WO2015151242A1 - モータ制御装置およびモータ制御システム - Google Patents
モータ制御装置およびモータ制御システム Download PDFInfo
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- WO2015151242A1 WO2015151242A1 PCT/JP2014/059717 JP2014059717W WO2015151242A1 WO 2015151242 A1 WO2015151242 A1 WO 2015151242A1 JP 2014059717 W JP2014059717 W JP 2014059717W WO 2015151242 A1 WO2015151242 A1 WO 2015151242A1
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- abnormality
- motor
- control device
- motor control
- mode
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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
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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
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
Definitions
- the present invention relates to a motor control device and a motor control system.
- the controller includes a controller that generates a position control command for the motor and outputs the command to the motor control device, and a detector that detects the position information of the motor and transmits it to the motor control device. Then, the motor control device applies appropriate electric power to the motor based on information input from the controller and the detector, and controls driving of the motor.
- a controller and a motor control device include, in addition to the functions related to motor drive control as described above, for example, means for monitoring an internal control state and means for detecting an abnormal state of a communication state with a connected device. Yes.
- These means have a protection function that interrupts the power to the motor and generates an alarm to alert the operator when an abnormality is detected during the driving of the motor.
- Patent Document 1 discloses a technology that ranks discovered abnormalities and displays countermeasures for abnormalities with high urgency with respect to a plant monitoring apparatus.
- Patent Document 2 a code representing an operation state of a robot is stored in advance regarding a moving body control device and a control method thereof, and in the case of a serious abnormality code, the operation is prohibited and stored in a nonvolatile memory. Techniques to do this are disclosed. In this case, even after the reset operation, the operation is prohibited according to the contents of the nonvolatile memory.
- the present invention has been made in view of the above, and it is possible to prevent the occurrence of a similar abnormality due to an easy release process for a specific abnormality with high reproducibility. It is an object of the present invention to obtain a motor control device and a motor control system that can easily perform return processing for an abnormality other than an abnormality.
- a motor control device is a motor control device that is connected to a controller and a motor and performs drive control of the motor, and is input from the controller.
- a control processing unit that controls driving of the motor based on a command signal that commands the operation of the motor and a detection signal that is a detection result of the operation of the motor; and the command signal, the detection signal, and the motor control device
- An abnormality determination unit that detects an abnormality in the controller, the motor control device, and the motor based on an internally generated control signal, and determines the reproducibility level of the detected abnormality based on a predetermined determination criterion; And when the specific abnormality that is determined to be highly reproducible by the abnormality determination unit occurs, the control processing unit From a normal mode in which the drive of the motor can be controlled to a control stop state in which the drive control of the motor is stopped and a transition to a specific abnormal alarm mode in which the control stop state cannot be canceled by a reset process.
- the present invention it is possible to prevent a similar abnormality from occurring due to an easy release process for a specific abnormality with high reproducibility, and an easy recovery process for an abnormality other than a specific abnormality with high reproducibility is easy. It is possible to obtain a simple motor control device and motor control system.
- FIG. 1 is a block diagram showing the configuration of the motor control system according to the first embodiment of the present invention.
- FIG. 2 is a flowchart showing a procedure of an alarm state release process when an abnormality is detected in the motor control system according to the first embodiment of the present invention.
- FIG. 3 is a diagram illustrating an example of display of specific abnormality occurrence information (specific alarm display) on the display unit.
- FIG. 4 is a diagram illustrating an example of display (alarm display) of abnormality occurrence information with low reproducibility other than the specific abnormality on the display unit.
- FIG. 5 is a mode transition diagram of the control processing unit of the motor control system according to the first embodiment of the present invention.
- FIG. 6 is a mode transition diagram of the control processing unit of the motor control system of the comparative example.
- FIG. 1 is a block diagram illustrating a configuration of the motor control system according to the first embodiment.
- the motor control system according to the first embodiment includes a controller 1, a motor control device 2, a motor 3, and a detector 4.
- the controller 1 and the motor control device 2 are communicably connected via a communication line such as a communication network or a dedicated line.
- the motor control device 2 and the detector 4 are communicably connected via a communication line such as a communication network or a dedicated line.
- the controller 1 generates a motor position command signal that is a position control command for the motor 3 and other command signals that are necessary for the motor control device 2 to cause the motor 3 to perform a desired operation, and transmits the motor control command signal to the motor control device 2. . Details of the controller 1 will be described later.
- the motor control device 2 controls driving of the motor 3 based on a motor position command signal input from the controller 1 and a detection signal (rotation angle information) that is a detection result of the operation of the motor 3 input from the detector 4. I do. That is, the motor control device 2 supplies appropriate power to the motor 3 so that the motor 3 operates following the motor position command signal. Details of the motor control device 2 will be described later.
- the motor 3 is an actuator that converts electric power supplied from the motor control device 2 into rotational power of the motor shaft.
- the motor 3 drives the shaft of a mechanical device (mechanical load) that is mechanically coupled via a coupling mechanism such as a coupling.
- the detector 4 is mechanically connected to the motor 3, detects the rotation angle of the motor 3 as an operation result of the motor 3, generates a detection signal (rotation angle information of the motor 3) of the motor 3, and detects the detection signal. Is output to the motor control device 2.
- the controller 1 includes an input unit 11, a command generation unit 12, an abnormality determination unit 13, a display unit 14, and a communication unit 15.
- the input unit 11 is an interface for an operator to input and set various information to the controller 1, and various input devices including, for example, a touch panel, a keyboard, and a pointing device are used.
- the input unit 11 may include an information reproducing device that reproduces information from a storage medium and a communication device that can input information from the outside through communication.
- the operator uses the input unit 11 to input and set motor operating conditions, create and input various signal generation programs, and the like.
- the motor operating conditions include, for example, parameters necessary for the motor control device 2 to control the motor 3, operating conditions of the motor 3, and the like.
- the command generation unit 12 generates a motor position command signal based on the motor operation condition input from the input unit 11 and outputs the motor position command signal to the motor control device 2.
