WO2013021483A1 - Détecteur de position, dispositif de régulation d'entraînement et système de régulation d'entraînement de moteur - Google Patents

Détecteur de position, dispositif de régulation d'entraînement et système de régulation d'entraînement de moteur Download PDF

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Publication number
WO2013021483A1
WO2013021483A1 PCT/JP2011/068268 JP2011068268W WO2013021483A1 WO 2013021483 A1 WO2013021483 A1 WO 2013021483A1 JP 2011068268 W JP2011068268 W JP 2011068268W WO 2013021483 A1 WO2013021483 A1 WO 2013021483A1
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WO
WIPO (PCT)
Prior art keywords
power supply
battery power
drive control
supply voltage
control device
Prior art date
Application number
PCT/JP2011/068268
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English (en)
Japanese (ja)
Inventor
孝二 篠原
佐野　修也
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2011550340A priority Critical patent/JP4948685B1/ja
Priority to PCT/JP2011/068268 priority patent/WO2013021483A1/fr
Priority to TW100142863A priority patent/TW201308873A/zh
Publication of WO2013021483A1 publication Critical patent/WO2013021483A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24457—Failure detection

Definitions

  • the present invention relates to a position detector, a drive control device, and a motor drive control system.
  • a position detector that detects the position of the motor is connected to a drive control device that drives the motor by a cable.
  • the position detector When the power supply of the drive control device is ON, the position detector is supplied with a control power supply voltage from the drive control device via the control power supply line in the cable.
  • the position detector transmits the detected position information to the drive control device by the control power supply voltage.
  • the cable also has a signal line for transmission.
  • the battery power supply voltage is always supplied from the battery power supply to the position detector via the battery power supply line in the cable regardless of the ON / OFF state of the power supply of the drive control device.
  • the position detector can monitor the supplied battery power supply voltage, and has a function of detecting a drop in the battery power supply voltage and generating a voltage drop display such as a warning.
  • the ground line is shared by the control power supply line for supplying the control power supply voltage to the position detector and the battery power supply line for supplying the battery power supply voltage to the position detector, and the common ground line is used in the cable.
  • the load current from the internal control power supply is detected from the drive control device via the control power supply line. After flowing through the chamber, it flows through a route that returns to the drive control device via the ground line. Since impedance exists in each line in the cable, a voltage drop occurs when a load current flows, and the potential on the position detector side becomes higher than the potential on the drive control device side in the ground line.
  • the load current from the battery power source is suppressed as much as possible. That is, the load current from the battery power source flows through a path from the drive control device through the battery power supply line and then back to the drive control device through the ground line. At this time, if the voltage drop in the cable due to the load current of the battery power supply is almost negligible, the potential on the drive control device side of the battery power supply line and the potential on the position detector side can be regarded as substantially equal.
  • the potential on the position detector side is higher than the potential on the drive control device side in the common ground line as described above, if the value of the battery power supply voltage is observed in the position detector, it is observed lower than actual. There is a possibility that the voltage drop of the battery power source is erroneously detected as the battery power source has reached the end of life even though the battery power source has not reached the end of its life. That is, when the battery power supply voltage is detected by the position detector, the battery power supply voltage is not accurately detected.
  • the generated potential difference depends on the impedance proportional to the length of the cable to be connected, but the cable length is arbitrarily selected by the user according to the size of the system, so it can be corrected with a predetermined value. could not.
  • the present invention has been made in view of the above, and an object thereof is to obtain a position detector, a drive control device, and a motor drive control system that can accurately detect a drop in battery power supply voltage.
  • a position detector is driven and controlled based on a position command from a host device and position information detected by the position detector.
  • a transmission unit that transmits position information to the drive control device; a monitor unit that monitors whether a level of the battery power supply voltage has decreased below a threshold level; and A ground terminal to which a ground voltage is supplied from the outside through a ground line shared by the battery power line and the control power line, and a change amount of the ground voltage due to the impedance of the ground line are specified, and the change amount
  • a correction unit that corrects the threshold level
  • the threshold level used by the monitor unit of the position detector can be corrected to a more appropriate value, and the battery power supply voltage drop can be detected with higher accuracy.
  • FIG. 1 is a diagram illustrating the basic configuration and operation of the motor drive control system according to the first embodiment.
  • FIG. 2 is a diagram illustrating a basic configuration and operation of the motor drive control system according to the first embodiment.
  • FIG. 3 is a diagram illustrating a specific configuration of the motor drive control system according to the first embodiment.
  • FIG. 4 is a diagram illustrating a configuration of the position detector in the first embodiment.
