WO2011158563A1 - Dispositif et procédé d'entraînement économes en énergie pour dispositif présentant un profil de charge uniforme - Google Patents

Dispositif et procédé d'entraînement économes en énergie pour dispositif présentant un profil de charge uniforme Download PDF

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Publication number
WO2011158563A1
WO2011158563A1 PCT/JP2011/060060 JP2011060060W WO2011158563A1 WO 2011158563 A1 WO2011158563 A1 WO 2011158563A1 JP 2011060060 W JP2011060060 W JP 2011060060W WO 2011158563 A1 WO2011158563 A1 WO 2011158563A1
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Prior art keywords
power
inverter
parameter
command value
converter
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PCT/JP2011/060060
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English (en)
Japanese (ja)
Inventor
素直 新妻
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株式会社Ihi
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Priority to CN201180017599.4A priority Critical patent/CN102812632B/zh
Publication of WO2011158563A1 publication Critical patent/WO2011158563A1/fr

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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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0025—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
    • 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
    • H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
    • H02P2201/09—Boost converter, i.e. DC-DC step up converter increasing the voltage between the supply and the inverter driving the motor

Definitions

  • the present invention relates to a power saving driving apparatus and method for apparatuses having the same load pattern.
  • the present invention is directed to a device that is driven by a motor that is powered by an inverter driven by the output of a DC-DC converter that is driven by a battery, and that is repeatedly operated in the same load pattern.
  • a device is referred to as a “same load pattern device”.
  • the same load pattern apparatus mainly assumes industrial apparatuses, such as a servo press, the die cushion for a press, a conveying apparatus, and a physical distribution apparatus, it is not limited to them.
  • the amount of loss in the same load pattern device described above varies depending on the parameters of the power conversion circuit, for example, the output voltage of the DC-DC converter, the carrier frequency of the inverter, the voltage change rate dv / dt of the switching waveform, and the like.
  • the “loss amount” means the difference between the electric power supplied from the battery and the motor output, that is, the electric circuit (including the DC-DC converter, inverter and motor) from the battery to the motor, and the magnetic circuit inside the motor. Means the amount of work lost in the form of heat generation and electromagnetic radiation.
  • Patent Document 1 has already been proposed.
  • the technique relevant to this invention is disclosed by patent document 2 and nonpatent literature 1,2.
  • Japanese Patent Laid-Open No. 2004-228561 is to reduce a loss amount by changing a power conversion parameter (a carrier frequency of a DC / DC converter) when an operation condition of the apparatus is changed.
  • Non-Patent Document 2 discloses that loss is reduced by switching the switching frequency during operation in accordance with a low speed region, a medium speed region, and a high speed region.
  • Patent Document 1 the frequency of a carrier wave (referred to as a carrier) that reduces the amount of loss is obtained by (A) using the loss characteristics of the energy storage means, the switching element, and each phase coil of the motor, or (B) by experimentation in advance. Means have been proposed. However, if the means of Patent Document 1 is applied to various apparatuses, particularly industrial apparatuses such as a servo press driven by a battery, a die cushion for pressing, a conveying apparatus, and a physical distribution apparatus, there are the following problems.
  • industrial apparatuses such as a servo press driven by a battery, a die cushion for pressing, a conveying apparatus, and a physical distribution apparatus
  • (A) there is a problem that “loss characteristics of other components are not considered”. For example, wiring between the inverter and the motor, electromagnetic noise removing elements (ferrite cores and filters), and loss in the rotor of the motor (loss due to current induced in the rotor, etc.) are not considered. Further, in industrial devices, the wiring between the inverter and the motor is long, or the electromagnetic noise removing element and the motor are large, so the amount of loss from these components is often not negligible.
  • the present invention has been developed to solve the above-described problems. That is, the object of the present invention is to obtain data on loss characteristics by conducting experiments in advance on the output voltage of a DC-DC converter, electrical characteristics of wiring, presence / absence of an electromagnetic noise removing element, loss characteristics and temperature changes for each motor, and the like. It is an object of the present invention to provide a power-saving drive device and method for a device having the same load pattern that can minimize the amount of loss in consideration of the loss characteristics of all the components without obtaining them.