- the command generation unit 12 also outputs a motor position command signal to the abnormality determination unit 13.
- a motor stop signal which is stop instruction information for stopping power supply to the motor 3 by stopping power supply to the motor 3
- the command generation unit 12 sends the motor stop signal to a motor described later.
- the data is output to the control processing unit 22 of the control device 2.
- the command generation unit 12 outputs the information to the control processing unit 22 of the motor control device 2 described later.
- the abnormality determination unit 13 monitors observation signals such as a motor operation condition input from the input unit 11, a motor position command signal input from the command generation unit 12, and a control signal generated inside the motor control device. An abnormality in the controller 1 is detected from information obtained from the observation signal. The abnormality determination unit 13 generates an alarm to alert the operator when the occurrence of an abnormality is detected, and interrupts the supply of power to the motor 3 as necessary during motor driving. A protection function for stopping the motor 3 is provided.
- the abnormality determination unit 13 when an abnormality is detected, the abnormality determination unit 13 outputs the abnormality occurrence information (abnormal state) to the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 described later to indicate the abnormality content. Display. As a result, the occurrence of abnormality in the controller 1 and the content of the abnormality are notified to the operator. Further, the abnormality determination unit 13 outputs a motor stop signal, which is stop instruction information for stopping the motor by interrupting the supply of power to the motor 3, to the command generation unit 12 according to the detected abnormality content.
- a motor stop signal which is stop instruction information for stopping the motor by interrupting the supply of power to the motor 3, to the command generation unit 12 according to the detected abnormality content.
- the abnormality determination unit 13 determines the level of reproducibility of the detected abnormality based on a predetermined criterion. That is, the abnormality determination unit 13 is an abnormality other than a specific abnormality with high reproducibility (abnormality with low reproducibility), which is a specific abnormality with high reproducibility or an abnormality different from the specific abnormality. Determine whether.
- a predetermined determination criterion information on an abnormality corresponding to a specific abnormality with high reproducibility is stored in advance in the abnormality determination unit 13 as a list, for example.
- the abnormality determination unit 13 refers to this list to determine whether or not the detected abnormality is a specific abnormality with high reproducibility.
- the list may be stored in a different location from the abnormality determination unit 13 in the controller 1.
- the specific abnormality with high reproducibility in the present specification includes, for example, an abnormality related to a process of supplying current to the motor 3 and an abnormality related to a process of stopping the motor 3.
- the abnormality related to the process of supplying current to the motor 3 includes, for example, an abnormality in which the motor 3 is driven when the motor 3 should be stopped (particularly at the time of starting), and a control for stopping the motor 3 is being performed.
- Abnormalities in which the motor 3 is driven when the motor 3 should be stopped (particularly at the time of startup) include, for example, an abnormal start signal when starting the motor control system, an abnormal motor position command signal, and a power command described later. For example, abnormal signal.
- the abnormality determination unit 13 detects an abnormality in the controller 1 among these abnormalities.
- the abnormality determination unit 13 when the detected abnormality is an abnormality with low reproducibility, the abnormality determination unit 13 generates abnormality occurrence information and outputs the abnormality generation information to the command generation unit 12. On the other hand, when the detected abnormality is a specific abnormality with high reproducibility, the abnormality determination unit 13 generates specific abnormality occurrence information and outputs the information to the command generation unit 12.
- the abnormality determination unit 13 displays the occurrence information (abnormal state) of the specific abnormality of the display unit 14 of the controller 1 and the motor control device 2 described later. Output to the display unit 25 to display the occurrence of the specific abnormality (specific abnormality alarm display). Thereby, the occurrence of the specific abnormality in the controller 1 and the content of the abnormality can be notified to the operator, and the operator can be alerted.
- the display unit 14 is a display unit that displays various information including a display screen, an alarm display screen, and input information from the outside in each process in the controller 1.
- the display unit 14 may be provided outside the controller 1 and connected to the controller 1.
- the display unit 14 operates in a normal display mode in which normal display is performed during normal motor control.
- the display unit 14 transitions to an abnormality alarm display mode in which the occurrence information of the abnormality is displayed as an alarm display and the occurrence of the abnormality is displayed.
- the display unit 14 transitions to a specific abnormality alarm display mode for displaying the occurrence information of the specific abnormality as an alarm display and displaying the occurrence of the specific abnormality.
- the display mode of the display unit 14 transitions with the transition of the mode of the control processing unit 22 described later. That is, when the mode of the control processing unit 22 is the normal mode, the display unit 14 is in the normal display mode. When the mode of the control processing unit 22 is the abnormal alarm mode, the display unit 14 is in the abnormal alarm display mode. When the mode of the control processing unit 22 is the specific abnormality alarm mode, the display unit 14 is in the specific abnormality alarm display mode.
- Normal display mode is a display mode that can display normal control screens, monitoring screens, and the like.
- the abnormality alarm display mode is a display mode for displaying the occurrence information of the specific abnormality or the occurrence information of the abnormality other than the specific abnormality that is different from the specific abnormality.
- the display of the specific abnormality occurrence information or the abnormality occurrence information other than the specific abnormality can be canceled by the reset process for the display unit 14 (or the apparatus including the display unit 14), and the normal display mode can be restored.
- Mode The abnormal alarm display mode transitions to the normal display mode when a reset process is performed on the display unit 14 (or an apparatus including the display unit 14). Then, the display unit 14 in the abnormal alarm mode state transitions to the stop mode when the power of the display unit 14 (or an apparatus including the display unit 14) is turned off.
- Specified abnormality alarm display mode is a display mode for displaying occurrence information of a specific abnormality.
- the specific abnormality alarm display mode is a mode in which it is impossible to return to the normal display mode by canceling the display of the occurrence information of the specific abnormality by the reset process for the display unit 14 (or the device including the display unit 14).
- the specific abnormality alarm display mode cannot transition to the normal display mode even if a reset process or the like is performed on the display unit 14 (or an apparatus including the display unit 14).
