WO2016084170A1 - 電動機の制御装置及び制御方法 - Google Patents
電動機の制御装置及び制御方法 Download PDFInfo
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- WO2016084170A1 WO2016084170A1 PCT/JP2014/081266 JP2014081266W WO2016084170A1 WO 2016084170 A1 WO2016084170 A1 WO 2016084170A1 JP 2014081266 W JP2014081266 W JP 2014081266W WO 2016084170 A1 WO2016084170 A1 WO 2016084170A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- 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
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a motor control device and control method.
- JP08-107602A discloses a motor control circuit that, when an abnormality occurs, those that are less than a certain period of time are de-energized and then energized again, and when an abnormality occurs for a certain period of time, the energization is stopped.
- the motor control device controls the current value, the phase of the current, the phase of the voltage, and the like based on the torque command.
- the motor is controlled with a certain torque command and the current is limited, the voltage phase and the current phase deviate, and the drive torque of the motor cannot satisfy the torque command.
- the drive torque may drop transiently.
- the present invention has been made in view of such problems, and provides an electric motor control device that performs control so that a torque command and a time-dependent torque do not deviate even when an overcurrent is limited. For the purpose.
- an electric motor a driving unit that supplies electric power to the electric motor, a voltage command unit that controls the driving torque of the electric motor by the driving unit controlling based on a torque command, the driving unit and the electric motor
- a current limiter that outputs a limit signal that limits the power output by the drive unit and whether the current limiter permits the output of the limit signal to the drive unit
- the present invention is applied to an electric motor control device including a restriction permission determination unit that determines whether to prohibit.
- the limit permission determining unit is characterized in that when the current limiter outputs a limit signal, the current limiter prohibits the output of the limit signal to the drive unit when the drive torque of the motor cannot satisfy the torque command. To do.
- FIG. 1 is a functional block diagram illustrating functions of a motor control device according to an embodiment of the present invention.
- FIG. 2 is an explanatory diagram showing the configuration of the motor control device according to the embodiment of the present invention.
- FIG. 3 is an explanatory diagram showing changes in the phase of current and voltage when the inverter according to the embodiment of the present invention performs current limitation.
- FIG. 4 is an explanatory diagram illustrating an example of a restriction permission map of the restriction permission determination unit according to the embodiment of this invention.
- FIG. 5A shows a time transition of the torque command and the motor driving torque in the PWM signal generation unit of the embodiment of the present invention, and a time transition of the motor current value and the voltage value in the vector control.
- FIG. 5B shows the time transition of each current value of the three-phase voltage of the motor according to the embodiment of the present invention, and the time transition of the voltage phase and the current phase.
- FIG. 1 is a functional block diagram showing functions of the motor control device 100 according to the embodiment of the present invention.
- FIG. 1 is a functional block diagram showing functions realized by the motor control device 100 of the present embodiment, and is a diagram showing a high-level concept of the embodiment of the present invention.
- the three-phase AC motor (hereinafter referred to as “motor”) 4 is driven by receiving the three-phase AC power supplied from the drive unit 120.
- the motor 4 is constituted by, for example, a permanent magnet synchronous motor, and magnetic flux is generated in the winding by the three-phase alternating current supplied from the inverter 3, and rotates by the action of the permanent magnet to generate driving torque.
- the drive unit 120 generates a three-phase alternating current from a power source such as a battery based on the voltage command generated by the voltage command generation unit 110 and supplies it to the motor 4.
- the voltage command generation unit 110 receives a torque command from the driver, and detects a rotation speed detection unit 130 that detects the rotation speed of the motor 4 and a current sensor that detects a current of each phase of the three-phase AC supplied to the motor 4.
- a voltage command is generated while feedback controlling the operation of the motor 4 based on the output value 6.
- the current limiting unit 150 detects an overcurrent from the detection value of the current sensor 6.
- the current limiter 150 limits the supply of power to the motor 4 by outputting a gate-off signal to the drive unit 120 when an overcurrent is detected.
- Limit permission determination unit 140 outputs a circuit operation permission signal that indicates whether or not current limiter 150 permits the output of the gate-off signal based on the driver's torque command and the output value of rotation speed detection unit 130. .
- FIG. 2 is an explanatory diagram showing a configuration of the motor control device 100 according to the embodiment of the present invention.
- the motor control device 100 is mounted on, for example, an electric vehicle and functions as a driving force source for the electric vehicle.
- the motor 4 operates with the three-phase alternating current supplied from the inverter 3.
- the inverter 3 is supplied with DC power from the battery 1 via the main relay 2.
- the main relay 2 opens and closes a circuit between the battery 1 and the inverter 3 to distribute and cut off power.
- a capacitor 5 for smoothing the DC power is provided in parallel.
