WO2015045549A1 - 駆動装置 - Google Patents
駆動装置 Download PDFInfo
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- WO2015045549A1 WO2015045549A1 PCT/JP2014/067952 JP2014067952W WO2015045549A1 WO 2015045549 A1 WO2015045549 A1 WO 2015045549A1 JP 2014067952 W JP2014067952 W JP 2014067952W WO 2015045549 A1 WO2015045549 A1 WO 2015045549A1
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- unit
- control
- direct current
- motor
- failure
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- 230000006870 function Effects 0.000 claims abstract description 71
- 238000003860 storage Methods 0.000 claims description 87
- 238000006243 chemical reaction Methods 0.000 claims description 62
- 238000012545 processing Methods 0.000 claims description 30
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- 238000001514 detection method Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
- 230000004044 response Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 abstract description 26
- 230000005856 abnormality Effects 0.000 description 7
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- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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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
- 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
- H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/34—Cabin temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/425—Temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Definitions
- the present invention relates to a drive device that performs drive control of a motor.
- An electric vehicle is mounted with a motor such as a three-phase alternating current motor as a power source, and a drive unit such as an inverter that controls the drive of the motor and a VCU (Vehicle Control Unit) that communicates with the drive unit and controls it. And higher level controllers.
- the host controller generates various command values (for example, values indicating the physical quantity of the output torque such as x [Nm]) such as a torque command to be given to the drive device according to the driver's operation.
- the drive device adjusts the AC power to be supplied to the motor in accordance with the command value supplied from the host controller.
- the host controller acquires various data stored in the memory of the drive device (for example, data representing current values such as output torque and rotational speed (rotational speed per unit time)), and based on these data It also executes processing to control display of various meters. Thereby, the driver can be made to grasp the state of the vehicle.
- the process of adjusting the power supplied to the motor according to the command value given from the host controller operates the CPU (Central Processing Unit: hereinafter control unit) of the drive according to a control program pre-installed in the drive.
- the functions realized by operating the control unit of the drive device in accordance with the control program are roughly classified into a motor control function and a function accompanying it (hereinafter referred to as an accompanying function).
- the motor control function is a function to control the operation of the motor in accordance with various command values given from the host controller.
- the accompanying function refers to a function for performing communication with a host controller and controlling peripheral devices.
- the host controller, various peripheral devices, various sensors attached to the motor and the drive device, various operation elements connected to the drive device, and the like will be referred to as "external devices”.
- specifications of an in-vehicle network that mediates communication between an external device and a driving device are generally different depending on a type of electric vehicle and a maker of a manufacturer. Therefore, it is preferable to be able to freely customize the accompanying functions according to the in-vehicle network of the electric vehicle on which the drive device is mounted, and for that purpose, it is necessary to disclose the contents of the control program to the manufacturer of the electric vehicle. For example, the source code of the control program is released to the manufacturer of the electric vehicle.
- the motor control function is elaborately devised specific to the drive device, and as a manufacturer of the drive device, it is preferable that the detailed contents of the motor control function can be concealed. However, when the contents of the control program are disclosed as described above, there is a problem that even the detailed contents of the motor control function are disclosed.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a technology that allows the accompanying function to be freely customized while concealing the detailed content of the motor control function.
- the present invention provides a drive device which has a power conversion part and a control part.
- the power conversion unit converts direct current power supplied from a direct current power supply into alternating current power and supplies the alternating current power to the motor.
- the control unit executes transmission and reception of data with an external device and operation control of the power conversion unit according to a control program.
- the control program includes the following first and second programs.
- the first program is a program that causes the control unit to operate as a core unit that carries the motor control function.
- the second program is a program that causes the control unit to function as a customization unit that carries an accompanying function that mediates transmission and reception of data between the external device and the core unit.
- the customization unit receives from the external device a command value specifying the operation state of the motor by a physical amount, converts the command value into a standardized command value using the reference value, and provides the same to the core unit.
- the external device includes a host controller that controls the operation of the drive device, various sensors such as a temperature sensor for measuring the temperature of the motor and the drive device, and various operators connected to the drive device. . Also, it is conceivable to use rated values, maximum allowable values, motor constants, etc. of various physical quantities as the above reference value, and if it is set as an operation parameter according to the type of motor etc. targeted for drive control. good.
