WO2015147019A1 - Amplificateur de puissance pour servomoteur - Google Patents

Amplificateur de puissance pour servomoteur Download PDF

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Publication number
WO2015147019A1
WO2015147019A1 PCT/JP2015/059007 JP2015059007W WO2015147019A1 WO 2015147019 A1 WO2015147019 A1 WO 2015147019A1 JP 2015059007 W JP2015059007 W JP 2015059007W WO 2015147019 A1 WO2015147019 A1 WO 2015147019A1
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WO
WIPO (PCT)
Prior art keywords
phase
current
coil
phase coil
detection
Prior art date
Application number
PCT/JP2015/059007
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English (en)
Japanese (ja)
Inventor
新家一朗
市川純文
小林清志
Original Assignee
株式会社ソディック
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
Priority claimed from JP2014060194A external-priority patent/JP2015186340A/ja
Priority claimed from JP2014060213A external-priority patent/JP5871981B2/ja
Application filed by 株式会社ソディック filed Critical 株式会社ソディック
Publication of WO2015147019A1 publication Critical patent/WO2015147019A1/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
    • H02P27/08—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 with pulse width modulation
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03F—AMPLIFIERS
    • H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
    • H03F3/20—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers
    • H03F3/21—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers with semiconductor devices only
    • H03F3/217—Class D power amplifiers; Switching amplifiers
    • H03F3/2173—Class D power amplifiers; Switching amplifiers of the bridge type

Definitions

  • the present invention relates to a power amplifier for a servo motor.
  • the present invention relates to a power amplifier that generates a three-phase AC that drives a three-phase AC synchronous motor.
  • the servo motor is driven by a drive current supplied from a power amplifier (power amplifier).
  • Power amplifiers are roughly classified into linear amplifiers and switching amplifiers.
  • the switching amplifier supplies a drive current corresponding to the command current to the servo motor by performing on / off control of the switching element that is an amplifying element.
  • Most switching amplifiers generate a binary signal for controlling the switching element by pulse width modulation (Pulse Width Modulation).
  • Patent Document 1 discloses a power amplifier for a three-phase AC synchronous motor. The power amplifier compares the two-phase detection current with a command current generated by the position / speed control system and sends a PWM signal to the switching circuit.
  • the switching frequency affects the magnitude of vibration of the drive current supplied to the servo motor.
  • the higher the switching frequency the smaller the amplitude of vibration of the drive current and the better the drive current follows the command current.
  • a high switching frequency improves the response performance of the servo motor.
  • the high positioning accuracy in the machine tool is closely related to the improvement of the response performance of the servo motor.
  • a MOSFET metal-oxide-semiconductor-field-effect-transistor
  • the power MOSFET since the power MOSFET is required to perform a high-speed on / off switching operation in the vicinity of the saturation region, the power MOSFET may be easily damaged.
  • the switching frequency is limited to be low by the carrier frequency. Therefore, the practical switching frequency in the switching amplifier is 40 kHz at most.
  • An object of the present invention is to provide a power amplifier for a servo motor that improves response performance in servo control with a higher switching frequency.
  • the present invention receives a U-phase command current, a V-phase command current, and a W-phase command current, and drives a U-phase coil, a V-phase coil, and a W-phase coil to drive a three-phase AC synchronous motor.
  • the present invention also relates to a power amplifier for a servo motor that respectively supplies W-phase AC.
  • the power amplifier for the servo motor is: DC power supply (E0), It has a plurality of switching elements and is connected to a U-phase coil (Lu), a V-phase coil (Lv), and a W-phase coil (Lw).
  • a current detector (4, 6) that detects U-phase AC, V-phase AC, and W-phase AC and generates U-phase detection current (Ui), V-phase detection current (Vi), and W-phase detection current (Wi); , Control U-phase detection current, V-phase detection current and W-phase detection current with U-phase command current (Qu), V-phase command current (Qv) and W-phase command current (Qw), respectively, to control multiple switching elements And a gate drive (5).