- the specific abnormality alarm display mode transitions to the abnormal alarm display mode only when a specific abnormality canceling process is performed on the display unit 14. Then, the display unit 14 in the specific abnormality alarm mode state transitions to the stop mode when the power of the display unit 14 (or an apparatus including the display unit 14) is turned off.
- the specific abnormality canceling process for the display unit 14 includes, for example, input of a mode transition command signal to the display unit 14.
- the method of inputting the mode transition command signal to the display unit 14 is, for example, a mode transition command signal input to the control processing unit 22 as described later. It may be an input. Further, when the mode transition command signal is input to the control processing unit 22, the control processing unit 22 may output the mode transition command signal for the display unit to the display unit.
- the communication unit 15 is information input / output means for inputting / outputting various information to / from the outside via a communication line such as an Internet line or a dedicated line.
- the motor control device 2 includes an input unit 21, a control processing unit 22, an inverter unit 23, an abnormality determination unit 24, a display unit 25, and a communication unit 26.
- the input unit 21 is an interface for an operator to input and set various information to the motor control device 2, and various input devices including, for example, a touch panel, a keyboard, and a pointing device are used.
- the input unit 21 may include an information reproducing device that reproduces information from a storage medium and a communication device that can input information from the outside through communication.
- the operator uses the input unit 21 to input and set motor control conditions, create and input various signal generation programs, and the like.
- the control processing unit 22 generates a power command signal for supplying appropriate power necessary for driving the motor 3 to the motor 3 and outputs the power command signal to the inverter unit 23.
- the control processing unit 22 calculates the power to be supplied to the motor 3 based on the motor position command signal input from the controller 1 and the detection signal (rotation angle information of the motor 3) input from the detector 4. Generate a command signal.
- the control processing unit 22 at the time of activation transitions from the stop mode to the normal mode.
- the normal mode is a state in which the shaft of the mechanical device (mechanical load) can be driven by an input by the operator in the input unit 21, and the motor 3 can be driven and controlled by outputting a power command signal to the inverter unit 23.
- the control processing unit 22 outputs an electric power command signal when an abnormality occurs in the motor control system and a motor stop signal is input from the command generation unit 12 of the controller 1 or the abnormality determination unit 24 of the motor control device 2. Stop and stop the drive of the motor 3 (alarm state).
- the control processing unit 22 transitions to the abnormal alarm mode when the occurrence information of the abnormality is input from the command generation unit 12 of the controller 1 or the abnormality determination unit 24 of the motor control device 2.
- the abnormal alarm mode output of the power command signal from the control processing unit 22 to the inverter unit 23 is stopped until the motor control device 2 (or the entire motor control system) is reset, and the driving of the motor 3 is stopped. Mode.
- the abnormal alarm mode is a mode that can be reset.
- the control processing unit 22 in the abnormal alarm mode is a normal mode in which the motor 3 can be driven and controlled by outputting a power command signal to the inverter unit 23 by performing reset processing of the motor control device 2 (or the entire motor control system). Transition to.
- the reset process is performed, for example, by a reset button pressing process or a power-on process of an apparatus in which an abnormality has occurred. Then, the control processing unit 22 in the abnormal alarm mode state shifts to the stop mode when the power of the motor control device or the motor control system is turned off.
- the control processing unit 22 transitions to the specific abnormality alarm mode when the occurrence information of the specific abnormality is input from the command generation unit 12 of the controller 1 or the abnormality determination unit 24 of the motor control device 2.
- the specific abnormality alarm mode is a mode in which reset processing is impossible.
- the control processing unit 22 in the specific abnormality alarm mode cannot transition to the normal mode even if the reset processing or the like of the motor control device 2 (or the entire motor control system) is performed. Then, the control processing unit 22 in the specific abnormality alarm mode transitions to the abnormal alarm mode only when a specific abnormality canceling process is performed on the control processing unit 22.
- Examples of the specific abnormality canceling process for the control processing unit 22 include an input of a mode transition command signal to the control processing unit 22.
- the mode transition command signal input method to the control processing unit 22 may be, for example, input of a specific release code determined in advance to the input unit 21 of the motor control device 2 or the input unit 11 of the controller 1. Such a hardware operation may be used.
- a specific abnormality canceling process is performed on the input unit 11 or the input unit 21, for example, a mode transition command signal is output from the input unit 11 or the input unit 21 and input to the control processing unit 22.
- a specific release code may be directly input to the control processing unit 22 as a mode transition command signal.
- the control processing unit 22 shifts from the abnormal alarm mode to the abnormal alarm mode.
- the control processing unit 22 that has transitioned to the abnormal alarm mode can transition to the normal mode by performing reset processing of the motor control device 2 (or the entire motor control system). Then, the control processing unit 22 in the specific abnormality alarm mode state shifts to the stop mode when the power of the motor control device or the motor control system is turned off.
- the inverter unit 23 supplies the motor 3 with appropriate power necessary for driving the motor 3 based on the power command signal input from the control processing unit 22. That is, the inverter unit 23 converts the DC power supplied from the power source 5 into AC power having an arbitrary frequency and voltage based on the power command signal and supplies the AC power to the motor 3. Thereby, the motor 3 is rotationally driven.
- the abnormality determination unit 24 monitors observation signals such as a motor position command signal output from the command generation unit 12 of the controller 1, a detection signal output from the detector 4, and a control signal generated inside the motor control device. Based on these observation signals, an abnormality in the controller 1, the motor control device 2, and the motor 3 is detected.
- the abnormality determination unit 24 has a protection function that generates an alarm to alert an operator when occurrence of an abnormal state is detected, and interrupts the supply of power to the motor 3 while the motor is being driven. .
- the abnormality determination unit 24 when an abnormality is detected, the abnormality determination unit 24 outputs the abnormality occurrence information (abnormal state) to the display unit 25 of the motor control device 2 and the display unit 14 of the controller 1 to display the content of the abnormality. (Alarm condition). As a result, the operator is notified of the occurrence of abnormality and details of the abnormality in the motor control system. Further, the abnormality determination unit 24 outputs to the control processing unit 22 a motor stop signal that is instruction information for shutting off the supply of power to the motor 3 and stopping the motor according to the content of the detected abnormality.
