CN111034028B - Motor driving device, temperature control device, motor driving method, and recording medium - Google Patents
Motor driving device, temperature control device, motor driving method, and recording medium Download PDFInfo
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- CN111034028B CN111034028B CN201880054505.2A CN201880054505A CN111034028B CN 111034028 B CN111034028 B CN 111034028B CN 201880054505 A CN201880054505 A CN 201880054505A CN 111034028 B CN111034028 B CN 111034028B
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- 238000000034 method Methods 0.000 title claims description 23
- 230000008859 change Effects 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000003507 refrigerant Substances 0.000 description 11
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005057 refrigeration Methods 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A motor driving device includes: a driving unit that supplies a driving current to the motor; a detection unit that detects drive data; a storage unit that stores drive data; an information holding unit that holds determination information for determining whether or not a change in drive data with the passage of drive time of an external device and a motor connected to a power supply is noise caused by an influence of the external device, and a reference period for determining whether or not to perform noise determination on the change in drive data; and a determination unit that performs noise determination based on the change of the drive data and a stop determination to determine whether or not to stop the drive, and outputs a drive amount based on the determination result, wherein the determination unit performs noise determination based on the determination information when the period in which the change is determined to be continuous is equal to or less than a reference period, outputs a drive amount to maintain the drive when the determination is made as noise, and performs the stop determination based on the change when the determination is made as not noise.
Description
Technical Field
The application relates to a motor driving device, a temperature control device, a motor driving method and a recording medium.
Background
When another device is connected to the power supply line of the motor, noise is generated in the motor driving device by driving the other device, and the motor driving device may stop the motor that does not need to be stopped due to the influence of the generated noise.
As a method of suppressing the influence of noise, there are, for example, the following methods: a method of providing a noise reduction mechanism in a motor drive; and recovering the motor driving device from the product with the motor driving device built therein and updating the software. The technique of patent document 1 is as follows: in the control of the DC motor, an external factor is detected by a rotation speed detecting unit, and a braking unit for reducing the induced voltage of the DC motor is operated at the time of detection to suppress the influence of the external factor on the control of the DC motor.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 10-30829
Disclosure of Invention
Problems to be solved by the application
However, the method of additionally providing a mechanism for reducing noise may be disadvantageous in terms of cost. In addition, the method of recovering the motor driving device and updating the software may be disadvantageous in terms of working man-hours.
The present application aims to provide a motor drive device which is advantageous in terms of cost and working hours, for example.
Means for solving the problems
An exemplary application according to claim 1 is a motor driving device for driving a motor, comprising: a control unit that outputs a drive signal indicating the drive amount of the motor; a driving unit connected to the power supply and configured to supply a driving current for driving the motor to the motor in accordance with the driving signal output from the control unit; a detection unit that detects drive data related to driving of the motor; a storage unit that stores the drive data detected by the detection unit; an information holding unit that holds determination information for noise determination as follows, and a reference period: determining whether or not a change in drive data with the elapse of time when an external device connected to a power supply and a motor are driven is noise caused by an influence of driving of the external device, the reference period being used to determine whether or not to make a noise determination on the change; and a determination unit that acquires the drive data from the storage unit, performs noise determination based on a change in the acquired drive data, determines whether or not to stop the driving of the motor, and outputs a drive amount based on a determination result to the control unit, wherein the determination unit determines whether or not a period in which the change is continuous is equal to or less than a reference period, performs noise determination on the change based on the determination information acquired from the information holding unit when the determination is equal to or less than the reference period, outputs a drive amount for maintaining the driving to the control unit when the determination is noise, and performs stop determination based on the change when the determination is not noise.
Effects of the application
According to the application of the exemplary 1 st aspect, a motor driving device advantageous in terms of cost and working man-hour can be provided.
Drawings
Fig. 1 is a schematic view of a temperature control device according to embodiment 1.
Fig. 2 is a block diagram showing the structure of a motor driving device that drives a motor.
Fig. 3 is a flowchart showing a process of noise determination by the determination unit in the motor driving method according to embodiment 1.
