WO2016059723A1 - Dispositif soufflant et procédé de commande de dispositif soufflant - Google Patents

Dispositif soufflant et procédé de commande de dispositif soufflant Download PDF

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Publication number
WO2016059723A1
WO2016059723A1 PCT/JP2014/077699 JP2014077699W WO2016059723A1 WO 2016059723 A1 WO2016059723 A1 WO 2016059723A1 JP 2014077699 W JP2014077699 W JP 2014077699W WO 2016059723 A1 WO2016059723 A1 WO 2016059723A1
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WIPO (PCT)
Prior art keywords
rotational speed
command voltage
voltage value
current
rotation speed
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PCT/JP2014/077699
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English (en)
Japanese (ja)
Inventor
淳生 土井
耕平 長谷川
文夫 齋藤
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2014/077699 priority Critical patent/WO2016059723A1/fr
Priority to JP2016553945A priority patent/JP6239138B2/ja
Publication of WO2016059723A1 publication Critical patent/WO2016059723A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current

Definitions

  • the present invention relates to a blower device that is driven by a direct current (DC) motor and has a function of operating by controlling the rotational speed of the DC motor at a constant value, and a method for controlling the blower device.
  • DC direct current
  • Patent Document 1 discloses a first means for detecting the actual rotational speed of the fan motor from the rotational speed signal, outputs a command value, and detects the detected actual rotational speed and the target of the fan motor.
  • An example of the latter control method is the following control. That is, when the detected actual rotational speed is larger than ⁇ 200 rpm with respect to the target rotational speed, it is determined that the actual rotational speed is greatly deviated from the target rotational speed, and the motor is driven. The command voltage is corrected by ⁇ 1.0V. When the detected actual rotational speed is a rotational speed in the range of +50 to +200 rpm or a rotational speed in the range of ⁇ 50 to ⁇ 200 rpm with respect to the target rotational speed, the command voltage is corrected by ⁇ 0.2V.
  • the detected actual rotational speed is a rotational speed of ⁇ 50 rpm or less with respect to the target rotational speed
  • the rotational speed control of the motor is converged. That is, the motor is operated at a constant rotational speed at the current actual rotational speed by the current command voltage.
  • the slope of the rotational speed-torque curve representing the characteristics of the rotational speed and torque of the DC motor has a low load region and a high load. There is a region in which there is a region where the fluctuation of the actual rotational speed of the DC motor becomes large with respect to the fluctuation range of the command voltage. In this case, even when the DC motor is used under the same torque condition, there is a region where the rotational speed greatly changes when the command voltage changes, that is, when the applied voltage to the DC motor changes.
  • the target rotation speed is in the above region when the rotation speed is lowered by decreasing the command voltage from a state where the actual rotation speed is higher than the target rotation speed. Hence, the number of rotations may suddenly decrease.
  • the actual rotational speed falls below the target rotational speed, if the command voltage is corrected to a large value in order to bring the significantly reduced actual rotational speed close to the target rotational speed, the actual rotational speed is again set to the target rotational speed. It will be higher than.
  • the increase / decrease of the actual rotational speed is repeated as described above, hunting occurs across the target rotational speed, and the rotational speed control does not converge. .
  • the minimum command voltage correction value is the minimum command voltage correction value that can increase or decrease the rotational speed of the DC motor among the correction values of the command voltage.
  • the present invention has been made in view of the above, and avoids a rotational speed region where the rotational speed cannot be converged, and converges the constant rotational speed control of the DC motor with a stable rotational speed and air volume that is different from the target rotational speed.
  • An object of the present invention is to obtain a blower capable of performing the above-described operation.
  • the present invention provides a drive voltage to the DC motor based on a DC motor that rotationally drives the blower fan and a command voltage value that indicates a drive voltage of the DC motor.
  • a new command voltage value is generated by correcting the current command voltage value with a correction value in a direction to bring the current rotational speed closer to the target rotational speed
  • the motor driving unit A command voltage generation unit that performs a constant rotation speed control that causes the rotation speed of the DC motor to approach the target rotation speed by outputting to the command voltage, and the command voltage generation unit is based on the previous command voltage value.
  • the target rotational speed is between the previous rotational speed that is the actual rotational speed of the DC motor rotated in this manner and the current rotational speed
  • the absolute value of the rotational speed difference between the current rotational speed and the previous rotational speed is The voltage from the previous command voltage value to the current command voltage value in a region where a plurality of rotation speed-torque curves corresponding to different command voltage values in the DC motor rotation speed-torque curve diagram are parallel and parallel.
  • the generation of the new command voltage value is terminated when it is determined that the value is larger than a threshold value of the rotation speed that is a value equal to or larger than a predetermined fluctuation amount of the actual rotation speed corresponding to the fluctuation amount of the value. .
  • the characteristic is that the slope of the rotational speed-torque curve is different between the low load region and the high load region, and the fluctuation of the actual rotational speed is larger than the fluctuation range of the command voltage.
  • Rotation speed-torque curve diagram schematically represented for each motor command voltage.
  • FIG. 1 is a block diagram illustrating a configuration of a blower 1 according to a first embodiment of the present invention.
  • the blower 1 is a blower having a function of driving a blower fan with a DC motor and controlling the rotational speed of the DC motor to be constant.
  • the blower 1 includes a power supply unit 10 that supplies power to each component in the blower 1, a storage unit 20 that stores information used to control the rotational speed of the DC motor 51, and the rotational speed of the DC motor 51.
  • a control unit 30 that performs control, a motor drive unit 40 that drives and controls the DC motor 51 based on an instruction voltage value input from the control unit 30, a blower fan 52 that rotates and sends wind, and the blower fan 52 rotates.
  • a blower 50 having a DC motor 51 to be driven and a Hall IC 53 for detecting the rotation state of the DC motor 51 is provided.
  • the power supply unit 10 generates a plurality of voltage direct current (DC) power supplies by full-wave rectifying an alternating current (AC) power supply input from a commercial power supply (not shown).
  • Part of the DC power supply having a different voltage is supplied to the control unit 30 in the blower 1 and is used as a drive power source for the control unit 30.