- a motor stop signal that is instruction information for shutting off the supply of power to the motor 3 and stopping the motor according to the content of the detected abnormality.
- the abnormality determination unit 24 determines the level of reproducibility of the detected abnormality based on a predetermined determination criterion. That is, the abnormality determination unit 24 determines whether the detected abnormality is a specific abnormality with high reproducibility or an abnormality other than the specific abnormality with high reproducibility (abnormality with low reproducibility).
- a predetermined determination criterion information on an abnormality corresponding to a specific abnormality with high reproducibility is stored in advance in the abnormality determination unit 24 as a list, for example.
- the abnormality determination unit 24 determines whether or not the detected abnormality is a specific abnormality with high reproducibility by referring to this list.
- the list may be stored in a different location from the abnormality determination unit 24 in the motor control device 2.
- the abnormality determination unit 24 When the detected abnormality is an abnormality with low reproducibility, the abnormality determination unit 24 generates abnormality occurrence information and outputs it to the control processing unit 22. Moreover, the abnormality determination part 24 produces
- the abnormality determination unit 24 displays the occurrence information (abnormal state) of the specific abnormality on the display unit 25 of the motor control device 2 and the display unit of the controller 1. 14 is output and displayed (alarm state). Thereby, it is possible to notify the operator of the occurrence of the specific abnormality and the content of the abnormality in the motor control system and to alert the operator.
- the display unit 25 is a display unit that displays various types of information including a display screen, an alarm display screen, and input information from the outside in each process in the motor control device 2.
- the display unit 25 may be provided outside the motor control device 2 and connected to the motor control device 2. Further, the display unit 25 is provided with a function related to the mode in the display unit 14 described above.
- the communication unit 26 is information input / output means for inputting / outputting various information to / from the outside via a communication line including an Internet line and a dedicated line. Information is transmitted between the controller 1 and the motor control device 2 through a main communication route via the communication unit 15 of the controller 1 and the communication unit 26 of the motor control device 2.
- a sub communication route (communication line) different from the main communication route may be provided between the controller 1 and the motor control device 2.
- a sub-communication route that directly connects the abnormality determination unit 13 of the controller 1 and the abnormality determination unit 24 of the motor control device 2 so as to communicate with each other may be provided.
- FIG. 2 is a flowchart of an alarm state canceling process procedure when an abnormality is detected in the motor control system according to the first embodiment.
- the mode of the control processing unit 22 is shown as a reference. In the following, a case where the detected abnormality is an abnormality that requires the motor 3 to be stopped will be described.
- the control processing unit 22 of the motor control device 2 transitions from the stop mode to the normal mode (step S110). Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the stop mode to the normal display mode.
- motor operating conditions are input from the input unit 11 of the controller 1 by the operator.
- the command generation unit 12 of the controller 1 generates a motor position command signal based on the motor operating condition input from the input unit 11 and outputs the motor position command signal to the control processing unit 22 of the motor control device 2.
- the command generation unit 12 also outputs a motor position command signal to the abnormality determination unit 13 of the controller 1.
- the abnormality determination unit 24 of the motor control device 2 After starting the motor control system, the abnormality determination unit 24 of the motor control device 2 generates a motor position command signal input from the command generation unit 12 of the controller 1, a detection signal output from the detector 4, and is generated inside the motor control device. Monitoring signals such as control signals to be monitored are monitored to determine whether or not an abnormality has occurred in the motor control system (step S120). Here, when no abnormality is detected (No at Step S120), the abnormality determination unit 24 of the motor control device 2 repeats Step S120 and continues monitoring the observation signal.
- step S120, Yes when an abnormality is detected (step S120, Yes), the abnormality determination unit 24 of the motor control device 2 generates a motor stop signal and outputs it to the control processing unit 22. It is also possible to display the abnormality occurrence information on either the display unit 14 of the controller 1 or the display unit 25 of the motor control device 2.
- the control processing unit 22 stops the output of the power command signal and stops the driving of the motor 3 (Step S130).
- the abnormality determination unit 24 of the motor control device 2 determines the level of reproducibility of the detected abnormality based on a predetermined determination criterion. That is, the abnormality determination unit 24 determines whether the detected abnormality is a specific abnormality with high reproducibility or an abnormality other than the specific abnormality with high reproducibility (abnormality with low reproducibility) based on a predetermined determination criterion. (Step S140).
- the abnormality determination unit 24 of the motor control device 2 When the detected abnormality is a specific abnormality with high reproducibility (Yes in step S140), the abnormality determination unit 24 of the motor control device 2 generates the occurrence information of the specific abnormality and displays the display unit 14 of the controller 1. And it outputs and displays on the display part 25 of the motor control apparatus 2 (specific alarm display). Thereby, the occurrence of the abnormality in the motor control system and the content of the abnormality are notified to the operator, and the operator is alerted. Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the normal display mode to the specific abnormality alarm display mode.
- alarm display is performed for all abnormalities on the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2
- the display of the occurrence of specific abnormality is other than the specific abnormality. It is performed in a form distinct from the display of abnormalities with low reproducibility.
- the display of the occurrence of the specific abnormality is performed by distinguishing, for example, by displaying an additional message or coloring an alarm display. This makes it possible to clearly notify the operator of the occurrence and details of specific anomalies with high reproducibility in the motor control system, and to further alert the operator to the resolution of the source that is the fundamental factor. Can be done automatically.
- FIG. 3 is a diagram illustrating an example of display of specific abnormality occurrence information (specific alarm display) on the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2.
- FIG. 4 is a diagram showing an example of display (alarm display) of abnormality occurrence information with low reproducibility other than the specific abnormality on the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2.
- an additional message indicating that the specific alarm state is caused by the occurrence of a specific abnormality is displayed compared to the display shown in FIG. 4.
- the abnormality determination unit 24 of the motor control device 2 outputs information on occurrence of the specific abnormality to the control processing unit 22.
