avl based on the speed control value S and the estimated instantaneous phase angle ⁇ as the angle control value supplied from the estimated phase angle calculator 8d2.
- Av2, Awl, Aw2 are generated and supplied to inverter circuit 1.
- the pause signal D is supplied from the PWM pause period generator 9 to the PWM signal generator 19, and the PWM signal generator 19 is based on the pause signal D! / And other than the pause period T. Only during the period, PWM signals Aul, Au2, Avl, Av2, Awl, Aw2 are generated. Stops generation of WM signals Aul, Au2, Avl, Av2, Awl, Aw2.
- Fig. 4 is a timing chart showing the relationship between the pause period T and the generation timing of the PWM signals Aul, Au2, Avl, Av2, Awl, and Aw2 when the three-phase DC brushless motor X is in the accelerated operation state. is there.
- the PWM pause period generator 7 is in the state of acceleration operation of the three-phase DC brushless motor X based on the angular velocity ⁇ supplied from the phase detector 6 every pause period T.
- the rest period ⁇ is set for each rotation of the rotor.
- the PWM pause period generator 7 sets a pause period T of a predetermined time width for each rotation of the rotor, that is, for each fluctuation period of the induced voltage Vm. Result
- the PWM signal generation unit 19 pauses the generation of the PWM signals Aul, Au2, Avl, Av2, Awl, and Aw2 during the pause period T.
- the phase detector 8 detects the AC detection voltage Vun, Vvn, Vwn in the idle period T in which the noise caused by the generation of the PWM signals Aul, Au2, Avl, Av2, Awl, Aw2 does not act as a disturbance. Calculate the induced voltage Vm, angular velocity ⁇ , and estimated instantaneous phase angle ⁇ based on
- the speed control value S calculated based on the induced voltage Vm, the angular speed ⁇ , and the like accurately reflects the rotational state of the rotor, and the estimated instantaneous phase angle ⁇ is
- the PWM signals Aul, Au2, generated during the periods other than the idle period ⁇ Avl, Av2, Awl, and Aw2 control the inverter circuit 1 accurately to drive the three-phase DC brushless motor X reliably and accurately. Therefore, according to this motor drive device, the rotational position of the rotor can be detected accurately and reliably, and therefore the three-phase DC brushless motor X can be driven accurately and reliably.
- the 3-phase DC brushless motor X is Although the case of driving by the string wave energization method has been described, the present invention is not limited to this, and can be applied to the case of driving the three-phase DC brushless motor X by the 120 ° energization method.
- the PWM pause period generator 7 in the above embodiment sets the pause period T for each rotation of the rotor when the three-phase DC brushless motor X is in the accelerated state, and is in a constant speed state.
- the rest period T is set once every two rotations of the rotor, but the setting method of the rest period T is not limited to this.
- the setting method of the suspension period T can be changed according to the required operation performance of the three-phase DC brushless motor X, for example.
- the inverter circuit 1 and the DC power source 2 constitute drive signal generation means, and the DC voltage detection unit 3, the AC voltage detection unit 4, the ammeters 5, 6 and the microcomputer 7
- the control signal generating means is configured from the above, the configurations of the drive signal generating means and the control signal generating means are not limited to this.
- the microcomputer 7 according to the above embodiment performs PWM control of the inverter circuit 1, but the control method is not limited to this PWM control method.
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2005800432803A CN101080867B (zh) | 2004-10-20 | 2005-10-19 | 电动机驱动装置 |
US11/577,484 US7567046B2 (en) | 2004-10-20 | 2005-10-19 | Motor-driving apparatus |
EP05795099A EP1806835B1 (en) | 2004-10-20 | 2005-10-19 | Motor driving apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004-305569 | 2004-10-20 | ||
JP2004305569A JP2006121798A (ja) | 2004-10-20 | 2004-10-20 | モータ駆動装置 |
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WO2006043584A1 true WO2006043584A1 (ja) | 2006-04-27 |
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PCT/JP2005/019185 WO2006043584A1 (ja) | 2004-10-20 | 2005-10-19 | モータ駆動装置 |
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US (1) | US7567046B2 (ja) |
EP (1) | EP1806835B1 (ja) |
JP (1) | JP2006121798A (ja) |
KR (2) | KR20070073876A (ja) |
CN (1) | CN101080867B (ja) |
WO (1) | WO2006043584A1 (ja) |
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CN102082538B (zh) * | 2011-01-25 | 2013-01-16 | 浙江工业大学 | 一种直流电机调速方法及其装置 |
JP5364138B2 (ja) * | 2011-09-29 | 2013-12-11 | 日立アプライアンス株式会社 | モータ駆動制御装置および空調機器 |
KR101234778B1 (ko) * | 2011-10-05 | 2013-02-20 | 이상현 | 센서리스 bldc 모터의 감속장치 및 방법 |
JP5975830B2 (ja) * | 2012-10-09 | 2016-08-23 | 日立アプライアンス株式会社 | モータ制御装置、およびそれを用いた冷凍機器 |
JP2017103927A (ja) * | 2015-12-02 | 2017-06-08 | トヨタ自動車株式会社 | モータ制御装置 |
US10256756B2 (en) * | 2016-09-27 | 2019-04-09 | Brother Kogyo Kabushiki Kaisha | Brushless motor apparatus setting mask period on the basis of comparison between voltage of specific coil and voltage of coil other than the specific coil |
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2004
- 2004-10-20 JP JP2004305569A patent/JP2006121798A/ja active Pending
-
2005
- 2005-10-19 EP EP05795099A patent/EP1806835B1/en not_active Expired - Fee Related
- 2005-10-19 CN CN2005800432803A patent/CN101080867B/zh not_active Expired - Fee Related
- 2005-10-19 US US11/577,484 patent/US7567046B2/en not_active Expired - Fee Related
- 2005-10-19 KR KR1020077010157A patent/KR20070073876A/ko not_active Application Discontinuation
- 2005-10-19 KR KR1020097013101A patent/KR100981936B1/ko not_active IP Right Cessation
- 2005-10-19 WO PCT/JP2005/019185 patent/WO2006043584A1/ja active Application Filing
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JPH0965678A (ja) * | 1995-08-25 | 1997-03-07 | Shinano Denki Kk | センサレスブラシレスモータ |
JPH10304693A (ja) * | 1997-04-28 | 1998-11-13 | Matsushita Electric Ind Co Ltd | モータ駆動装置 |
JP2002078373A (ja) * | 2000-08-22 | 2002-03-15 | Matsushita Electric Ind Co Ltd | ブラシレスモータの制御装置 |
JP2004242422A (ja) * | 2003-02-06 | 2004-08-26 | Toyota Motor Corp | 電動機の回転駆動制御装置 |
Non-Patent Citations (1)
Title |
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Also Published As
Publication number | Publication date |
---|---|
JP2006121798A (ja) | 2006-05-11 |
CN101080867A (zh) | 2007-11-28 |
EP1806835A1 (en) | 2007-07-11 |
EP1806835B1 (en) | 2012-01-04 |
KR20070073876A (ko) | 2007-07-10 |
CN101080867B (zh) | 2010-06-16 |
US20080089675A1 (en) | 2008-04-17 |
KR20090075757A (ko) | 2009-07-08 |
EP1806835A4 (en) | 2009-11-25 |
KR100981936B1 (ko) | 2010-09-13 |
US7567046B2 (en) | 2009-07-28 |
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