  • FIG. 5 is a diagram illustrating a configuration of the drive control device according to the first embodiment.
  • FIG. 6 is a diagram illustrating a configuration of the drive control apparatus according to the second embodiment.
  • FIG. 7 is a diagram illustrating a configuration of the drive control device according to the third embodiment.
  • Embodiment 1 A basic configuration and operation of the motor drive control system 100 according to the first embodiment will be described with reference to FIGS. 1 and 2.
  • 1 and 2 are diagrams showing the configuration and operation of a motor drive control system 1 that is a basic configuration of a motor drive control system 100 described later.
  • the position detector 4 detects the position of the motor 3 (for example, a rotor), and supplies information on the detected position to the drive control device 2.
  • the drive control device 2 receives the position command from the higher order command device UCA, and drives the motor 3 so that the position detected by the position detector 4 follows the position command.
  • the position detector 4 is connected to the drive control device 2 by a cable 5.
  • the position detector 4 When the power supply of the drive control device 2 is ON, the position detector 4 is supplied with a control power supply voltage by the internal control power supply from the drive control device 2 via the control power supply line 13 (see FIG. 4) in the cable 5.
  • the position detector 4 transmits information on the detected position to the drive control device 2 using the control power supply voltage.
  • the cable 5 also has a signal line 12 (see FIG. 4) for performing the transmission.
  • the position detector 4 is supplied with the battery power supply voltage from the battery power supply 6 via the battery power supply line 15 (see FIG. 4) in the cable 5 regardless of the ON / OFF state of the power supply of the drive control device 2. Yes.
  • the position detector 4 has a function of monitoring the supplied battery power supply voltage and a function of detecting a drop in the battery power supply voltage and notifying a warning or the like.
  • the ground line 14 (see FIG. 4) is connected to the control power supply line 13 for supplying the control power supply voltage to the position detector 4 and the battery power supply line 15 for supplying the battery power supply voltage to the position detector 4.
  • the load current generated by the internal control power source passes through the control power source line 13 from the drive control device 2. And then flows through the position detector 4 and then returns to the drive control device 2 via the ground line 14.
  • V GE V GA + ⁇ Vg (1)
  • the load current from the battery power supply 6 flows along a path from the drive control device 2 through the battery power supply line 15 through the position detector 4 and then back to the drive control device 2 through the ground line 14. Since the battery power source 6 is used for backup, the load current from the battery power source 6 is suppressed as much as possible. For this reason, when the load current of the battery power supply 6 is very small and the voltage drop in the cable 5 is almost negligible, the battery positive potential V B + , the battery potential V BA on the drive control device 2 side, and the position detector 4 side
  • the value of the battery power supply voltage is likely to be observed lower than the actual value in the position detector 4, and the voltage of the battery power supply 6 is assumed to have reached the end of the life even though the battery power supply 6 has not reached the end of its life. There is a possibility of erroneously detecting the decrease.
  • the generated potential difference ⁇ Vg depends on the impedance proportional to the length of the cable 5 to be connected.
  • the cable impedance I could not identify. That is, the potential difference ⁇ Vg cannot be experimentally determined in advance, and cannot be corrected with such a predetermined value.
  • FIG. 3 is a diagram illustrating a configuration of the motor drive control system 100 according to the first embodiment.
  • the motor drive control system 100 includes a position detector 104 and a drive control device 102.
  • the position detector 104 and the drive control device 102 cooperate with each other to correct the threshold level Vth1 for detecting a decrease in the battery power supply voltage ⁇ V B104 used for backup of position information in the position detector 104.
  • the position detector 104 has a configuration shown in FIG. 4, for example, and the drive control apparatus 102 has a configuration shown in FIG. 5, for example.
  • the position detector 104 shown in FIG. 4 includes a signal terminal 112, a power supply terminal 113, a power supply terminal 115, a ground terminal 114, a position information detection unit 108, a communication unit (transmission unit) 109, a battery power supply voltage monitor unit 110, and a voltage drop.
  • a level correction unit 111 is included.
  • the signal line 12 in the cable 5 is connected to the signal terminal 112.
  • the position detector 104 exchanges signals with the drive control device 102 via the signal terminal 112 and the signal line 12.
  • the control power line 13 in the cable 5 is connected to the power terminal 113.
  • the control power supply voltage is supplied to the position detector 104 from the drive control device 102 via the control power supply line 13 and the power supply terminal 113.
  • the battery power line 15 in the cable 5 is connected to the power terminal 115. Thereby, the battery power supply voltage is supplied from the battery power supply 6 to the position detector 104 via the cable 7, the drive control device 102, the battery power supply line 15, and the power supply terminal 115.
  • the ground line 14 in the cable 5 is connected to the ground terminal 114.
  • the ground line 14 is shared by the control power supply line 13 and the battery power supply line 15. As a result, a ground voltage is supplied to the position detector 104 from the drive control device 102 via the ground line 14 and the ground terminal 114.
  • the position information detector 108 is supplied with battery power from the drive control device 102 via the battery power line 15 so that the position information can be detected even when the power from the control power line 13 is OFF.
