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WO2021205690A1 - Dispositif de conversion de puissance - Google Patents

Dispositif de conversion de puissance Download PDF

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Publication number
WO2021205690A1
WO2021205690A1 PCT/JP2020/043515 JP2020043515W WO2021205690A1 WO 2021205690 A1 WO2021205690 A1 WO 2021205690A1 JP 2020043515 W JP2020043515 W JP 2020043515W WO 2021205690 A1 WO2021205690 A1 WO 2021205690A1
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WO
WIPO (PCT)
Prior art keywords
value
axis
conversion device
power conversion
axis inductance
Prior art date
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Ceased
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PCT/JP2020/043515
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English (en)
Japanese (ja)
Inventor
戸張　和明
雄作 小沼
卓也 杉本
滋久 青柳
睦男 渡嘉敷
渡邊　弘
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Hitachi Industrial Equipment Systems Co Ltd
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Hitachi Industrial Equipment Systems Co Ltd
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Publication of WO2021205690A1 publication Critical patent/WO2021205690A1/fr
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation

Definitions

  • the present invention relates to a power conversion device.
  • Patent Document 1 discloses a technique for estimating the q-axis inductance based on the above.
  • Patent Document 1 The technique of Patent Document 1 is premised on the occurrence of torque pulsation, and utilizes the phenomenon that torque fluctuation occurs in synchronization with the input voltage fluctuation of the inverter circuit.
  • An object of the present invention is to provide a power conversion device capable of highly accurate estimation of q-axis inductance even if torque pulsation does not occur.
  • a power converter having a switching element and a control unit for controlling the power converter for driving a motor are provided.
  • the control unit The phase error estimated value, which is the deviation between the rotational phase value of the motor and the rotational phase estimated value, is calculated, and the q-axis inductance estimated value is such that the component inversely proportional to the phase error estimated value follows the determined value. It is a power conversion device that calculates.
  • the block diagram of the power conversion apparatus and the permanent magnet motor in Example 1 is shown.
  • the block diagram of the phase error estimation part is shown.
  • the block diagram of the q-axis inductance estimation calculation unit is shown.
  • the figure which shows the control characteristic when the comparative example is used.
  • FIG. The figure which shows the structure of the q-axis inductance estimation calculation part in the modification of Example 1.
  • FIG. which shows the structure for confirming the manifestation in Example 1.
  • FIG. The figure which shows the structure of the power conversion apparatus and the permanent magnet motor in Example 2.
  • FIG. The figure which shows the structure of the power conversion apparatus and the synchronous synchronous motor in Example 3.
  • FIG. The figure which shows the structure of the power conversion apparatus and the permanent magnet motor in Example 4.
  • FIG. 1 is a configuration diagram of a power conversion device and a permanent magnet motor according to the first embodiment.
  • the permanent magnet motor 1 outputs a motor torque that is a combination of a torque component due to the magnetic flux of the permanent magnet and a torque component due to the inductance of the armature winding.
  • the power converter 2 includes a semiconductor element as a switching element. Power converter 2, the voltage command value of three-phase AC v u *, v v *, v enter a w *, the voltage command value of three-phase AC v u *, v v *, v voltage proportional to w * Is output. Based on the output of the power converter 2, the permanent magnet motor 1 is driven to change the voltage and the number of rotations of the permanent magnet motor 1.
  • An IGBT Insulated Gate Bipolar Transistor
  • the current detector 3 detects the three-phase alternating currents i u , i v , and i w of the permanent magnet motor 1.
  • the current detector 3 is provided inside the power conversion device, but may be provided outside the power conversion device.
  • the control unit includes a coordinate conversion unit 4, a phase error estimation calculation unit 5, a frequency estimation calculation unit 6, a phase estimation calculation unit 7, a q-axis inductance estimation calculation unit 8, a speed control calculation unit 9, and a vector control calculation unit, which will be described below. 10.
  • the coordinate conversion unit 11 is provided. Then, the control unit controls the power converter 2.