- the inverter 3 includes a plurality of switching elements Tr (Tr1 to Tr6) and rectifying elements (diodes) D (D1 to D6) that are connected in parallel to the switching elements Tr and block reverse current to the switching elements Tr. .
- the inverter 3 converts the DC power of the battery 1 into AC power by the operation of the switching element Tr and supplies it to the motor 4.
- three pairs of circuits in which a pair of switching elements Tr are connected in series are connected in parallel to the battery 1, and the output between the pair of switching elements Tr is three-phase power input to the motor 4. It becomes one of the phases.
- Each of the three-phase power supplied from the inverter 3 to the motor 4 is provided with a current sensor 6 that detects the current values Iu, Iv, and Iw of each phase.
- the current sensor 6 outputs the detected current values Iu, Iv, and Iw to the controller 10.
- the motor 4 is provided with a rotor position sensor 7 composed of a resolver, an encoder and the like.
- the rotor position sensor 7 outputs a position sensor signal indicating the rotor position ⁇ of the motor 4 to the controller 10.
- a voltage sensor 8 that detects the voltage between both terminals of the capacitor 5 is provided.
- the voltage sensor 8 outputs a detected voltage signal between both terminals of the capacitor 5 to the controller 10.
- switching elements Tr1 and Tr2 switching elements Tr3 and Tr4, and switching elements Tr5 and Tr6 are connected in series, respectively.
- the switching elements Tr1 and Tr2 are connected to the U phase of the motor 4
- the switching elements Tr3 and Tr4 are connected to the V phase of the motor 4
- the switching elements Tr5 and Tr6 are connected to the W phase of the motor 4. .
- the inverter 3 includes a gate drive circuit 9 and a current limiting circuit 12.
- the gate drive circuit 9 outputs an ON / OFF signal of the gate of each switching element Tr according to an instruction from the controller 10.
- the current limit circuit 12 monitors the current value of each phase of the three-phase power supplied to the motor 4, determines the occurrence of overcurrent when the current value exceeds the current limit threshold, and sends it to the gate drive circuit 9. Outputs a gate-off signal. When the gate-off signal is output, each switching element Tr of the inverter 3 is controlled to be OFF, and the power output from the inverter 3 is limited.
- the controller 10 includes a PWM signal generation unit 11 that controls the operation of the inverter 3.
- the PWM signal generation unit 11 generates a pulse width modulation (PWM) signal based on the torque command value from the driver, and outputs the generated signal to the gate drive circuit 9. Based on the PWM signal from the PWM signal generation unit 11, the gate drive circuit 9 performs ON / OFF control of each switching element Tr of the inverter 3 at a predetermined timing.
- PWM pulse width modulation
- the PWM signal generation unit 11 acquires a position sensor signal indicating the rotor position ⁇ of the motor 4 output from the rotor position sensor 7. Further, the PWM signal generation unit 11 includes current values Iu, Iv, Iw of each phase of the three-phase power supplied from the inverter 3 output from the current sensor 6 to the motor 4, and the capacitor 5 output from the voltage sensor 8. The voltage signal between the two terminals is acquired via the gate drive circuit 9. The PWM signal generation unit 11 generates a PWM signal to be output to the gate drive circuit 9 based on each acquired signal and the torque command value.
- the controller 10 includes a restriction permission determination unit 13.
- the limit permission determination unit 13 determines whether or not to permit the gate drive circuit 9 to output a gate-off signal when the current limit circuit 12 of the inverter 3 detects an overcurrent, as will be described later. Is generated.
- the current limiting circuit 12 acquires the current values Iu, Iv, and Iw of each phase of the three-phase power output from the current sensor 6, and determines whether or not an overcurrent has occurred. If the current limit circuit 12 determines that an overcurrent has occurred, the current limit circuit 12 outputs a gate-off signal to the gate drive circuit 9 only when the limit permission signal is input. When a gate-off signal is input to the gate drive circuit 9, each switching element Tr of the inverter 3 is turned off, and the output of the inverter 3 is limited.
- the current limiting circuit 12 determines the occurrence of overcurrent when the current value detected by the current sensor 6 exceeds the current limit threshold, and outputs a gate-off signal.
- the switching element Tr of the inverter 3 is controlled to be OFF.
- FIG. 3 is an explanatory diagram showing changes in current and voltage phases when the inverter 3 according to the embodiment of the present invention performs current limiting.
- the voltage and current phases in the inverter 3 change in accordance with the gate-off signal.
- the voltage and current phases may deviate and the drive torque of the motor 4 may decrease. is there.
- a state in which the driving torque of the motor 4 decreases due to the voltage and current phases being deviated is referred to as a “deviation mode”.
- the transition to the deviation mode is suppressed by controlling as follows.
- the restriction permission determination unit 13 acquires the operation state of the motor 4 based on various signals output from the PWM signal generation unit 11, and determines whether to output a restriction permission signal based on the operation state of the motor 4. To do.
