KR20130098809A - Fail-safe performing method, device and system for positioning sensor of motor - Google Patents

Fail-safe performing method, device and system for positioning sensor of motor Download PDF

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Publication number
KR20130098809A
KR20130098809A KR1020120020624A KR20120020624A KR20130098809A KR 20130098809 A KR20130098809 A KR 20130098809A KR 1020120020624 A KR1020120020624 A KR 1020120020624A KR 20120020624 A KR20120020624 A KR 20120020624A KR 20130098809 A KR20130098809 A KR 20130098809A
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South Korea
Prior art keywords
position detection
detection signal
motor
sensor
fail
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KR1020120020624A
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Korean (ko)
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신준호
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주식회사 만도
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
    • G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
    • G01R15/20—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices, i.e. measuring a magnetic field via the interaction between a current and a magnetic field, e.g. magneto resistive or Hall effect devices
    • G01R15/202—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices, i.e. measuring a magnetic field via the interaction between a current and a magnetic field, e.g. magneto resistive or Hall effect devices using Hall-effect devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R25/00—Arrangements for measuring phase angle between a voltage and a current or between voltages or currents
    • G01R25/04—Arrangements for measuring phase angle between a voltage and a current or between voltages or currents involving adjustment of a phase shifter to produce a predetermined phase difference, e.g. zero difference
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/346—Testing of armature or field windings
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/185—Electrical failure alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

PURPOSE: A fail-safe method, device, and system of a position detection sensor for motors are provided to control a motor to be normally operated. CONSTITUTION: A fail-safe unit (40) comprises a sensor error detector (100), a position signal compensating unit (110), and a fail-safe controller (120). The sensor error detector separately receives position detection signals from a plurality of hall sensors which detects the phase of a motor rotor and determines the error of a hall sensor based on the position detection signals. The position signal compensating unit produces a position detection signal which is presumed to be outputted when a hall sensor is in a normal state based on the position detection signal of the hall sensor when the position signal compensating unit determines errors in one or more hall sensors. The fail-safe controller produces a control command to output a warning tone or a message when the errors of one or more hall sensors are determined. The fail-safe controller controls to transmit the position detection signal from the position signal compensating unit to the current controller of a motor. [Reference numerals] (10) Current control unit; (100) Sensor error detector; (110) Position signal compensating unit; (120) Fail-safe controller; (20) Inverter unit; (30) Hall sensor; (M) Motor

Description

Fail-safe method, device and system of position detection sensor for motors {FAIL-SAFE PERFORMING METHOD, DEVICE AND SYSTEM FOR POSITIONING SENSOR OF MOTOR}

The present invention relates to a failsafe technique of a position detection sensor for a motor.

In general, a vehicle is equipped with many motors. For example, driving and steering-related devices such as Electric Power Steering (EPS) and Active Front Steering (AFS) are equipped with a number of motors that can be rotated to rotate the EPS actuator or AFS. Actuator or the like. In order to drive the motor connected to various actuators in the vehicle by the desired rotation speed, it is necessary to properly detect the rotational state, that is, the phase of the current motor.

However, if the sensor that detects the phase of the motor has a problem and cannot detect the phase of the motor properly, a problem occurs that the devices in the vehicle controlled by the motor cannot be controlled to operate properly.

In particular, in the case of a motor related to driving or steering, when an abnormality occurs in a sensor for detecting a phase, the motor stops immediately. In this case, the driver stops the vehicle without moving to a nearby car center. There is a problem that the running stability is significantly lowered.

In this background, an object of the present invention is to increase the operational stability of a motor by estimating and generating a phase detection signal so that the motor can normally operate for a limited time even if an abnormality occurs in a sensor for detecting the phase of the motor. The present invention provides a fail safe method, apparatus and system for a position detection sensor.

In order to achieve the above object, in one aspect, the present invention, the position detection signal receiving step of receiving a position detection signal from each of a plurality of Hall sensors for detecting the phase of the motor rotor; A malfunction detection step of determining whether or not each of the plurality of hall sensors malfunctions based on the received position detection signals; When it is determined that at least one Hall sensor of the plurality of Hall sensors malfunctions, generating a position detection signal estimated to output when the Hall sensor malfunctioning is normal based on the position detection signal of the Hall sensor determined to be normal Position detection signal compensation step; And it provides a fail-safe method of the position detection sensor for a motor comprising a current control step of transmitting the generated position detection signal to the current control unit of the motor.

In another aspect, the present invention, by receiving a position detection signal from each of the plurality of Hall sensors for detecting the phase of the motor rotor, the sensor abnormality detection for determining whether the Hall sensor is malfunctioning based on each received position detection signal part; If it is determined that at least one Hall sensor malfunctions, a position signal for generating a position detection signal estimated to be output when the malfunctioning Hall sensor is in a normal state based on the position detection signal of the Hall sensor determined to be normal Compensation unit; And generating a control command to output an alarm sound or to generate and display a message when it is determined that at least one hall sensor of the hall sensor malfunctions, and the position detection signal generated by the position signal compensator Provided is a fail-safe device for a position detection sensor for a motor including a fail-safe control unit configured to be transmitted to a current control unit.

