WO2022158195A1 - インバータ装置 - Google Patents
インバータ装置 Download PDFInfo
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- WO2022158195A1 WO2022158195A1 PCT/JP2021/046679 JP2021046679W WO2022158195A1 WO 2022158195 A1 WO2022158195 A1 WO 2022158195A1 JP 2021046679 W JP2021046679 W JP 2021046679W WO 2022158195 A1 WO2022158195 A1 WO 2022158195A1
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- 230000007935 neutral effect Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims description 21
- 238000005070 sampling Methods 0.000 claims description 20
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 11
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 3
- 238000009499 grossing Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/38—Means for preventing simultaneous conduction of switches
- H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
Definitions
- the present invention relates to an inverter device that applies a three-phase AC voltage to a motor by an inverter circuit to drive the motor.
- electric compressor Due to environmental problems in recent years, for example, hybrid vehicles and electric vehicles have become popular in the automobile industry.
- the size of the electric compressor is required to be the same as that of the conventional belt-driven compressor, so the motor and the inverter device for driving the motor must be made smaller.
- a main cause of conduction noise is common mode noise due to fluctuations in the neutral point potential (common mode voltage) of the motor caused by PWM operation.
- the fluctuation timing of the neutral point potential of the motor is caused by either operation of the upper or lower arm switching element provided with dead time, but this timing changes depending on the polarity of the phase current. That is, when the direction of the phase current is the direction (positive) flowing into the motor, the phase voltage changes at the timing when the upper arm switching element is turned OFF, but the direction of the phase current is the direction (negative) flowing out of the motor. In some cases, the phase voltage changes at the timing when the lower arm switching element turns OFF.
- the present invention has been made to solve such conventional technical problems. It is an object of the present invention to provide an inverter device capable of effectively eliminating or suppressing the influence of dead time and the generation of common mode noise accompanying erroneous determination of the polarity of phase currents during switching.
- an upper arm switching element and a lower arm switching element are connected in series for each phase between an upper arm power supply line and a lower arm power supply line. to the motor as a three-phase AC output, and a control device for controlling the switching of the upper and lower arm switching elements of each phase by providing a dead time.
- the phase current prediction unit that predicts the phase current in the motor and the phase current of each phase at the switching timing predicted by this phase current prediction unit, the change in the phase voltage applied to the motor is canceled by the change in the other phase voltage. It is characterized by having a correction control section for correcting the switching operation.
- the control device includes a voltage command calculation unit for calculating a voltage command value of each phase, and the phase current prediction unit calculates the voltage of each phase calculated by the voltage command calculation unit.
- the correction control unit predicts the phase current of each phase at the switching timing predicted by the phase current prediction unit. Based on this, the voltage command value of each phase calculated by the voltage command calculation unit is corrected and the switching timing of each phase is synchronized, thereby canceling changes in phase voltage applied to the motor with changes in other phase voltages.
- the control device includes a phase current detection unit that samples the phase current of each phase, and the phase current prediction unit includes the phase current sampled by the phase current detection unit, The phase current of each phase at the switching timing is predicted from the amount of increase or decrease in the phase current from the sampling timing to the switching timing.
- the phase current prediction unit includes the phase current sampled by the phase current detection unit, the ON time of the upper arm switching element or the lower arm switching element of each phase, the ON time of each phase of the motor.
- the phase current of each phase at the switching timing is predicted based on the back electromotive force, the neutral point potential of the motor, and the inductance of each phase of the motor.
- the inverter device of the invention of claim 5 is characterized in that in the above invention, the phase current prediction unit predicts the phase current of each phase at the switching timing using the following formula (I).
- i uvw (t + t uvw ) is the phase current of U phase, V phase, and W phase at the switching timing
- t uvw is the ON time of the upper arm switching element or the lower arm switching element of the U phase
- i uvw (t) is the sampled phase current of U-phase, V-phase and W-phase
- L uvw is the inductance of the U-phase
- Vdc is the DC link voltage
- e uvw is the U-phase of the motor
- V np is the neutral point potential of the motor
- sgn(V uvw ) is the sign function of the phase voltage, 1 when the phase voltage is V dc , and 0 when the phase voltage is 0 becomes -1.
- the correction control unit is configured such that the phase voltage that changes due to switching and the other phase voltage that rises or falls to cancel the change in the phase voltage are converted into direct current. It is characterized by shifting the switching timing so as to cross at the link voltage V dc /2.
- the inverter device of the invention of claim 7 is characterized in that in the above invention, the correction control unit shifts the switching timing of the phase with the larger absolute value of the phase current.
- An inverter device is characterized in that in the sixth or seventh aspect of the invention, the correction control unit does not shift the switching timing for the phase with the smallest absolute value of the phase current. do.
- the upper arm switching element and the lower arm switching element are connected in series for each phase between the upper arm power supply line and the lower arm power supply line, and the voltage at the connection point of the upper and lower arm switching elements of each phase is changed to
- an inverter device that includes an inverter circuit that applies a three-phase AC output to a motor and a control device that controls switching of upper and lower arm switching elements of each phase by providing a dead time
- the control device controls the switching timing of each phase.
- the phase current prediction unit that predicts the current and the phase current of each phase at the switching timing predicted by the phase current prediction unit
- switching is performed so that changes in the phase voltages applied to the motor are canceled out by changes in the other phase voltages. Since it has a correction control unit that corrects the operation, it is possible to correct the switching operation more accurately based on the polarity of the phase current at the switching timing.
- the control device includes a voltage command calculator that calculates the voltage command value of each phase.
- the correction control unit predicts the phase current at the switching timing for turning off the upper arm switching element or the lower arm switching element that is turned on by the voltage command value of the phase current prediction unit.
- control device includes a phase current detection section for sampling the phase current of each phase, and the phase current prediction section detects the phase current sampled by the phase current detection section and the sampling timing. It is assumed that the phase current of each phase at the switching timing is predicted from the increase/decrease amount of the phase current up to the switching timing.