  • a part of the DC power supply is given to the motor drive unit 40 and used as a drive power supply for the motor drive unit 40.
  • a part of the DC power source is supplied to the motor driving unit 40 and used as a driving power source for the DC motor 51 in the blower 50 that is pulse-width modulated (PWM) driven by the motor driving unit 40.
  • PWM pulse-width modulated
  • the storage unit 20 stores information used for controlling the rotational speed of the DC motor 51 such as the target rotational speed RT, the previous command voltage value, the current command voltage value, the previous rotational speed RL, and the rotational speed difference threshold ⁇ R. Means.
  • the target rotational speed RT is a target rotational speed in the constant rotational speed control of the DC motor 51.
  • the previous command voltage value is the command voltage value output to the motor drive unit 40 last time. The command voltage value this time is the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20.
  • the previous rotation number RL is the rotation number of the DC motor 51 that was controlled and rotated based on the previous command voltage value and was detected by the rotation number detection unit last time.
  • the rotation speed difference threshold value ⁇ R is a predetermined positive threshold value set in advance as a convergence condition for constant rotation speed control, and is a target rotation speed allowed for the current rotation speed RP as a convergence condition for constant rotation speed control. Allowable rotational speed from RT.
  • the current rotational speed RP is the current actual rotational speed of the DC motor 51.
  • the control unit 30 includes a command voltage generation unit 31, a calculation unit 32, and a rotation speed detection unit 33. Information can be transmitted and received between the components in the control unit 30.
  • the control unit 30 uses a microcomputer capable of realizing functions such as arithmetic and DC motor control functions, but is not limited to this, and is a logic capable of realizing the functions of the control unit 30. It can be realized by a combination of a circuit and a memory circuit.
  • the command voltage generation unit 31 outputs a command voltage value that instructs the drive voltage of the DC motor 51 to the motor drive unit 40 to control the command voltage to the DC motor 51.
  • the command voltage generation unit 31 acquires an initial command voltage value stored in advance in the storage unit 20, and outputs the initial command voltage value to the motor drive unit 40 to control activation of the DC motor 51.
  • the command voltage generation unit 31 generates a command voltage value based on information regarding the actual rotation speed of the DC motor 51 input from the calculation unit 32 and the rotation speed detection unit 33, and increases or decreases the actual rotation speed of the DC motor 51. Thus, constant rotation speed control is performed so as to approach the target rotation speed RT.
  • the command voltage generation unit 31 stores the generated command voltage value in the storage unit 20.
  • the control unit 30 also controls processing of the entire components in the blower device 1.
  • the calculation unit 32 calculates the rotation speed difference R of the target rotation speed RT from the current rotation speed RP and outputs it to the command voltage generation section 31.
  • the rotation speed detection unit 33 is a rotation speed detection unit that detects the current actual rotation speed of the DC motor 51.
  • a detection signal detected by the Hall IC 53 provided in the DC motor 51 is input to the rotation speed detection unit 33.
  • the rotation speed detection unit 33 detects the current rotation speed RP of the DC motor 51 based on the detection signal of the Hall IC 53.
  • the rotation speed detection unit 33 outputs the detected current rotation speed RP of the DC motor 51 to the calculation unit 32 and causes the storage unit 20 to store the current rotation speed RP.
  • the Hall IC 53 is connected to the DC motor 51, detects the rotation state of the DC motor 51, and outputs it to the rotation speed detector 33 as an output signal.
  • the motor drive unit 40 chops the DC power supplied from the power supply unit 10 by PWM control based on the instruction voltage value input from the command voltage generation unit 31 and applies it to the DC motor 51 in the blower 50 as a correction application voltage. Apply.
  • the blower 50 is configured by attaching a blower fan 52 to a DC motor 51, and the blower fan 52 rotates with the rotation of the DC motor 51 to send wind.
  • the DC motor 51 rotates at a rotational speed corresponding to the applied voltage to rotationally drive the blower fan 52.
  • a DC brushless motor is used as the DC motor 51, but the DC motor 51 is not limited to a DC brushless motor. That is, a brushed DC motor may be used as the DC motor 51.
  • the rotational speed-torque characteristics of the DC motor even if the DC motor is used under the same torque condition, the rotational speed increases when the command voltage to the DC motor changes, that is, when the applied voltage to the DC motor changes.
  • the changing area will be described.
  • the inclination of the rotation speed-torque curve representing one characteristic of the DC motor is low in the low load region and the high load region, that is, low.
  • a description will be given of a region that is greatly different between the torque region and the high torque region, and in which the fluctuation of the actual rotational speed of the DC motor increases between the command voltages with respect to the fluctuation range of the command voltage.
  • a rotational speed hunting region such a region where the inclination of the rotational speed-torque curve greatly changes.
  • FIG. 2 shows the characteristics of the DC motor 51 according to the first embodiment in which the slope of the rotational speed-torque curve differs between the low load area and the high load area, and the fluctuation of the actual rotational speed increases with respect to the fluctuation range of the command voltage.
  • the command voltage of the DC motor 51 is the lowest in the rotation speed-torque curve C1. Further, in the rotation speed-torque curve C10, the command voltage of the DC motor 51 is the highest. A region between the fifth rotational speed-torque curve C5 from the bottom and the sixth rotational speed-torque curve C6 from the bottom is the rotational speed hunting region.
  • the rotational speed and torque change along the direction of the arrow shown in FIG. In this case, the fifth rotation number-torque curve C5 from the bottom and the sixth rotation number-torque curve C6 from the bottom are not the rotation number hunting region.
  • the target rotational speed is between the fifth rotational speed-torque curve C5 from the bottom and the sixth rotational speed-torque curve C6 from the bottom, and the current rotational speed of the DC motor 51 is higher than the target rotational speed RT.
  • the rotational speed RH is the rotational speed at the boundary between the rotational speed hunting region and the normal change region where rotational speed hunting does not occur in the sixth rotational speed-torque curve C6 from the bottom, and the rotational speed is the rotational speed RH. If it is lower, hunting of the rotational speed occurs.
