CN112910358A - Motor control device - Google Patents
Motor control device Download PDFInfo
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- CN112910358A CN112910358A CN202011381224.3A CN202011381224A CN112910358A CN 112910358 A CN112910358 A CN 112910358A CN 202011381224 A CN202011381224 A CN 202011381224A CN 112910358 A CN112910358 A CN 112910358A
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- 238000006243 chemical reaction Methods 0.000 description 11
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- 239000002131 composite material Substances 0.000 description 5
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- 238000004519 manufacturing process Methods 0.000 description 2
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
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Abstract
The invention provides a motor control device, which can quickly and simply converge the target current out of the voltage limit range in the voltage limit range. The target current is adjusted by correcting either the d-axis current command value or the q-axis current command value on the basis of the position of the end point of the current vector obtained by combining the d-axis current command value and the q-axis current command value of the electric motor (15) with respect to a voltage limiting ellipse preset on the dq current coordinate plane. Then, a d-axis voltage command value and a q-axis voltage command value of the electric motor (15) are obtained from the corrected d-axis current command value or q-axis current command value.
Description
Technical Field
The present invention relates to a motor control device for controlling an electric motor mounted on a vehicle or the like, for example.
Background
When an excessive current is supplied from a power supply to a multiphase motor such as a brushless motor, which is a power drive source of an electric vehicle or the like, due to an increase in an output request (motor load), a switching element constituting an inverter circuit may generate heat or break. Therefore, when controlling the driving torque of the electric motor, a current control unit imposes a current limitation in order to protect an inverter, a motor, a vehicle, and the like from an overvoltage, an overcurrent, a temperature rise, and the like.
Patent document 1 discloses a motor control device that: focusing on the fact that a delay is present between the angle detector of the motor and the output of the PWM converter, which affects the accuracy of the offset adjustment, and therefore the motor cannot be controlled with high accuracy, the current control of the motor is performed by calculating a correction value for the rotational position of the motor based on an offset error correction value (calculated from a d-axis current command value and a q-axis current command value when the motor in a no-load state is speed-controlled to rotate at a constant speed by a constant current command value).
Patent document 1: japanese patent No. 5916342
In a conventional motor control device that performs feedback control so that a current flowing through a motor becomes a torque of an input torque command, in order to obtain a torque output of the torque command, d-axis and q-axis current values are determined from data measured by tuning, and the torque output is controlled by current control. Therefore, when current control is performed, it is necessary to operate within a limited range of voltage and current.
As described above, the d-axis and q-axis current command values determined in accordance with the torque command are values tuned within the voltage and current limit ranges, but it is assumed that the current command value is out of the voltage limit range due to, for example, temperature characteristics, manufacturing variations, and the like. In this case, there is a problem that the current control becomes unstable and vibrates.
Further, in the conventional motor control device, current control using current command values for both the d-axis and the q-axis is required, which causes a problem that the motor control becomes complicated.
Disclosure of Invention
The present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control device capable of converging a target current outside a voltage limit range within the voltage limit range by a quick and simple method.
The above object is achieved by the following structure. That is, an exemplary 1 st aspect of the present invention is a motor control device for driving a brushless DC motor by vector control on a dq current coordinate plane, the motor control device including: a unit that calculates a current vector obtained by synthesizing a d-axis current command value and a q-axis current command value of the brushless DC motor; a control unit that obtains a d-axis voltage command value and a q-axis voltage command value of the brushless DC motor from the d-axis current command value and the q-axis current command value; and a drive signal generation unit that generates a drive signal for the brushless DC motor based on the d-axis voltage command value and the q-axis voltage command value, and corrects one of the d-axis current command value and the q-axis current command value based on a position of an end point of the current vector on the dq current coordinate plane with respect to a voltage limit ellipse.
An exemplary 2 nd aspect of the present invention is a brushless DC motor driven by the motor control device according to the above exemplary 1 st aspect.
An exemplary 3 rd invention of the present application is an electric vehicle using the brushless DC motor of the above exemplary 2 nd invention as a traction motor.