  • the U-phase coil when the U-phase detection current is smaller than the U-phase command current by controlling a plurality of switching elements by the gate drive, the U-phase coil is connected to a DC power source with a positive polarity that raises the U-phase alternating current, and the U-phase detection current Is greater than or equal to the U-phase command current, the U-phase coil is connected to a DC power supply with a reverse polarity that lowers the U-phase AC.
  • the V-phase coil When the V-phase detection current is smaller than the V-phase command current, the V-phase coil When connected to a DC power supply with a positive polarity to be raised, and when the V-phase detection current is equal to or higher than the V-phase command current, the V-phase coil is connected to the DC power supply with a reverse polarity that lowers the V-phase AC, When smaller than the phase command current, the W phase coil is connected to a DC power source with a positive polarity that raises the W phase AC, and when the W phase detection current is equal to or greater than the W phase command current, the W phase coil lowers the W phase AC. DC with reverse polarity It is connected to the source.
  • the gate drive compares the U-phase detection current, the V-phase detection current and the W-phase detection current with the U-phase command current, the V-phase command current and the W-phase command current at a frequency of 100 kHz or more, respectively.
  • the three-phase alternating current follows the three-phase command current well.
  • the bridge circuit only needs to include three H bridges (20u, 20v, 20w) respectively connected to the U-phase coil, the V-phase coil, and the W-phase coil.
  • the current detector only needs to include three detection resistors (Ru, Rv, Rw) connected in series to the U-phase coil, the V-phase coil, and the W-phase coil.
  • the bridge circuit is a three-phase bridge circuit (40), and the U-phase coil, V-phase coil, and W-phase coil only need to form a star connection or a delta connection.
  • the current detector may include two detection resistors connected in series to at least two of the U-phase coil, the V-phase coil, and the W-phase coil. Reference numerals in parentheses are given for easy understanding of the invention. It is not intended that the present invention be limited to the power amplifier shown in the drawings.
  • the power amplifier of the present invention directly supplies the gate signal to each switching element of the bridge circuit based on the comparison between the command current and the detected current, a high switching frequency is possible. Further, it is not necessary to calculate the ON time of the gate signal according to the command current.
  • FIG. 2 is a circuit diagram illustrating a portion related to a U phase in the power amplifier of FIG. 1.
  • 4 is a timing chart showing the operation of the power amplifier of FIG. 3.
  • It is a circuit diagram which shows the other Example of the power amplifier for three-phase alternating current synchronous motors.
  • a three-phase AC synchronous motor is used as the servo motor.
  • a U-phase coil Lu, a V-phase coil Lv, and a W-phase coil Lw are provided in the three-phase AC synchronous motor.
  • the power amplifier 1 supplies a U-phase AC Iu, a V-phase AC Iv, and a W-phase AC Iw to the three-phase coils Lu, Lv, Lw, respectively, in order to drive the three-phase AC synchronous motor.
  • the U-phase alternating current Iu, the V-phase alternating current Iv, and the W-phase alternating current Iw are called drive currents.
  • the sum of the drive currents Iu, Iv, Iw is zero
  • the control device 2 performs feedback control of the servo motor.
  • the control device 2 receives the command position and controls the servo motor.
  • the command position is a command for moving the moving body to a desired position.
  • the moving body is, for example, a table or a head in a machine tool.
  • the control device 2 receives a command position X (t) from a command position generator (not shown).
  • the control device 2 receives the actual position P (t) from a position detector attached to the servo motor or the moving body.
  • the controller 2 receives the actual speed V (t) from the speed detector if necessary.
  • the actual speed V (t) may be a differential value of the actual position P (t).
  • the control device 2 obtains a position deviation based on the command position X (t) and the actual position P (t).
  • the control device 2 obtains a speed deviation based on the command speed and the actual speed V (t).
  • the command speed may be a differential value of the command position X (t).
  • the control device 2 sends U-phase, V-phase, and W-phase command currents Qu, Qv, and Qw to the power amplifier 1 based on the position deviation and the speed deviation.
  • the command currents Qu, Qv, Qw are signals indicating target values of the drive currents Iu, Iv, Iw, respectively.