- the operation state of the motor 4 used for the determination of the limit permission determination unit 13 it can be determined whether or not to output a limit permission signal based on the relationship between the instruction torque and the rotation speed of the motor 4.
- FIG. 4 is an explanatory diagram illustrating an example of a restriction permission map of the restriction permission determination unit 13 according to the embodiment of this invention.
- the restriction permission determination unit 13 acquires the instruction torque of the motor 4 and the actual rotation speed of the motor 4 from the PWM signal generation unit 11.
- the restriction permission determination unit 13 compares the acquired instruction torque and actual rotation speed with the map shown in FIG. 4 and determines whether to output a permission signal or a restriction permission signal.
- a region where the torque is relatively low is set as a restriction prohibited region.
- the current value supplied to the motor 4 is also low. In such an operating state, since the current value applied to the motor 4 is low, a current exceeding the current limit threshold that is normally determined as an overcurrent does not flow.
- the limit permission determination unit 13 outputs a limit permission signal to the current limit circuit 12 when the magnitude relationship between the voltage phase ⁇ and the current phase ⁇ of the power supplied from the inverter 3 to the motor 4 satisfies the following formula 1. .
- the current limiting circuit 12 outputs a gate-off signal to output the inverter 3 Even when the current is limited, it does not shift to the deviation mode. That is, even if the output power of the inverter is limited and the voltage phase ⁇ changes, the change in the voltage phase ⁇ is changed by the current phase ⁇ in the direction of reducing the voltage phase ⁇ , so the voltage phase ⁇ and the current phase ⁇ do not deviate.
- the restriction permission determination unit 13 does not output a restriction permission signal and prohibits the restriction by the current restriction circuit 12.
- the restriction permission determination unit 13 outputs a restriction permission signal to the current limit circuit 12 when the electric power supplied from the inverter 3 to the motor 4 satisfies the following mathematical formula 2.
- ⁇ a is a magnet magnetic flux
- Ld is a d-axis inductance
- Ia is a d-axis current Id that is converted using Equation 3 below based on the rotor position sensor signal ⁇ and the current values Iu, Iv, and Iw of each phase.
- the q-axis current Iq is a magnet magnetic flux
- Ld is a d-axis inductance
- Ia is a d-axis current Id that is converted using Equation 3 below based on the rotor position sensor signal ⁇ and the current values Iu, Iv, and Iw of each phase.
- the restriction permission determination unit 13 does not output a restriction permission signal and prohibits the restriction by the current restriction circuit 12.
- the restriction permission determination unit 13 determines prohibition of restriction by the current restriction circuit 12 based on the control of the motor 4 by the inverter 3.
- the limit permission determination unit 13 always issues permission and outputs a gate-off signal. Allow. Then, the controller 10 outputs a torque reduction command for reducing the torque from the torque command input to the controller 10 to the PWM signal generation unit 11 until the specified time elapses.
- This control can also prevent the shift to the deviation mode.
- 5A and 5B are explanatory diagrams illustrating an example of the control of the current limiting operation by the limitation permission determination unit 13 according to the embodiment of this invention.
- FIG. 5A shows a time transition of the torque command and the driving torque of the motor 4 in the PWM signal generation unit 11, and a time transition of the current value Ia and the voltage value Va of the motor 4 in the vector control.
- FIG. 5B shows the time transition of the current values of the currents Iu, Iv, and Iw of the three-phase voltage of the motor 4 and the time transition of the voltage phase ⁇ and the current phase ⁇ in the motor 4.
- the current limit circuit 12 When the current limit circuit 12 detects an overcurrent, the current limit circuit 12 outputs a gate-off signal to the inverter 3. As a result, the output current of the inverter 3 is limited (timing t1).
- the current limiting circuit 12 also notifies the PWM signal generation unit 11 that an overcurrent has been detected.
- the PWM signal generation unit 11 executes torque down control of the drive torque of the motor 4 driven by the inverter 3 in response to the overcurrent (timing t2).
- the current output from the inverter 3 is reduced by reducing the torque command, so that the current value becomes equal to or less than the current limit threshold, the output of the gate-off signal by the current limit circuit 12 is stopped, and the inverter 3 The restrictions on will be lifted. That is, even if the output of the inverter 3 is limited by the gate-off signal, the driving torque of the motor 4 can be reduced by reducing the torque by the torque reduction command, and the shift to the deviation mode as described above can be prevented.
- the motor control device 100 controls the motor 4 (electric motor), the drive unit that supplies power to the motor 4, and the drive unit 120 based on the torque command, A voltage command generator 110 that controls the drive torque of the motor 4 and a limit signal that limits the power output by the drive unit 120 when the current value between the drive unit 120 and the motor 4 exceeds a predetermined value.