An exemplary 4 th aspect of the present invention is a motor control method for driving a brushless DC motor by vector control on a dq current coordinate plane, the motor control method including: calculating a current vector obtained by synthesizing a d-axis current command value and a q-axis current command value of the brushless DC motor; correcting either one of the d-axis current command value and the q-axis current command value based on a position of an end point of the current vector on the dq current coordinate plane with respect to a voltage limit ellipse; determining a d-axis voltage command value and a q-axis voltage command value for the brushless DC motor from the d-axis current command value and the q-axis current command value; and generating a driving signal of the brushless DC motor according to the d-axis voltage command value and the q-axis voltage command value.
According to the present invention, even if the current command value determined by tuning is outside the voltage limiting ellipse, the current command value can be easily accommodated within the voltage limiting ellipse by correcting either one of the d-axis current command value and the q-axis current command value.
Drawings
Fig. 1 is a block diagram showing an overall configuration of a motor control device according to an embodiment of the present invention.
Fig. 2 is a flowchart showing a current control procedure of the electric motor in the motor control section in time series.
Fig. 3 is a diagram schematically illustrating the correction process of the d-axis current.
Fig. 4 is a diagram schematically illustrating correction processing of the q-axis current.
Fig. 5 is a diagram schematically showing other correction processing of the d-axis q-axis current.
Description of the reference symbols
1: a voltage vector calculation unit; 10: a motor control unit; 11: a target current calculation unit; 11 a: a target Iq calculation unit; 11 b: a weak magnetic flux control unit; 12: a current vector limiting unit; 15: an electric motor; 16a, 16 b: a PI control unit; 17. 29: a coordinate conversion unit; 18: a non-interference control unit; 20: a motor control device; 21: a PWM signal generation unit; 23: an inverter circuit; 25: a current detection unit; 27: a power supply relay; 28: an A/D converter (ADC); 51: a rotation angle sensor; BT: an external battery.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Fig. 1 is a block diagram showing an overall configuration of a motor control device according to an embodiment of the present invention.
The motor control device 20 of fig. 1 includes a motor control unit 10 that functions as a drive control unit for an electric motor 15, and the electric motor 15 is, for example, a 3-phase brushless DC motor. The electric motor 15 includes a type in which a motor main body and a motor drive unit (ECU) are not integrated and a type in which these are integrated (an electromechanical integrated motor).
As described later, the motor control device 20 performs current feedback control so that the q-axis current value and the d-axis current value follow the q-axis current command value and the d-axis current command value, generates a PWM control signal for each phase from the q-axis voltage command value and the d-axis voltage command value calculated based on the current feedback control, and drives and controls the electric motor 15 by an inverter as a motor driving unit.
The motor control device 10 includes a microprocessor (CPU) that controls the entire motor control device 10, and executes a predetermined program based on various input information while referring to data and the like stored in a storage unit (not shown).
The storage unit is constituted by, for example, an Electrically writable and Erasable EEPROM (Electrically Erasable and Programmable Read Only Memory) or an Electrically rewritable flash Memory.
The PWM signal generation unit 21 of the motor control unit 10 generates on/off control signals (PWM signals) of a plurality of semiconductor switching elements (FETs) constituting the inverter circuit 23 based on the input voltage command value. The semiconductor switching elements are disposed corresponding to the respective phases (a-phase, b-phase, and c-phase) of the electric motor 15.
The switching element is also called a power element, and for example, a switching element such as a MOSFET (Metal-Oxide Semiconductor Field-Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor) is used.
The inverter circuit 23 is supplied with power for driving the motor (the power supply voltage is set to + B) from the external battery BT via the power supply relay 27. The power supply relay 27 is configured to be able to switch electric power from the battery BT, and the power supply relay 27 may be configured by a semiconductor relay.
The motor drive current supplied from the inverter circuit 23 as a motor drive circuit to the electric motor 15 is detected by a current detection unit 25, and the current detection unit 25 is constituted by current sensors (not shown) disposed in correspondence with the respective units. The current detection unit 25 detects an electric signal from a hall sensor for detecting a motor drive current, for example, using an amplifier circuit including an operational amplifier or the like.