  • the control unit is composed of semiconductor integrated circuits (arithmetic control means) such as a microcomputer (microcomputer) and a DSP (Digital Signal Processor). Either or all of the control unit can be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the coordinate conversion unit 4 has the three-phase AC currents i u , i v , and i w AC current detection values i uc , i vc , i w c, and the rotation phase estimated value ⁇ dc of the power converter 2 to the current on the d-axis.
  • the detected value i dc and the q-axis current detected value i q c are output.
  • the phase error estimation calculation unit 5 has a d-axis voltage command value v dc ** , a q-axis voltage command value v qc ** , an estimated q-axis inductance value L q ** , a frequency estimation value ⁇ r ⁇ , and d.
  • the rotational phase estimated value ⁇ dc of the power converter 2 and the actual rotational phase value ⁇ d is executed.
  • the phase error is estimated according to (Equation 5) described later, and the phase error estimated value ⁇ c is output.
  • the frequency estimation calculation unit 6 outputs the frequency estimation value ⁇ r ⁇ from the deviation between the phase error command value “0” (zero) and the phase error estimation value ⁇ c.
  • the frequency estimation calculation unit 6 controls ⁇ r ⁇ for the frequency estimation value so that the phase error is zero.
  • the phase estimation calculation unit 7 integrates the frequency estimation value ⁇ r ⁇ and outputs the rotation phase estimation value ⁇ dc to the coordinate conversion unit 4 and the coordinate conversion unit 11.
  • the q-axis inductance estimation calculation unit 8 uses the q-axis inductance estimation value L from the denominator component V and the frequency estimation value ⁇ r ⁇ calculated by the phase error estimation calculation unit 5 (Equation 5) and the d-axis current detection value i dc. q ** is calculated and output to the phase error estimation calculation unit 5 and the vector control calculation unit 10.
  • the denominator component V of the phase error estimation calculation based on the extended induced voltage is used is described, but the component is not limited to the denominator component V as long as it is a component inversely proportional to the phase error estimated value ⁇ c.
  • the speed control calculation unit 9 outputs the current command value i q * on the q-axis from the deviation between the frequency command value ⁇ r * and the frequency estimation value ⁇ r ⁇ .
  • the vector control calculation unit 10 uses the electric circuit constant of the permanent magnet motor 1, the d-axis current command value i d *, the q-axis current command value i q * , the d-axis current detection value i dc, and the q-axis current detection. Based on the values i qc , frequency estimate ⁇ r ⁇ , and q-axis inductance estimate L q ** , the d-axis voltage command value v dc ** and q-axis voltage command value v qc ** are output, and the power is output. The frequency and voltage of the converter 2 are controlled.
  • the coordinate conversion unit 11 has a voltage command value v dc ** on the d-axis, a voltage command value v qc ** on the q-axis, and a voltage command value v u * , v v * , for three-phase AC from the rotation phase estimation value ⁇ dc. v Output w *.
  • the DC power supply 20 supplies a DC voltage and a DC current to the power converter 2.
  • the speed control calculation unit 9 performs the q-axis current command value i q, which is a torque current command according to (Equation 1) by proportional control and integral control so that the frequency estimated value ⁇ r ⁇ follows the frequency command value ⁇ r *. Calculate *.
  • K sp is the proportional gain of speed control
  • K si is the integrated gain of speed control
  • the vector control calculation unit 10 sets the resistance set value R * which is the electric circuit constant of the permanent magnet motor 1, the d-axis inductance set value L d *, and the q-axis inductance estimated value L q ** .
  • T acr is the response time constant of current control
  • s is the Laplace operator (the same applies to the following formula).
  • the vector control calculation unit 10 sets the d-axis current command value i d * and the q-axis current command value i q * to the d-axis current detection values i dc and q-axis current detection of each component.
  • the d-axis voltage correction value ⁇ v dc and the q-axis voltage correction value ⁇ v qc are calculated according to (Equation 3) by proportional control and integral control so that the value i qc follows.
  • K pd is the proportional gain of d-axis current control
  • K id is the integral gain of d-axis current control
  • K pq is the proportional gain of q-axis current control
  • K iq is the integral gain of q-axis current control. Is.