  • the command currents Qu, Qv, Qw are determined so that the drive currents Iu, Iv, Iw draw an ideal sine wave alternating current as shown in FIG.
  • the command currents Qu, Qv, Qw are values such that the sum of the drive currents Iu, Iv, Iw becomes zero at any moment.
  • the power amplifier 1 mainly includes a power supply circuit 3, a current detector 4, H bridges 20 u, 20 v, 20 w, and a gate drive 5.
  • the H bridges 20u, 20v, and 20w are bridge circuits for converting the DC voltage of the DC power source E0 into three-phase AC.
  • Each of the H bridges 20u, 20v, and 20w includes four switching elements connected in series in order.
  • Three-phase coils Lu, Lv, Lw of the three-phase AC synchronous motor are connected to the respective H bridges 20u, 20v, 20w.
  • the power supply circuit 3 is configured to supply a DC voltage to the bridge circuit, and includes at least a DC power supply E0 and a stabilization circuit 30.
  • the DC power supply E0 has a plurality of rectifiers and is configured to rectify commercial AC and generate a predetermined DC voltage.
  • the stabilization circuit 30 is configured to remove the vibration of the DC voltage output from the rectifier of the DC power supply E0.
  • the stabilization circuit 30 includes a parallel circuit of an electrolytic capacitor C0 and a protective resistor R0, and a film capacitor C1.
  • the electrolytic capacitor C0 has a capacitance enough to absorb a change in the DC voltage of the power supply circuit 3.
  • the film capacitor C1 has a sufficiently high responsiveness to absorb a surge voltage generated when a large number of switching elements are driven.
  • the current detector 4 is configured to detect drive currents Iu, Iv, and Iw supplied to the three-phase coils Lu, Lv, and Lw, respectively.
  • the current detector 4 includes detection resistors Ru, Rv, and Rw.
  • the detection resistors Ru, Rv, and Rw have small resistance values that do not limit the drive currents Iu, Iv, and Iw.
  • the detection resistors Ru, Rv, Rw are connected in series to the three-phase coils Lu, Lv, Lw, respectively, in order to detect current at high speed.
  • the current detector 4 obtains an average of the drive current Iu supplied to the U-phase coil Lu during a predetermined period based on the voltage applied to both ends of the detection resistor Ru, and outputs a signal indicating the detection current Ui to a gate drive (Gate Drive). It is sent to 5. Similarly, the current detector 4 sends signals indicating the detection currents Vi and Wi to the gate drive 5 based on voltages applied to both ends of the detection resistors Rv and Rw.
  • a current probe can be used in place of the detection resistors Ru, Rv, Rw. However, when a current probe that generates a current detection signal from a current waveform is used, the current detector 4 requires a longer time to obtain a detection current than a detection resistor.
  • the gate drive 5 controls a large number of switching elements in the H bridges 20u, 20v, and 20w. The gate drive 5 sends the first and second gate signals GateU1 and GateU2 to the H bridge 20u depending on the comparison result between the command current Qu and the detection current Ui.
  • the gate drive 5 sends the first and second gate signals GateV1 and GateV2 to the H bridge 20v depending on the comparison result between the command current Qv and the detection current Vi.
  • the gate drive 5 sends the first and second gate signals GateW1 and GateW2 to the H bridge 20w depending on the comparison result between the command current Qw and the detection current Wi.
  • These gate signals are pulse signals sent to the gates of a large number of switching elements in the bridge circuit. When the gate signal is on, ie, “H”, the switching element is on. When the gate signal is off, ie, “L”, the switching element is off.
  • the gate drive 5 and the H-bridge 20u will be described in detail with reference to FIGS.
  • the power amplifier 1 controls the waveform of the drive current Iu.
  • the other H bridges 20v and 20w are the same in configuration and operation as the H bridge 20u, and their description is omitted.
  • the first and second gate signals GateU1 and GateU2 in FIG. 4 control the H bridge 20u.
  • the gate signals for controlling the H bridges 20v and 20w are also the same as the gate signals in FIG. 4, and their explanation is omitted.