- the control program is implemented by being divided into the first program for realizing the motor control function and the second program for realizing the accompanying function, so only the second program is implemented. It becomes possible to freely customize the accompanying function to the delivery destination of the drive device while disclosing the detailed processing content and concealing the detailed content of the motor control function.
- a software module that realizes the above standardization can be read as an API from within the second program.
- the core unit is a process of giving the customization unit the current value of the physical quantity representing the operation state of the motor, and a predetermined type of physical quantity uses a reference value determined according to the type of the physical quantity. And normalize and execute processing to be supplied to the customization unit, and the customization unit converts the standardized values among the current values received from the core unit into physical quantities using a reference value corresponding to the current values.
- Patent Document 1 discloses the invention of an inverter that can easily customize the application unit with high quality
- a standard such as percentage of data exchange between the core unit and the customization unit is disclosed. It does not describe what to do with the commercialized data. Therefore, the present invention is a technology different from the technology disclosed in the cited reference 1.
- a storage unit for storing a control program is provided in the drive device, and the first program and the second program are In addition to storing in different storage areas in the storage unit, the storage area in which the first program is written is subjected to access restriction (for example, access restriction prohibiting dumping of the first program). Can be mentioned.
- access restriction for example, access restriction prohibiting dumping of the first program.
- the source code file of the second program may be stored in the storage area where the second program is stored, in order to facilitate the disclosure of the processing content of the accompanying function and the customization.
- a table storing data for converting the output data of the sensor into the physical quantity is used as an access restriction Is stored in a storage area (storage area in the above storage unit) which has not been multiplied, and the control unit operating according to the control program converts the output data of the sensor into physical quantity according to the storage content of the table
- the table stores data for correcting output characteristics specific to each sensor.
- the delivery destination of the drive can freely customize the stored contents of the table. According to this aspect, it is possible to make the delivery destination of the sensor freely and easily correct the output characteristics of the sensor.
- data representing a failure determined as a detection target among failures occurring in the motor or the power conversion unit and data representing processing to be executed by the control unit when occurrence of the failure is detected
- the table stored in association is stored in a storage area (a storage area in the storage unit) which is not subjected to access restriction, and the control unit operating according to the control program generates the failure of the detection target. In the case where the above is detected, it is conceivable to execute a process that is determined according to the stored contents of the table.
- the drive unit when the drive unit is mounted on an electric vehicle and used for drive control of the motor, which one of the faults generated in the motor or the power conversion unit is to be detected, and for ensuring safety when a fault occurs
- the specific contents of the processing to be performed are generally different depending on the delivery destination of the drive (manufacturer manufacturing the electric vehicle) or the type of vehicle on which the drive is mounted. It is preferable that the delivery destination can be freely customized. According to this aspect, it is possible to meet such needs while concealing the content of the program for motor control.
- an initial charging circuit for gently initial charging a capacitor provided in the transmission path of DC power from the DC power source to the own device in either one of the core portion and the customization portion
- a function to perform control according to an instruction given from an external device is given.
- a first switch interposed between one terminal of a DC power supply and one plate of a capacitor, and a series switch between the same switch and the same plate
- a circuit comprising a second switch and a resistor interposed therebetween.
- the drive unit When the drive unit is mounted on an electric vehicle provided with such an initial charge circuit and the drive control of the motor is performed by the drive unit, is the operation control of the initial charge circuit performed by a host controller or a drive unit? Is generally different for each manufacturer of the vehicle manufacturer, and it is preferable to be able to freely customize whether or not to use the function according to the needs of the manufacturer. According to this aspect, it is possible to meet such needs.
- FIG. 17 is a diagram showing an example of processing executed by the control unit 210 of the drive device 20 according to the communication control library 2542 and the power conversion unit control library 2544. It is a figure which shows an example of the output characteristic correction table of modification (1) of this invention. It is a figure which shows an example of the safety protection table of the modification (2) of this invention. It is a figure which shows an example of the initial stage charging circuit of the modification (3) of this invention.
- FIG. 1 is a view showing a configuration example of a motor drive control system 1 including a drive device 20 which is an embodiment of a drive device of the present invention.