- the phase current predictor detects the phase current sampled by the phase current detector, the ON time of the upper arm switching element or the lower arm switching element of each phase, and the back electromotive force of each phase of the motor. , the neutral point potential of the motor, and the inductance of each phase of the motor, the phase current at the switching timing can be predicted accurately. be able to
- the phase current prediction unit predicts the phase current at the switching timing using the above-described formula (I). This makes it possible to more accurately predict the phase current at the switching timing.
- the correction control unit uses the phase voltage that changes due to switching and the change in the phase voltage. If the switching timing is shifted so that the rising or falling phase voltage intersects with the DC link voltage V dc /2 in order to cancel the phase voltage change , it is possible to more effectively suppress the fluctuation of the neutral point potential.
- phase current with a larger absolute value is less likely to change the slope of the phase voltage change even if the phase current is shifted.
- FIG. 1 is an electric circuit diagram of an inverter device according to an embodiment of the present invention
- FIG. FIG. 2 is a block diagram showing functions of a phase voltage command calculation unit in FIG. 1
- 2 is a diagram showing phase currents (i u , iv , i w ) flowing in the motor of FIG. 1
- FIG. FIG. 5 is a diagram showing voltage command values, carrier triangular waves, PWM waveforms, phase voltages, motor neutral point potentials, and U-phase currents in a conventional general three-phase modulation system
- FIG. 5 is a diagram showing a voltage command value, a carrier triangular wave, a PWM waveform, a phase voltage, a motor neutral point potential, and a U-phase current for explaining conventional control in which a change in phase voltage is canceled out by a change in another phase voltage;
- FIG. 4 is a diagram showing a voltage command value, a carrier triangular wave, a PWM waveform, a phase voltage, a neutral point potential of a motor, and a U-phase current when the U-phase current has different polarities at sampling timing and switching timing;
- a voltage command value, a carrier triangular wave, a PWM waveform, a phase voltage, a neutral point potential of the motor, and a U-phase current for explaining conventional control in which a change in phase voltage in the case of FIG. FIG.
- FIG. 4 is a diagram showing; 7 is a diagram showing a corrected voltage command value, a carrier triangular wave, a PWM waveform, a phase voltage, a motor neutral point potential, and a U-phase current for explaining the correction control of the control device of FIG. 1 in the case of FIG. 6;
- FIG. FIG. 4 is a diagram showing actual changes when the phase voltage falls;
- FIG. 5 is a diagram showing actual changes when phase voltages rise;
- FIG. 2 is a diagram for explaining shift control of switching timing by the control device of FIG. 1;
- the inverter device 1 of the embodiment is mounted on a so-called inverter-integrated electric compressor that drives a compression mechanism by a motor 8.
- the electric compressor is an air conditioner for a vehicle that air-conditions the interior of an electric vehicle or a hybrid vehicle, for example. shall constitute a refrigerant circuit.
- the inverter device 1 includes a three-phase inverter circuit 28 and a control device 21 .
- the inverter circuit 28 is a circuit that converts the DC voltage of a DC power source (vehicle battery: for example, 300 V) 29 into a three-phase AC voltage and applies it to the motor 8 .
- This inverter circuit 28 has a U-phase half-bridge circuit 19U, a V-phase half-bridge circuit 19V, and a W-phase half-bridge circuit 19W.
- 18C and lower arm switching elements 18D to 18F are individually provided. Further, a flywheel diode 31 is connected in anti-parallel to each of the switching elements 18A-18F.
- Each of the switching elements 18A to 18F is composed of an insulated gate bipolar transistor (IGBT) or the like in which a MOS structure is incorporated in the gate portion in the embodiment.
- IGBT insulated gate bipolar transistor
- the collectors of the upper arm switching elements 18A to 18C of the inverter circuit 28 are connected to the DC power supply 29 and the upper arm power supply line (positive bus line) 10 of the smoothing capacitor 32 .
- the emitters of the lower arm switching elements 18D to 18F of the inverter circuit 28 are connected to the DC power supply 29 and the lower arm power supply line (negative side bus line) 15 of the smoothing capacitor 32, and the DC link voltage V smoothed by the smoothing capacitor 32 is obtained. dc is applied to the inverter circuit 28 .
- the upper arm switching element 18A and the lower arm switching element 18D of the U-phase half bridge circuit 19U are connected in series, and the collector terminal of the lower arm switching element 18D is connected to the emitter terminal of the upper arm switching element 18A.
- An upper arm switching element 18B and a lower arm switching element 18E of the V-phase half bridge circuit 19V are connected in series, and the emitter terminal of the upper arm switching element 18B and the collector terminal of the lower arm switching element 18E are connected.
- the upper arm switching element 18C and the lower arm switching element 18F of the W-phase half bridge circuit 19W are connected in series, and the emitter terminal of the upper arm switching element 18C and the collector terminal of the lower arm switching element 18F are connected.
- a connection point between the upper arm switching element 18A and the lower arm switching element 18D of the U-phase half bridge circuit 19U is connected to the U-phase armature coil 2 of the motor 8, and the upper arm switching element of the V-phase half bridge circuit 19V is connected to the U-phase armature coil 2 of the motor 8.
- 18B and the lower arm switching element 18E is connected to the V-phase armature coil 3 of the motor 8, and the connection point of the upper arm switching element 18C and the lower arm switching element 18F of the W-phase half bridge circuit 19W is connected to the motor 8 is connected to the W-phase armature coil 4 .
- control device 21 is composed of a microcomputer having a processor. , based on these, the ON/OFF state (switching operation) of each of the upper and lower arm switching elements 18A to 18F of the inverter circuit 28 is controlled. Specifically, it controls the gate voltage applied to the gate terminals of the upper and lower arm switching elements 18A to 18F.
- the control device 21 of the embodiment includes a phase voltage command calculator 33, a PWM signal generator 36, a gate driver 37, a U-phase current i u and a V-phase current i v , and W-phase currents i w .
- FIG. 2 shows the configuration of the phase voltage command calculator 33 of the controller 21.
- the phase voltage command calculation unit 33 includes a voltage command calculation unit 38, a phase current detection unit 39, a phase current prediction unit 41, and a correction control unit 42 as functions configured by a program.