Fig. 4 is a block diagram showing the structure of the motor drive device according to embodiment 2.
Detailed Description
Hereinafter, modes for carrying out the present application will be described with reference to the drawings. The scope of the present application is not limited to the following embodiments, and can be arbitrarily changed within the scope of the technical idea of the present application.
[ embodiment 1 ]
< temperature control device >)
Fig. 1 is a schematic view of a temperature control device 1 according to the present embodiment. The temperature control device 1 is a device having a refrigeration cycle, such as a showcase or an ice maker. The temperature control device 1 has a refrigeration cycle including a compressor 10, a condenser 20, an expansion valve 30, and a cooler 40. The respective portions are connected by a pipe, and a refrigerant circulates in the pipe.
First, the circulation of the refrigerant will be described. The compressor 10 sucks and compresses the gasified refrigerant, and discharges the high-pressure refrigerant. The condenser 20 cools the high-pressure vaporized refrigerant to liquefy the refrigerant. The expansion valve 30 decompresses the high-pressure liquefied refrigerant to become a low-pressure liquefied refrigerant. The cooler 40 evaporates the low-pressure liquefied refrigerant to cool the cooling target of the temperature control device 1.
Next, each portion will be described in detail. The condenser 20 receives the wind sent from the fan 50, discharges heat of the refrigerant to the outside, and cools the refrigerant. The fan 50 is driven by a motor 60 controlled by a motor driving device 100. The cooler 40 receives the wind sent from the fan 70 and discharges cool air toward the cooling target. The fan 70 is driven by a motor 80 controlled by a motor driving device 200.
Here, the motor drive device 100 and the motor drive device 200 are connected to the power supply 90, for example, in the same manner as the compressor 10. The compressor 10 is an external device to the motor driving device 100 and the motor driving device 200.
In the present embodiment, the stable drivability of the temperature control device 1 can be improved by suppressing the influence of the operation of the compressor 10 as a high-load device connected to the power supply 90 as in the motor drive device 100 and the motor drive device 200.
Since the motor drive device 100 and the motor drive device 200 have the same configuration, the motor drive device 100 will be described as a representative in the following description. In addition, the motor driving device 100 and the motor driving device 200 may be one motor driving device.
Motor driving device
Fig. 2 is a block diagram showing the structure of a motor driving device 100 that drives a motor 60. The motor driving device 100 includes a control unit 110, a driving unit 120, a detecting unit 130, a storage unit 140, an information holding unit 150, and a determining unit 160.
The motor drive device 100 is housed in a case shared with the motor 60. An output shaft of a rotor or the like of the motor 60 protrudes from the casing and is attached to the fan 50. By employing the motor 60 and the motor driving device 100 in a so-called electromechanical integrated type, for example, a fan system including a fan and a motor can be miniaturized.
(control part)
The control unit 110 outputs a drive signal indicating the drive amount of the motor 60. The driving amount is, for example, the rotational speed of the motor 60. For example, a computer having an arithmetic processing unit such as a CPU, a memory such as a RAM, and a storage unit such as a hard disk drive is used as the control unit 110. However, a circuit having an arithmetic device such as a microcontroller may be used instead of the computer.
(drive section)
The driving unit 120 is connected to the power supply 90, and supplies a driving current for driving the motor 60 to the motor 60 according to a driving signal output from the control unit 110. The driving unit 120 includes, for example, an inverter circuit including a switching element, and supplies a driving current to the motor 60 by a switching operation of the switching element.
(detection section)
The detection unit 130 detects drive data related to the driving of the motor 60. The detection unit 130 includes at least one of a current detection unit that detects a driving current, a temperature sensor that detects a temperature of the driving unit 120, and a voltage detection unit that detects a driving voltage output from the driving unit 120 to the motor 60, for example. The detection unit 130 may detect rotational position information of the motor 60 or a general input/output direction (hereinafter referred to as GPIO direction) of the control unit 110. Accordingly, the driving data includes at least one of a current value, a temperature, a voltage value, rotational position information, and a GPIO direction.