- the motor drive control system 1 is a system installed in an electric vehicle. As shown in FIG. 1, the motor drive control system 1 includes an electric motor 30 which is a power source of an electric vehicle, a drive device 20 which performs drive control of the electric motor 30, and a host controller 10 such as a VCU.
- the host controller 10 is connected to the drive device 20 via a signal line such as a twisted pair cable. Further, the host controller 10 is connected to various operators (or sensors provided on the operators) for driving the vehicle such as an accelerator plate and various meters such as a speedometer (not shown in FIG. 1). ). The host controller 10 generates a command value M for specifying the output torque or the rotational speed of the motor 30 as a physical quantity according to the operation performed on the various operators described above and supplies the command value M to the drive device 20. Data D representing the current values of the physical quantities of torque and rotational speed is received from the drive device 20, and display control of the meters is performed according to the data D.
- the driving device 20 is, for example, an inverter, converts direct current power supplied from a direct current power source (not shown in FIG. 1) such as a vehicle-mounted battery into alternating current power PW and applies it to the motor 30.
- the drive device 20 includes a control unit that executes a control program installed in advance, and a memory used as a work area when executing the control program. In the present embodiment, by causing the control unit to execute the control program, a process of controlling the AC power PW to be applied to the motor 30 in accordance with the various commands M supplied from the upper controller 10 is realized.
- the functions realized by operating the control unit according to the control program are roughly classified into the above-described motor control function and the accompanying function.
- the accompanying function in this embodiment refers to the function of performing data communication with the host controller 10 via a signal line.
- the drive device 20 of the present embodiment is configured to be able to freely customize the accompanying function while concealing the detailed content of the motor control function, and this point is a feature of the present embodiment. The following description will focus on the driving device 20 that shows the features of the present embodiment.
- FIG. 2 is a view showing a configuration example of the drive device 20.
- the drive device 20 includes a control unit 210, a communication I / F unit 220, a power conversion unit 230, a storage unit 250, and a bus 260 that mediates the exchange of data between these components.
- the control unit 210 is, for example, a CPU.
- the control unit 210 functions as a control center of the drive device 20 by executing a program stored in the storage unit 250 (more precisely, the non-volatile storage unit 254).
- the communication I / F unit 220 is, for example, a NIC (Network Interface Card).
- the communication I / F unit 220 is connected to the host controller 10 via a communication line.
- the communication I / F unit 220 receives various commands M transmitted from the upper controller 10 through the communication line and delivers them to the control unit 210, while transmitting various data D delivered from the control unit 210 to the communication line To the host controller 10 via
- the power conversion unit 230 is connected to the DC power supply and the motor 30 described above.
- Power conversion unit 230 includes a switching element such as an IGBT (not shown in FIG. 2).
- conversion of DC power supplied from the DC power supply into AC power PW is realized by switching (switching on / off) of the switching elements.
- the on / off control unit of the switching element included in the power conversion unit 230 is performed by the control unit 210.
- the storage unit 250 includes a volatile storage unit 252 and a non-volatile storage unit 254.
- the volatile storage unit 252 is a RAM.
- the volatile storage unit 252 is used by the control unit 210 as a work area when executing various programs.
- the nonvolatile memory unit 254 is a flash ROM and an EEPROM (Electrically Erasable Programmable Read-Only). Memory). As shown in FIG. 2, the non-volatile storage unit 254 stores in advance software libraries (the communication control library 2542 and the power conversion unit control library 2544) which play the role of the control program described above.
- the communication control library 2542 and the power conversion unit control library 2544 are stored in different storage areas in the flash ROM. Further, in the non-volatile storage unit 254, operation parameters representing predetermined reference values for the output torque and the rotational speed of the motor 30 are stored, and these operation parameters are stored in the EEPROM.
- the rated value or the maximum allowable value for each of the output torque and the rotational speed of the motor 30 is used as the reference value.
- the communication control library 2542 is a collection of programs for causing the control unit 210 to realize the function of communicating with the upper controller 10 (that is, the above-described accompanying function).
- the power conversion unit control library 2544 causes the control unit 210 to execute the function of controlling the operation of the power conversion unit 230 (that is, the above-described motor control function) in accordance with various commands M given from the upper controller 10.