  • the H bridge 20u includes first, second, third and fourth switching elements 21u, 22u, 23u and 24u connected in series in order.
  • the first and fourth switching elements 21u and 24u are located on the high potential side, and the second and third switching elements 22u and 23u are located on the low potential side.
  • the adjacent first and second switching elements 21u and 22u form a connection point (node) 52, and the adjacent third and fourth switching elements 23u and 24u form a connection point 54.
  • One end of the U-phase coil Lu is connected to the connection point 52, and the other end of the U-phase coil Lu is connected to the connection point 54.
  • the first, second, third, and fourth switching elements 21u, 22u, 23u, and 24u are MOSFETs that can operate at a switching frequency of 1 MHz or more.
  • the positive electrode of the DC power source E0 is connected to one end of the U-phase coil Lu via the first switching element 21u and the connection point 52, and the other end of the U-phase coil Lu is connected to the connection point 54 and the third switching element 23u.
  • the polarity connected to the negative electrode of the DC power supply E0 via the “positive polarity” is defined as “positive polarity”.
  • the positive electrode of the DC power supply E0 is connected to the other end of the U-phase coil Lu via the fourth switching element 24u and the connection point 54, and one end of the U-phase coil Lu is connected to the connection point 52 and the second switching element 22u.
  • the polarity connected to the negative electrode of the direct current power source E0 is “reverse polarity”.
  • the gate drive 5 compares the command current Qu with the detection current Ui every time the clock pulse CK in FIG. 4 rises.
  • the clock pulse CK has a frequency of 100 kHz or more and defines a switching frequency.
  • the gate drive 5 sends the first and second gate signals GateU1 and GateU2 to the H bridge 20u. As shown in FIG. 4, the gate drive 5 generates the comparison signal CMP in the “1” state when the detection current Ui is smaller than the command current Qu. The gate drive 5 generates the comparison signal CMP in the “0” state when the detection current Ui is equal to or greater than the command current Qu.
  • the gate drive 5 maintains the first gate signal GateU1 in the on state and the second gate signal GateU2 in the off state.
  • the detection current Ui continues to rise sharply and then exceeds the command current Qu.
  • the gate drive 5 turns off the first gate signal GateU1 at time t2 when the detected current Ui is equal to or greater than the command current Qu.
  • the gate drive 5 turns on the second gate signal GateU2.
  • the U-phase coil Lu is connected to the DC power source E0 with the reverse polarity, and the detection current Ui drops sharply. Thereafter, the detection current Ui falls below the command current Qu.
  • the gate drive 5 When the detected current Ui is smaller than the command current Qu, the gate drive 5 turns off the second gate signal GateU2 at time t3. After the dead time has elapsed from time t3, the gate drive 5 turns on the first gate signal GateU1. As a result, the U-phase coil Lu is positively connected to the DC power source E0, and the detection current Ui rises sharply.
  • the gate drive 5 When the detected current Ui is still smaller than the command current Qu, at time t4, the gate drive 5 maintains the first gate signal GateU1 in the on state and the second gate signal GateU2 in the off state. The detection current Ui continues to rise sharply and then exceeds the command current Qu. The gate drive 5 turns off the first gate signal GateU1 at time t5 when the detected current Ui is equal to or greater than the command current Qu. After the dead time has elapsed from time t5, the gate drive 5 turns on the second gate signal GateU2. As a result, the U-phase coil Lu is connected to the DC power source E0 with the reverse polarity, and the detection current Ui drops sharply.
  • the gate drive 5 determines that the first gate signal GateU1 in the “H” state and “H” so that the drive current Iu approaches the command current Qu depending on the comparison result between the detection current Ui and the command current Qu.
  • the second gate signal GateU2 in the state is generated alternately. During the period when the first gate signal GateU1 is on, the second gate signal GateU2 is off. After a predetermined dead time after the first gate signal GateU1 is turned off, the second gate signal GateU2 is turned on. The dead time is a period in which all of the first, second, third, and fourth switching elements 21u, 22u, 23u, and 24u are off. Dead time is less than a few microseconds. During the period in which the second gate signal GateU2 is on, the first gate signal GateU1 is off. After a predetermined dead time after the second gate signal GateU2 is turned off, the first gate signal GateU1 is turned on.