  • the position information detection unit 108 includes a detection unit 108a and a holding unit 108b.
  • the detection unit 108a detects the position of the motor 3 (for example, a rotor) using, for example, a battery power supply voltage.
  • the holding unit 108b holds the position information detected by the detecting unit 108a for backup using the battery power supply voltage.
  • the detection unit 108a may operate using a control power supply voltage supplied via the control power supply line 13 when the drive control device 102 is powered on.
  • the communication unit 109 communicates with the drive control device 102 via the signal terminal 112 and the signal line 12. For example, the communication unit 109 transmits the position information detected by the detection unit 108 a to the drive control apparatus 102 using the control power supply voltage. That is, transmission of the position information detected by the detection unit 108 a to the drive control apparatus 102 is performed using the communication unit 109 and the signal line 12. The communication unit 109 operates using the control power supply voltage supplied via the control power supply line 13 when the drive control device 102 is powered on.
  • Battery power supply voltage monitoring unit 110 monitors whether or not the level of battery power supply voltage ⁇ V B104 has dropped below threshold level Vth1. Further, the battery power supply voltage monitor unit 110 operates using the supplied battery power supply voltage.
  • the voltage drop level correction unit 111 identifies the change amount ⁇ Vg of the ground voltage due to the impedance of the ground line 14, and corrects the threshold level Vth1 according to the change amount ⁇ Vg. For example, the voltage drop level correction unit 111 corrects the threshold level Vth1 so that the change amount ⁇ Vg is canceled.
  • the voltage drop level correction unit 111 has a function of receiving dummy data, which will be described later, via the communication unit 109, and a function of returning a response to the drive control device 102 immediately after receiving the dummy data.
  • 5 has a signal terminal 122, a power terminal 123, a power terminal 125, a ground terminal 124, a communication unit 126, a position information acquisition unit 127, and a correction voltage calculation unit 128.
  • the signal line 12 in the cable 5 is connected to the signal terminal 122. Accordingly, the drive control device 102 exchanges signals with the position detector 104 via the signal terminal 122 and the signal line 12.
  • the control power line 13 in the cable 5 is connected to the power terminal 123.
  • the drive control apparatus 102 supplies the control power supply voltage to the position detector 104 via the power supply terminal 123 and the control power supply line 13.
  • the battery power line 15 in the cable 5 is connected to the power terminal 125.
  • the drive control apparatus 102 supplies the battery power supply voltage supplied from the battery power supply 6 via the cable 7 to the position detector 104 via the power supply terminal 125 and the battery power supply line 15.
  • the ground line 14 in the cable 5 is connected to the ground terminal 124.
  • the drive control apparatus 102 supplies a ground voltage to the position detector 104 via the ground terminal 124 and the ground line 14.
  • the communication unit 126 communicates with the position detector 104 via the signal terminal 122 and the signal line 12.
  • the position information acquisition unit 127 acquires information on the position detected by the detection unit 108 a from the position detector 104 via the communication unit 126.
  • the correction voltage calculation unit 128 transmits dummy data to the position detector 104 via the communication unit 126 in order to measure the length of the cable 5.
  • the voltage drop level correction unit 111 of the position detector 104 receives dummy data via the communication unit 109, and returns a response to the drive control apparatus 102 as soon as the dummy data is received.
  • the correction voltage calculation unit 128 confirms a reply from the position detector 104 via the communication unit 126.
  • the correction voltage calculation unit 128 measures the time from the transmission of its own dummy data to the confirmation of the reply. At this time, by storing the communication speed of the signal in advance in the correction voltage calculation unit 128 and the like, the correction voltage calculation unit 128 multiplies the time obtained by the measurement and the communication speed, thereby increasing the length of the cable 5. Can be calculated.
  • the correction voltage calculation unit 128 can multiply the impedance specification value by the calculated length of the cable 5 to obtain the ground The impedance of line 14 can be estimated.
  • the correction voltage calculation unit 128 has an assumed load current value of the internal control power supply supplied to the position detector 104 via the control power supply line 13 and the ground line 14, and the estimated load current value is estimated first. It is possible to obtain the change amount ⁇ Vg of the potential generated at both ends of the ground line 14 by multiplication with the impedance of the ground line 14 thus obtained.
  • the correction voltage calculation unit 128 assumes that the change amount ⁇ Vg is equal to the correction value for the battery power supply voltage monitoring unit 110 in the position detector 104.
  • the correction voltage calculation unit 128 transmits the calculated correction value ⁇ Vg to the position detector 104 via the communication unit 126.
  • the voltage drop level correction unit 111 of the position detector 104 receives the correction value ⁇ Vg via the communication unit 109, thereby specifying the correction value ⁇ Vg as a change amount of the ground voltage due to the impedance of the ground line.
  • the voltage drop level correction unit 111 corrects the threshold level Vth1 according to the specified change amount ⁇ Vg. For example, the voltage drop level correction unit 111 corrects the threshold level Vth1 so that the change amount ⁇ Vg is canceled.
  • the voltage drop level correction unit 111 corrects the threshold level Vth1 to increase by ⁇ Vg.