- It is a collection of programs.
- the programs included in the communication control library 2542 and the programs included in the power conversion unit control library 2544 are all programs created by the manufacturer of the drive device 20 and implemented by the drive device 20 and provided. There are the following differences in the implementation method.
- Each program included in the power conversion unit control library 2544 is a program that causes the control unit 210 to function as a core unit that realizes the operation control of the power conversion unit 230.
- each program included in the power conversion unit control library 2544 only the executable file is stored in a predetermined storage area of the flash ROM, and the program identifier for calling the program is stored in the electric vehicle maker. Only the specification of the argument at the time of invocation is published. As an example of the said argument, the command value which designates the output torque and rotational speed of the motor 30 is mentioned.
- a value normalized using the reference value described above as the command value in the present embodiment, a percentage when the reference value corresponds to 100%) is used.
- the power conversion unit control library 2544 includes software modules for realizing mutual conversion of the command value of physical quantity and the command value of percentage, and these software modules can also be read as an API (hereinafter, mutual conversion API) Is implemented.
- mutual conversion API This conceals the motor constant and rated value etc. from the above-mentioned electric car manufacturer, and standardizes the input value check regarding the command value so that it can cope with various kinds of electric motors only by changing the setting of the reference value. It is for. For example, if the rated value is used as the reference value and the input value check is defined to allow input up to 1.5 times the rated value (that is, 150%), each power conversion unit control library 2544 is included. It is possible to cope with a 100 W drive motor and a 200 W drive motor without rewriting the program.
- a storage area (a storage area stored in the power conversion control library 2544 in the flash ROM) and a storage area (EEPROM) in which the operation parameter is stored
- the control unit 210 is configured to cut off the power of the drive device 20 and forcibly stop when it detects an access to dump the storage contents of the storage area.
- the existing technology may be appropriately used as a method of realizing such access restriction. In the present embodiment, since the above-described access restriction is applied to the storage area stored in the power conversion unit control library 2544 in the non-volatile storage unit 254, unauthorized reading of the power conversion unit control library 2544 is prevented.
- the processing content of the motor control function can be concealed. Further, since the same access restriction is applied to the storage area in which the operation parameter is stored, the rated value etc. of the motor to be controlled can be concealed to make it difficult to analogize the processing content of the motor control function. .
- Each program included in the communication control library 2542 is a program that causes the control unit 210 to function as a customization unit appropriately customized for each in-vehicle network of the electric vehicle on which the drive device 20 is mounted.
- the customization unit converts the command value of the physical amount received from the host controller 10 into a percentage amount using the mutual conversion API, and gives it to the core unit.
- the core unit converts the command value of the percent amount given from the customization unit into a physical quantity using the above-mentioned mutual conversion API so that the output torque or rotational speed of the physical quantity can be obtained.
- the operation control of the power conversion unit 230 is performed.
- the command value of the physical quantity is abbreviated as “finger”
- the command value of the percentage amount is abbreviated as “finger (%)”.
- a special access restriction is not applied to the storage area stored in the communication control library 2542 in the nonvolatile storage unit 254 (the storage area stored in the communication control library 2542 in the flash ROM).
- a so-called execution type file load so that the communication control library 2542 can be customized according to the specifications of the in-vehicle network mounted on the electric vehicle by a manufacturer or the like who incorporates the drive device 20 and manufactures the electric vehicle.
- source code is stored. By appropriately rewriting and compiling this source code, the maker can reconstruct the communication control library 2542 and freely customize the accompanying functions.
- the control program of the drive device 20 is divided into the communication control library 2542 and the power conversion unit control library 2544 and implemented, and the source code is released only for the former. While concealing the content of the power conversion unit control library 2544 (that is, the content of the motor control function), the accompanying function can be freely customized by the manufacturer of the electric vehicle. In addition, according to the present embodiment, since various operation parameters such as motor constants and rated values are concealed from the manufacturer of the electric vehicle, the degree of concealment of the contents of the motor control function can be further enhanced. it can.