The motor driving device 100 can detect driving data including at least one of a driving current, a temperature of the driving unit 120, a driving voltage, rotational position information, and a GPIO direction, and monitor each data.
(storage part)
The storage section 140 stores the driving data detected by the detection section 130. The storage unit 140 is a memory such as a RAM that temporarily stores drive data, and outputs the stored drive data to the determination unit 160.
(information holding part)
The information holding unit 150 holds determination information for noise determination as follows: it is determined whether or not the change in the driving data with the elapse of time when the external device connected to the power supply 90 and the motor 60 are driven is noise caused by the influence of the driving of the external device. The information holding unit 150 holds a reference period for determining whether or not to perform noise determination on the change in the drive data.
(variation of drive data)
The change of the driving data means a change of a current value, a change of a temperature, a change of a voltage value, and an inversion of the GPIO direction. The following changes are specifically referred to as changes in the drive data when the detection unit 130 detects the rotational position information.
The detecting unit 130 that detects the rotational position information detects the rotational position of the motor at 60-degree intervals, for example, and outputs a digital value corresponding to the detected angle to the storage unit 140. The digital values output include, for example, 1 (corresponding to 60 degrees), 2 (corresponding to 120 degrees), 3 (corresponding to 180 degrees), 4 (corresponding to 240 degrees), and 5 (corresponding to 300 degrees). The variation of the driving data refers to the variation of the output digital value.
(determination information)
The determination information is determined based on the change of each driving data during normal operation of the motor 60, and is different depending on the type of the driving data. The variation of the drive data continuously deviated from the reference during the reference period is noise. This makes it possible to determine noise according to the type of drive data.
The drive data is determination information based on the change of each value when the motor 60 is operating normally, in the case where the drive data is a current value, a temperature, and a voltage value, and is determination information based on the direction when the motor 60 is operating normally, in the case where the drive data is a GPIO direction.
When the motor 60 is normally operated, the current value, the temperature, and the voltage value may be any one of, for example, monotonically increasing, monotonically decreasing, or constant values. When the motor 60 is operating normally, the GPIO direction is oriented in a predetermined direction and does not change.
When the drive data is rotational position information, the drive data is determination information based on a change in the digital value of 1 added or 1 subtracted successively output to the storage unit 140 during normal operation of the motor 60.
(reference time)
The reference time can be different depending on the type of the temperature control device 1. In the case where the temperature control device 1 is a device having a refrigeration cycle, a reference time of the order of milliseconds is used. When the drive data is a current value, a temperature, and a voltage value, noise determination for a change in each value that is continuous over a period of the order of milliseconds is performed using determination information. Specifically, the momentary rise or fall in the current value, temperature, and voltage value in the order of milliseconds is determined as noise.
In the case where the driving data is the GPIO direction, the inversion of the GPIO direction in the order of milliseconds is determined as noise. When the drive data is rotational position information, it is determined as noise when the digital value outputted during the period of the order of milliseconds is not a value obtained by successively adding 1 or subtracting 1.
(determination section)
The determination unit 160 acquires drive data from the storage unit 140, performs noise determination and stop determination for determining whether or not to stop driving of the motor based on a change in the acquired drive data, and outputs a drive amount based on a determination result to the control unit 110.
The determination unit 160 determines whether or not the period during which the change in the drive data continues is equal to or less than the reference period, and if it is determined that the period is equal to or less than the reference period, performs noise determination on the change in the drive data based on the determination information acquired from the information holding unit 150. When the noise is determined, the drive amount of the sustain drive is output to the control unit 110, and when the noise is not determined, the stop determination is performed based on the change of the drive data.
(stop determination)
The reference for the stop determination is determined based on the change of each driving data during normal operation of the motor 60. The standard of the stop determination may be different depending on the type of the drive data and the type of the temperature control device 1. If the reference is deviated, it is determined that the motor 60 should be stopped. For example, a case where the temperature is equal to or higher than a predetermined temperature, a case where the voltage value is larger than a predetermined value, a case where the rotation position information is not output, or the like is a condition that should be stopped.