  • the phase error estimation calculation unit 5 has a d-axis voltage command value v dc ** , a q-axis voltage command value v qc ** , a d-axis current detection value i dc , a q-axis current detection value i qc , and a permanent magnet.
  • the phase error estimated value ⁇ c is calculated according to (Equation 5) based on the electric circuit constant of the motor 1, the q-axis inductance estimated value, and the frequency estimated value ⁇ r ⁇ .
  • the frequency estimation calculation unit 6 calculates the frequency estimation value ⁇ r ⁇ according to (Equation 6) based on the phase error estimation value ⁇ c.
  • the phase estimation calculation unit 7 calculates the rotation phase estimation value ⁇ dc according to (Equation 7) based on the frequency estimation value ⁇ r ⁇ .
  • Kp pll is the proportional gain of the PLL control
  • Ki pll is the integral gain of the PLL control
  • FIG. 2 shows a block diagram of the phase error estimation calculation unit 5 in the first embodiment.
  • the phase error estimation calculation unit 5 calculates the phase error estimation value ⁇ c according to (Equation 5), and outputs the denominator component V in the calculation formula of the phase error estimation value ⁇ c together with the phase error estimation value ⁇ c.
  • FIG. 3 shows a block diagram of the q-axis inductance estimation calculation unit 8 in the first embodiment.
  • the predetermined value calculation unit 8a uses the frequency estimation value ⁇ r ⁇ , the d-axis current detection value i dc , the set value K e * of the induced voltage coefficient of the permanent magnet motor, the d-axis inductance set value L d *, and the q-axis. Using the estimated inductance value L q ** , calculate the predetermined value V * according to (Equation 8).
  • the PI control unit 8b has P (proportional) + I (proportional) shown in (Equation 9) so that the denominator component V, which is the output of the phase error estimation calculation unit 5 , follows the predetermined value V * calculated in (Equation 8). (Integral) control is performed, and the correction value ⁇ L q * of the q-axis inductance is calculated.
  • Kp Lq is a proportional gain
  • Ki Lq of L q estimation is an integral gain of L q estimated.
  • the addition unit 8d adds the constant L q * , which is the initial value 8c of the q-axis inductance, and the correction value ⁇ L q * of the q-axis inductance, and according to (Equation 10), the new estimated value L q ** of the q-axis inductance. Is output.
  • Figure 4 is the giving ramp load torque from point A shown in the figure, and the denominator component V of the phase error estimating arithmetic unit 5 at that time, the current i d of d-axis of the permanent magnet motor 1, and q-axis The current i q of is displayed.
  • step-out refers to a state in which the synchronization of the command input for controlling the motor and the rotation of the motor is lost.
  • the magnet motor may step out depending on the magnitude of the set value L q * of the q-axis inductance.
  • L q * L q
  • the magnitude V of the denominator component is (Equation 11).
  • K e is the actual value of the induced voltage coefficient of the permanent magnet motor
  • [Delta] [theta] is the actual phase error
  • L d is the actual d-axis inductance
  • L q is the actual q-axis inductance
  • L q * is the q-axis inductance
  • the denominator component V of the phase error estimation calculation unit is the frequency estimation value ⁇ r ⁇ , the d-axis current detection value i dc, and the induced voltage of the permanent magnet motor, which is the electric circuit constant of the permanent magnet motor.
  • V * predetermined voltage value
  • the estimated value L q ** of the q-axis inductance is calculated from (Equation 10).
  • the denominator component is calculated by calculating the estimated value L q ** of the q-axis inductance so that the denominator component V in the calculation formula of the phase error estimated value ⁇ c follows the ideal predetermined value V * (Equation 8). Controls V.
  • the proportional control Kp Lq and the integral control gain Ki Lq are fixed values, but as shown in FIG. 6, the frequency estimation values ⁇ r ⁇ and the d-axis It may be changed according to the current detection value i dc.