  • a plurality of rotational speed-torque curves of different command voltages are arranged in parallel, that is, with the same inclination.
  • the command voltage is a voltage equal to or higher than the command voltage corresponding to the sixth rotation speed-torque curve C6 from the bottom.
  • the normal change region is a region where the rotational speed is higher than the rotational speed RH in the rotational speed-torque curve diagram of FIG. 2, and is a region where the slopes of the respective rotational speed-torque curves corresponding to different command voltage values are parallel. is there.
  • the command voltage is set to a command voltage lower than the command voltage corresponding to the sixth rotational speed-torque curve C6 from the bottom.
  • the rotational speed is controlled by correcting the command voltage with the correction value, the rotational speed is greatly reduced, and the rotational speed becomes a state of the rotational speed RB lower than the target rotational speed RT.
  • the command voltage is corrected to a large value in order to bring the significantly reduced actual rotational speed close to the target rotational speed, and the actual rotational speed is again greater than the target rotational speed RT. Will also be high.
  • the rotational speed hunting area even if the rotational speed is increased or decreased with the minimum command voltage correction value in the constant rotational speed control, the rotational speed does not change proportionally. That is, in the rotational speed hunting area, even if the rotational speed is increased or decreased with the minimum command voltage correction value, the actual rotational speed is the same as the default rotational speed increase or decrease corresponding to the increase or decrease of the minimum command voltage correction value in the normal change area. Does not change.
  • the minimum command voltage correction value is a minimum command voltage correction value that can be varied by increasing / decreasing the rotational speed of the DC motor among the correction values of the command voltage.
  • FIG. 3 is a flowchart illustrating a method for controlling the DC motor 51 in the blower 1 according to the first embodiment.
  • step ST10 the command voltage generation unit 31 of the control unit 30 acquires an initial command voltage value stored in advance in the storage unit 20, and outputs the initial command voltage value to the motor drive unit 40. Further, the command voltage generation unit 31 stores the initial command voltage value in the storage unit 20 as the current command voltage value, that is, the current latest command voltage value.
  • the motor drive unit 40 chops the DC power supplied from the power supply unit 10 by PWM control based on the initial command voltage value, and applies the chopped voltage to the DC motor 51 in the blower 50 as an initial applied voltage.
  • the DC motor 51 is rotationally driven at a rotational speed corresponding to the initial applied voltage when the initial applied voltage is applied.
  • the rotation speed detector 33 detects the actual rotation speed that is the current rotation speed RP of the DC motor 51 based on the output signal of the Hall IC 53.
  • the rotation speed detection unit 33 outputs the detected current rotation speed RP to the calculation unit 32 and stores the current rotation speed RP in the storage unit 20.
  • the calculation unit 32 may store the current rotational speed RP in the storage unit.
  • step ST30 the calculation unit 32 acquires the target rotational speed RT stored in advance in the storage unit 20, and calculates the rotational speed difference R that is the difference between the current rotational speed RP and the target rotational speed RT. calculate.
  • the calculation unit 32 outputs the calculated rotation speed difference R to the command voltage generation unit 31.
  • step ST40 the command voltage generation unit 31 determines whether or not “the absolute value of the rotational speed difference R
  • the command voltage generation section 31 determines the current rotation speed RP. Is considered to have reached the target rotational speed RT, and the constant rotational speed control is converged. Therefore, the rotation speed difference threshold ⁇ R here is set as a convergence condition for constant rotation speed control.
  • the command voltage generation unit 31 acquires the rotation speed difference threshold value ⁇ R stored in the storage unit 20 in advance and uses it for the above determination.
  • of the rotational speed difference R is compared with the rotational speed difference threshold value ⁇ R is because it does not matter whether the current rotational speed RP is larger or smaller than the target rotational speed RT. That is, when the command voltage generation unit 31 converges the constant rotation speed control, the current rotation speed RP with respect to the target rotation speed RT is not limited.
  • step ST40 If it is determined in step ST40 that the absolute value
  • the motor drive unit 40 no new command voltage value is input, so that the voltage application to the DC motor 51 is continued based on the current command voltage value. Thereby, a series of constant rotation speed control is complete
  • step ST40 when it is determined in step ST40 that the absolute value
  • step ST50 If it is determined in step ST50 that “the rotational speed difference R is greater than 0”, that is, if YES in step ST50, the rotational speed difference R is a positive value, so the current rotational speed RP is the target rotational speed. Less than a few RT.
  • the command voltage generation unit 31 performs control to increase the command voltage by a predetermined correction value ⁇ in order to increase the rotation speed and bring the actual rotation speed close to the target rotation speed RT. That is, the command voltage generation unit 31 acquires the correction value ⁇ and the current command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20.
  • the command voltage generation unit 31 stores the next command voltage value in the storage unit 20.
  • the correction value ⁇ is a positive value.
  • the motor drive unit 40 chops the DC power supplied from the power supply unit 10 by PWM control based on the next command voltage value, and applies it as a correction application voltage to the DC motor 51 in the blower 50.
  • the DC motor 51 rotates at a rotation speed corresponding to the corrected applied voltage.
  • step ST50 when it is determined in step ST50 that "the rotational speed difference R is not greater than 0", that is, in the case of No in step ST50, since the rotational speed difference R is a negative value, the current rotational speed RP is the target rotational speed. Greater than a few RT.
  • step ST70 the command voltage generation unit 31 performs control to lower the command voltage by a predetermined correction value ⁇ in order to lower the rotation speed and bring the actual rotation speed closer to the target rotation speed RT. That is, the command voltage generation unit 31 acquires the correction value ⁇ and the current command voltage value from the storage unit 20.
  • the command voltage generation unit 31 stores the next command voltage value in the storage unit 20.
  • the motor drive unit 40 chops the DC power supplied from the power supply unit 10 by PWM control based on the next command voltage value, and applies it as a correction application voltage to the DC motor 51 in the blower 50.
  • the DC motor 51 rotates at a correction rotational speed corresponding to the correction application voltage.