- (2-1-1) Voltage command calculator 38 calculates V-phase and W-phase voltage command values C v and C w using the following formulas (II) and (III). Since the U -phase voltage command value Cu is output after inverting PWM, a switching pattern is calculated by inverting the V -phase and W -phase voltage command values Cv and Cw. Three-phase modulation for generating the U -phase voltage Vu , V -phase voltage Vv, and W -phase voltage Vw applied to the armature coils 2 to 4 of each phase of the motor 8 by these Cu, Cv, and Cw voltage command value. Note that the voltage command calculator 38 updates the voltage command values Cu , Cv , and Cw of each phase at the carrier cycle (trough).
- the voltage command values Cu , Cv , and Cw for each phase are values normalized by the carrier count.
- Vdc is the DC ring voltage described above
- Vm is the magnitude of the voltage vector command value, which are obtained by the following formula (IV).
- ⁇ m is the phase of the voltage vector command value and is obtained by the following formula (V).
- ⁇ re is the motor electrical angle
- CA is the peak value of the carrier count (triangular wave carrier)
- V d ref is the d-axis voltage command value
- V q ref is the q-axis voltage command value.
- phase current detector 39 samples the U-phase current i u using the current sensor 26A and samples the V-phase current iv using the current sensor 26B. Then, the W-phase current i w is obtained by calculation from these. In this case, the phase current detector 39 samples the phase current at peak and valley timings of the triangular wave carrier.
- a single shunt resistor is used to detect the current value of the lower arm power supply line 15.
- the method for detecting and estimating each phase current is not particularly limited.
- phase current prediction unit 41 compares the voltage command values Cu, Cv, and Cw of the U -phase, V -phase, and W -phase calculated by the voltage command calculation unit 38 with the triangular wave carrier, and when switching is performed, , the phase current at the switching timing when the upper arm switching elements 18A to 18C or the lower arm switching elements 18D to 18F of each phase in the ON state are turned OFF.
- the phase current predictive control by the phase current predictor 41 will be described in detail later.
- (2-1-4) Correction control section 42 Based on the phase currents of the respective phases at the switching timings predicted by the phase current prediction section 41, the correction control section 42 adjusts changes in the phase voltages Vu , Vv , and Vw applied to the motor 8 to other phase voltages.
- the voltage command values Cu , Cv , and Cw of each phase calculated by the voltage command calculator 38 are corrected so that the switching operation is canceled by the change in . Correction control by the correction control unit 42 will also be described in detail later.
- the PWM signal generation unit 36 receives the voltage command values Cu , Cv , and Cw of each phase corrected by the correction control unit 42 of the phase voltage command calculation unit 33, and these voltage command values Cu , Cv , C w and the triangular wave carrier, a PWM signal that serves as a drive command signal for the U-phase half-bridge circuit 19U, the V-phase half-bridge circuit 19V, and the W-phase half-bridge circuit 19W of the inverter circuit 28 is generated. and output.
- the functions of the phase current prediction unit 41 and the correction control unit 42 are provided in the phase voltage command calculation unit 33.
- the PWM signal generator 36 may correct the voltage command values Cu , Cv , and Cw for each phase output by the PWM signal generator 33, and each corrected value may be compared with the triangular wave carrier.
- Gate driver 37 Based on the PWM signal output from the PWM signal generator 36, the gate driver 37 outputs the gate voltage of the upper arm switching element 18A and the lower arm switching element 18D of the U-phase half bridge circuit 19U, and the voltage of the V-phase half bridge circuit 19V. Gate voltages of the upper arm switching element 18B and the lower arm switching element 18E, and gate voltages of the upper arm switching element 18C and the lower arm switching element 18F of the W-phase half bridge circuit 19W are generated.
- the upper and lower arm switching elements 18A to 18F of the inverter circuit 28 are turned ON/OFF based on the gate voltage output from the gate driver 37. That is, when the gate voltage is turned on (predetermined voltage value), the switching element is turned on, and when the gate voltage is turned off (zero), the switching element is turned off.
- This gate driver 37 is a circuit for applying a gate voltage to the IGBT based on a PWM signal when the upper and lower arm switching elements 18A to 18F are the aforementioned IGBTs. Configured.
- the voltage at the connection point between the upper arm switching element 18A and the lower arm switching element 18D of the U-phase half-bridge circuit 19U is applied as the U-phase voltage Vu (phase voltage) to the U-phase armature coil 2 of the motor 8 (output ), and the voltage at the connection point between the upper arm switching element 18B and the lower arm switching element 18E of the V-phase half bridge circuit 19V is applied to the V-phase armature coil 3 of the motor 8 as the V -phase voltage Vv (phase voltage) (
- the voltage at the connection point between the upper arm switching element 18C and the lower arm switching element 18F of the W-phase half bridge circuit 19W is applied to the W-phase armature coil 4 of the motor 8 as the W-phase voltage V w (phase voltage). (output).
- FIG. 3 shows phase currents i u , i v , and i w flowing through the U-phase, V-phase, and W-phase armature coils 2 , 3 , and 4 of the motor 8 .
- each phase current i u , i v , i w contains ripples (oscillations). u ), it can be seen that the U-phase current i u continues to fluctuate between zero A (amperes) and the polarity changes minutely.
- FIG. 4 shows a conventional general three-phase modulation method.
- X1 is the triangular wave carrier described above
- Cu, Cv, and Cw are the voltage command values of the U , V , and W phases normalized by the carrier count
- the U upper phase is the upper U phase.
- the ON/OFF state of the arm switching element 18A, the U lower phase is the ON/OFF state of the U phase lower arm switching element 18D
- the V upper phase is the ON/OFF state of the V phase upper arm switching element 18B
- the V lower phase is The ON/OFF state of the V-phase lower arm switching element 18E, the ON/OFF state of the W-phase upper arm switching element 18C in the W upper phase, and the ON/OFF state of the W-phase lower arm switching element 18F in the W lower phase ( PWM waveform)
- U-phase Vu is U -phase voltage Vu
- V -phase Vv is V -phase voltage Vv
- Vw W -phase voltage Vw
- Vnp neutral point potential of motor 8
- bottom indicates the U -phase current iu.