  • the voltage drop level correction unit 111 sets the threshold level Vth1 to ⁇ Vg ⁇ ⁇ ( ⁇ is a coefficient determined according to the difference between the impedance specification value of the control power supply line 13 and the impedance specification value of the ground line 14). Correct to increase.
  • the drive control device 102 sends dummy data to the position detector 104, and the position detector 104 returns the data to the drive control device 102 immediately after receiving the dummy data.
  • the drive control device 102 calculates the length of the cable 5 by counting the time from transmission of dummy data to receiving a reply and multiplying it by the transmission speed of a signal stored in advance. Then, by specifying a specification other than the length for the cable 5 that can be used as a constraint condition for the user, the drive control device 102 can specify the impedance specification value (unit: ⁇ / m) of the cable 5.
  • the impedance of the cable 5 can be obtained by multiplying the impedance specification value by the calculated length of the cable 5.
  • the drive control apparatus 102 has load current data (a constant value) of the internal control power supply supplied to the position detector 104, and the threshold voltage level Vth1 of the battery power supply voltage is expressed by (cable impedance) ⁇ (load current). It is possible to obtain the correction value ⁇ Vg.
  • the threshold level Vth1 used by the battery power supply voltage monitor unit 110 of the position detector 104 is further increased. It becomes possible to correct to an appropriate value, and it becomes possible to detect a decrease in battery power supply voltage more accurately.
  • the voltage drop level correction unit 111 is provided until immediately before the battery power supply 6 reaches a voltage drop due to the lifetime.
  • the threshold level Vth1 is corrected so as to permit the use of the battery power supply 6.
  • the voltage drop level correction unit 111 corrects the threshold level Vth1 so that the change amount ⁇ Vg of the ground voltage due to the impedance of the ground line 14 is canceled. Thereby, the margin until it determines with the battery power supply 6 being a lifetime can be reduced, and the battery power supply 6 can be extended in practical use.
  • Embodiment 2 a motor drive control system 200 according to the second embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1.
  • FIG. 1 a motor drive control system 200 according to the second embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1.
  • the drive control device 202 in the motor drive control system 200 includes a battery power supply voltage monitor unit 229 and a correction voltage calculation unit 228 as shown in FIG.
  • the battery power supply voltage monitoring unit 229 monitors whether or not the level of the battery power supply voltage ⁇ V B202 on the drive control device 202 side has decreased below the threshold level Vth2.
  • the threshold level Vth2 is a threshold level determined so as to detect a decrease in the battery power supply voltage before the position detector 104 in relation to the threshold level Vth1 on the position detector 104 side. Further, the battery power supply voltage monitoring unit 229 operates using the supplied battery power supply voltage.
  • the correction voltage calculation unit 228 specifies the change amount ⁇ Vg of the ground voltage due to the impedance of the ground line 14, and corrects the threshold level Vth2 according to the change amount ⁇ Vg. For example, the correction voltage calculation unit 228 corrects the threshold level Vth2 so that the value is larger by the change amount ⁇ Vg than the threshold level Vth1 in the position detector 104.
  • the threshold level Vth2 on the drive control device 202 side is the position detection.
  • Embodiment 3 a motor drive control system 300 according to the third embodiment will be described. Below, it demonstrates centering on a different part from Embodiment 2. FIG.
  • the drive control device 302 in the motor drive control system 300 includes a control unit 341 as shown in FIG.
  • the control unit 341 the detection timing of the battery power supply voltage drop by the battery power supply voltage monitor unit 110 of the position detector 104 is earlier than the detection timing of the battery power supply voltage drop by the battery power supply voltage monitor unit 229 of the drive control device 302. It is judged whether it becomes (it becomes contrary to a specification).
  • the control unit 341 detects, for example, the battery power supply voltage drop detection result by the battery power supply voltage monitor unit 110 and the battery power supply voltage monitor unit 229. Both are valid.
  • the control unit 341 for example, outputs one of the detection results of the battery power supply voltage drop by the battery power supply voltage monitor unit 110 and the battery power supply voltage monitor unit 229. Disable and enable the other. Thereby, it can suppress that the order of a voltage drop detection reverses, and can satisfy
  • the drive control device 302 may further include a notification unit 342 as shown in FIG.
  • the notification unit 342 notifies the decrease in the battery power supply voltage according to the monitoring result by the battery power supply voltage monitoring unit 110 and the monitoring result by the battery power supply voltage monitoring unit 229.
  • the notification unit 342 may perform notification of a decrease in battery power supply voltage, for example, by displaying it on a display or the like, for example, by turning on an LED or the like, or by outputting a voice message, for example. For example, it may be performed by outputting a warning sound.
  • the control unit 341 permits the notification by the notification unit 342, and the detection timing of the decrease in the battery power supply voltage is reverse to the specification. In this case, the notification by the notification unit 342 may be canceled. Thereby, the reliability of the alerting
  • the motor drive control system according to the present invention is useful for driving a motor.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Electric Motors In General (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