  • step ST80 the rotation speed detection unit 33 again detects the actual rotation speed that is the current rotation speed RP of the DC motor 51, and the detected current rotation speed RP is used as the command voltage generation section. 31 and the calculation unit 32, and the current rotation speed RP is stored in the storage unit 20.
  • step ST90 the command voltage generation unit 31 determines whether or not the current rotational speed RP has increased or decreased from the previous rotational speed RL across the target rotational speed RT. That is, the command voltage generation unit 31 determines that the first condition that “the current rotational speed RP is larger than the target rotational speed RT and the previous rotational speed RL is smaller than the target rotational speed RT” or “the current rotational speed RP is It is determined whether or not the second condition is satisfied that the rotational speed is smaller than the target rotational speed RT and the previous rotational speed RL is larger than the target rotational speed RT.
  • the command voltage generation unit 31 determines that “the current rotation speed RP has increased or decreased from the previous rotation speed RL across the target rotation speed RT”.
  • the command voltage generation unit 31 acquires from the storage unit 20 the previous rotation number RL and the target rotation number RT, which are the rotation numbers previously detected by the rotation number detection unit 33 and stored in the storage unit 20. Then, the command voltage generation unit 31 compares the current rotation speed RP, which is the rotation speed newly detected by the rotation speed detection section 33, the previous rotation speed RL, and the target rotation speed RT, thereby comparing the first condition or the first rotation speed. It is determined whether or not two conditions are satisfied.
  • the current rotational speed RP is a rotational speed that has fluctuated in response to the command voltage value being corrected in step ST60 or step ST70.
  • Whether or not the first condition is satisfied is determined based on whether or not a conditional expression of “current rotational speed RP> target rotational speed RT and previous rotational speed RL ⁇ target rotational speed RT” is satisfied.
  • Whether or not the second condition is satisfied is determined based on whether or not a conditional expression of “current rotational speed RP ⁇ target rotational speed RT and previous rotational speed RL> target rotational speed RT” is satisfied.
  • step ST90 When it is determined in step ST90 that neither the first condition nor the second condition is satisfied, that is, in step ST90, the process returns to step ST30.
  • step ST90 If it is determined in step ST90 that the first condition or the second condition is satisfied, that is, if YES in step ST90, in step ST100, the command voltage generation unit 31 determines that “the actual rotational speed is the current rotational speed from the previous rotational speed RL.
  • the command voltage generation unit 31 determines that “the actual rotational speed is the current rotational speed from the previous rotational speed RL.
  • the actual rotational speed is the current rotational speed from the previous rotational speed RL. It is determined whether or not the rotational speed hunting region is straddled when the rotational speed RP is changed.
  • Across the rotation speed hunting area when the actual rotation speed changes from the previous rotation speed RL to the current rotation speed RP means that the absolute value of the rotation speed difference between the previous rotation speed RL and the current rotation speed RP is the rotation speed.
  • Whether or not the command voltage value is increased or decreased by a predetermined correction amount ⁇ in a normal change region where no hunting occurs can be determined based on whether or not it is greater than a predetermined rotational speed difference corresponding to the increase or decrease amount of the command voltage value.
  • “when the actual rotational speed fluctuates from the previous rotational speed RL to the current rotational speed RP across the rotational speed hunting region” means that the absolute value of the rotational speed difference before and after changing the command voltage is the rotational speed difference. It can be determined by a conditional expression of “
  • the rotational speed difference threshold value a is a predetermined threshold value for determining whether or not the rotational speed hunting region is straddled when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP. It is.
  • the rotation speed difference threshold a is set to a value equal to or larger than the increase / decrease amount of the actual rotation speed corresponding to the increase / decrease amount of the command voltage value when the command voltage value is increased / decreased in the normal change region in the rotation speed-torque curve diagram. Is the default speed difference.
  • the rotation speed difference threshold value a corresponds to the amount of change in the voltage value between the previous command voltage value and the current command voltage value when the command voltage value is increased or decreased in a normal change region in the rotation speed-torque curve diagram. It is a positive value that is greater than the default fluctuation amount of the actual rotation speed.
  • the rotation speed difference threshold value a is the actual rotation speed-torque range in the rotation speed-torque characteristic diagram, that is, how much the rotation speed hunting region is actual when the command voltage value is varied in the range where the DC motor 51 is actually used. Whether the number of rotations suddenly increases or decreases is determined based on information actually measured. Therefore, the rotational speed difference threshold value a is set to a value equal to or less than the maximum rotational speed change amount in the rotational speed hunting region that can occur in the actual rotational speed-torque range, corresponding to the increase / decrease amount of the command voltage value.
  • the command voltage generation unit 31 acquires the rotation speed difference threshold value a stored in advance in the storage unit 20 and uses it for the above determination.
  • the current rotation speed RP increases or decreases from the previous rotation speed RL by a predetermined unit rotation speed corresponding to the unit voltage value increase or decrease amount of the command voltage value.
  • the current rotation speed RP is twice the default unit rotation speed difference corresponding to the increase / decrease amount of the unit voltage value of the command voltage value. The number of rotations is increased or decreased from the previous number of rotations RL.
  • the current rotation speed RP is a value equal to or smaller than the predetermined rotation speed difference threshold a corresponding to the increase / decrease amount of the command voltage value. Increase or decrease from the rotational speed RL. Therefore, the fact that the absolute value of the rotational speed difference between the previous rotational speed RL and the current rotational speed RP is larger than the rotational speed difference threshold value a means that the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP. It means that the hunting area is crossed and it is in a state of exiting.
  • step ST100 when it is determined that “the current rotational speed RP does not pass through the rotational speed hunting region when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP”, that is, If No in step ST100, the process returns to step ST30.
  • step ST100 When it is determined in step ST100 that “when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP, the current rotational speed RP has passed through the rotational speed hunting region”, that is, In the case of Yes in step ST100, the current rotational speed RP is located in a region near the rotational speed hunting region in the rotational speed-torque curve diagram. For this reason, the command voltage generation unit 31 converges the constant rotational speed control at the current rotational speed at which the rotational speed is stable regardless of the magnitude of the current rotational speed RP with respect to the target rotational speed RT. That is, in step ST110, the command voltage generation unit 31 turns on the rotation speed hunting region end flag provided in the command voltage generation unit 31.