- the polarity of the U-phase current i u is positive (direction flowing into the motor 8: i u >0), and the polarities of the V-phase current i v and W-phase current i w are negative (from the motor 8 Outflow direction: i v ⁇ 0, i w ⁇ 0).
- the upper arm switching element 18A is turned on in the section where the voltage command value Cu is smaller than the triangular wave carrier X1
- the lower arm switching element 18D is turned on in the section where the voltage command value Cu is larger than the triangular wave carrier X1.
- the upper arm switching element 18B is turned ON in the section where the voltage command value Cv is greater than the triangular wave carrier X1
- the lower arm switching element 18E is turned ON in the section where the voltage command value Cv is smaller than the triangular wave carrier X1.
- the upper arm switching element 18C is turned ON in the section in which the voltage command value Cw is greater than the triangular wave carrier X1
- the lower arm switching element 18F is turned ON in the section in which the voltage command value Cw is smaller than the triangular wave carrier X1.
- a dead time Td is provided to prevent the upper and lower arm switching elements 18A and 18D, 18B and 18E, and 18C and 18F of each phase from turning ON at the same time. After the time T d has passed, the OFF switching element is turned ON.
- t u , t v , and t w are ON times of the U-phase, V-phase, and W-phase upper arm switching elements 18A to 18C and lower arm switching elements 18D to 18F.
- the sampling timing of the phase current is the peak (timing at which the peak value CA) and trough (timing at which the triangular wave carrier X1 becomes 0) of the triangular wave carrier X1 as described above.
- the ON times t u , t v , and t w of 18C to 18C are the ON times from the timing when the triangular wave carrier X1 becomes 0, and the ON times t u , t v , and t w of the lower arm switching elements 18D to 18F are the triangular waves.
- the ON time starts from the timing when the carrier X1 reaches the peak value CA.
- the W-phase voltage command value C w is the peak value CA of the carrier triangular wave X1 in the entire interval of one carrier cycle
- the U-phase voltage command value C u and the V-phase voltage command value C v are the same value.
- the U -phase voltage command value Cu has a switching pattern obtained by inverting each V -phase voltage command value Cv).
- the timing and the timing at which the U -phase voltage Vu rises, and the timing at which the V -phase voltage Vv rises and the timing at which the U -phase voltage Vu falls are synchronized.
- the neutral point potential Vnp of the motor 8 does not fluctuate as shown in FIG. This suppresses the occurrence of common mode noise.
- FIG. 1 Such a case is shown in FIG.
- the polarity of the V-phase current i v is negative (direction flowing out of the motor 8: i v ⁇ 0), and the polarity of the W-phase current i w is positive (direction flowing into the motor 8: i w >0).
- the black circles in the figure indicate the sampling timings of the phase currents iu , iv , and iw (peak and valley timings of the triangular wave carrier X1), and the black squares indicate the U-phase lower arm switching element 18D and the V-phase upper arm switching element 18D.
- Switching timings of the switching element 18B (first half), the U -phase upper arm switching element 18A, and the V -phase lower arm switching element 18E (second half) (voltage command values Cu, Cv, Cw of each phase before correction)
- the U-phase lower arm switching element 18D and the V-phase upper arm switching element 18B (first half) are turned ON, and the U-phase upper arm switching element 18A and the V-phase lower arm switching element 18E (second half) are turned OFF. switching timing).
- a solid line L1 in FIG. 6 indicates changes in the U-phase current i u actually flowing through the motor 8 .
- the neutral point potential Vnp of the motor 8 fluctuates in the first half of the carrier cycle.
- the polarity of the U -phase current i u is positive (the direction of flow into the motor 8: i u >0).
- FIG. 7 shows the case where C v and C w are corrected. In FIG. 7, the polarity of the sampled U-phase current i u is positive (the direction of flow into the motor 8: i u >0).
- the thick dashed line L2 in FIG. 7 represents the value of the sampled U -phase current iu.
- the polarity of the V-phase current i v is negative (direction flowing out of the motor 8: i v ⁇ 0), and the V-phase voltage V v falls at the timing when the lower arm switching element 18E turns ON. 7, the timing at which the U -phase voltage Vu rises is earlier than the timing at which the V -phase voltage Vv falls by the dead time Td . width), the neutral point potential V np fluctuates in the rising direction in a pulse-like manner. This makes it impossible to suppress the occurrence of common mode noise (see the first half of the carrier cycle in FIG. 7).
- phase current prediction unit 41 Phase current prediction unit 41
- the phase current prediction unit 41 predicts the phase current i uvw (t+t uvw ) of each phase at the switching timing using the following formula (I).
- i uvw (t+ t uvw ) is the upper arm switching element 18A that is turned ON by the voltage command values Cu , Cv, and Cw (voltage command values before correction) of each phase calculated by the voltage command calculator 38.
- t uvw is the upper arm switching elements 18A-18C of the U-phase, V-phase, and W-phase
- the ON time of the lower arm switching elements 18D to 18F i uvw (t) is the phase current of the U phase, V phase, and W phase sampled by the phase current detection unit 39 at the sampling timing
- L uvw is the U phase of the motor 8.
- V-phase and W-phase inductances Vdc is the DC link voltage described above
- euvw is the back electromotive voltage of the U-phase, V-phase, and W-phase of the motor 8
- Vnp is the neutral point potential of the motor 8
- sgn(V uvw ) is the sign function of the phase voltages V u , V v , V w , and is 1 when the phase voltages V u , V v , V w are V dc , the phase voltages V u , V v , V w is -1 when is 0.
- i u (t+t u ) in the above formulas (VI) and (VII) is the upper arm switching element that is turned ON by the U-phase voltage command value C u (voltage command value before correction) calculated by the voltage command calculator 38.