  • the first gate signal GateU1 is sent to the first and third switching elements 21u and 23u.
  • the first gate signal GateU1 is on, the first and third switching elements 21u and 23u are on, and the U-phase coil Lu is positively connected to the DC power source E0.
  • the first gate signal GateU1 is off, the first and third switching elements 21u and 23u are off.
  • the second gate signal GateU2 is sent to the second and fourth switching elements 22u and 24u.
  • the second gate signal GateU2 is on, the second and fourth switching elements 22u and 24u are on, and the U-phase coil Lu is connected to the DC power source E0 with reverse polarity.
  • the second gate signal GateU2 is off, the second and fourth switching elements 22u and 24u are off.
  • the first, second, third, and fourth switching elements 21u, 22u, 23u, and 24u form an H-bridge 20u. Therefore, the load applied to these switching elements is reduced. Since the gate drive 5 sends the first and second gate signals GateU1 and GateU2 directly to the switching element, the operation of the switching element is not restricted by the carrier frequency. As a result, the switching element can be operated at a high frequency of 100 kHz or more. Therefore, the power amplifier 1 can reduce the amplitude of vibration of the drive current. If the amplitude of the current oscillation is small, the dead time can be minimized.
  • the power amplifier 1 has a performance that allows the switching element to operate at a switching frequency of 1 MHz. Since the predetermined switching frequency set in advance is a high frequency of 100 kHz or more, the error of the drive current Iu with respect to the command current Qu is smaller. As a result, the response performance of servo control is improved.
  • the bridge circuit for converting the DC voltage of the DC power source E0 into three-phase AC is not limited to the H bridges 20u, 20v, and 20w.
  • a three-phase bridge circuit 40 is shown in FIG. Similar elements in FIG. 5 are given the same reference numerals as in FIG. 1 and their detailed description is omitted.
  • the three-phase coils Lu, Lv, Lw form a star connection.
  • the power amplifier 1 mainly includes a power supply circuit 3, a current detector 6, a three-phase bridge circuit 40, and a gate drive 5.
  • the three-phase bridge circuit 40 includes six switching elements 41u, 42u, 41v, 42v, 41w, and 42w.
  • the first switching elements 41u, 41v, 41w are provided on the upper arm of the three-phase bridge circuit 40.
  • the second switching elements 42u, 42v, 42w are provided on the lower arm of the three-phase bridge circuit 40.
  • the U-phase coil Lu is connected to a connection point 62 formed between the first and second switching elements 41u and 42u.
  • V-phase coil Lv is connected to a connection point 64 formed between first and second switching elements 41v and 42v.
  • the W-phase coil Lw is connected to a connection point 66 formed between the first and second switching elements 41w and 42w.
  • a polarity in which one end of the U-phase coil Lu is connected to the positive electrode of the DC power supply E0 via the connection point 62 and the first switching element 41u is “positive polarity”.
  • the polarity at which one end of the V-phase coil Lv is connected to the positive electrode of the DC power supply E0 via the connection point 64 and the first switching element 41v is also “positive polarity”.
  • the polarity at which one end of the W-phase coil Lw is connected to the positive electrode of the DC power supply E0 via the connection point 66 and the first switching element 41w is also "positive polarity".
  • the polarity in which one end of the U-phase coil Lu is connected to the negative electrode of the DC power supply E0 via the connection point 62 and the second switching element 42u is “reverse polarity”.
  • the polarity at which one end of the V-phase coil Lv is connected to the negative electrode of the DC power supply E0 via the connection point 64 and the second switching element 42v is also “reverse polarity”.
  • the polarity at which one end of the W-phase coil Lw is connected to the negative electrode of the DC power supply E0 via the connection point 66 and the second switching element 42w is also “reverse polarity”.
  • the current detector 6 is configured to detect drive currents Iu, Iv, and Iw.
  • the current detector 6 is different from the current detector 4 in that it does not have a detection resistor Rw.