  • a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter driven by a motor supplied with power from the inverter, and having the same load pattern
  • a power saving drive device for the device An energy calculator that calculates the amount of power received from the battery in the same load pattern;
  • a power-saving drive device for a device having the same load pattern is provided.
  • a command value generator for outputting a cycle start signal and a cycle end signal of the load pattern.
  • the parameters of the inverter are the carrier frequency and the output voltage of the DC-DC converter.
  • the present invention also includes a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter, driven by a motor supplied with power from the inverter, and having the same load pattern.
  • a power saving driving method for an apparatus having: Change the inverter parameters to multiple values, Calculate the amount of power received from the battery by the same load pattern in each parameter, There is provided a power saving driving method for a device having the same load pattern, wherein the received power amount in each parameter is compared, a parameter that minimizes the received power amount is selected, and an inverter is commanded .
  • an electric energy calculator and a parameter selector / commander changing the parameter of the inverter to a plurality of values, and determining the amount of electric power received from the battery by the same load pattern in each parameter. Calculate and compare, select the parameter that minimizes the amount of received power, and command the inverter, so the electrical characteristics of the wiring, the presence or absence of electromagnetic noise removal elements, loss characteristics and temperature changes for each motor, etc.
  • the amount of loss can be minimized in consideration of the loss characteristics of all the components without obtaining the loss characteristic data by conducting an experiment in advance.
  • FIG. 1 is a diagram showing a first embodiment of a power-saving drive device according to the present invention.
  • the power-saving drive device of the present invention includes a DC-DC converter 93 driven by a battery 91 and an inverter 19 driven by the output of the DC-DC converter 93.
  • the battery 91 is a secondary battery such as a lithium ion battery, a nickel metal hydride battery, or a lead storage battery.
  • the battery 91 includes cells connected in series and a battery controller in order to increase the output voltage of the battery. Further, the battery 91 is charged with DC power by a solar cell, a fuel cell, a wind power generator or the like (not shown).
  • the DC-DC converter 93 is a variable output voltage DC-DC converter that boosts and / or steps down a DC voltage. In FIG. 1, the voltage across the capacitor 17 on the right side of the DC-DC converter 93 is the output voltage.
  • the DC-DC converter 93 is configured to be capable of not only powering (power moves from left to right in FIG. 1) but also regeneration (power moves from right to left in FIG. 1).
  • a DC-DC converter 93 is realized by combining a power control element such as an IGBT or a power MOSFET with an inductor or a transformer.
  • reference numeral 95 denotes a DC-DC converter control circuit.
  • the DC-DC converter control circuit 95 generates a gate signal for the power control element of the DC-DC converter 93 and controls the output voltage of the DC-DC converter 93.
  • the DC-DC converter control circuit 95 is realized by an electronic circuit or an embedded CPU and a dedicated control program or a combination of both.
  • the DC bus 15 electrically connects the DC-DC converter 93 and the inverter 19.
  • the upper side shows the positive side (+) of the DC bus 15, and the lower side shows the negative side ( ⁇ ) of the DC bus 15.
  • a capacitor 17 smoothes the voltage of the DC bus 15.
  • an aluminum electrolytic capacitor is often used, but other types of capacitors and electric double layer capacitors may be used.
  • Reference numeral 19 denotes an inverter which controls the current / voltage flowing from the DC bus 15 to the motor 21 so that the motor 21 generates a desired torque.
  • the inverter 19 is assumed to be a voltage type inverter in this embodiment, but may be a current type inverter. In the case of a current type inverter, a reactor is used instead of the capacitor 17. Further, in this embodiment, the inverter 19 is assumed to be a four-quadrant drive inverter capable of forward / reverse rotation, power running / regeneration of the motor 21, but depending on the characteristics and operation of the mechanical load 23 (same load pattern device), The inverter may be capable of rotating only in one direction or powering only. When an inverter capable of only power running is used, the DC-DC converter 93 may be capable of only power running.