- 18A or the U-phase phase current at the switching timing when the lower arm switching element 18D is turned OFF tu is the ON time of the U-phase upper arm switching element 18A or the lower arm switching element 18D
- iu ( t ) is The phase current of the U phase sampled by the phase current detector 39 at the sampling timing
- Lu is the inductance of the U phase of the motor 8
- e u is the back electromotive force of the U phase of the motor 8
- sgn(Vu) is the U phase voltage. It is a sign function of Vu, and becomes 1 when the U -phase voltage Vu is Vdc , and becomes -1 when the U -phase voltage Vu is 0.
- i v (t+t v ) in the above formulas (VIII) and (IX) is the upper arm switching element that is turned ON by the V-phase voltage command value C v (voltage command value before correction) calculated by the voltage command calculator 38.
- t v is the ON time of the V-phase upper arm switching element 18B or the lower arm switching element 18E
- iv (t) is The V-phase current sampled by the phase current detector 39 at the sampling timing
- Lv is the V -phase inductance of the motor 8
- ev is the V-phase back electromotive voltage of the motor 8
- sgn(Vv) is the V -phase voltage. It is a sign function of Vv, and becomes 1 when the V -phase voltage Vv is Vdc , and becomes -1 when the V -phase voltage Vv is 0.
- i w (t+t w ) in the above formulas (X) and (XI) is the upper arm switching element that is turned ON by the W-phase voltage command value C w (voltage command value before correction) calculated by the voltage command calculator 38.
- 18C or the W-phase phase current at the switching timing when the lower arm switching element 18F is turned OFF t w is the ON time of the W-phase upper arm switching element 18C or the lower arm switching element 18F
- i w (t) is The phase current of the W phase sampled by the phase current detector 39 at the sampling timing (actually calculated by calculation as described above), Lw is the inductance of the W phase of the motor 8, and ew is the back electromotive force of the W phase of the motor 8.
- the voltage sgn(V w ) is a sign function of the W-phase voltage V w , and is 1 when the W-phase voltage V w is V dc and -1 when the W-phase voltage V w is 0.
- the value in the braces of the above equation (VI) is the voltage applied to the U-phase armature coil 2 of the motor 8, and the value obtained by multiplying this by 1/L u is the slope of the U-phase current i u [A/ s]. Therefore, since the second term on the right side of equation (VI) indicates the amount of increase or decrease in the U-phase current i u , the phase current prediction unit 41 predicts the U-phase current i u (t) sampled by the phase current detection unit 39 . By adding the increase/decrease amount of the U-phase current i u from the sampling timing to the switching timing, the U-phase current i u (t+t u ) at the switching timing is predicted.
- the value in the curly braces of formula (VIII) is the voltage applied to the V-phase armature coil 3 of the motor 8, and the value obtained by multiplying this by 1/L v is the slope of the V-phase current iv [A /s]. Therefore, since the second term on the right side of equation (VIII) indicates the amount of increase or decrease in the V-phase current i v , the phase current prediction unit 41 predicts the V-phase current i v (t) sampled by the phase current detection unit 39 By adding the increase/decrease amount of the V-phase current i v from the sampling timing to the switching timing, the V-phase current i v (t+t v ) at the switching timing is predicted.
- the value inside the braces of the formula (X) is also the voltage applied to the W-phase armature coil 4 of the motor 8, and the value obtained by multiplying this by 1/ Lw is the slope of the W -phase current iw [A/s ] means. Therefore, since the second term on the right side of equation (X) indicates the amount of increase or decrease in the W-phase current i w , the phase current prediction unit 41 predicts the W-phase current i sampled (actually calculated) by the phase current detection unit 39 The W-phase current i w (t+t w ) at the switching timing is predicted by adding the increase/decrease amount of the W-phase current i w from the sampling timing to the switching timing to w (t).
- correction control of voltage command values C u , C v , C w (correction control unit 42)
- the phase in which the polarity of the phase current is likely to change between the sampling timing and the switching timing (the U phase whose absolute value is the smallest in the vicinity of 2 ms in FIG. 3)
- the phase current prediction unit 41 predicts as described above.
- the voltage command values Cu , C v , and C w of each phase calculated by the voltage command calculator 38 are corrected.
- the correction control unit 42 corrects the V-phase voltage command value C v (the value before correction shown in FIG. 6).
- phase current prediction unit 41 may predict the phase currents of all three phases at the switching timing, instead of only the phase with the smallest absolute value of the phase current (the U phase near 2 ms in FIG. 3).
- the black circles represent the sampling timings of the phase currents iu , iv , and iw
- the black squares represent the same switching timings as in FIG. , C v and C w
- the U-phase lower arm switching element 18D and the V-phase upper arm switching element 18B (first half) are turned ON, the U-phase upper arm switching element 18A and the V-phase lower arm switching element 18E.
- the solid line L1 at the bottom shows changes in the U-phase current i u actually flowing through the motor 8 as described above, and the thick dashed line L3 shows the U-phase current i u (t+t u ) predicted by the phase current prediction unit 41 . ing.
- the correction control unit 42 adjusts the V-phase voltage command value to synchronize the ON timing of the V-phase lower arm switching element 18E with the OFF timing of the U-phase lower arm switching element 18D. Only C v is corrected in the direction of decreasing by CAT d /T s (indicated by the white arrow in the first half of FIG. 8). Note that T s is one carrier period.
- the control device 21 includes the phase current prediction unit 41 that predicts the phase current at the switching timing of each phase, and the phase current of each phase at the switching timing predicted by the phase current prediction unit 41. Since the correction control unit 42 is provided for correcting the switching operation so that the change in the phase voltage applied to the motor 8 is canceled by the change in the other phase voltage, more accurate switching operation can be performed based on the polarity of the phase current at the switching timing. It becomes possible to compensate for the switching operation.
- the control device 21 includes a voltage command calculation unit 38 that calculates the voltage command value of each phase, and the phase current prediction unit 41 calculates the voltage command value of each phase calculated by the voltage command calculation unit 38.
- the phase currents at the switching timings for turning off the upper arm switching elements 18A to 18C or the lower arm switching elements 18D to 18F that are in the ON state are predicted, and the correction control unit 42 predicts the phase currents at the switching timings predicted by the phase current prediction unit 41.