- the control processing unit 22 transitions from the normal mode to the specific abnormality alarm mode (step S150).
- control processing unit 22 monitors the presence / absence of a specific abnormality canceling process and determines whether or not the specific abnormality canceling process has been performed (step S160). That is, the control processing unit 22 determines whether or not a mode transition command signal is input from the input unit 11 of the controller 1 or the input unit 21 of the motor control device 2.
- the specific abnormality canceling process is performed by the operator based on the display contents of the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2.
- step S160 When a specific abnormality canceling process is performed on the control processing unit 22, that is, when a mode transition command signal is input to the control processing unit 22 (Yes in step S160), the control processing unit 22 Transition from the alarm mode to the abnormal alarm mode (step S170). Further, when a specific abnormality canceling process is performed on the display unit 14 and the display unit 25, that is, when a mode transition command signal is input to the display unit 14 and the display unit 25, the display unit 14 and the display unit 25 transitions from the specific abnormal alarm display mode to the abnormal alarm display mode (step S170).
- step S140 if the detected abnormality is not a specific abnormality with high reproducibility (No in step S140), the abnormality determination unit 24 of the motor control device 2 generates and controls abnormality occurrence information. Output to the processing unit 22.
- the control processing unit 22 transitions from the normal mode to the abnormal alarm mode (step S170).
- the abnormality determination unit 24 of the motor control device 2 displays the occurrence information of the abnormality in the display unit 14 of the controller 1 and the motor control device. 2 is output and displayed on the display unit 25 (alarm display). Thereby, the occurrence of the abnormality in the motor control system and the content of the abnormality are notified to the operator, and the operator is alerted. Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the normal display mode to the abnormal alarm display mode.
- control processing unit 22 determines whether or not the reset processing of the motor control device 2 (or the entire motor control system) has been performed (step S180).
- the control processing unit 22 shifts from the abnormal alarm mode to the normal mode, and the motor 3 can be driven by the motor control device 2 (step S110).
- the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the abnormal alarm display mode to the normal display mode (step S110).
- the control processing unit 22 determines whether or not the power-off process (power off) of the motor control device 2 or the motor control system is performed ( Step S190).
- step S190 When the power-off process (power-off) of the motor control device 2 or the motor control system is performed (step S190, Yes), the control processing unit 22 transitions to the stop mode and the drive control process of the motor 3 ends ( Step S200). Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition to the stop mode. On the other hand, when the power-off process (power-off) of the motor control device 2 has not been performed (No at Step S190), the process returns to Step S180 and the control processing unit 22 determines whether or not the reset process has been performed. .
- step S160 when the specific abnormality canceling process is not performed, that is, when there is no input of the mode transition command signal (step S160, No), the control processing unit 22 repeats step S160 to perform a specific process. Continue monitoring for the presence or absence of error cancellation processing.
- the driving of the motor 3 is stopped by inputting the motor stop signal to the control processing unit 22, but when the abnormality occurrence information or the specific abnormality occurrence information is input to the control processing unit 22. It is good also as a structure by which the drive of the motor 3 is stopped.
- FIG. 5 is a mode transition diagram of the control processing unit 22 of the motor control system according to the first embodiment.
- the control processing unit 22 is started from the stop mode 101 when the power is turned on (power is turned on), and transitions to the normal mode 102.
- the control processing unit 22 When the abnormality determination unit 13 or the abnormality determination unit 24 determines that an abnormality other than a specific abnormality with high reproducibility (abnormality with low reproducibility) is determined while the motor 3 is being driven, the control processing unit 22 The driving is stopped and the normal mode 102 is changed to the normal abnormal alarm mode 103.
- the abnormal alarm mode 103 the operator is notified of, for example, the abnormal state by the display unit 25.
- the transition from the abnormal alarm mode 103 to the normal mode 102 is performed only when the reset process is performed.
- the control processing unit 22 stops the driving of the motor 3 and starts from the normal mode 102. Transition to a specific abnormal alarm mode 104 different from the abnormal alarm mode 103.
- the specific abnormality alarm mode 104 the operator is notified of, for example, an abnormal state by the display unit 25.
- the transition from the specific abnormality alarm mode 104 to the normal abnormality alarm mode 103 is performed only when a specific abnormality release process is performed by the operator.
- the control processing unit 22 transitions to the specific abnormality alarm mode 104. Therefore, even if the reset process of the motor control device 2 (or the entire motor control system) is operated, the control processing unit 22 does not accept reset processing. This makes it possible to more effectively alert the operator when a specific abnormality with high reproducibility occurs, and the cause that is the root cause of the occurrence of the abnormality is excluded because the investigation of the cause of the abnormality has not been completed. It is possible to prevent the alarm state from being released due to an easy reset process in the absence of this state.
- the control processing unit 22 Transits to the stop mode 101.
- the mode transition of the control processing unit 22 has been described here, the mode of the display unit 14 and the display unit 25 also changes with the mode transition of the control processing unit 22 as described above. That is, when the mode of the control processing unit 22 is the normal mode, the display unit 14 is in the normal display mode. When the mode of the control processing unit 22 is the abnormal alarm mode, the display unit 14 is in the abnormal alarm display mode. When the mode of the control processing unit 22 is the specific abnormality alarm mode, the display unit 14 is in the specific abnormality alarm display mode.
- the display unit 14 and the display unit 25 transition to the specific abnormality alarm display mode. Therefore, even if the reset process of the display unit (or the device including the display unit) is operated, the display is performed. The unit 14 and the display unit 25 do not accept the reset process. This makes it possible to more effectively alert the operator when a specific abnormality with high reproducibility occurs, and the cause that is the root cause of the occurrence of the abnormality is excluded because the investigation of the cause of the abnormality has not been completed. It is possible to prevent the alarm state from being released due to an easy reset process in the absence of this state.
- FIG. 6 is a mode transition diagram of the control processing unit of the motor control system of the comparative example, and is a mode transition diagram of the control processing unit of the motor control device that does not have the specific abnormality alarm mode. 6, the same reference numerals as those in FIG. 5 are used for the same components as those in FIG. 5.