  • the rotation speed hunting region end flag is a flag indicating that the fixed rotation speed control has been converged. Note that the rotation speed hunting region end flag may be provided in another part in the blower 1 such as the storage unit 20.
  • the constant rotation speed control is converged. Therefore, when the rotation speed hunting region end flag is turned on, the command voltage generation unit 31 uses the current command voltage value, that is, the latest command voltage value as the final command voltage value for constant rotation speed control. The control is terminated, and no new command voltage value is generated thereafter. In the motor drive unit 40, no new command voltage value is input, so that the voltage application to the DC motor 51 is continued based on the current command voltage value. Thereby, a series of constant rotation speed control is complete
  • the blower 1 As an example of the control by the blower 1 described above, a blower 1 in which the target rotational speed RT is 1500 rpm and the rotational speed difference threshold a of the rotational speed difference R is set to 200 rpm is assumed.
  • the rotational speed hunting changes the slope of the rotational speed-torque curve with respect to the command voltage. It is determined that the actual rotational speed changes across the area, and the current rotational speed is located near the rotational speed hunting area. For this reason, the command voltage generation unit 31 stops the control to bring the actual rotational speed close to the target rotational speed RT, and converges the constant rotational speed control at 1200 rpm that is the current rotational speed RP.
  • the command voltage generation unit 31 performs the processing of step ST90 and step ST100, so that the current rotational speed RP passes through the rotational speed hunting area in the rotational speed-torque curve diagram and the rotational speed hunting area It can be determined whether or not it is located in a region near the. That is, in the blower 1, the absolute value of the difference between the rotational speeds before and after changing the command voltage is larger than the rotational speed difference threshold a, and the rotational speed after changing the command voltage leaves the target rotational speed and rapidly increases or decreases rapidly. In this case, it is determined that the rotational speed hunting region where the slope of the rotational speed-torque curve of the DC motor 51 is greatly varied is crossed, and the constant rotational speed control is converged.
  • FIG. 4 is a flowchart showing another control method of the DC motor 51 in the blower 1 according to the first embodiment.
  • the basic control of the other control methods is the same as in the flowchart of FIG. In FIG. 4, attention is paid to a different procedure part from the case of the flowchart of FIG. 3. In the following, a procedure part different from the case of the flowchart of FIG. 3 will be described.
  • step ST42 is performed.
  • the command voltage generation unit 31 determines whether or not the absolute value
  • the command voltage generation unit 31 acquires the rotation speed difference threshold ⁇ R1 stored in advance in the storage unit 20 and uses it for the above determination.
  • the rotational speed difference threshold ⁇ R1 here is set as a convergence condition for constant rotational speed control.
  • step ST42 If it is determined in step ST42 that the absolute value
  • step ST50 the command voltage generation unit 31 is determined. Determines whether the rotational speed difference R is a positive value, that is, whether the rotational speed difference R is greater than zero.
  • step ST50 determines that “the absolute value of the rotational speed difference R
  • the command voltage generation unit 31 further acquires the rotation speed difference threshold value ⁇ R2 stored in the storage unit 20 in advance and uses it for the above determination.
  • the rotational speed difference threshold ⁇ R2 is set in correspondence with the magnitude of the absolute value of the rotational speed difference R, and the magnitude of the rotational speed difference R is determined from a plurality of different correction values ⁇ stored in the storage unit 20 in advance. Is set as a condition for selecting and determining a correction value ⁇ for increasing or decreasing the command voltage value.
  • step ST52 If it is determined in step ST52 that “the absolute value
  • No. 31 performs control to increase the command voltage by the correction value ⁇ 1 in order to increase the rotational speed and bring the actual rotational speed closer to the target rotational speed RT.
  • the command voltage generation unit 31 acquires the latest command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20. Further, the command voltage generation unit 31 acquires a correction value ⁇ 1 stored in the storage unit 20 in advance.
  • the next command voltage value is stored in the storage unit 20.
  • the correction value ⁇ 1 is a positive value set in correspondence with the condition that “the rotational speed difference R is larger than the rotational speed difference threshold ⁇ R1 and equal to or smaller than the rotational speed difference threshold ⁇ R2.”
  • step ST52 determines whether the absolute value
  • the command voltage is determined in step ST64.
  • the generation unit 31 performs control to increase the command voltage by the correction value ⁇ 2 in order to increase the rotational speed and bring the actual rotational speed close to the target rotational speed RT.
  • the command voltage generation unit 31 acquires the latest command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20. Further, the command voltage generation unit 31 acquires a correction value ⁇ 2 stored in the storage unit 20 in advance.
  • the next command voltage value is stored in the storage unit 20.
  • the correction value ⁇ 2 is a positive value set corresponding to the condition that “the rotational speed difference R is larger than the rotational speed difference threshold ⁇ R2”, and is a value larger than the correction value ⁇ 1.
  • step ST50 when it is determined in step ST50 that the rotation speed difference R is not greater than 0, that is, in the case of No in step ST50, in step ST54, the command voltage generation unit 31 determines that “the absolute value of the rotation speed difference R
  • the command voltage generation unit 31 further acquires the rotation speed difference threshold value ⁇ R2 stored in the storage unit 20 in advance and uses it for the above determination.
  • step ST54 If it is determined in step ST54 that “the absolute value
  • the command voltage generation unit 31 acquires the latest command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20. Further, the command voltage generation unit 31 acquires a correction value ⁇ 1 stored in the storage unit 20 in advance.
  • the next command voltage value is stored in the storage unit 20.
  • step ST54 determines whether the absolute value
  • the command voltage is determined in step ST74.
  • the generation unit 31 performs control to lower the command voltage by the correction value ⁇ 2 in order to lower the rotation speed and bring the actual rotation speed closer to the target rotation speed RT.
  • the command voltage generation unit 31 acquires the latest command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20. Further, the command voltage generation unit 31 acquires a correction value ⁇ 2 stored in the storage unit 20 in advance.