- control device 21 includes a phase current detection unit 39 that samples the phase current of each phase, and the phase current prediction unit 41 detects the phase current sampled by the phase current detection unit 39 and the switching timing from the sampling timing.
- the phase current of each phase at the switching timing is predicted from the increase/decrease amount of the relevant phase current up to .
- the phase current prediction unit 41 calculates the phase current sampled by the phase current detection unit 39, the ON time of the upper arm switching elements 18A to 18C or the lower arm switching elements 18D to 18F of each phase, and the motor 8 Since the phase current of each phase at the switching timing is predicted based on the back electromotive voltage of each phase, the phase current at the switching timing can be accurately predicted from the sampled phase current.
- phase current prediction unit 41 predicts the phase current at the switching timing using the above-described formula (I) (formulas (VI) to (XI)), the phase current at the switching timing is more accurately predicted. It becomes possible to predict the phase current.
- FIG. (3-4-1) Changes in Phase Voltages During Switching
- changes in the phase voltages V u , V v , and V w actually depend on the polarities and magnitudes of the phase currents i u , iv , and i w .
- Slope changes. That is, the phase voltage starts to change after a certain period of time after the gate voltages of the upper and lower arm switching elements 18A to 18F change, and the falling and rising shapes change depending on the polarity and magnitude of the phase current.
- FIG. 9 shows the operation when the phase voltage falls (the upper arm switching element turns off and the lower arm switching element turns on), and FIG. 10 shows the operation when the phase voltage rises (the lower arm switching element turns off). , the upper arm switching element is ON).
- i is a general term for each phase current
- i c is a discharge current of the output capacitance of the upper and lower arm switching elements.
- This discharge current i c is calculated by the following formula (XII).
- C p is the output capacitance of the upper and lower arm switching elements (parasitic capacitance peculiar to semiconductors).
- the upper part of FIG. 9 shows the case where the polarity of the phase current i is negative (i ⁇ 0). descending almost vertically toward
- the middle part of FIG. 9 shows the case of 0 ⁇ i ⁇ i c , where the phase voltage gradually drops after the upper arm switching element turns off, and almost vertically at the timing when the lower arm switching element turns on after the dead time T d . falling towards 0.
- the lower part of FIG. 9 shows the case of i c ⁇ i, where the phase voltage drops at a predetermined angle after the upper arm switching element is turned off, and becomes 0 before the dead time T d elapses.
- the upper part of FIG. 10 shows the case where the polarity of the phase current i is positive (0 ⁇ i). It rises almost vertically towards V dc .
- the middle part of FIG. 10 shows the case of ⁇ i c ⁇ i ⁇ 0. After the lower arm switching element turns off, the phase voltage gradually rises, and at the timing when the upper arm switching element turns on after the dead time T d , the phase voltage rises almost vertically. rises toward the DC link voltage Vdc .
- the lower part of FIG. 10 shows the case of i ⁇ -ic, where the phase voltage rises at a predetermined angle after the lower arm switching element is turned off, and reaches the DC link voltage V dc before the dead time T d elapses. ing.
- the correction control unit 42 shifts the switching timing of the phase of the phase voltage L5 in which the absolute value of the phase current i is large.
- the reason is that the slope of the phase voltage change is less likely to change even if the phase of the phase current i having a larger absolute value is shifted.
- the phase voltage L4 and the phase voltage L5 can be crossed more accurately at the DC link voltage V dc /2.
- the correction control unit 42 does not shift the switching timing for the phase with the smallest absolute value of the phase current i.
- the phase with the smallest absolute value is the phase in which the phase current i is close to zero A (amperes), and the phase voltage This is because there is a high possibility that the way in which the phase voltage changes will change due to the shift.
- phases with a relatively large absolute value of phase current i phases other than the intermediate phase have phase voltages that change as shown in the upper and lower stages of FIGS. is difficult to change.
- the correction control unit 42 shifts the switching timing of the phase with the largest absolute value of the phase current i.
- the switching timing of the phase in which the phase voltage rises is shifted. This will shift the switching timing of the phases.
- the embodiment shows an example of canceling operation in left-right symmetrical PWM operation using a triangular wave carrier
- the effect of the present invention does not depend on the shape of the PWM carrier determined by the controller (control device) used. , a sawtooth carrier, or any other carrier signal.
- the present invention is applied to the case where the current detection is performed at the timing of peaks and troughs of the triangular wave carrier, but the present invention is not limited to the embodiment with respect to the current detection method and timing. For example, even in the above-described one-shunt current detection method in which current reading is performed by PWM operation timing using a single shunt resistor, by performing sequential current estimation and switching timing correction as described in this application, the effect is obtained.
- the present invention is applied to the inverter device that drives and controls the motor of the electric compressor, but the present invention is not limited to this and is effective for the drive control of motors of various devices.