- the control processing unit of the comparative example is activated from the stop mode 101 when the power is turned on (power on), and transitions to the normal mode 102.
- the control processing unit stops driving the motor and transitions from the normal mode 102 to the normal abnormality alarm mode 103. To do.
- the abnormal alarm mode 103 the operator is notified of the abnormal state by, for example, the display unit.
- the abnormal alarm mode 103 makes a transition to the normal mode 102 again.
- the reset procedure is performed, for example, by pressing a reset button provided in the input unit of the motor control device.
- the control processing unit transits to the stop mode 101.
- the control processing unit transitions from the normal mode 102 to the normal abnormality alarm mode 103 when any abnormality occurs. Therefore, even when a specific abnormality with high reproducibility occurs, the control processing unit transitions from the normal mode 102 to the normal abnormality alarm mode 103. For this reason, if the reset process is performed, the control processing unit can transition to the normal mode 102. If the cause of the occurrence of the abnormality is not completed and the source that is the root cause of the abnormality is not excluded, the reset process is easily performed and the motor is restarted. There is a possibility that malfunction will occur.
- the control processing unit 22 transitions to the specific abnormality alarm mode 104 in which the reset process is impossible.
- the transition from the specific abnormality alarm mode 104 to the normal abnormality alarm mode 103 is limited to a case where a specific abnormality cancellation process is performed by the operator.
- the motor control system it is easy to safely stop the motor 3 until the specific abnormality canceling process is completed.
- the alarm display on the display unit 14 and the display unit 25 cannot be released until the specific abnormality release process is completed. This makes it possible to more effectively alert the operator when a specific abnormality with high reproducibility occurs, and the cause that is the root cause of the occurrence of the abnormality is excluded because the investigation of the cause of the abnormality has not been completed. It is possible to prevent the alarm state from being released due to an easy reset process in the absence of this state. As a result, it is possible to easily prevent the occurrence of the same specific abnormality having high reproducibility due to the easy reset process, the runaway of the mechanical device due to the specific abnormality, and the like.
- the control processing unit 22 when it is determined that an abnormality other than a specific abnormality with high reproducibility (abnormality with low reproducibility) is determined, the control processing unit 22 starts normal operation from normal mode 102. Transition to the abnormal alarm mode 103. The transition from the abnormal alarm mode 103 to the normal mode 102 is performed when the reset process is performed.
- an abnormality other than a specific abnormality with high reproducibility (abnormality with low reproducibility) can be returned to the normal mode 102 only by reset processing. Thereby, it is easy to return to the normal mode 102 for an abnormality other than a specific abnormality with high reproducibility (an abnormality with low reproducibility).
- the display unit it is possible to return to the normal display mode only by reset processing for abnormalities other than specific abnormality with high reproducibility (abnormality with low reproducibility). Thereby, it is easy to return to the normal display mode for an abnormality other than a specific abnormality with high reproducibility (an abnormality with low reproducibility).
- the mode of the control processing unit 22 when the motor control device 2 is turned on transitions from the stop mode 101 to the normal mode 102.
- the control processing unit 22 stores information on the specific abnormality alarm mode (for example, occurrence information of the specific abnormality) in a nonvolatile memory (not shown) provided in the motor control device 2. May be stored.
- the control processing unit 22 acquires information recorded in the nonvolatile memory.
- the control processing unit 22 transitions from the stop mode 101 to the specific abnormality alarm mode 104.
- the control processing unit 22 enters the specific abnormality alarm mode 104 instead of the normal mode 102 even when the power is turned on. Then, the control processing unit 22 deletes the information on the specific abnormal alarm mode stored in the nonvolatile memory when the specific abnormal alarm mode 104 is changed to the abnormal alarm mode 103.
- the alarm state is prevented from being easily released by the operator for a specific abnormality with high reproducibility, and the same abnormality is prevented from recurring or sporadic. be able to.
- abnormalities other than specific abnormalities with high reproducibility abnormalities with low reproducibility
- Embodiment 2 In the first embodiment described above, the case where the abnormality determination unit 24 of the motor control device 2 monitors the observation signal to determine whether or not an abnormality has occurred in the motor control system has been described.
- the abnormality determination unit 13 of the controller 1 monitors observation signals such as a motor position command signal, a control signal generated inside the controller 1, and the motor control system.
- observation signals such as a motor position command signal, a control signal generated inside the controller 1, and the motor control system.
- the control processing unit 22 of the motor control device 2 transitions from the stop mode to the normal mode (step S110). Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the stop mode to the normal display mode.
- motor operating conditions are input from the input unit 11 of the controller 1 by the operator.
- the command generation unit 12 of the controller 1 generates a motor position command signal based on the motor operating condition input from the input unit 11 and outputs the motor position command signal to the control processing unit 22 of the motor control device 2.
- the command generation unit 12 also outputs a motor position command signal to the abnormality determination unit 13 of the controller 1.
- the abnormality determination unit 13 of the controller 1 is generated inside the motor control device, the motor position command signal input from the command generation unit 12 of the controller 1, the detection signal output from the detector 4, and the motor control device. Monitoring signals such as control signals are monitored to determine whether or not an abnormality has occurred in the motor control system (step S120).
- the abnormality determination unit 13 of the controller 1 repeats step S120 and continues monitoring the observation signal.
- step S120, Yes when an abnormality is detected (step S120, Yes), the abnormality determination unit 13 of the controller 1 generates a motor stop signal and outputs it to the command generation unit 12.
- the command generator 12 outputs the motor stop signal to the control processor 22. It is also possible to display the abnormality occurrence information on either the display unit 14 of the controller 1 or the display unit 25 of the motor control device 2.
- the control processing unit 22 stops the output of the power command signal and stops the driving of the motor 3 (Step S130).