  • the next command voltage value is stored in the storage unit 20.
  • step ST100 the command voltage generation unit 31 determines the current range from the increase / decrease value of the command voltage when the command voltage is changed in step ST62, step ST64, step ST72, or step ST74 and the current rotational speed RP. In other words, it is determined in which range in the rotational speed-torque curve diagram and how far the target rotational speed is from the target rotational speed. And the command voltage generation part 31 is set corresponding to each control range, The rotation speed corresponding to each control range from the several different rotation speed difference threshold value a memorize
  • the difference threshold a is acquired and used. This improves the accuracy of determining that “when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP, the current rotational speed RP passes through the rotational speed hunting region”. be able to.
  • the rotation speed difference threshold value a is set to be large in the region where the variation in the inclination between the rotation speed hunting regions is large, and the variation in the inclination between the rotation number-torque curves is small. In the region, the rotation speed difference threshold a is set small. This makes it possible to more reliably determine that “when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP, the current rotational speed RP has passed through the rotational speed hunting region”.
  • the rotation speed difference threshold ⁇ R1 is set to 50 rpm
  • the rotation speed difference threshold ⁇ R2 is set to 200 rpm.
  • the command voltage generator 31 converges the constant rotational speed control, assuming that the actual rotational speed has reached the target rotational speed RT.
  • the rotational speed difference R is the rotational speed difference R> 0 and the absolute value
  • the command voltage generation unit 31 can vary the actual rotational speed.
  • the command voltage is increased by the minimum voltage control value that can be corrected.
  • the command voltage generator 31 increases the command voltage by 1.0V.
  • the rotational speed difference R is the rotational speed difference R ⁇ 0 and the absolute value
  • of the rotational speed difference R is 50 rpm ⁇
  • the command voltage generator 31 can vary the actual rotational speed.
  • the command voltage is decreased by the minimum voltage control value that can be corrected.
  • the command voltage generation unit 31 decreases the command voltage by 1.0V.
  • the plurality of rotation speed difference threshold values ⁇ R may be stored in the storage unit 20 in advance.
  • the target rotation speed RT is compared with the current rotation speed RP, and the current rotation speed RT is compared with the current rotation speed RT.
  • the rotational speed RP is larger, the rotational speed is made closer to the target rotational speed RT by correcting the command voltage value to decrease, and when the current rotational speed RP is smaller than the target rotational speed RT, the command voltage value Is controlled so as to increase the rotational speed so that the rotational speed approaches the target rotational speed RT.
  • control is performed so that the target rotational speed RT and the current rotational speed RP coincide with each other or are converged according to a predetermined convergence condition.
  • the absolute value of the difference between the rotational speeds before and after the command voltage value is changed is the fluctuation of the command voltage value during the normal control in advance, that is, during the rotational speed control in the normal change region in the rotational speed-torque curve diagram.
  • the absolute value of the difference between the rotational speeds before and after changing the command voltage is larger than the rotational speed difference threshold a, and the rotational speed after changing the command voltage is the target rotational speed.
  • the rotational speed hunting region where the slope of the rotational speed-torque curve of the DC motor 51 is greatly varied is crossed, and the constant rotational speed control is converged.
  • the converging rotational speed is different from the target rotational speed, but the rotational speed hunting region can be avoided and the constant rotational speed control can be converged with a stable rotational speed and air volume.
  • Embodiment 2 shows the magnitude of the rotational speed that finally converges the constant rotational speed control with respect to the target rotational speed RT.
  • the second embodiment with respect to the control for avoiding the air volume of the blower device 1 from decreasing at the time of operation at the target rotational speed RT by converging the constant rotational speed control in the blower device 1 according to the first embodiment. explain. That is, in the second embodiment, in the blower device 1 according to the first embodiment, when the actual rotational speed is out of the rotational speed hunting region, the constant rotational speed control is always converged in a state higher than the target rotational speed RT. Control will be described.
  • FIG. 5 is a flowchart illustrating a method for controlling the DC motor 51 according to the second embodiment.
  • the basic procedure of the control method according to the second embodiment is the same as that in the flowchart of FIG. In FIG. 5, attention is paid to a procedure part different from the case of the flowchart of FIG. 3. In the following, a procedure part different from the case of the flowchart of FIG. 3 will be described.
  • step ST210 the command voltage generation unit 31 determines whether or not the current rotational speed RP has increased from the previous rotational speed RL across the target rotational speed RT. That is, the command voltage generation unit 31 determines whether or not the first condition that “the current rotational speed RP is larger than the target rotational speed RT and the previous rotational speed RL is smaller than the target rotational speed RT” is satisfied. . When the first condition is satisfied, the command voltage generation unit 31 determines that “the current rotation speed RP has increased from the previous rotation speed RL across the target rotation speed RT”.
  • the command voltage generation unit 31 includes the previous rotation number RL, which is the rotation number previously detected by the rotation number detection unit 33 and stored in the storage unit 20, and the rotation number newly detected by the rotation number detection unit 33. By comparing the current rotational speed RP and the target rotational speed RT, it is determined whether or not the first condition is satisfied. In step ST90 of FIG. 3, the command voltage generation unit 31 determines “whether or not the first condition or the second condition is satisfied”, but in step ST210, determines whether or not “the first condition is satisfied”. To do.
  • step ST210 when it is determined that the first condition is not satisfied, that is, in the case of No in step ST210, the process returns to step ST30.
  • step ST210 determines that “the current rotational speed RP is the rotational speed in the rotational speed hunting region. Whether or not it is in a state of passing through the direction in which the engine speed increases and exiting from the rotational speed hunting area ”, that is,“ the rotational speed hunting area is rotated when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP ”. It is determined whether or not it has straddled the direction in which the number increases.
  • the command voltage generation unit 31 acquires the rotation speed difference threshold value a stored in advance in the storage unit 20 and uses it for the above determination.
  • step ST220 When it is determined in step ST220 that “the engine speed hunting region does not straddle the direction in which the engine speed increases when the actual engine speed changes from the previous engine speed RL to the current engine speed RP”, that is, in step ST220, No. In this case, the process returns to step ST30.