The determination unit 160 may output information indicating a stop instruction to the outside of the apparatus before outputting a stop instruction to the control unit 110, the stop instruction having zero driving amount as a result of the stop determination. The user or the server can receive an alarm for stopping the motor 60 before stopping the motor 60, and finally determine whether to stop or not. For example, this can be used in a case where the driving is stopped quickly or a case where the driving is not stopped.
As described above, the motor drive device 100 according to the present embodiment can determine whether or not the momentary change in the drive data is noise using determination information for determining whether or not the change in the drive data is noise indicating an influence caused by the driving of the external device. Therefore, according to the motor driving device 100 of the present embodiment, there is no need to provide a mechanism for reducing external noise in order to suppress the influence of external noise on the driving data. In addition, the motor drive device 100 does not need to be collected in order to rewrite software in the control unit 110, and is advantageous in terms of cost, man-hour of work, and the like.
(noise determination procedure)
Fig. 3 is a flowchart showing a process of noise determination by the determination unit 160 in the motor driving method according to the present embodiment. First, in step S30, the motor 60 and an external device connected to the power supply 90 connected to the motor 60 are driven. In the present embodiment, the external device is the compressor 10.
In step S31, the detection unit 130 detects drive data related to the driving of the motor 60, and stores the detected drive data in the storage unit 140. In step S32, the determination unit 160 determines whether or not to perform the following noise determination based on whether or not the period during which the change in the drive data is continuous is equal to or less than the reference period: it is determined whether or not the change in the drive data with the lapse of time is noise caused by the influence of the driving of the external device.
When it is determined in step S32 that the reference period is less than or equal to the reference period, the determination unit 160 performs noise determination in step S33. When it is determined in step S33 that the change in the drive data is noise, in step S34, the determination unit 160 outputs a command to maintain the drive to the control unit 110.
When it is determined in step S33 that the change in the drive data is not noise, in step S35, the determination unit 160 performs a stop determination for determining whether or not to maintain the drive based on the change in the drive data. If it is determined that the driving is to be maintained, the process proceeds to step S34. If it is determined that the driving is not to be maintained, the determination unit 160 outputs a command to stop the driving to the control unit 110 in step S36.
When it is determined in step S32 that the reference period is longer than the reference period, in step S37, the determination unit 160 determines whether or not to maintain driving based on a change in the driving data. When it is determined that the driving is to be maintained, in step S38, the determination unit 160 outputs a command for maintaining the driving to the control unit 110. If it is determined that the drive is not to be maintained, the process proceeds to step S36.
According to the motor driving method of the present embodiment, there is no need to collect the motor driving device 100 and rewrite software in order to suppress the influence of external noise, and the motor driving method is advantageous in terms of cost, man-hour of work, and the like.
[ embodiment 2 ]
In the present embodiment, the motor drive device 100 cooperates with the outside such as a user or a server. Fig. 4 is a block diagram showing the structure of a motor drive apparatus 400 according to the present embodiment. The same components as those of embodiment 1 are denoted by the same reference numerals, and description thereof is omitted. The motor drive apparatus 400 includes a control unit 410, a storage unit 440, and an information holding unit 450, which are capable of communicating with the outside.
The storage unit 440 outputs drive data stored outside the device such as the user or the information analysis device 500. Thus, the user or the information analysis device 500 can monitor and analyze the drive data.
The control unit 410 can receive a stop instruction to set the driving amount to zero from outside the apparatus. The stop instruction of the motor can be directly instructed from the outside. For example, this can be used in a case where the driving is stopped quickly or a case where the driving is not stopped. Further, the user or the information analysis device 500 can directly instruct the control unit 410 to stop instruction by observing the result of monitoring and analyzing the drive data output from the storage unit 440.