- the abnormality determination unit 13 of the controller 1 determines the level of reproducibility of the detected abnormality. That is, the abnormality determination unit 24 determines whether the detected abnormality is a specific abnormality with high reproducibility or an abnormality other than the specific abnormality with high reproducibility (abnormality with low reproducibility) (step S140). .
- the abnormality determination unit 13 of the controller 1 uses the display unit 14 of the controller 1 and the motor control device 2 as the occurrence information of the specific abnormality. Are displayed on the display unit 25 (specific alarm display). Thereby, the occurrence of the abnormality in the motor control system and the content of the abnormality are notified to the operator, and the operator is alerted. Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the normal display mode to the specific abnormality alarm display mode.
- alarm display is performed for all abnormalities on the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2
- the display of the occurrence of specific abnormality here is other than the specific abnormality. It is performed in a form distinct from the display of abnormalities with low reproducibility.
- the occurrence of the specific abnormality is displayed by, for example, displaying an additional message or coloring an alarm display. This makes it possible to clearly notify the operator of the occurrence and details of specific anomalies with high reproducibility in the motor control system, and to further alert the operator to the resolution of the source that is the fundamental factor. Can be done automatically.
- the abnormality determination unit 13 of the controller 1 When the detected abnormality is a specific abnormality with high reproducibility (Yes in step S140), the abnormality determination unit 13 of the controller 1 generates specific abnormality occurrence information and outputs the information to the command generation unit 12. .
- the command generation unit 12 outputs the occurrence information of the specific abnormality to the control processing unit 22.
- the control processing unit 22 transitions from the normal mode to the specific abnormality alarm mode (step S150).
- control processing unit 22 monitors the presence / absence of a specific abnormality canceling process and determines whether or not the specific abnormality canceling process has been performed (step S160). That is, the control processing unit 22 determines whether or not a mode transition command signal is input from the input unit 11 of the controller 1 or the input unit 21 of the motor control device 2.
- the specific abnormality canceling process is performed by the operator based on the display contents of the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2.
- step S160 When a specific abnormality canceling process is performed on the control processing unit 22, that is, when a mode transition command signal is input to the control processing unit 22 (Yes in step S160), the control processing unit 22 Transition from the alarm mode to the abnormal alarm mode (step S170). Further, when a specific abnormality canceling process is performed on the display unit 14 and the display unit 25, that is, when a mode transition command signal is input to the display unit 14 and the display unit 25, the display unit 14 and the display unit 25 transitions from the specific abnormal alarm display mode to the abnormal alarm display mode (step S170).
- step S140 if the detected abnormality is not a specific abnormality with high reproducibility (No in step S140), the abnormality determination unit 13 of the controller 1 generates abnormality occurrence information and generates a command generation unit. 12 is output.
- the command generation unit 12 outputs the occurrence information of the abnormality to the control processing unit 22.
- the control processing unit 22 transitions from the normal mode to the abnormal alarm mode (step S170).
- the abnormality determination unit 13 of the controller 1 sends the abnormality occurrence information to the display unit 14 of the controller 1 and the motor control device 2. Output and display on the display unit 25 (alarm display). As a result, the occurrence of abnormality in the controller 1 and the content of the abnormality are notified to the operator, and the operator is alerted. Further, the display unit 14 of the controller 1 and the display unit 25 of the motor control device 2 transition from the normal display mode to the abnormal alarm display mode.
- the second embodiment it is possible to easily stop the motor 3 safely until a specific abnormality canceling process is completed as in the first embodiment.
- the alarm display on the display unit 14 and the display unit 25 cannot be released until the specific abnormality release process is completed. This makes it possible to more effectively alert the operator when a specific abnormality with high reproducibility occurs, and the cause that is the root cause of the occurrence of the abnormality is excluded because the investigation of the cause of the abnormality has not been completed. It is possible to prevent the alarm state from being released due to an easy reset process in the absence of this state. As a result, it is possible to easily prevent the occurrence of the same specific abnormality having high reproducibility due to the easy reset process, the runaway of the mechanical device due to the specific abnormality, and the like.
- the control processing unit 22 when it is determined that an abnormality other than a specific abnormality with high reproducibility (abnormality with low reproducibility) has occurred, the control processing unit 22 performs normal mode. Transition from 102 to a normal abnormal alarm mode 103. The transition from the abnormal alarm mode 103 to the normal mode 102 is performed when the reset process is performed.
- the second embodiment as in the case of the first embodiment, it is possible to return to the normal mode 102 only by a reset process for an abnormality other than a specific abnormality with high reproducibility (an abnormality with low reproducibility). ing. Thereby, it is easy to return to the normal mode 102 for an abnormality other than a specific abnormality with high reproducibility (an abnormality with low reproducibility). Also, in the display unit, it is possible to return to the normal display mode only by reset processing for abnormalities other than specific abnormality with high reproducibility (abnormality with low reproducibility). Thereby, it is easy to return to the normal display mode for an abnormality other than a specific abnormality with high reproducibility (an abnormality with low reproducibility).
- the alarm state is prevented from being easily released by the operator for a specific abnormality with high reproducibility, and the same abnormality is prevented from recurring or sporadic. be able to.
- abnormalities other than specific abnormalities with high reproducibility abnormalities with low reproducibility
- the motor control device is useful for both alerting the operator when an abnormality occurs and maintaining workability.