Selon l'invention, le détecteur de position est utilisé comme un détecteur de position dans un système de régulation d'entraînement de moteur dans lequel un dispositif de régulation d'entraînement entraîne un moteur en fonction d'une commande de position provenant d'un dispositif de niveau supérieur et d'informations sur une position détectée par le détecteur de position, le détecteur de position comprenant : une unité de détection pour détecter la position du moteur ; une unité de détention pour détenir les informations sur la position détectée par l'unité de détection pour la sauvegarde à l'aide d'une tension d'alimentation électrique de batterie fournie de manière externe par l'intermédiaire d'une ligne d'alimentation électrique de batterie ; une unité de transmission pour transmettre les informations sur la position détectée par l'unité de détection au dispositif de régulation d'entraînement à l'aide d'une tension d'alimentation électrique de batterie fournie de manière externe par l'intermédiaire d'une ligne d'alimentation électrique de régulation ; une unité de surveillance pour surveiller si un niveau de la tension d'alimentation électrique de batterie est inférieur ou non à un niveau de valeur de seuil ; une borne de terre, à laquelle une tension de terre est fournie de manière externe par l'intermédiaire d'une ligne de terre qui est commune à la ligne d'alimentation électrique de batterie et à la ligne d'alimentation électrique de régulation ; et une unité de correction pour déterminer la quantité de changement de la tension de terre par une impédance de la ligne de terre, et corriger le niveau de valeur de seuil selon la quantité de changement.
PCT/JP2011/068268 2011-08-10 2011-08-10 Détecteur de position, dispositif de régulation d'entraînement et système de régulation d'entraînement de moteur WO2013021483A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2011550340A JP4948685B1 (ja) 2011-08-10 2011-08-10 位置検出器、駆動制御装置、及びモータ駆動制御システム
PCT/JP2011/068268 WO2013021483A1 (fr) 2011-08-10 2011-08-10 Détecteur de position, dispositif de régulation d'entraînement et système de régulation d'entraînement de moteur
TW100142863A TW201308873A (zh) 2011-08-10 2011-11-23 位置檢測器、驅動控制裝置及馬達驅動控制系統