  • Reference numeral 21 denotes a motor.
  • the combination of the inverter 19 and the motor 21 causes the motor 21 to generate torque following the torque command value input from the controller 27.
  • the motor 21 is assumed to be a three-phase induction motor or a three-phase permanent magnet synchronous motor. However, other types of motors may be used as long as the torque and rotational speed are variable in combination with an inverter.
  • Reference numeral 23 denotes a mechanical load, that is, the same load pattern device, which is driven by the motor 21.
  • Reference numeral 25 denotes a motor encoder, which measures the rotational position (angle) of the motor 21.
  • the motor encoder 25 an optical or magnetic rotary encoder or resolver is used.
  • the controller 27 performs speed control, the rotational speed (angular speed) of the motor 21 may be measured.
  • the rotational position measured with a rotary encoder or resolver may be time-differentiated, or the rotational speed may be directly measured like a tachometer.
  • Reference numeral 27 denotes a controller, and the inverter 19, the motor 21, the motor encoder 25, and the controller 27 constitute a feedback loop, and the motor 21 is controlled to follow the command value from the command value generator 29.
  • the controller 27 assumes position control in this embodiment, but may be speed control.
  • PID Proportional Integral Derivative
  • I-PD Intelligent Proportional Derivative
  • a feedforward calculation for improving controllability may be combined.
  • the controller 27 can be realized by a programmable device using DSP (Digital Signal Processor), a microcomputer, an analog circuit, or a combination thereof.
  • DSP Digital Signal Processor
  • a command value generator which outputs a motor rotation angle command value Ac to be followed by the motor 21 to the controller 27 at each time.
  • transmission of the motor rotation angle command value Ac transmission by a two-phase pulse train whose phase is shifted by 90 degrees or transmission by various communication networks is used. Since the rotation angle of the motor 21 and the mechanical load 23 are mechanically linked, instructing the rotation angle of the motor 21 has the same meaning as instructing the position of the mechanical load 23.
  • FIG. 2 is an operation explanatory view of the same load pattern device targeted by the present invention. Since the present invention is intended for a device that is repeatedly operated with the same load pattern (same load pattern device), in this embodiment, as shown in the figure, the motor rotation angle command value Ac is a cycle (same repeated pattern).
  • the command value generator 29 outputs a cycle start signal Cs and a cycle end signal Ce at the start time and end time of the cycle, respectively.
  • C1, C2, and C3 indicate cycles.
  • An arbitrary command value such as a command value for stopping the mechanical load 23 or a command value for operating the mechanical load 23 according to a manual operation may be output between cycles.
  • the cycle start signal Cs and the cycle end signal Ce are pulse signals, but other signal waveforms such as a cycle start being indicated by a rising edge of the signal and a cycle end being indicated by a falling edge of the signal. Good.
  • the command value generator 29 may output the motor rotation speed command value.
  • the command value generator 29 can be realized by a programmable device using a DSP or a microcomputer having a storage device such as a semiconductor memory.
  • the inverter 19 includes the following elements, and performs PWM modulation (Pulse Width Modulation) using a carrier wave Cw having a frequency according to the carrier frequency command value F output from the parameter selector / commander 83. Details of the configuration / operation example of the inverter 19 are shown in Non-Patent Document 1, for example. An example of a method for performing PWM modulation with a variable carrier frequency is disclosed in Patent Document 2. In Patent Document 2, the carrier wave is called a carrier.
  • the power control unit 41 is a power control unit, which controls the voltage / current from the DC bus 15 to the motor 21 by a power control element whose conduction state is changed by a gate signal.
  • the power control unit 41 uses a power control element that can be extinguished by turning off a gate signal such as a power MOSFET (Metal-Oxide-Semiconductor, Field-Effect Transistor) or IGBT (Insulated Gate Bipolar Transistor).