Abstract
Description
本実施の形態は、工作機械などの産業用機械装置のモータを駆動するモータ制御装置およびモータ制御システムに関する。図1は、実施の形態1にかかるモータ制御システムの構成を示すブロック図である。実施の形態1にかかるモータ制御システムは、コントローラ1と、モータ制御装置2と、モータ3と、検出器4とを備えている。コントローラ1とモータ制御装置2とは、通信ネットワークや専用回線等の通信回線により通信可能に接続されている。同様に、モータ制御装置2と検出器4とは、通信ネットワークや専用回線等の通信回線により通信可能に接続されている。
上述した実施の形態1では、モータ制御装置2の異常判定部24が観測信号を監視して、モータ制御システムにおいて異常が発生したか否かを判定する場合について説明した。実施の形態2では、実施の形態1にかかるモータ制御システムにおいて、コントローラ1の異常判定部13がモータ位置指令信号、コントローラ1内部で生成する制御信号、などの観測信号を監視し、モータ制御システムにおいて異常が発生したか否かを判定する場合について図2のフローチャートを参照して説明する。なお、実施の形態2における異常検出時のアラーム状態の解除処理の全体的な流れは実施の形態1の場合と同様である。
Claims (11)
- コントローラおよびモータに接続されて前記モータの駆動制御を行うモータ制御装置であって、
前記コントローラから入力されて前記モータの動作を指令する指令信号と前記モータの動作の検出結果である検出信号とに基づいて前記モータの駆動を制御する制御処理部と、
前記指令信号、前記検出信号および前記モータ制御装置の内部で生成される制御信号に基づいて前記コントローラ、前記モータ制御装置および前記モータにおける異常を検出し、前記検出した異常の再現性の高低を既定の判定基準に基づいて判定する異常判定部と、
を備え、
前記制御処理部は、前記既定の判定基準に基づいて再現性が高いと判定された特定異常が発生した場合には、前記モータの駆動を制御可能な正常モードから、前記モータの駆動の制御を停止する制御停止状態になるとともにリセット処理により前記制御停止状態の解除が不可能な特定異常アラームモードに遷移すること、
を特徴とするモータ制御装置。 - 前記制御処理部は、前記モータ制御装置に特定の異常解除処理が行われた場合に、前記特定異常アラームモードから、前記制御停止状態になるとともにリセット処理による前記制御停止状態の解除が可能な異常アラームモードに遷移すること、
を特徴とする請求項1に記載のモータ制御装置。 - 前記制御処理部は、前記特定異常と異なる異常が発生した場合には、前記正常モードから、前記異常アラームモードに遷移すること、
を特徴とする請求項2に記載のモータ制御装置。 - 前記特定の異常解除処理は、前記特定異常アラームモードから前記異常アラームモードへの遷移を指令するモード遷移指令信号の前記制御処理部への入力処理であること、
を特徴とする請求項2に記載のモータ制御装置。 - 前記モータ制御装置内の情報を表示する表示部を備え、
前記表示部は、前記特定異常が発生した場合には、通常の表示を行う正常表示モードから、前記特定異常の発生情報を表示するとともにリセット処理により前記特定異常の発生情報の表示を解除して前記正常表示モードへ復帰不可能な特定異常アラーム表示モードに遷移すること、
を特徴とする請求項1から4のいずれか1つに記載のモータ制御装置。 - 前記表示部は、前記モータ制御装置に前記特定の異常解除処理が行われた場合に、前記特定異常アラーム表示モードから、前記特定異常の発生情報または前記特定異常と異なる異常の発生情報を表示するとともにリセット処理により前記特定異常の発生情報または前記特定異常と異なる異常の発生情報の表示を解除して前記正常表示モードへ復帰可能な異常アラーム表示モードに遷移すること、
を特徴とする請求項5に記載のモータ制御装置。 - 前記表示部は、前記特定異常と異なる異常が発生した場合に、前記正常表示モードから、前記異常アラーム表示モードに遷移すること、
を特徴とする請求項6に記載のモータ制御装置。 - 前記特定の異常解除処理は、前記特定異常アラーム表示モードから前記異常アラーム表示モードへの遷移を指令するモード遷移指令信号の前記表示部への入力処理であること、
を特徴とする請求項6に記載のモータ制御装置。 - 前記制御処理部は、前記既定の判定基準に基づいて再現性が高いと判定されて外部機器から入力される情報に基づいて前記特定異常の発生を検出すること、
を特徴とする請求項1から4のいずれか1つに記載のモータ制御装置。 - 前記表示部は、前記既定の判定基準に基づいて再現性が高いと判定されて外部機器から入力される情報に基づいて前記特定異常の発生を検出すること、
を特徴とする請求項5から8のいずれか1つに記載のモータ制御装置。 - 請求項1から10のいずれか1つに記載のモータ制御装置と、
モータと、
前記モータに接続されて前記モータの動作の検出結果である検出信号を生成して前記モータ制御装置に入力する検出器と、
前記モータの動作を指令する指令信号を生成して前記モータ制御装置に入力するコントローラと、
を備えることを特徴とするモータ制御システム。
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JP2014187789A (ja) * | 2013-03-22 | 2014-10-02 | Fanuc Ltd | 異常検出機能を備えたモータ駆動装置 |
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2014
- 2014-04-02 KR KR1020157032192A patent/KR101617134B1/ko active IP Right Grant
- 2014-04-02 WO PCT/JP2014/059717 patent/WO2015151242A1/ja active Application Filing
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- 2014-04-02 US US14/781,346 patent/US9450532B2/en active Active
- 2014-04-02 CN CN201480027167.5A patent/CN105210287B/zh active Active
- 2014-04-02 DE DE112014002055.9T patent/DE112014002055B4/de active Active
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JPH03118795A (ja) * | 1989-09-29 | 1991-05-21 | Mitsubishi Electric Corp | インバータ装置 |
JP2008263737A (ja) * | 2007-04-13 | 2008-10-30 | Muscle Corp | サーボモータ |
JP2009142049A (ja) * | 2007-12-06 | 2009-06-25 | Mitsubishi Heavy Ind Ltd | 車載空気調和機用インバータシステム |
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CN105210287A (zh) | 2015-12-30 |
KR101617134B1 (ko) | 2016-04-29 |
DE112014002055B4 (de) | 2023-10-12 |
US9450532B2 (en) | 2016-09-20 |
TW201607233A (zh) | 2016-02-16 |
US20160142001A1 (en) | 2016-05-19 |
JP5666067B1 (ja) | 2015-02-12 |
DE112014002055T5 (de) | 2016-04-07 |
JPWO2015151242A1 (ja) | 2017-04-13 |
TWI566513B (zh) | 2017-01-11 |
KR20150134434A (ko) | 2015-12-01 |
CN105210287B (zh) | 2017-07-14 |
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