The output signal (current detection signal) from the current detection unit 25 is input to an a/D conversion unit (ADC) 28. The ADC 28 converts the analog current value into a digital value by its a/D conversion function, and inputs the digital value to a coordinate conversion unit (3-phase/2-phase conversion unit) 29 as 3-phase currents Ia, Ib, and Ic. The coordinate conversion unit 29 calculates a current Id on the d-axis and a current Iq on the q-axis from the rotation angle θ detected by the rotation angle sensor 51 and the 3-phase currents (actual currents) Ia, Ib, and Ic. The rotational angular velocity ω m is calculated by, for example, approximating the differential or the like based on the rotational angle θ.
The current to be passed through the electric motor 15 is determined by the motor rotation speed and the power supply voltage. Therefore, the target current calculation unit 11 performs the input of the 1 st target q-axis current Iq1 ＊And 1 st target d-axis current Id1 ＊The calculation is converged within a predetermined range.
Therefore, the target Iq calculation unit 11a constituting the target current calculation unit 11 calculates the 2 nd target q-axis current Iq by correcting the calculated or tabulated current value based on the torque command value, for example2 ＊。
The field weakening control unit 11b constituting the target current calculation unit 11 refers to the Id and Iq maps calculated or tabulated and stored in the storage unit (not shown), and thereafter performs field weakening control for applying a negative d-axis current to the motor or control for changing the current in the q-axis direction in a direction in which the absolute value becomes smaller so as to weaken the magnetic flux in the d-axis direction of the rotational excitation of the 3-phase brushless DC motor, thereby calculating the 2 nd-orderMark d-axis current Id2 ＊And 2 nd target q-axis current Iq2 ＊。
The calculated or tabulated current value is a value that varies depending on the design of the motor, for example.
In the control of the flux weakening control unit 11b, the field weakening state in which the d-axis current as the field current is reduced is used in the control of the electric motor 15 so as not to exceed the upper limit of the applied voltage that can be output by the inverter circuit 23.
The current vector limiter 12 sets a 2 nd target d-axis current Id as an output (field weakening current) from the target current calculator 11 in order to limit a maximum current to be supplied to the electric motor 15 or the like2 ＊Upper limit value of (2) and target q-axis current Iq2 ＊The upper limit value of (3). Thus, the 3 q-th axis current Iq with the upper limit value set is output from the current vector limiting unit 123 ＊And a 3 rd target d-axis current Id3 ＊。
Here, the 3 q-axis current Iq3 ＊Is a q-axis command current as a torque component, and a 3 rd target d-axis current Id3 ＊Is a d-axis command current as a magnetic field component.
The subtracter 13a calculates the 3 q-axis current Iq3 ＊And the q-axis current Iq calculated by the coordinate conversion unit 29, and the difference is input to the PI control unit 16 a. Similarly, the 3 rd target d-axis current Id is calculated by the subtractor 13b3 ＊The difference from the d-axis current Id calculated by the coordinate conversion unit 29 is input to the PI control unit 16 b.
The PI control unit 16a performs PI (proportional plus integral) control so that the difference converges to zero, thereby calculating a q-axis voltage command value Vq as a command value of a q-axis voltage＊. Similarly, the PI control unit 16b also performs PI (proportional plus integral) control so that the difference converges to zero, thereby calculating a d-axis voltage command value Vd as a command value of the d-axis voltage＊。
The non-interference control part 18 controls the rotation speed of the electric motor 15 according to the first3 target q-axis Current Iq3 ＊And a 3 rd target d-axis current Id3 ＊And the q-axis non-interference voltage and the d-axis non-interference voltage are calculated by the same method. In addition, the adders 19a and 19b perform the operation of comparing the q-axis non-interference voltage and the d-axis non-interference voltage with the q-axis voltage command value Vq＊And d-axis voltage command value Vd＊Additive voltage feed forward control.
Outputs from adders 19a and 19b (q-axis voltage command value Vq)＊D-axis voltage command value Vd＊) The input is input to a coordinate conversion unit 17 having a 2-phase/3-phase conversion function. The coordinate conversion unit 17 converts Vq in accordance with the rotation angle θ＊、Vd＊Voltage command value Va converted into voltage command value for each of 3 phases＊、Vb＊、Vc＊. Converted voltage command value Va＊、Vb＊、Vc＊Is input to the PWM signal generation unit 21.