- the upper torque controller 10 gives the drive device 20 a command value of the physical quantity that directly specifies the output torque or rotational speed of the motor 30, but the magnitude of the driving operation such as the accelerator opening degree Such as a command value of a physical quantity that indirectly specifies the output torque or rotational speed of the motor 30 from the host controller 10 to the drive device 20, and converting such a command value into a percentage using an API You may make it run.
- the command value of the physical amount received from the host controller 10 is converted into a percentage amount using the mutual conversion API, and the process of giving the conversion result to the core unit is executed by the customization unit
- the processing of converting the command value of the percent amount given from the customization unit into a physical quantity using the mutual conversion API and executing the process used to control the operation of the power conversion unit 230 is performed.
- the core unit is made to execute processing for converting the current flowing in the motor 30 and the current value of the rotational speed of the motor 30 into percentage amounts and giving them to the customization unit, and the customization unit is standardized.
- the current value may be converted into a physical quantity using the mutual conversion API and processing may be performed on the upper controller.
- a temperature sensor for example, an NTC thermistor for detecting the temperature of the motor 30 or the power conversion unit 230 is connected to the drive device 20 as an external device, and the measurement result by this temperature sensor is given to the host controller 10 and used for failure detection. It may be used for display of a meter or the like.
- a conversion table storing data representing the correspondence (see FIG. 4) between the output data of the sensor and the physical quantity to be detected in order to correct the output characteristics of each sensor It is common to use. Note that FIG. 4 illustrates a graph showing the correspondence between the A / D conversion result of the output data of the NTC thermistor and the measured temperature when the temperature is measured using the NTC thermistor.
- the storage area in the non-volatile storage unit 254 is subjected to the same access restriction as the storage area not subjected to access restriction.
- the conversion table may be stored in any of the stored storage areas, but the conversion table is preferably stored in a storage area not subjected to access restriction.
- a predetermined one of current values (output torque, rotational speed, temperature of the motor 30) of physical quantities representing the operating state of the motor 30 is determined.
- the type of physical quantity (output torque and rotational speed) is standardized using a reference value determined according to the type of the physical quantity, and given to the customization unit, and the other types of current values (temperature in this modification) are It is sufficient to cause the core unit to execute the processing to be given to the customization unit with the physical amount.
- the customizing unit may be made to execute processing of converting standardized ones of the current values received from the core unit into physical quantities using a reference value corresponding to the current values.
- abnormality detection such as temperature abnormality of the electric motor 30 or IGBT failure of the power conversion unit 230 is performed, and control for ensuring safety is performed according to the contents of the detected abnormality.
- control for ensuring safety three types of operating states of the drive device 20 are prepared as a normal state, a light failure state and a serious failure state, and according to the content of the detected abnormality. Switching the operation state of the drive device 20 can be mentioned.
- the normal state refers to a state in which the motor 30 is driven without any particular limitation on the output torque or rotational speed
- the light failure state refers to a state in which the output torque or rotational speed is limited to the rated value or less. Is a state in which the drive of the motor 30 is stopped.
- the type of abnormality detected in drive device 20 and the control content when abnormality is detected are also generally different depending on the type and specification of the electric vehicle on which drive device 20 is mounted. It is preferable that the manufacturer can customize it freely. Therefore, in the non-volatile storage unit 254, a table (hereinafter referred to as a protection table) shown in FIG. 5 and a program for realizing control for ensuring safety according to the update of the storage content of the protection table and the storage content Among the storage areas of the above, it may be stored in a storage area not subjected to access restriction.
- a failure code and a valid / invalid flag for each content of failure to be detected (in the example shown in FIG. 5, three types: IGBT failure, fuse cut, and initial charging circuit abnormality). , Processing pattern, priority, detection count, and event log flag data are stored.
- the failure code in FIG. 5 is an identifier indicating the content of failure
- the valid / invalid flag is a flag indicating whether the content of failure corresponding to the valid / invalid flag is to be detected or not. If the value of the flag is "1", the detection target is indicated, and if the value of the valid / invalid flag is "0", the detection target is not detected.
- the processing pattern is an identifier indicating the content of processing to be executed by the control unit 210 when the failure content associated with the processing pattern is detected.
- the priority represents the severity of the fault content associated with the priority (whether the operating state should be a minor failure state or a major failure state).
- the number of detections represents the number of detections of the failure content associated with the number of detections.