- inverter device motor 10 upper arm power supply line 15 lower arm power supply line 18A to 18F upper and lower arm switching elements 19U U-phase half-bridge circuit 19V V-phase half-bridge circuit 19W W-phase half-bridge circuit 21 control device 26A, 26B current sensor 28 inverter Circuit 33 phase voltage command calculator 36 PWM signal generator 37 gate driver 38 voltage command calculator 39 phase current detector 41 phase current predictor 42 correction controller
Abstract
Description
図1においてインバータ装置1は、三相のインバータ回路28と、制御装置21を備えている。インバータ回路28は、直流電源(車両のバッテリ:例えば、300V)29の直流電圧を三相交流電圧に変換してモータ8に印加する回路である。このインバータ回路28は、U相ハーフブリッジ回路19U、V相ハーフブリッジ回路19V、W相ハーフブリッジ回路19Wを有しており、各相のハーフブリッジ回路19U~19Wは、それぞれ上アームスイッチング素子18A~18Cと、下アームスイッチング素子18D~18Fを個別に有している。更に、各スイッチング素子18A~18Fには、それぞれフライホイールダイオード31が逆並列に接続されている。
制御装置21はプロセッサを有するマイクロコンピュータから構成されており、実施例では車両ECUから回転数指令値を入力し、モータ8から相電流(モータ電流)を入力して、これらに基づき、インバータ回路28の各上下アームスイッチング素子18A~18FのON/OFF状態(スイッチング動作)を制御する。具体的には、各上下アームスイッチング素子18A~18Fのゲート端子に印加するゲート電圧を制御する。
図2は上記制御装置21の相電圧指令演算部33の構成を示す。相電圧指令演算部33はプログラムにより構成される機能として、電圧指令算出部38と、相電流検出部39と、相電流予測部41と、補正制御部42を備えている。
上記電圧指令算出部38は、下記数式(II)、(III)を用いてV相及びW相の電圧指令値Cv、Cwを算出する。尚、U相の電圧指令値Cuは、PWMを反転して出力するため、V相、W相の各電圧指令値Cv、Cwを反転したスイッチングパターンが算出される。これらCu、Cv、Cwがモータ8の各相の電機子コイル2~4に印加するU相電圧Vu、V相電圧Vv、W相電圧Vwを生成するための三相変調電圧指令値である。尚、電圧指令算出部38は、キャリア周期(谷)で各相の電圧指令値Cu、Cv、Cwを更新する。
前記相電流検出部39は、前述した電流センサ26AによりU相電流iuをサンプリングし、電流センサ26BによりV相電流ivをサンプリングする。そして、W相電流iwはこれらから計算により求める。この場合、相電流検出部39は三角波キャリアの山と谷の
タイミングで相電流をサンプリングする。
前記相電流予測部41は、前述した電圧指令算出部38が算出したU相、V相、W相の電圧指令値Cu、Cv、Cwと三角波キャリアとを比較してスイッチングした場合に、ON状態となっている各相の上アームスイッチング素子18A~18C、又は、下アームスイッチング素子18D~18Fが、OFFされるスイッチングタイミングにおける相電流を予測する。この相電流予測部41による相電流の予測制御については後に詳述する。
前記補正制御部42は、相電流予測部41が予測したスイッチングタイミングにおける各相の相電流に基づき、モータ8に印加される相電圧Vu、Vv、Vwの変化を、他の相電圧の変化で打ち消すようなスイッチング動作となるよう、電圧指令算出部38により算出された各相の電圧指令値Cu、Cv、Cwを補正する。この補正制御部42による補正制御についても後に詳述する。
前記PWM信号生成部36は、相電圧指令演算部33の補正制御部42により補正された各相の電圧指令値Cu、Cv、Cwを入力し、これら電圧指令値Cu、Cv、Cwと、三角波キャリアとの大小を比較することによって、インバータ回路28のU相ハーフブリッジ回路19U、V相ハーフブリッジ回路19V、W相ハーフブリッジ回路19Wの駆動指令信号となるPWM信号を生成し、出力する。
前記ゲートドライバ37は、PWM信号生成部36から出力されるPWM信号に基づき、U相ハーフブリッジ回路19Uの上アームスイッチング素子18A、下アームスイッチング素子18Dのゲート電圧と、V相ハーフブリッジ回路19Vの上アームスイッチング素子18B、下アームスイッチング素子18Eのゲート電圧と、W相ハーフブリッジ回路19Wの上アームスイッチング素子18C、下アームスイッチング素子18Fのゲート電圧を発生させる。
次に、図3~図11を参照しながら、制御装置21の実際の制御動作について説明する。最初に、図3はモータ8のU相、V相、W相の電機子コイル2、3、4に流れる相電流iu、iv、iwを示している。この図から明らかなように、各相電流iu、iv、iwはリプル(振動)を含んでおり、特に、零A(アンペア)付近にある相電流(例えば2ms付近ではU相電流iu)に着目すると、当該U相電流iuは零A(アンペア)を上下し続けて、極性が細かく変化していることが分かる。
次に、図4に従来一般的な三相変調方式を示す。この図において、最上段からX1は前述した三角波キャリア、Cu、Cv、Cwはキャリアカウントで正規化したU相、V相、W相の電圧指令値、U上相はU相の上アームスイッチング素子18AのON/OFF状態、U下相はU相の下アームスイッチング素子18DのON/OFF状態、V上相はV相の上アームスイッチング素子18BのON/OFF状態、V下相はV相の下アームスイッチング素子18EのON/OFF状態、W上相はW相の上アームスイッチング素子18CのON/OFF状態、W下相はW相の下アームスイッチング素子18FのON/OFF状態(何れもPWM波形)、U相VuはU相電圧Vu、V相VvはV相電圧Vv、VwはW相電圧Vw、Vnpはモータ8の中性点電位、最下段はU相電流iuを示している。
(3-2-1)中性点電位Vnpの変動を抑制できる場合
そこで、上記中性点電位Vnpの変動を抑制する制御として、図5に示す制御(従来の制御)が提案されている。この制御では、相電圧の変化を他の相電圧の変化で打ち消すように電圧指令値が補正される。尚、この場合もU相電流iuの極性は正(モータ8に流入する方向:iu>0)であり、V相電流iv及びW相電流iwの極性は負(モータ8から流出する方向:iv<0、iw<0)である。また、U相電流iuは零A(アンペア)より十分大きいものとする。
しかしながら、前述した図3の2ms付近の場合のように、U相電流iuがほぼ零A(アンペア)であるときは、U相電流iuが零Aを上下し続けて(リプル)、その極性が細かく変化するため、サンプリングしたU相電流iuと、実際にU相の下アームスイッチング素子18DをスイッチングするタイミングでのU相電流iuの極性が異なってくる場合がある。