Next, a method of controlling the current of the electric motor in the motor control device of the present embodiment will be described. Fig. 2 is a flowchart showing a current control procedure of the electric motor in the motor control section 10 of the motor control device 20 shown in fig. 1 in time series.
In step S11 of fig. 2, a q-axis current and a d-axis current are obtained with respect to the command torque (target torque) Tq inputted from the outside. Here, as described above, the q-axis current and the d-axis current corresponding to the instructed torque Tq are determined based on the q-axis current and the d-axis current which are calculated in advance or measured with reference and tabulated and stored in the storage unit.
In step S13, the voltage vector calculation unit 1 uses the following expression (1) to calculate the q-axis voltage command value Vq＊And d-axis voltage command value Vd＊To obtain the magnitude Vdq of the voltage vector＊。
Vdq＊＝√(Vd＊2+Vq＊2)…(1)
In step S15, the magnitude Vdq of the voltage vector as the voltage command value obtained by equation (1) is set to＊Phase current calculated from the driving power supply voltage + B of the motor control unit 10The compaction values (+ B × maximum modulation ratio/√ 2) are compared. If Vdq＊(+ B × maximum modulation rate/√ 2), the voltage command value is within the range of the power supply voltage, and thus the normal current limiting process is performed (step S17).
On the other hand, when it is determined in step S15 that Vdq is present＊Where (+ B × maximum modulation rate/√ 2), the voltage command value exceeds the limit of the power supply voltage, Vdq＊If the voltage is too large, the process proceeds to the following process as a motor voltage that cannot be achieved even if the voltage of the drive power supply (battery) supplied to the motor control device 10 is used to the maximum.
That is, in step S19, a current vector is calculated by combining the q-axis current (q-axis current command value) and the d-axis current (d-axis current command value) obtained in step S11. The current vector is a resultant current vector of a d-axis current vector and a q-axis current vector having an intersection of the d-axis and the q-axis as a starting point on the dq current coordinate plane.
In the next step S21, the CPU 1 determines the sign of the q-axis voltage command value (Vq). This is to determine the position of the end point of the composite current vector with respect to the voltage limit ellipse from the sign of the q-axis voltage command value.
Here, the voltage limit ellipse refers to a range determined by values that can be output according to motor characteristics such as the power supply voltage (+ B), the number of revolutions, and the phase resistance of the electric motor 15 on the dq current coordinate plane, that is, a range indicating a voltage limit of a composite vector that can be set according to the power supply voltage and the like.
When Vq < 0 is determined in step S21, since it is determined in step S15 that the magnitude of the voltage vector exceeds the phase voltage effective value, it is determined in step S23 that the end point of the resultant current vector of the d-axis current vector and the q-axis current vector calculated in step S19 is located outside the voltage limiting ellipse and on the right side of a straight line passing through the center of the voltage limiting ellipse and extending in the q-axis direction of the voltage limiting ellipse.
Then, in step S25, the flux weakening control unit 11b of the target current calculation unit 11 corrects the d-axis current to change in the negative direction (adjusts the target current) by a method described later.
In step S27, it is determined whether or not the end point of the composite current vector has reached the voltage limiting ellipse as a result of the change in the d-axis current in the negative direction as described above. If the end point of the current vector does not reach the voltage limit ellipse, the process returns to step S25, and the correction for adjusting the d-axis current in the negative direction is continued until the end point of the current vector reaches the voltage limit ellipse.
On the other hand, when Vq ≧ 0 is determined in step S21, since it is determined in step S15 that the magnitude of the voltage vector exceeds the phase voltage effective value, in step S31, it is determined that the end point of the resultant current vector of the d-axis current vector and the q-axis current vector calculated in step S19 is located outside the voltage limiting ellipse and on the left side of a straight line passing through the center of the voltage limiting ellipse and extending in the q-axis direction of the voltage limiting ellipse. Then, in step S33, correction (adjustment of the target current) is performed to change the q-axis current in a direction in which the absolute value thereof becomes smaller, by a method described later.
In step S35, it is determined whether or not the end point of the composite current vector has reached the voltage limiting ellipse as a result of changing the q-axis current as described above. If the end point of the current vector does not reach the voltage limit ellipse, the process returns to step S33, and the correction for adjustment in the direction in which the absolute value of the q-axis current becomes smaller is continued until the end point of the current vector reaches the voltage limit ellipse.