- an event log flag shows whether detection of the said failure content is recorded on a log, when the failure content matched with the said event log flag is detected.
- the capacitor 50 is provided in the transmission path of DC power from the DC power supply 40 to the drive device 20, and the capacitor 50 is In many cases, an initial charging circuit 60 for initial charging is provided.
- the initial charging circuit 60 in FIG. 6 includes a first switch 610 interposed between one terminal (a positive electrode terminal in the example shown in FIG. 6) of the DC power supply 40 and one plate of the capacitor 50; It is a circuit comprising a second switch 620 and a resistor 630 interposed in series between the terminal and the same pole plate.
- the second switch 620 is turned on, and charging of the capacitor 50 is started via the resistor 630.
- the second switch 620 is turned off and the first switch 610 is turned on in response to the passage of a predetermined time from the start of charging or the fact that the voltage between the plates of the capacitor 50 has reached a predetermined value. is there.
- either the core unit or the customization unit may perform a function of performing operation control of the initial charging circuit in accordance with an instruction given from an external device (an upper controller or an operation element connected to a drive device). Further, whether or not to use the control function of the initial charging circuit may be switched depending on the setting of the operation parameter.
- the interface of each program included in the power conversion unit control library 2544 (program identifier and It is not essential to store the source code in the non-volatile storage unit 254, since it is possible to develop a program corresponding to the communication control library 2542 if the argument) is released. Further, in the above embodiment, among the storage areas in the flash memory included in the non-volatile storage unit 254, the storage area in which the power conversion unit control library 2544 is stored is subject to access restriction that prohibits dumping of data.
- each program included in the power conversion unit control library 2544 is encrypted and stored in the non-volatile storage unit 254, and the processing content of the motor control function is performed by performing decryption after each execution of the programs. You may realize secrecy. Further, the control program is divided into a program for realizing the motor control function and a program for realizing the accompanying function, and stored in the non-volatile storage unit 254. Is not essential.
- the operation parameter storage destination it is not essential to restrict the access to the storage area of the operation parameter storage destination.
- at least a part of the operation parameters are copied to a storage area not subjected to access restriction so that the manufacturer of the electric vehicle can freely update, and the operation parameters stored in the storage area
- the maker may freely set which of the operation parameters stored in the storage area to which the access restriction is applied is to be given priority. According to such an aspect, it is possible to finely adjust the degree of concealment of the operation parameter or finely adjust the degree of customization by the manufacturer of the electric vehicle.
- SYMBOLS 1 Motor drive control system, 10 ... High-order controller, 20 ... Drive device, 210 ... Control part, 220 ... Communication I / F part, 230 ... Power conversion part, 250 ... Storage part, 252 ... Volatile storage part, 254 ... Nonvolatile storage unit 2542 communication control library 2544 power conversion unit control library 260 bus 30 motor 40 DC power source 50 capacitor 60 initial charge circuit 610, 620 switch 630 resistance.