  • a power MOSFET Metal-Oxide-Semiconductor, Field-Effect Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • GTO Gate Turn Off
  • the motor current measuring device 43 is a motor current measuring device which measures the current of each UVW phase from the power control unit 41 to the motor 21.
  • the motor current measuring device 43 is a non-contact type device that measures a magnetic field generated around an electric wire with current, a device that inserts a resistor into a circuit and measures a potential difference generated at both ends of the resistor with current. It is.
  • the method for realizing the current measuring device 63 is the same.
  • the command calculator 45 is a command calculator that outputs a modulated wave Mw for each phase of UVW to the PWM modulator 47 so that the motor 21 generates torque following the torque command value Tc from the controller 27.
  • the command calculator 45 can be a device that compares the current command to each phase calculated by vector calculation with the measured value of the motor current measuring device 43 to obtain the modulated wave of each phase, but other devices may be used.
  • the command calculator 45 can be realized by a programmable device using a DSP or a microcomputer, an electronic circuit, or a combination thereof.
  • the structure which reduces the number of required motor current measuring devices 43 using methods, such as state estimation, is also possible.
  • the PWM modulator 47 is a PWM modulator, which modulates the modulated wave Mw with the carrier wave Cw and outputs a notch wave Nw that determines conduction / non-conduction of the power control element.
  • the PWM modulator 47 uses a triangular carrier wave in this embodiment, and assumes a means for determining on / off of the notch wave Nw by comparing the magnitude of the modulated wave Mw and the carrier wave Cw.
  • the PWM modulator 47 can be realized by an analog electronic circuit (comparator) or a program of a DSP or a microcomputer.
  • the carrier wave oscillator 49 is a carrier wave oscillator, which oscillates a carrier wave Cw for PWM modulation.
  • the carrier wave oscillator 49 is configured such that the oscillation frequency is variable according to the carrier wave frequency command value F.
  • the carrier oscillator 49 oscillates a triangular carrier wave by configuring an up / down counter that repeats counting up and down between two values M1 and M2 by an electronic circuit, a DSP, or a program of a microcomputer, and according to the carrier frequency command value F
  • it is possible to change the oscillation frequency by appropriately changing the values of M1 and M2 it may be configured by other methods such as an oscillation circuit using an analog electronic circuit.
  • the gate drive circuit 51 is a gate drive circuit, which insulates, level-converts or amplifies the notch wave Nw, and outputs a gate signal for driving the gate of the power control element.
  • the gate drive circuit 51 can be realized by an electronic circuit using an insulating power source, a photocoupler, or the like.
  • the 61 is a voltage measuring device, and 63 is a current measuring device.
  • the voltage measuring device 61 and the current measuring device 63 measure the voltage and current, respectively, in order to calculate the amount of electric power W flowing from the battery 91 to the DC-DC converter 93, and measure the voltage measurement value V (t) and the current measurement value I. (T) is output to the electric energy calculator 81.
  • the voltage measurement value V (t) and the current measurement value I (t) can be transmitted digitally by means of analog transmission as voltage amplitude or current amplitude, or by using various communication networks.
  • V (t) The voltage on the plus side with respect to the minus side of the battery 91 at time t measured by the voltage measuring device 61
  • I (t) the current flowing from the left to the right in the figure on the positive side of the battery 91 at time t measured by the current measuring device 63 is denoted as I (t).
  • a negative current measurement value indicates that current flows from right to left in the figure.
  • the 81 is an electric energy calculator, and calculates electric energy W of 1 cycle. That is, a value obtained by multiplying the voltage measurement value V (t) and the current measurement value I (t) is time-integrated from the time when the cycle start signal Cs is input to the time when the cycle end signal Ce is input, and then output. For the transmission of the electric energy W in one cycle, it is possible to perform digital transmission using means for analog transmission as voltage amplitude and current amplitude, and various communication networks.