- the motor control device 100 includes: a current limiting unit 150 that performs the control; and a limit permission determination unit 140 that determines whether the current limiting unit 150 permits or prohibits output of a gate-off signal (limit signal) to the driving unit 120. Applied.
- the limit permission determination unit 140 prohibits the current limit unit 150 from outputting the limit signal to the drive unit when the drive torque of the motor 4 cannot satisfy the torque command when the current limit unit 150 outputs the limit signal. It is characterized by.
- the electric vehicle driven by the motor 4 has been described as an example, but the present invention is not limited to this.
- the present invention can be similarly applied to a hybrid vehicle equipped with an engine and driven by the motor 4 and the engine.
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- Power Engineering (AREA)
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
Claims (6)
- 電動機と、
前記電動機に電力を供給する駆動部と、
トルク指令に基づいて前記駆動部が制御して、前記電動機の駆動トルクを制御する電圧指令部と、
前記駆動部と前記電動機との間の電流値が所定値を超えた場合に、前記駆動部が出力する電力を制限する制限信号を出力する電流制限部と、
前記電流制限部が前記駆動部へと前記制限信号の出力を許可するか禁止するかを判定する制限許可判定部と、
を備え、
前記制限許可判定部は、前記電流制限部が前記制限信号を出力した場合に、前記電動機の駆動トルクが前記トルク指令を満たせない場合は、前記電流制限部が前記駆動部へと前記制限信号の出力を禁止する
ことを特徴とする電動機の制御装置。 - 請求項1に記載の電動機の制御装置であって、
前記制限許可判定部は、前記電動機の駆動トルク及び回転速度に基づいて、前記電流制限部が前記駆動部に前記制限信号の出力を禁止することを特徴とする電動機の制御装置。 - 請求項1に記載の電動機の制御装置であって、
前記制限許可判定部は、前記電動機に供給される電力の電圧位相及び電流以降に基づいて、前記電流制限部が前記駆動部に前記制限信号の出力を禁止することを特徴とする電動機の制御装置。 - 請求項1に記載の電動機の制御装置であって、
前記制限許可判定部は、前記駆動部が供給する電力を制御することで前記電動機のコイルが発生する磁束密度が、前記電動機の永久磁石が発生する磁束密度よりも大きい場合は、前記電流制限部が前記駆動部に前記制限信号の出力を許可することを特徴とする電動機の制御装置。 - 請求項1に記載の電動機の制御装置であって、
前記制限許可判定部は、
前記電流制限部が前記駆動部に前記制限信号の出力を許可する場合は、
規定時間のみ前記制限信号の出力を許可すると共に、前記電圧指令部は、前記規定時間中に、前記電動機の駆動トルクを減少させる
ことを特徴とする電動機の制御装置。 - 電動機と、前記電動機に電力を供給する駆動部と、前記駆動部が供給する電力を制御することで前記電動機の駆動トルクを制御する電圧指令部と、を備える電動機の制御装置における制御方法であって、
前記駆動部と前記電動機との間の電流値が所定値を超えた場合に、前記駆動部が出力する電力を制限する制限信号を出力すると共に、
前記制限信号を出力した場合に、前記電動機の駆動トルクが前記トルク指令を満たせない場合は、前記制限信号の出力を禁止する
ことを特徴とする電動機の制御方法。
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JP2016561145A JP6304401B2 (ja) | 2014-11-26 | 2014-11-26 | 電動機の制御装置及び制御方法 |
CN201480083577.1A CN107005195B (zh) | 2014-11-26 | 2014-11-26 | 电动机的控制装置以及控制方法 |
PCT/JP2014/081266 WO2016084170A1 (ja) | 2014-11-26 | 2014-11-26 | 電動機の制御装置及び制御方法 |
EP14906701.9A EP3226408A4 (en) | 2014-11-26 | 2014-11-26 | Electric motor control device and method |
US15/526,456 US20170327062A1 (en) | 2014-11-26 | 2014-11-26 | Electric motor control device and control method |
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- 2014-11-26 CN CN201480083577.1A patent/CN107005195B/zh not_active Expired - Fee Related
- 2014-11-26 JP JP2016561145A patent/JP6304401B2/ja not_active Expired - Fee Related
- 2014-11-26 US US15/526,456 patent/US20170327062A1/en not_active Abandoned
- 2014-11-26 EP EP14906701.9A patent/EP3226408A4/en not_active Withdrawn
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Also Published As
Publication number | Publication date |
---|---|
CN107005195A (zh) | 2017-08-01 |
EP3226408A4 (en) | 2018-03-21 |
EP3226408A1 (en) | 2017-10-04 |
CN107005195B (zh) | 2019-03-01 |
JPWO2016084170A1 (ja) | 2017-08-17 |
JP6304401B2 (ja) | 2018-04-04 |
US20170327062A1 (en) | 2017-11-16 |
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