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Abstract
Description
(A:構成)
図1は、本発明の駆動装置の一実施形態である駆動装置20を含む電動機駆動制御システム1の構成例を示す図である。この電動機駆動制御システム1は、電気自動車内に敷設されるシステムである。図1に示すように、電動機駆動制御システム1は、電気自動車の動力源たる電動機30と、電動機30の駆動制御を行う駆動装置20と、VCUなどの上位コントローラ10とを含んでいる。
図2に示すように駆動装置20は、制御部210、通信I/F部220、電力変換部230、記憶部250、およびこれら構成要素間のデータ授受を仲介するバス260を含んでいる。制御部210は、例えばCPUである。制御部210は記憶部250(より正確には不揮発性記憶部254)に記憶されているプログラムを実行することにより駆動装置20の制御中枢として機能する。通信I/F部220は、例えばNIC(Network Interface Card)である。通信I/F部220は通信線を介して上位コントローラ10に接続されている。通信I/F部220は、上記通信線を介して上位コントローラ10から送信されてくる各種指令Mを受信して制御部210に引き渡す一方、制御部210から引き渡された各種データDを上記通信線を介して上位コントローラ10へ送信する。
Memory)とを含んでいる。図2に示すように不揮発性記憶部254には、前述した制御プログラムの役割を果たすソフトウェアライブラリ(通信制御ライブラリ2542および電力変換部制御ライブラリ2544)が予め格納されている。
以上本発明の実施形態について説明したが、この実施形態に以下の変形を加えても勿論良い。
(1)上記実施形態では、電動機30の出力トルクまたは回転速度を直接指定する物理量の指令値が上位コントローラ10から駆動装置20に与えられる場合について説明したが、アクセル開度など運転操作の大きさなど電動機30の出力トルクまたは回転速度を間接的に指定する物理量の指令値を上位コントローラ10から駆動装置20に与え、このような指令値をAPIを用いてパーセント量に変換する処理をカスタマイズ部に実行させるようにしても良い。また、上記実施形態では、上位コントローラ10から受け取った物理量の指令値を相互変換APIを用いてパーセント量に変換し、その変換結果をコア部に与える処理をカスタマイズ部に実行させ、コア部には、カスタマイズ部から与えられたパーセント量の指令値を相互変換APIを用いて物理量に変換して電力変換部230の作動制御に利用する処理を実行させた。これに加えて、コア部には、電動機30に流れている電流や電動機30の回転速度の現在値をパーセント量に変換してカスタマイズ部に与える処理を実行させ、カスタマイズ部には、規格化された現在値については相互変換APIを用いて物理量に変換して上位コントローラに与える処理を実行させても良い。
Claims (20)
- 直流電源から供給される直流電力を交流電力に変換して電動機に与える電力変換部と、
外部機器とのデータの送受信および前記電力変換部の作動制御を制御プログラムにしたがって実行する制御部と、を有し、
前記制御プログラムには、
前記電動機の動作状態を指定する指令値であって、当該動作状態における物理量を予め定められた基準値で規格化して得られる値を示す指令値を受け取り、当該指令値と前記基準値とから求まる物理量に応じて前記電動機の作動制御を行うコア部として前記制御部を機能させる第1のプログラムと、
前記電動機の動作状態を物理量で指定する指令値を前記外部機器から受け取り、前記基準値を用いて規格化した指令値に変換して前記コア部に与えるカスタマイズ部として前記制御部を機能させる第2のプログラムと、が含まれる
ことを特徴とする駆動装置。 - 前記コア部は、前記電動機の動作状態を表す物理量の現在値を前記カスタマイズ部に与える処理であって、予め定められた種類の物理量については当該物理量の種類に応じて定められた前記基準値を用いて規格化して前記カスタマイズ部に与える処理を実行し、前記カスタマイズ部は、前記コア部から受け取った現在値のうち規格化されているものを当該現在値に対応する基準値を用いて物理量に変換することを特徴とする請求項1に記載の駆動装置。
- 前記制御プログラムの記憶された記憶部を備え、
前記第1のプログラムと前記第2のプログラムは、前記記憶部における各々異なる記憶領域に書き込まれており、前記第1のプログラムの書き込まれている記憶領域にはアクセス制限がかけられていることを特徴とする請求項1または請求項2の何れか1項に記載の駆動装置。 - 前記記憶部において前記第2のプログラムの記憶されている記憶領域には、前記第2のプログラムのソースコードファイルが格納されていることを特徴とする請求項3に記載の駆動装置。
- 前記外部機器には、前記電動機または前記電力変換部の動作状態を表す物理量の現在値を計測するセンサが含まれ、
前記記憶部内の記憶領域のうちアクセス制限を掛けられていない記憶領域には、前記センサの出力データを物理量に変換するためのデータを格納したテーブルが記憶されており、前記制御プログラムにしたがって作動している前記制御部は、当該テーブルの格納内容にしたがって前記センサの出力データを物理量に変換することを特徴とする請求項3に記載の駆動装置。 - 前記外部機器には、前記電動機または前記電力変換部の動作状態を表す物理量の現在値を計測するセンサが含まれ、
前記記憶部内の記憶領域のうちアクセス制限を掛けられていない記憶領域には、前記センサの出力データを物理量に変換するためのデータを格納したテーブルが記憶されており、前記制御プログラムにしたがって作動している前記制御部は、当該テーブルの格納内容にしたがって前記センサの出力データを物理量に変換することを特徴とする請求項4に記載の駆動装置。 - 前記記憶部内の記憶領域のうちアクセス制限を掛けられていない記憶領域には、前記電動機または前記電力変換部に発生する故障のうち検出対象として定められた故障を表すデータと当該故障の発生を検出した場合に前記制御部に実行させる処理を表すデータとを対応付けて記憶したテーブルが記憶されており、前記制御プログラムにしたがって作動している前記制御部は、当該検出対象の故障の発生を検出した場合には当該テーブルの格納内容に応じて定まる処理を実行することを特徴とする請求項3に記載の駆動装置。