In step S37, a d-axis voltage command value and a q-axis voltage command value are generated as drive signals of the electric motor 15 based on the d-axis current command value or the q-axis current command value obtained by the current adjustment in step S25 or step S33 described above. Then, in step S39, the electric motor 15 is drive-controlled by the PWM signal for on/off controlling the semiconductor switching elements of the inverter circuit based on the voltage command value generated in step S37.
Fig. 3 schematically shows the processing of steps S25 and S27 of fig. 2. In fig. 3, the end point 35a of the resultant current vector 35 of the d-axis current vector and the q-axis current vector obtained by tuning in advance is located outside the voltage limiting ellipse 30. In addition, the end point 35a is located on the right side of the straight line 32 passing through the center O of the voltage limiting ellipse 30 and extending in the q-axis direction of the voltage limiting ellipse 30.
That is, the combined current vector 35 is not within a range determined by a value that can be output according to the power supply voltage (+ B). Therefore, since the negative d-axis current is supplied to the electric motor 15, the flux weakening control unit 11b of the target current calculation unit 11 performs the following correction (adjustment) as indicated by reference numeral 36 in fig. 3: the value of the q-axis current (target q-axis current 33) is maintained, and the d-axis current is changed in the negative direction while moving the end point 35a in the direction along the d-axis.
Such adjustment of the d-axis current is performed until the end point 35a of the current vector reaches the voltage limit ellipse 30 (i.e., until the point a is reached). As a result, a current 34 including the target d-axis current 31 and the target q-axis current 33 can be obtained. Thus, a current vector (current instruction value) satisfying the voltage limitation can be obtained simply and quickly by correcting the d-axis current while maintaining the q-axis current.
This means that the d-axis current as the excitation current can be corrected by the weak magnetic flux control so as not to exceed the upper limit of the applied voltage that can be output by the electric motor 15 (brushless DC motor).
Fig. 4 schematically shows the processing of steps S33 and S35 of fig. 2. As shown in fig. 4, the end point 45a of the resultant current vector 45 of the d-axis current vector and the q-axis current vector obtained by tuning in advance is located outside the voltage limiting ellipse 30. Furthermore, the end point 45a is located on the left side of the straight line 32 that passes through the center O of the voltage limiting ellipse 30 and extends in the q-axis direction of the voltage limiting ellipse 30.
In this case, too, the combined current vector 45 is not within a range determined by a value that can be output by the power supply voltage (+ B). In this case, if the flux weakening control shown in fig. 3 is performed, the end point 45a of the combined current vector 45 does not intersect the voltage limiting ellipse 30, and the q-axis current continues to increase in the negative direction.
Therefore, in order to reduce the q-axis current flowing to the electric motor 15, the target Iq calculation unit 11a of the target current calculation unit 11 performs the following adjustment, as indicated by reference numeral 46 in fig. 4: the value of the d-axis current is maintained, and the end point 45a is moved in the direction along the q-axis to change the q-axis current so that the value thereof becomes smaller in the negative direction of the q-axis.
Similarly to the case of the d-axis current, the q-axis current is adjusted until the end point 45a of the current vector reaches the voltage limit ellipse 30 (i.e., until the point B is reached). As a result, a current 44 including the target d-axis current 41 and the target q-axis current 43 can be obtained.
In the above case, the end point 45a of the combined current vector 45 is located outside the voltage limiting ellipse 30 and above the d-axis of the voltage limiting ellipse 30, but the same adjustment as described above is also performed when the end point 55a is located outside the voltage limiting ellipse 30 and below the d-axis of the voltage limiting ellipse 30, like the combined current vector 55 of fig. 4.
That is, as indicated by reference numeral 56 in fig. 4, the following adjustments are made: the value of the d-axis current is maintained, and the q-axis current is changed so that the value decreases in the positive direction of the q-axis until point C is reached.
Thus, a current vector (current instruction value) satisfying the voltage limitation can be obtained simply and quickly by correcting the q-axis current while maintaining the d-axis current.