  • step ST220 when it is determined in step ST220 that "the rotation speed hunting region is straddled in the direction in which the rotation speed increases when the actual rotation speed changes from the previous rotation speed RL to the current rotation speed RP", that is, in step ST220.
  • the command voltage generation unit 31 performs control to increase the rotational speed and further move the actual rotational speed away from the rotational speed hunting region. That is, the command voltage generation unit 31 acquires the current command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20.
  • the tolerance correction value ⁇ is a correction value for increasing the rotation speed and increasing the rotation speed in preparation for the actual rotation speed of the DC motor 51 entering the rotation speed hunting region for some reason. That is, the tolerance correction value ⁇ is a prescribed command voltage correction value for increasing the rotational speed and further moving the actual rotational speed away from the rotational speed hunting region, and is a positive value.
  • the correction value ⁇ for the margin is preferably in the range of a voltage value about 10 times the minimum command voltage correction value from the minimum command voltage correction value in the constant rotational speed control.
  • the DC motor 51 rotates at a rotation speed corresponding to the corrected applied voltage.
  • step ST240 the command voltage generation unit 31 turns on the rotation speed hunting region end flag provided in the command voltage generation unit 31, and corrects with the correction value ⁇ for the tolerance that makes the rotation speed more stable. Then, the constant rotational speed control is converged with the next command voltage value generated. Thereby, a series of constant rotation speed control is complete
  • the converging rotational speed is different from the target rotational speed, but avoids the rotational speed hunting region and is constant at a stable rotational speed and air volume.
  • the rotational speed control can be converged.
  • the constant rotational speed control is converged at a rotational speed higher than the rotational speed hunting region, the constant air flow is always larger than when the DC motor 51 rotates at the target rotational speed.
  • the speed control can be converged.
  • Embodiment 3 In the third embodiment, by converging the constant rotational speed control in the air blower 1 according to the first embodiment, other air flow for avoiding the air volume of the air blower 1 from being decreased compared with the operation at the target rotational speed RT. Control will be described.
  • the rotational speed hunting area is straddled across the direction in which the rotational speed decreases, and the rotational speed is significantly reduced.
  • a description will be given of control for converging the constant rotational speed control in a state that is always higher than the target rotational speed RT.
  • FIG. 6 is a flowchart illustrating a method for controlling the DC motor 51 according to the third embodiment.
  • the basic control of the control method according to the third embodiment is the same as in the flowchart of FIG.
  • attention is paid to a procedure part different from the case of the flowchart of FIG. 3.
  • a procedure part different from the case of the flowchart of FIG. 3 will be described.
  • step ST310 the command voltage generation unit 31 determines whether or not the current rotational speed RP has decreased from the previous rotational speed RL across the target rotational speed RT. That is, the command voltage generation unit 31 determines whether or not the second condition that “the current rotational speed RP is smaller than the target rotational speed RT and the previous rotational speed RL is larger than the target rotational speed RT” is satisfied. . When the second condition is satisfied, the command voltage generation unit 31 determines that “the current rotational speed RP has decreased from the previous rotational speed RL across the target rotational speed RT”.
  • the command voltage generation unit 31 includes the previous rotation number RL, which is the rotation number previously detected by the rotation number detection unit 33 and stored in the storage unit 20, and the rotation number newly detected by the rotation number detection unit 33. By comparing the current rotation speed RP and the target rotation speed RT, it is determined whether or not the second condition is satisfied. In step ST90 of FIG. 3, the command voltage generation unit 31 determines “whether or not the first condition or the second condition is satisfied”, but in step ST310, determines whether or not “the second condition is satisfied”. To do.
  • step ST310 If it is determined in step ST310 that the second condition is not satisfied, that is, if it is No in step ST310, the process returns to step ST30.
  • step ST310 determines that “the current rotational speed RP is the rotational speed in the rotational speed hunting region. Whether or not it is in a state where it has passed through the direction in which the engine speed decreases and has exited from the rotational speed hunting area ”, that is,“ the rotational speed hunting area is rotated when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP ”. It is determined whether or not it has straddled the direction in which the number decreases.
  • the current rotational speed RP that passes through the rotational speed hunting area from the state of the previous rotational speed RL, which is higher in rotational speed than the rotational speed hunting area, and is lower in rotational speed than the rotational speed hunting area. In this state, the actual rotational speed fluctuates.
  • step ST320 If it is determined in step ST320 that "the actual rotational speed does not straddle the rotational speed hunting area when the actual rotational speed changes from the previous rotational speed RL to the current rotational speed RP", that is, No in step ST320. In this case, the process returns to step ST30.
  • step ST320 when it is determined in step ST320 that “the rotation speed hunting region is straddled in the direction in which the rotation speed decreases when the actual rotation speed changes from the previous rotation speed RL to the current rotation speed RP”, that is, in step ST320.
  • the correction value ⁇ is used to correct the current command voltage value in a direction that brings the current rotational speed RP closer to the target rotational speed RT with a correction value smaller than the voltage value difference between the previous command voltage value and the current command voltage value.
  • This is a positive correction value. That is, the command voltage generation unit 31 corrects the current command voltage value in a direction to bring the current rotation speed closer to the target rotation speed with an increase smaller than the voltage value difference between the previous command voltage value and the current command voltage value.
  • a new command voltage value is generated.
  • the correction value ⁇ is preferably the minimum command voltage correction value, that is, the minimum command voltage correction value that can increase or decrease the rotational speed of the DC motor 51 among the command voltage correction values.
  • the minimum command voltage correction value as the correction value ⁇ , it is possible to reliably increase the actual rotational speed little by little, and when the actual rotational speed passes through the rotational speed hunting area in the direction of increasing the rotational speed, It is possible to prevent the rotational speed from being greatly separated from the rotational speed hunting region. That is, the actual rotational speed when passing through the rotational speed hunting region in the direction of increasing the rotational speed can be made closer to the target rotational speed RT.
  • step ST340 the rotation speed detection unit 33 detects the actual rotation speed of the DC motor 51 again, outputs the detected rotation speed to the command voltage generation unit 31 and the calculation unit 32, and sets the current rotation speed RP.