The information analysis device 500 transmits the new determination information based on the drive data output from the storage unit 440 to the information holding unit 450. The information holding unit 450 updates the determination information held before transmission based on the new determination information transmitted from the information analysis device 500. That is, the information analysis device 500 can analyze the drive data and update the determination information held in the information holding unit 450 based on the analysis result.
The storage unit 440 outputs the drive data to the information analysis device 500 outside the device, and the information analysis device 500 transmits a new reference period based on the drive data output from the storage unit 440 to the information holding unit 450. The information holding unit 450 updates the reference period held before transmission based on the new reference period transmitted from the information analysis device 500. That is, the information analysis device 500 can analyze the drive data and update the reference period held in the information holding unit 450 based on the analysis result.
The information analysis device 500 monitors the communication state with the storage unit 440, and when the communication is interrupted for a predetermined period, outputs information indicating a stop instruction to zero the driving amount to the user. By monitoring the communication state between the motor driving device 400 and the information analysis device, the user can stop the driving of the motor 60 even when the motor driving device 400 cannot control the driving of the motor 60.
The information analysis device 500 includes, for example, a CPU (Central Processing Unit: central processing unit) and a memory unit. The CPU executes the program stored in the memory unit to process the drive data collected from the memory unit 440, thereby obtaining new determination information or a new reference period.
The control unit 410, the storage unit 440, the information holding unit 450, and the information analysis device 500 exchange data via a wireless interface. As the wireless interface, for example, a short-range data communication standard such as Bluetooth (registered trademark) and wireless LAN (Local Area Network: local area network) is used.
Further, a program for causing a computer to execute the motor driving method described in the above embodiment may be stored in a computer-readable recording medium such as a semiconductor memory or a magnetic disk, and the computer may access the recording medium to execute the program. If this recording medium is used, it is not necessary to collect the motor drive device and rewrite software in order to suppress the influence of external noise, and this is advantageous in terms of cost, man-hour of work, and the like.
While the preferred embodiments of the present application have been described above, the present application is not limited to these embodiments, and various modifications and changes can be made within the scope of the gist thereof.
Description of the reference numerals
100: a motor driving device; 110: a control unit; 120: a driving section; 130: a detection unit; 140: a storage unit; 150: an information holding unit; 160: and a determination unit.
Claims (12)
1. A motor driving device for driving a motor, characterized in that,
the motor driving device includes:
a control unit that outputs a drive signal indicating a drive amount of the motor;
a driving unit connected to a power supply, the driving unit supplying a driving current for driving the motor to the motor according to the driving signal outputted from the control unit;
a detection unit that detects drive data related to the driving of the motor;
a storage unit that stores the drive data detected by the detection unit;
an information holding unit that holds determination information for noise determination as follows, and a reference period: determining whether a change in the drive data with the elapse of a time period in which an external device connected to the power supply and the motor are driven is noise caused by an influence of driving of the external device, the reference period being used to determine whether the noise determination is made on the change; and
a determination unit that obtains the drive data from the storage unit, performs the noise determination and a stop determination that determines whether or not to stop the driving of the motor based on the change in the obtained drive data, and outputs the drive amount based on a determination result to the control unit,
the determination information is determined based on a change in each driving data during normal operation of the motor,
the determination unit determines whether or not the period in which the change is continuous is equal to or less than the reference period, determines the noise of the change based on the determination information acquired from the information holding unit when the period is equal to or less than the reference period, outputs the driving amount for maintaining the driving to the control unit when the period is determined to be the noise, and determines the stop based on the change when the period is determined not to be the noise.
2. The motor drive of claim 1, wherein the motor drive is configured to drive the motor,
the determination unit outputs information indicating the stop instruction to the outside of the apparatus before outputting the stop instruction to the control unit, the stop instruction having zero driving amount as a result of the stop determination.
3. The motor drive of claim 1, wherein the motor drive is configured to drive the motor,
the storage unit outputs the drive data to the outside of the device.
4. A motor driving apparatus according to claim 3, wherein,
the storage unit outputs the drive data to an information analysis device outside the device,
the information analysis means transmits new determination information based on the drive data output from the storage section to the information holding section,
the information holding unit updates the determination information held before the transmission, based on the new determination information transmitted from the information analysis device.