  • the q-axis inductance estimation calculation unit 81 in FIG. 6 corresponds to the q-axis inductance estimation calculation unit 8 in FIGS. 1 and 3.
  • the predetermined value calculation unit 81a and the initial value L q * 81c of the q-axis inductance and the addition unit 81d in FIG. 6 are the same as the predetermined value calculation unit 8a and the initial value L q * 8c of the q-axis inductance and the addition unit 8d of FIG. Is.
  • the phase error estimation calculation unit 5 changes the gains of the proportional control and the integral control substantially in proportion to the magnitude of the frequency estimation value ⁇ r ⁇ and the d-axis current detection value i dc.
  • the denominator component V changes to its predetermined value V * according to the frequency and current value. Highly accurate estimation of q-axis inductance L q can be realized in a shorter time.
  • a voltage detector 22 and a current detector 23 are attached to the power conversion device 21 that drives the permanent magnet motor 1, and an encoder 24 is attached to the shaft of the permanent magnet motor 1.
  • the vector voltage / current component calculation unit 25 contains the voltage detection values (v uc , v vc , v wc ) of the pseudo three-phase AC, which are the outputs of the voltage detector 22 and the current detector 23, and the current of the three-phase AC.
  • the detected values (i uc , i vc , i wc ) and the position ⁇ which is the output of the encoder are input, and the position ⁇ is differentiated from the vector voltage components v dcc and v qcc and the vector current components i dcc and i qcc.
  • the estimated value ⁇ cc of the phase error is calculated by using (Equation 13).
  • the first embodiment it is possible to realize a power conversion device capable of estimating the q-axis inductance with high accuracy. Further, since the q-axis inductance can be estimated with high accuracy, stable and highly efficient motor operation can be realized.
  • FIG. 8 is a diagram showing a configuration of the power conversion device of the second embodiment and the permanent magnet motor 1.
  • the q-axis inductance was estimated during the actual operation, and the estimated value of the q-axis inductance was used for the vector control calculation unit 10 and the phase error estimation calculation unit 5.
  • the q-axis inductance table reference unit 12 creates a correspondence table that records the correspondence between the q-axis current detection value i qc and the q-axis inductance estimated value L q **, and from the next startup. Sets the q-axis inductance estimate L q ** from the created table.
  • the components are a permanent magnet motor 1, a power converter 2, a current detector 3, a coordinate conversion unit 4, a phase error estimation calculation unit 5, a frequency estimation calculation unit 6, a phase estimation calculation unit 7, and a q-axis inductance estimation.
  • the calculation unit 8, the speed control calculation unit 9, the vector control calculation unit 10, the coordinate conversion unit 11, and the DC power supply 20 are the same as those in FIG.
  • the control unit has a q-axis inductance table reference unit 12 and a selection switch SW13 in the second embodiment.
  • the q-axis inductance table reference unit 12 inputs the q-axis current detection value i qc and outputs the q-axis inductance estimated value L q ** .
  • Selection switch SW13 is the output of the q-axis inductance estimation calculation unit 8 when the input value is "0", the output of the q-axis inductance table reference unit 12 when the input value is "1”, the q-axis inductance estimate L q Output as **.
  • the selection switch SW13 executes the q-axis inductance estimation calculation unit 8 when the input value is “0”, the relationship between the q-axis current detection value i qc and the q-axis inductance estimation value L q ** is in actual operation. It is created and saved as a corresponding table.
  • the input value of the selection switch SW13 is set from “0" to "1"
  • the q-axis inductance table reference unit 12 detects the q-axis current in the corresponding table from the q-axis current detection value.
  • the q-axis inductance estimated value L q ** corresponding to the value may be read out.
  • the q-axis inductance estimated value L q ** changes according to the q-axis current value, so that highly efficient operation can be quickly realized.
  • the input value of the selection switch SW13 is set from “0" to "1"
  • the estimated q-axis inductance value L q ** is obtained from the created table.
  • it may be set in the internal memory of the microcomputer mounted in the power converter.