  • the data is stored in the storage unit 20.
  • step ST350 the command voltage generation unit 31 determines whether or not the current rotational speed RP is larger than the target rotational speed RT.
  • step ST350 If it is not determined in step ST350 that “the current rotational speed RP is larger than the target rotational speed RT”, that is, if No in step ST350, the process returns to step ST330, and the current rotational speed RP becomes larger than the target rotational speed RT.
  • the rotation speed is controlled by correcting the command voltage value up to. That is, it is determined that the current rotational speed RP increases from the previous rotational speed RL across the target rotational speed RT, and the rotational speed difference obtained by subtracting the previous rotational speed RL from the current rotational speed RP is greater than the rotational speed difference threshold a.
  • the command voltage value is corrected to control the rotational speed.
  • step ST350 when it is determined in step ST350 that “current rotation speed RP is larger than target rotation speed RT”, that is, in step ST350, Yes, the actual rotation speed is lower than the rotation speed hunting region. From the state of the previous rotational speed RL, it passes through the rotational speed hunting area and changes to the current rotational speed RP having a rotational speed higher than that of the rotational speed hunting area.
  • step ST360 the command voltage generation unit 31 performs control to increase the rotational speed and further move the actual rotational speed away from the rotational speed hunting region. That is, the command voltage generation unit 31 acquires the current command voltage value, that is, the latest command voltage value output to the motor drive unit 40 and stored in the storage unit 20 from the storage unit 20.
  • the correction value ⁇ for the tolerance is a positive value.
  • the DC motor 51 rotates at a rotation speed corresponding to the corrected applied voltage.
  • step ST370 the command voltage generation unit 31 turns on the rotation speed hunting region end flag provided in the command voltage generation unit 31, and corrects with the correction value ⁇ for the tolerance that makes the rotation speed more stable. Then, the constant rotational speed control is converged with the next command voltage value generated. Thereby, a series of constant rotation speed control is complete
  • the current rotational speed RP when the current rotational speed RP passes through the rotational speed hunting area in the direction in which the rotational speed increases and exits from the rotational speed hunting area is The state is closest to the target rotational speed RT, and is located on the sixth rotational speed-torque curve C6 from the bottom in FIG.
  • the converging rotational speed is different from the target rotational speed, but avoids the rotational speed hunting region and is constant at a stable rotational speed and air volume.
  • the rotational speed control can be converged.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Positive-Displacement Air Blowers (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

La présente invention comprend une unité de génération de tension de commande (31) qui génère une nouvelle valeur de tension de commande obtenue par correction d'une valeur de tension de commande courante de manière qu'une vitesse de rotation courante se rapproche d'une vitesse de rotation cible sur la base d'un résultat de comparaison entre la vitesse de rotation courante d'un moteur à courant continu (51), tournant conformément à la valeur de tension de commande courante, et la vitesse de rotation cible, et qui délivre la valeur de tension de commande corrigée à une unité d'attaque de moteur (40), ce qui permet de réaliser une régulation de vitesse de rotation constante sur le moteur à courant continu (51). L'unité de génération de tension de commande (31) cesse la génération de la nouvelle valeur de tension de commande lorsqu'il est déterminé que la vitesse de rotation cible reste entre la dernière vitesse de rotation, qui est la vitesse de rotation réelle du moteur à courant continu (51) tournant sur la base de la dernière valeur de tension de commande, et la vitesse de rotation courante, et que la valeur absolue d'une différence de vitesse de rotation entre la dernière vitesse de rotation et la vitesse de rotation courante est supérieure à un seuil de vitesse de rotation qui est une valeur égale ou supérieure à une quantité de variation prédéfinie de la vitesse de rotation réelle correspondant à la quantité de variation de la valeur de tension de la dernière valeur de tension de commande à la valeur de tension de commande courante dans une région dans laquelle une pluralité de courbes vitesse de rotation/couple correspondant aux différentes valeurs de tension de commande dans le diagramme de courbes vitesse de rotation/couple du moteur à courant continu (51) sont disposées côte à côte en parallèle.
PCT/JP2014/077699 2014-10-17 2014-10-17 Dispositif soufflant et procédé de commande de dispositif soufflant WO2016059723A1 (fr)

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JP2016553945A JP6239138B2 (ja) 2014-10-17 2014-10-17 送風装置および送風装置の制御方法

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US10396701B2 (en) 2017-08-09 2019-08-27 Nidec Corporation Motor control device, blowing device, and cleaner

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KR102625964B1 (ko) * 2019-03-29 2024-01-18 한온시스템 주식회사 모터 제어 장치 및 그 방법

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JP2000341982A (ja) * 1999-05-31 2000-12-08 Denso Corp センサレス・ブラシレスｄｃモータ制御装置
JP2008523777A (ja) * 2004-12-07 2008-07-03 ソムフィ ソシエテ パ アクシオンス シンプリフィエ ローリングシャッター用モータの電力供給方法及びローリングシャッター用装置
JP2013013219A (ja) * 2011-06-29 2013-01-17 Mitsutoyo Corp 直流モータ回転制御装置
JP2014007805A (ja) * 2012-06-22 2014-01-16 Aisin Seiki Co Ltd 直流モータの速度制御装置

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Publication number Priority date Publication date Assignee Title
JP2000341982A (ja) * 1999-05-31 2000-12-08 Denso Corp センサレス・ブラシレスｄｃモータ制御装置
JP2008523777A (ja) * 2004-12-07 2008-07-03 ソムフィ ソシエテ パ アクシオンス シンプリフィエ ローリングシャッター用モータの電力供給方法及びローリングシャッター用装置
JP2013013219A (ja) * 2011-06-29 2013-01-17 Mitsutoyo Corp 直流モータ回転制御装置
JP2014007805A (ja) * 2012-06-22 2014-01-16 Aisin Seiki Co Ltd 直流モータの速度制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10396701B2 (en) 2017-08-09 2019-08-27 Nidec Corporation Motor control device, blowing device, and cleaner

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