  • the electric energy calculator 81 can be realized by a programmable device using a DSP or a microcomputer, an analog electronic circuit, or a combination thereof. The electric energy calculator 81 performs the following calculation.
  • the power P (t) at time t is the product of voltage and current, and is expressed by equation (1).
  • P (t) V (t) ⁇ I (t) (1)
  • Equation (2) of Formula 1 Since the power amount W of one cycle is a time integral of the power, if the time of the cycle start signal for the cycle is written as T1, and the time of the cycle end signal is written as T2, it is expressed by Equation (2) of Formula 1.
  • the electric energy calculator 81 If the calculation by the electric energy calculator 81 is performed in the period of time ⁇ T, the equation (2) is differentiated, and V (t) ⁇ I (t) ⁇ ⁇ T is integrated from time T1 to time T2. It becomes the electric energy W of the cycle. In other words, at the end of the cycle, it is possible to output one cycle of electric power for that cycle. As described above, the present invention is applicable even when power running and regeneration are mixed in one cycle by allowing negative values for the current measurement value and power. That is, positive and negative power corresponds to power running and regeneration, respectively.
  • the parameter selection / commander 83 is a parameter selection / commander that commands parameter values that affect the amount of loss, and selects appropriate parameter values based on the power consumption of one cycle in each cycle.
  • the parameters are the frequency of the carrier wave Cw and the output voltage of the DC-DC converter 93, and the parameter selector / commander 83 outputs the carrier frequency command value F to the carrier wave transmitter 49, and the output voltage command value G Is output to the DC-DC converter control circuit 95.
  • the parameter selector / commander 83 can be realized by a programmable device using a DSP or a microcomputer.
  • FIG. 3 is an operation explanatory diagram of the parameter selection / commander 83.
  • the output voltage command value G to the DC-DC converter control circuit 95 is constant will be described.
  • the procedure for searching and determining a parameter for reducing the loss by the parameter selector / commander 83 is as follows.
  • the parameter selector / commander 83 outputs a different carrier frequency command value F for each cycle.
  • a power amount W for one cycle for each cycle is output from the power amount calculator 81 and is stored in the parameter selector / commander 83.
  • the parameter selector / commander 83 compares the stored one-cycle power amount W and outputs the carrier frequency command value F with the smallest power amount as the subsequent carrier frequency command value F.
  • the carrier frequency command value F is changed to F1, F2, F3, F4, and F5 for each of five cycles (C1, C2, C3, C4, and C5 in the figure).
  • the power amount of one cycle in each cycle is W1, W2, W3, W4, and W5.
  • W1, W2, W3, W4, W5 are stored and compared at the end of cycle 5 (C5 in the figure). If W4 is the smallest, the carrier frequency command value F4 corresponding to W4 is the most lossy. It can be seen that this is a carrier frequency command value for reducing the frequency. Therefore, the parameter selector / commander 83 continues to output F4 as the carrier frequency command value thereafter.
  • the carrier frequency command value F is changed in five ways, F1 to F5, and five cycles C1 to C5 are required for searching and determining the parameter (carrier frequency command value).
  • the number for changing the carrier wave frequency command value F is not limited to 5, and may be a number Q of 2 or more. In this case, Q cycles are required for searching and determining the parameter (carrier frequency command value).
  • (1) to (3) are conceivable as timings for searching and determining parameters.
  • (1) Parameter search immediately after a hardware change that affects loss, such as addition of a noise filter to the wiring from the inverter 19 to the motor 21, replacement of the motor 21, modification of the mechanical load 23, etc. ⁇ Make a decision.
  • a push button (not shown) is connected to the parameter selection / commander 83, and when a hardware change is made, a human pushes the push button.
  • the parameter selector / commander 83 searches and determines a parameter (carrier frequency command value in this example) in the first cycle (first five cycles in this example) after the push button is pressed. Continue to output the specified carrier frequency command value.