  • the second embodiment by acquiring the q-axis inductance estimated value from the corresponding table described above, it is possible to obtain a highly accurate q-axis inductance estimated value even when the q-axis inductance is not estimated during actual operation. Further, since the q-axis inductance can be estimated with high accuracy, stable and highly efficient motor operation can be realized.
  • FIG. 9 shows a configuration diagram of the power conversion device and the synchronous reluctance motor 1a of the third embodiment.
  • the power conversion device for driving the permanent magnet motor has been used, but this embodiment relates to the power conversion device for driving the synchronous reluctance motor 1a.
  • the control calculation unit 9, the vector control calculation unit 10, the coordinate conversion unit 11, and the DC power supply 20 are the same as those in FIG.
  • the control unit is the same as that of the second embodiment.
  • the permanent magnet motor embeds a permanent magnet in the rotor, but the synchronous reluctance motor 1a does not have a permanent magnet, and a current magnetic flux due to salient pole can be obtained by a cavity (flux barrier) provided in the rotor.
  • the denominator component includes the voltage information due to the salient polarity. Therefore, if the predetermined value calculation unit calculates a predetermined voltage value V ** according to (Equation 14), the same control as that of the permanent magnet motor can be realized.
  • the third embodiment it is possible to realize a power conversion device capable of estimating the q-axis inductance with high accuracy. Further, since the q-axis inductance can be estimated with high accuracy, stable and highly efficient operation can be realized even for the synchronous reluctance motor 1a.
  • FIG. 10 is a configuration diagram of a drive system of a permanent magnet motor having a power conversion device of the fourth embodiment, a permanent magnet motor 1, and a terminal.
  • Example 4 applies Example 2 to the drive system of the permanent magnet motor.
  • the permanent magnet motor 1 the coordinate conversion unit 4, the phase error estimation calculation unit 5, the frequency estimation calculation unit 6, the phase estimation calculation unit 7, the q-axis inductance estimation calculation unit 8, the speed control calculation unit 9, and so on.
  • the vector control calculation unit 10, the coordinate conversion unit 11, the q-axis inductance table reference unit 12, and the selection switch SW13 are the same as those in FIG.
  • the control unit is the same as that of the second embodiment.
  • the permanent magnet motor 1, which is a component of FIG. 10, is driven by the power conversion device 21.
  • the power conversion device 21 includes a coordinate conversion unit 4 in FIG. 8, a phase error estimation calculation unit 5, a frequency estimation calculation unit 6, a phase estimation calculation unit 7, a q-axis inductance estimation calculation unit 8, a speed control calculation unit 9, and a vector control calculation.
  • the unit 10, the coordinate conversion unit 11, the q-axis inductance table reference unit 12, and the selection switch SW13 are implemented as software 20a, that is, a program.
  • the power converter 2 in FIG. 8, the current detector 3, the DC power supply 20, and a CPU (not shown) that constitutes a control unit are mounted as hardware.
  • the CPU executes the above program.
  • the control unit of the power conversion device calculates the q-axis inductance estimated value by the q-axis inductance estimation calculation unit 8, or the q-axis inductance estimated value from the relationship table in which the q-axis current detection value and the q-axis inductance estimated value are recorded. It has a selection switch SW13 for selecting whether to acquire. Further, a value of 0 or 1, which is an input value for switching the selection switch SW13, is set in the internal memory of the microcomputer.
  • the input value of the selection switch SW13 of the software 20a can be set or changed by a higher-level device such as a digital operator 20b, a personal computer 27, a tablet 28, or a smartphone 29.
  • the input value to the selection switch SW13 may be set on the fieldbus of the programmable logic controller, the local area network connected to the computer, or the control device.
  • the d-axis current command value i d * , the q-axis current command value i q * , the d-axis current detection value i dc , and the q-axis current detection value i Create d-axis voltage correction values ⁇ v dc and q-axis voltage correction values ⁇ v qc from qc, and add these voltage correction values and vector control voltage reference values v dc * and v qc * (Equation 4). The calculation was performed.
  • Other calculation methods include d-axis current command value i d * , q-axis current command value i q * , d-axis current detection value i dc , and q-axis current detection value i q c to vector control calculation.