5. A motor driving apparatus according to claim 3, wherein,
the storage unit outputs the drive data to an information analysis device outside the device,
the information analysis means transmits a new reference period based on the drive data output from the storage section to the information holding section,
the information holding unit updates the reference period held before the transmission, based on the new reference period transmitted from the information analysis device.
6. The motor drive apparatus according to any one of claims 2 to 5, wherein,
the control unit receives a stop instruction to zero the drive amount from outside the device.
7. The motor driving device according to claim 4 or 5, wherein,
the information analysis means monitors the state of communication with the storage section,
when the communication is interrupted for a predetermined period, information indicating a stop instruction to zero the driving amount is output to the user.
8. The motor drive apparatus according to any one of claims 1 to 5, wherein,
the drive data includes at least one of the drive current, the temperature of the drive unit, the drive voltage output from the drive unit to the motor, information indicating the rotational position of the motor, and the input/output direction of a general-purpose input/output port provided in the control unit.
9. The motor drive apparatus according to any one of claims 1 to 5, wherein,
the determination information differs according to the kind of the driving data.
10. A temperature control device is characterized in that,
the temperature control device has a fan driven by a motor controlled by the motor driving device according to any one of claims 1 to 9.
11. A motor driving method for driving a motor, characterized in that,
the motor and an external device connected to a power source connected to the motor are driven,
detecting drive data related to the driving of the motor,
whether to perform the following noise determination is determined based on whether or not a period during which the change of the drive data is continuous with the lapse of time is equal to or less than a reference period: determining whether the change is noise caused by an influence of driving of the external device,
when the period is equal to or less than the reference period, the noise determination is performed using determination information determined based on a change in each driving data during normal operation of the motor,
when it is determined that the change is the noise, the driving is maintained,
when it is determined that the noise is not generated, it is determined whether or not to maintain the driving based on the change.
12. A computer-readable recording medium storing a program for causing a computer to execute a motor driving method for driving a motor,
the motor driving method includes the steps of:
driving the motor and an external device connected to a power source connected to the motor;
detecting drive data related to the driving of the motor;
whether to perform the following noise determination is determined based on whether or not a period during which the change of the drive data is continuous with the lapse of time is equal to or less than a reference period: determining whether the change is noise caused by an influence of driving of the external device;
when the period is equal to or less than the reference period, the noise determination is performed using determination information determined based on a change in each driving data during normal operation of the motor;
when it is determined that the change is the noise, the driving is maintained; and
when it is determined that the noise is not generated, it is determined whether or not to maintain the driving based on the change.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-188538 | 2017-09-28 | ||
| JP2017188538 | 2017-09-28 | ||
| PCT/JP2018/034329 WO2019065334A1 (en) | 2017-09-28 | 2018-09-18 | Motor driving device, temperature control device, motor driving method, and recording medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111034028A CN111034028A (en) | 2020-04-17 |
| CN111034028B true CN111034028B (en) | 2023-08-29 |
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| CN201880054505.2A Active CN111034028B (en) | 2017-09-28 | 2018-09-18 | Motor driving device, temperature control device, motor driving method, and recording medium |
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| Country | Link |
|---|---|
| JP (1) | JPWO2019065334A1 (en) |
| CN (1) | CN111034028B (en) |
| WO (1) | WO2019065334A1 (en) |
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| WO2013168355A1 (en) * | 2012-05-10 | 2013-11-14 | パナソニック 株式会社 | Rotary impact tool |
| CN104732918A (en) * | 2013-12-20 | 2015-06-24 | 乐金显示有限公司 | Organic light emitting device |
| JP2016111725A (en) * | 2014-12-02 | 2016-06-20 | アスモ株式会社 | Motor controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2019065334A1 (en) | 2020-10-22 |
| WO2019065334A1 (en) | 2019-04-04 |
| CN111034028A (en) | 2020-04-17 |
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