  • the current detector 6 includes detection resistors Ru and Rv.
  • the detection resistors Ru and Rv are connected in series to the U-phase coil Lu and the V-phase coil Lv, respectively, in order to detect current at high speed.
  • the current detector 6 generates signals indicating the detection currents Ui and Vi based on voltages applied to both ends of the detection resistors Ru and Rv, respectively. Since the sum of the drive currents Iu, Iv, and Iw becomes zero at any moment, the current detector 4 obtains the detection current Wi from the detection currents Ui and Vi.
  • the detection currents Ui, Vi, Wi are sent to the gate drive 5.
  • the gate drive 5 outputs a first gate signal GateU1, GateV1, GateW1 and a second gate signal GateU2, GateV2, GateW2 depending on a comparison result between the command currents Qu, Qv, Qw and the detected currents Ui, Vi, Wi. Generate.
  • the output terminal of the gate drive 5 is connected to the gates of the six switching elements of the three-phase bridge circuit 40.
  • the first and second gate signals GateU1 and GateU2 are sent to the first and second switching elements 41u and 42u, respectively.
  • the first and second gate signals GateV1 and GateV2 are sent to the first and second switching elements 41v and 42v, respectively.
  • the first and second gate signals GateW1 and GateW2 are sent to the first and second switching elements 41w and 42w, respectively.
  • the present invention be limited to the disclosed forms. Many modifications and variations are possible with reference to the above description.
  • the three-phase coils Lu, Lv, Lw in FIG. 5 may form a delta connection.

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  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

L'invention concerne un amplificateur de puissance pour servomoteur, ledit amplificateur comportant : une alimentation en courant continu (CC) (E0) ; un circuit en pont comportant une pluralité d'éléments de commutation, le circuit en pont étant connecté à une bobine de phase U (Lu), une bobine de phase V (Lv) et une bobine de phase W (Lw), et le circuit en pont convertissant la tension de l'alimentation CC en courant alternatif de phase U (Iu), courant alternatif de phase V (Iv) et courant alternatif de phase (Iw) ; un détecteur de courant (4, 6) pour détecter le courant alternatif de phase U, le courant alternatif de phase V et le courant alternatif de phase W, et générer un courant de détection de phase U (Ui), un courant de détection de phase V (Vi) et un courant de détection de phase W (Wi) ; et un mécanisme d'attaque de grille (5) pour comparer le courant de détection de phase U, le courant de détection de phase V et le courant de détection de phase W à un courant d'instruction de phase U (Qu), un courant d'instruction de phase V (Qv) et un courant d'instruction de phase W (Qw) à une fréquence de 100 kHz ou plus, et commander les éléments de commutation.
PCT/JP2015/059007 2014-03-24 2015-03-24 Amplificateur de puissance pour servomoteur WO2015147019A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2014-060194 2014-03-24
JP2014-060213 2014-03-24
JP2014060194A JP2015186340A (ja) 2014-03-24 2014-03-24 サーボモータのパワーアンプ
JP2014060213A JP5871981B2 (ja) 2014-03-24 2014-03-24 パワーアンプ

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WO2015147019A1 true WO2015147019A1 (fr) 2015-10-01

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0937561A (ja) * 1995-07-19 1997-02-07 Matsushita Electric Ind Co Ltd 電流指令型ｐｗｍインバータ
JP2006149145A (ja) * 2004-11-24 2006-06-08 Nsk Ltd 無結線式モータの駆動制御装置及び無結線式モータの駆動制御装置を使用した電動パワーステアリング装置
JP2006280055A (ja) * 2005-03-28 2006-10-12 Denso Corp インバータ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0937561A (ja) * 1995-07-19 1997-02-07 Matsushita Electric Ind Co Ltd 電流指令型ｐｗｍインバータ
JP2006149145A (ja) * 2004-11-24 2006-06-08 Nsk Ltd 無結線式モータの駆動制御装置及び無結線式モータの駆動制御装置を使用した電動パワーステアリング装置
JP2006280055A (ja) * 2005-03-28 2006-10-12 Denso Corp インバータ制御装置

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