- 前記記憶部内の記憶領域のうちアクセス制限を掛けられていない記憶領域には、前記電動機または前記電力変換部に発生する故障のうち検出対象として定められた故障を表すデータと当該故障の発生を検出した場合に前記制御部に実行させる処理を表すデータとを対応付けて記憶したテーブルが記憶されており、前記制御プログラムにしたがって作動している前記制御部は、当該検出対象の故障の発生を検出した場合には当該テーブルの格納内容に応じて定まる処理を実行することを特徴とする請求項4に記載の駆動装置。
- 前記記憶部内の記憶領域のうちアクセス制限を掛けられていない記憶領域には、前記電動機または前記電力変換部に発生する故障のうち検出対象として定められた故障を表すデータと当該故障の発生を検出した場合に前記制御部に実行させる処理を表すデータとを対応付けて記憶したテーブルが記憶されており、前記制御プログラムにしたがって作動している前記制御部は、当該検出対象の故障の発生を検出した場合には当該テーブルの格納内容に応じて定まる処理を実行することを特徴とする請求項5に記載の駆動装置。
- 前記記憶部内の記憶領域のうちアクセス制限を掛けられていない記憶領域には、前記電動機または前記電力変換部に発生する故障のうち検出対象として定められた故障を表すデータと当該故障の発生を検出した場合に前記制御部に実行させる処理を表すデータとを対応付けて記憶したテーブルが記憶されており、前記制御プログラムにしたがって作動している前記制御部は、当該検出対象の故障の発生を検出した場合には当該テーブルの格納内容に応じて定まる処理を実行することを特徴とする請求項6に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項1に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項2に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項3に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項4に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項5に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項6に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項7に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項8に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項9に記載の駆動装置。
- 前記コア部と前記カスタマイズ部の何れか一方は、前記直流電源から自装置に至る直流電力の伝送経路に設けられているキャパシタを緩やかに初期充電するための初期充電回路の作動制御を前記外部機器から与えられる指示に応じて行う機能を有していることを特徴とする請求項10に記載の駆動装置。
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EP14846826.7A EP3051368B1 (en) | 2013-09-27 | 2014-07-04 | Drive device |
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EP (1) | EP3051368B1 (ja) |
JP (1) | JP6037032B2 (ja) |
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US20220137620A1 (en) * | 2016-03-18 | 2022-05-05 | Transportation Ip Holdings, Llc | Communication status system and method |
KR20170115696A (ko) * | 2016-04-08 | 2017-10-18 | 엘에스산전 주식회사 | 인버터 시스템 |
US10480313B2 (en) * | 2017-06-19 | 2019-11-19 | Baker Hughes, A Ge Company, Llc | Multicolor fluorescent silica nanoparticles as tracers for production and well monitoring |
JP6821101B1 (ja) * | 2019-09-12 | 2021-01-27 | 三菱電機株式会社 | 数値制御装置 |
CN112416618A (zh) * | 2020-11-19 | 2021-02-26 | 青岛海尔科技有限公司 | 应用层数据的传输方法及装置、存储介质、电子装置 |
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JP6037032B2 (ja) | 2016-11-30 |
EP3051368B1 (en) | 2021-02-03 |
JPWO2015045549A1 (ja) | 2017-03-09 |
CN105122155B (zh) | 2017-07-11 |
CN105122155A (zh) | 2015-12-02 |
EP3051368A4 (en) | 2017-03-15 |
US20160036369A1 (en) | 2016-02-04 |
US9654047B2 (en) | 2017-05-16 |
EP3051368A1 (en) | 2016-08-03 |
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