そこで、本発明では前述した相電流予測部41がスイッチングタイミングにおける各相の相電流を予測し、予測した相電流に基づき、電圧指令算出部38が算出した各相の電圧指令値Cu、Cv、Cwを、補正制御部42が補正する。以下、図8を参照しながら、本発明の補正制御について説明する。
先ず、相電流予測部41によるスイッチングタイミングにおける相電流の予測制御について説明する。相電流予測部41は、下記数式(I)を用いてスイッチングタイミングにおける各相の相電流iuvw(t+tuvw)を予測する。
実施例では、サンプリングタイミングとスイッチングタイミングとで相電流の極性が変化し易い相(図3の2ms付近では絶対値が最小となるU相)に着目し、上述した如く相電流予測部41が予測したスイッチングタイミングにおけるU相電流iu(t+tu)に基づいて、電圧指令算出部38が算出した各相の電圧指令値Cu、Cv、Cwを補正する。図8の例では補正制御部42がV相の電圧指令値Cv(図6に示した補正前の値)を補正す
る。
次に、図9~図11を参照しながら補正制御部42が更に行うシフト制御について説明する。
(3-4-1)スイッチング時の相電圧の変化
ここで、相電圧Vu、Vv、Vwの変化は、実際には相電流iu、iv、iwの極性や大きさにより傾きが変化する。即ち、上下アームスイッチング素子18A~18Fのゲート電圧が変化した後、一定期間後に相電圧の変化が開始し、相電流の極性や大きさにより立ち下がり、及び、立ち上がりの形状が変化する。
そこで、制御装置21の補正制御部42は、図11の右側に示すように、相電圧L4と相電圧L5とが、直流リンク電圧Vdc/2で交差するように、相電圧L5の相のスイッチングタイミングを、ΔTだけシフトする(遅らせる)。これにより、降下する相電圧L4変化に、上昇する相電圧L5の変化が近づき、相電圧L4の変化を相電圧L5の変化でより効果的に打ち消すことが可能となって、中性点電位の変動が抑えられるようになる。
8 モータ
10 上アーム電源ライン
15 下アーム電源ライン
18A~18F 上下アームスイッチング素子
19U U相ハーフブリッジ回路
19V V相ハーフブリッジ回路
19W W相ハーフブリッジ回路
21 制御装置
26A、26B 電流センサ
28 インバータ回路
33 相電圧指令演算部
36 PWM信号生成部
37 ゲートドライバ
38 電圧指令算出部
39 相電流検出部
41 相電流予測部
42 補正制御部
Claims (8)
- 上アーム電源ライン及び下アーム電源ライン間に、各相毎に上アームスイッチング素子と下アームスイッチング素子を直列接続し、これら各相の上下アームスイッチング素子の接続点の電圧を三相交流出力としてモータに印加するインバータ回路と、
デッドタイムを設けて前記各相の上下アームスイッチング素子のスイッチングを制御する制御装置を備えたインバータ装置において、
前記制御装置は、
前記各相のスイッチングタイミングにおける相電流を予測する相電流予測部と、
該相電流予測部が予測したスイッチングタイミングにおける各相の相電流に基づき、前記モータに印加される相電圧の変化を、他の相電圧の変化で打ち消すようスイッチング動作を補正する補正制御部と、
を有することを特徴とするインバータ装置。 - 前記制御装置は
、
前記各相の電圧指令値を算出する電圧指令算出部を備え、
前記相電流予測部は、前記電圧指令算出部が算出した前記各相の電圧指令値によりON状態となる前記上アームスイッチング素子又は下アームスイッチング素子をOFFするスイッチングタイミングにおける相電流を予測すると共に、
前記補正制御部は、前記相電流予測部が予測したスイッチングタイミングにおける各相の相電流に基づき、前記電圧指令算出部が算出した前記各相の電圧指令値を補正して前記各相のスイッチングタイミングを同期させることにより、前記モータに印加される相電圧の変化を、他の相電圧の変化で打ち消すことを特徴とする請求項1に記載のインバータ装置。 - 前記制御装置は、
前記各相の相電流をサンプリングする相電流検出部を備え、
前記相電流予測部は、前記相電流検出部がサンプリングした相電流と、サンプリングタイミングからスイッチングタイミングまでの当該相電流の増減量から、前記スイッチングタイミングにおける各相の相電流を予測することを特徴とする請求項1又は請求項2に記載のインバータ装置。 - 前記相電流予測部は、前記相電流検出部がサンプリングした相電流、前記各相の上アームスイッチング素子又は下アームスイッチング素子のON時間、前記モータの各相の逆起電圧、前記モータの中性点電位、及び、前記モータの各相のインダクタンスに基づいて前記スイッチングタイミングにおける各相の相電流を予測することを特徴とする請求項3に記載のインバータ装置。
- 前記相電流予測部は、下記数式(I)を用いて前記スイッチングタイミングにおける各相の相電流を予測することを特徴とする請求項4に記載のインバータ装置。
- 前記補正制御部は、スイッチングにより変化する相電圧と、当該相電圧の変化を打ち消すために立ち上がり、又は、立ち下がる他の相電圧とが、直流リンク電圧Vdc/2で交差するようにスイッチングタイミングをシフトすることを特徴とする請求項1乃至請求項5
のうちの何れかに記載のインバータ装置。 - 前記補正制御部は、相電流の絶対値が大きい方の相のスイッチングタイミングをシフトすることを特徴とする請求項6に記載のインバータ装置。
- 前記補正制御部は、相電流の絶対値の大きさが最も小さい相については前記スイッチングタイミングのシフトを行わないことを特徴とする請求項6又は請求項7に記載のインバータ装置。
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Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002071731A (ja) * | 2000-08-30 | 2002-03-12 | Toyo Electric Mfg Co Ltd | インバータ制御アンプ試験装置の対地相対電位検出回路 |
JP2019075964A (ja) * | 2017-10-19 | 2019-05-16 | アイシン精機株式会社 | モータ制御装置 |
JP2020137329A (ja) * | 2019-02-22 | 2020-08-31 | サンデンホールディングス株式会社 | インバータ装置 |
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JP2002071731A (ja) * | 2000-08-30 | 2002-03-12 | Toyo Electric Mfg Co Ltd | インバータ制御アンプ試験装置の対地相対電位検出回路 |
JP2019075964A (ja) * | 2017-10-19 | 2019-05-16 | アイシン精機株式会社 | モータ制御装置 |
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