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/068268 WO2013021483A1 (fr) 2011-08-10 2011-08-10 Détecteur de position, dispositif de régulation d'entraînement et système de régulation d'entraînement de moteur

Publications (1)

Publication Number Publication Date
WO2013021483A1 true WO2013021483A1 (fr) 2013-02-14

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PCT/JP2011/068268 WO2013021483A1 (fr) 2011-08-10 2011-08-10 Détecteur de position, dispositif de régulation d'entraînement et système de régulation d'entraînement de moteur

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TW (1) TW201308873A (fr)
WO (1) WO2013021483A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7019429B2 (ja) * 2018-01-19 2022-02-15 新電元工業株式会社 モータ駆動システム、モータ駆動システムにおける信号補正方法および信号補正プログラム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0980522A (ja) * 1995-09-08 1997-03-28 Nikon Corp ブレ補正装置
JP2002374698A (ja) * 2001-06-14 2002-12-26 Nissan Motor Co Ltd 電動機の制御装置
US20070248338A1 (en) * 2004-07-07 2007-10-25 Hitachi Ltd., Motor Controlling Device for Mounting on Vehicle
JP2010088267A (ja) * 2008-10-02 2010-04-15 Mitsuba Corp ブラシレスモータの制御装置及び制御方法
JP2010139245A (ja) * 2008-12-09 2010-06-24 Nissan Motor Co Ltd 異常検出装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0980522A (ja) * 1995-09-08 1997-03-28 Nikon Corp ブレ補正装置
JP2002374698A (ja) * 2001-06-14 2002-12-26 Nissan Motor Co Ltd 電動機の制御装置
US20070248338A1 (en) * 2004-07-07 2007-10-25 Hitachi Ltd., Motor Controlling Device for Mounting on Vehicle
JP2010088267A (ja) * 2008-10-02 2010-04-15 Mitsuba Corp ブラシレスモータの制御装置及び制御方法
JP2010139245A (ja) * 2008-12-09 2010-06-24 Nissan Motor Co Ltd 異常検出装置

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TW201308873A (zh) 2013-02-16
JPWO2013021483A1 (ja) 2015-03-05

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