Thus, in the adjustment of the q-axis current, the direction of decreasing the current differs depending on the sign of the q-axis current. Thus, the adjustment of the q-axis current in the target Iq calculation unit 11a is a correction for changing the absolute value thereof in a direction to become smaller.
In the processing shown in fig. 3 and 4, it is determined that the end point of the composite current vector reaches the voltage limit ellipse 30 based on the result of the current adjustment, for example, a drop in the current vector to a d-axis current value or a q-axis current value that can be handled within the current battery voltage range.
When the end point 65a of the combined current vector 65 of the d-axis current vector and the q-axis current vector is located at the position shown in fig. 5, the value of the q-axis current is maintained, and the end point 65a is moved until reaching the straight line 32 as indicated by reference numeral 66, so that the d-axis current is changed in the negative direction. Then, as indicated by reference numeral 68, the end point 65a is moved along the straight line 32 until the point D is reached, and adjustment is performed so that the value of the q-axis current is changed so as to decrease in the negative direction of the q-axis. Thereby, a current 64 composed of the target d-axis current 61 and the target q-axis current 63 can be obtained.
The motor control device and the motor control method described above can be mounted on, for example, an electric vehicle using a brushless DC motor as a traction motor. Further, in the motor control of the electric vehicle, it is possible to converge the target current outside the range of the voltage limit within the range of the voltage limit by a quick and simple method. In addition, it is possible to suppress the current control of the traction motor in the electric vehicle from becoming unstable and oscillating.
As described above, the motor control device of the present embodiment has the following configuration: either the d-axis current command value or the q-axis current command value is corrected based on the position of the end point of the current vector obtained by combining the d-axis current command value and the q-axis current command value of the brushless DC motor with respect to the voltage limiting ellipse assumed on the dq current coordinate plane, and the d-axis voltage command value and the q-axis voltage command value of the electric motor (brushless DC motor) are obtained based on the corrected d-axis current command value or q-axis current command value.
In this way, by correcting either the d-axis current or the q-axis current according to the vector position of the target current, it is possible to easily and quickly perform the process of converging the current command value within the current limit range. For example, even if the current instruction value is out of the limit range due to variations in temperature characteristics, manufacturing, and the like of the motor, the current instruction value can be corrected to fall within the current limit range, and therefore, unstable and vibration of the current control can be suppressed.
This makes it possible to control the current of a motor such as a permanent magnet embedded synchronous motor (IPMSM) within a limited range (the maximum range of the current limited region).
In addition, when current correction is performed, correction is performed without using motor parameters including inductance, resistance, magnetic flux, and the like, and thus voltage limitation can be performed by a simple process of eliminating variations due to the motor parameters.
Claims (13)
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| Application Number | Priority Date | Filing Date | Title |
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| JP2019-219866 | 2019-12-04 | ||
| JP2019219866A JP2021090285A (en) | 2019-12-04 | 2019-12-04 | Motor control device |
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| CN112910358A true CN112910358A (en) | 2021-06-04 |
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| CN202011381224.3A Withdrawn CN112910358A (en) | 2019-12-04 | 2020-12-01 | Motor control device |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS627396A (en) * | 1985-05-13 | 1987-01-14 | ゼネラル・エレクトリツク・カンパニイ | Method and apparatus for operation at fixed horse power |
| CN101911467A (en) * | 2008-01-16 | 2010-12-08 | 株式会社捷太格特 | Motor control device and electric power steering device |
| JP2011024344A (en) * | 2009-07-15 | 2011-02-03 | Kyb Co Ltd | Motor control device |
-
2019
- 2019-12-04 JP JP2019219866A patent/JP2021090285A/en active Pending
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2020
- 2020-12-01 CN CN202011381224.3A patent/CN112910358A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS627396A (en) * | 1985-05-13 | 1987-01-14 | ゼネラル・エレクトリツク・カンパニイ | Method and apparatus for operation at fixed horse power |
| CN101911467A (en) * | 2008-01-16 | 2010-12-08 | 株式会社捷太格特 | Motor control device and electric power steering device |
| JP2011024344A (en) * | 2009-07-15 | 2011-02-03 | Kyb Co Ltd | Motor control device |
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| JP2021090285A (en) | 2021-06-10 |
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Application publication date: 20210604 |