  • a parameter selector / commander 83 has a function of outputting an output voltage command value G to the DC-DC converter control circuit 95 in addition to the carrier frequency command value F described above.
  • the carrier frequency command value F and the output voltage command value G output by the parameter selector / commander 83 are changed to store and compare the power amount W of one cycle, and the carrier frequency command value with the smallest power amount W is stored.
  • F and the output voltage command value G are output as the subsequent carrier wave frequency command value F and output voltage command value G.
  • FIG. 4 is an explanatory diagram of a method for searching and determining a plurality of parameters.
  • a method for searching and determining a plurality of parameters carrier frequency command value F and output voltage command value G
  • FIG. 4 shows an example in which W3 is the smallest among W1 to W15, and the combination of the carrier frequency command value F1 and the output voltage command value G3 corresponding to W3 is the carrier frequency at which the loss is minimized.
  • the parameter selector / commander 83 uses F1 as the carrier frequency command value after the end of the cycle 15 (that is, after the cycle C16 in the figure) as the output voltage. Continue to output G3 as the command value.
  • the carrier frequency command value F is changed in five ways F1 to F5 and the output voltage command value G is changed in three ways G1 to G3, and parameters (carrier frequency command value and voltage change rate command are changed).
  • the number Q or R is not limited to 3, but may be 2 or more. In this case, Q ⁇ R cycles are required for searching and determining parameters (carrier frequency command value F and output voltage command value G).
  • FIG. 5 is a diagram showing a second embodiment of the power-saving drive device according to the present invention.
  • this embodiment there are a plurality of inverters and motors, all of which move in the same manner.
  • the integrated mechanical load is driven by a plurality of motors.
  • FIG. 5 shows the case where there are three inverters and motors, but the same applies to the case where there are two or four or more motors.
  • the configurations of the DC-DC converter and the inverter are the same as those in the first embodiment, the configurations of the DC-DC converter and the inverter are not shown.
  • the electric energy calculator 81 and the parameter selector / commander 83 are provided, the inverter parameters are changed to a plurality of values, and the received electric energy of the inverter by the same load pattern in each parameter. Since W is calculated and compared, the parameter that minimizes the amount of received power is selected and the inverter is commanded, the electrical characteristics of the wiring, the presence or absence of electromagnetic noise removal elements, the loss characteristics for each motor, and temperature changes The loss amount can be minimized in consideration of the loss characteristics of all the components without obtaining the loss characteristic data by performing experiments in advance.
  • the parameter of the inverter may be a voltage change rate of the switching waveform.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Databases & Information Systems (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)
  • Dc-Dc Converters (AREA)

Abstract

L'invention concerne un dispositif d'entraînement économe en énergie destiné à un dispositif (23) présentant un profil de charge uniforme, entraîné par un moteur (21) alimenté en électricité par un onduleur (19) et actionné par la répétition du profil de charge uniforme, caractérisé en ce qu'il est muni d'un convertisseur continu-continu (93) alimenté par une batterie (91), l'onduleur (19) étant alimenté par la sortie du convertisseur continu-continu. Le dispositif d'entraînement économe en énergie comporte : une unité (81) de calcul du volume de puissance qui mesure le volume (W) de puissance reçu de la batterie au cours d'un cycle de profil uniforme ; et une unité (83) de sélection / commande de paramètres qui convertit les paramètres de l'onduleur (valeur de consigne (F) de la fréquence porteuse et valeur de consigne (G) de la tension de sortie) en une pluralité de valeurs, compare le volume de puissance reçu pour chaque paramètre, sélectionne les paramètres qui minimisent le volume de puissance reçu et commande l'onduleur de façon à mettre en œuvre les paramètres en question.
PCT/JP2011/060060 2010-06-15 2011-04-25 Dispositif et procédé d'entraînement économes en énergie pour dispositif présentant un profil de charge uniforme WO2011158563A1 (fr)

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JP6132793B2 (ja) * 2014-03-17 2017-05-24 三菱電機株式会社 電動機駆動用インバータ装置

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