  • the vector control operation shown in (Equation 16) is performed using the constant to calculate the second voltage command value v dc *** on the d-axis and the second voltage command value v qc *** on the q-axis. You may.
  • K pd1 is the proportional gain of the d-axis current control
  • K id1 is the integrated gain of the d-axis current control
  • K pq1 is the proportional gain of the q-axis current control
  • K iq1 is the integrated gain of the q-axis current control.
  • T d is the electrical time constant of the d-axis (L d * / R * )
  • T q is the electrical time constant of the axis (L q * / R * ).
  • the d-axis used for the vector control calculation Voltage correction value of proportional calculation component ⁇ v d_p * , voltage correction value of d-axis integration calculation component ⁇ v d_i * , voltage correction value of q-axis proportional calculation component ⁇ v q_p * , voltage correction value of q-axis integration calculation component ⁇ v Create q_i * by (Equation 17).
  • K pd2 is the proportional gain of d-axis current control
  • K id2 is the integral gain of d-axis current control
  • K pq2 is the proportional gain of q-axis current control
  • K iq2 is the integral gain of q-axis current control. Is.
  • the d-axis current command value i d *, the q-axis current detection value i qc primary delay signal i qctd , the frequency command value ⁇ r *, and the electric circuit constant of the permanent magnet motor 1 are shown in (Equation 19).
  • a vector control operation may be performed to calculate the fourth voltage command value v dc ***** on the d-axis and the fourth voltage command value v qc ***** on the q-axis.
  • i qctd is a signal that has passed i qc through a first-order lag filter.
  • the switching element constituting the power converter 2 is a Si (silicon) semiconductor element, it may be SiC (silicon carbide) or GaN (gallum). It may be a wide bandgap semiconductor device such as nitride).
  • 1 Permanent magnet motor, 1a ... Synchronous reluctance motor, 2 ... Power converter, 3 ... Current detector, 4 ... Coordinate conversion unit, 5 ... Phase error estimation calculation unit, 6 ... Frequency estimation calculation unit, 7 ... Phase estimation calculation Unit, 8 ... q-axis inductance estimation calculation unit, 9 ... speed control calculation unit, 10 ... vector control calculation unit, 11 ... Coordinate conversion unit, 12 ... q-axis inductance table reference unit, 13 ... Switch, 20 ... DC power supply, 21 ... Power conversion device

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention concerne un dispositif de conversion de puissance qui comprend : un convertisseur de puissance comprenant un élément de commutation ; et une unité de commande qui amène le convertisseur de puissance à entraîner un moteur. L'unité de commande calcule une valeur estimée d'erreur de phase, qui est l'écart entre la valeur de phase de rotation du moteur et une valeur estimée de phase de rotation, et calcule une valeur estimée d'inductance d'axe q telle qu'un composant inversement proportionnel à la valeur estimée d'erreur de phase suit une valeur prédéterminée.
PCT/JP2020/043515 2020-04-06 2020-11-20 Dispositif de conversion de puissance Ceased WO2021205690A1 (fr)

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JP2025067011A (ja) * 2023-10-12 2025-04-24 株式会社ニッキ 同期モータの制御装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009142116A (ja) * 2007-12-10 2009-06-25 Hitachi Ltd 永久磁石モータの位置センサレス制御装置
JP2010011564A (ja) * 2008-06-25 2010-01-14 Hitachi Ltd 永久磁石同期電動機の制御装置、及び電動機制御システム
JP2013042630A (ja) * 2011-08-18 2013-02-28 Hitachi Constr Mach Co Ltd モータ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009142116A (ja) * 2007-12-10 2009-06-25 Hitachi Ltd 永久磁石モータの位置センサレス制御装置
JP2010011564A (ja) * 2008-06-25 2010-01-14 Hitachi Ltd 永久磁石同期電動機の制御装置、及び電動機制御システム
JP2013042630A (ja) * 2011-08-18 2013-02-28 Hitachi Constr Mach Co Ltd モータ制御装置

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