In another aspect, the present invention includes a plurality of Hall sensors for detecting the phase of the motor rotor; A fail-safe unit which detects whether the hall sensor is malfunctioning based on the position detection signal output from the hall sensor and compensates for the position detection signal of the hall sensor which is determined to be a malfunction; And it provides a fail-safe system of the position detection sensor for a motor comprising a current control unit for controlling the current applied to the motor based on the position detection signal of each hall sensor received from the fail-safe unit.

As described above, according to the present invention, even when an error occurs in the position detection sensor during the operation of the motor mounted on the vehicle, the stability of the vehicle can be improved by temporarily controlling the motor to operate normally. There is an effect to ensure a sufficient driver's safety.

1 is a block diagram showing a fail-safe device of a position detection sensor for a motor according to an embodiment of the present invention.
2 is a flowchart illustrating a flow of a fail safe method of a position detection sensor for a motor according to an exemplary embodiment of the present invention.
3 and 4 are circuit diagrams showing a circuit for generating a position detection signal in a malfunction sensor in a fail safe method of a position detection sensor for a motor according to an embodiment of the present invention.
FIG. 5 is a graph showing waveforms generated as position detection signals in a malfunction sensor in a fail safe method of a position detection sensor for a motor according to an exemplary embodiment of the present invention.

Fail-safe method, apparatus and system for a position detection sensor for a motor provided by the present invention, when a malfunction is detected for a plurality of position detection sensors for detecting the position of the motor rotor, and notifies the outside, and detects the malfunction Compensating for the position detection signal of the corresponding position detection sensor characterized in that the control to allow the normal motor operation.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected,""coupled," or "connected."

1 is a configuration diagram showing a fail safe system of a position detection sensor for a motor according to an embodiment of the present invention.

Referring to FIG. 1, a fail-safe system of a position detection sensor for a motor according to an embodiment of the present invention includes a plurality of Hall sensors 30 for detecting positions of a motor M and a rotor of the motor M. FIG. ), A fail-safe unit 40 for detecting malfunction and fail-safe for each of the plurality of hall sensors 30, and the motor based on a position detection signal output from each hall sensor 30. It includes a current control unit 10 for controlling the current applied to.

The fail-safe unit 40 determines a malfunction of each hall sensor based on the position detection signals output from the plurality of hall sensors 30, and when the hall sensor is malfunctioning, By generating and compensating for the position detection signal estimated to be output, the motor M can continue its normal operation.

To this end, the fail-safe unit 40 receives the position detection signals HA, HB, and HC from each hall sensor 30 to determine whether the hall sensor malfunctions. The position detection signal compensation unit 110 generates a position detection signal in a normal state and transmits the detected position sensor to the current controller 10 with respect to the malfunctioning hall sensor.

In addition, when the malfunction detection signal of the hall sensor is received from the sensor abnormality detection unit 100, a signal for compensating for the position detection signal of the hall sensor in which the malfunction detection is detected is generated by the position detection signal compensation unit 110. It generates and transmits a control command to the position detection signal compensation unit 110, and comprises a fail-safe control unit 120 for generating and transmitting a control signal to notify the outside of the malfunction of the hall sensor.

When the fail-safe controller 120 determines that at least one of the plurality of hall sensors is malfunctioning from the sensor failure detecting unit 100, the fail-safe controller 120 outputs an alarm sound or a warning light is turned on or a malfunction notification message is provided in the vehicle. A control command such as being displayed on a screen of the displayed display device (not shown) may be generated and transmitted to the corresponding device.

The current controller 10 controls the current value applied to the motor M, and the motor M is driven while the current value output from the current controller 10 passes through the inverter unit 20.

Preferably, the motor M is a three-phase motor, and in the present specification, a three-phase BLDC motor is applied as the three-phase motor.

Three-phase BLDC (BrushLess Direct Current) motors generally have three-phase coils (U-phase, V-phase, W-phase) and rotors installed on the stator side. It includes a permanent magnet magnetized.

The drive circuit of the BLDC motor flows current into each phase of the coil on the stator side of the three-phase BLDC motor, and the rotor of the motor rotates by a magnetic field based on the current supplied from the drive circuit. By continuously rotating the rotor of the motor in one direction, the position of the rotor (the strength of the magnetic field of the rotor) is detected, and the direction of the current flowing in each phase of the coil is changed in accordance with the detected position of the rotor. The switching elements must be turned on and off sequentially.

The hall sensor is provided on the rotor side to detect the position of the rotor and output the detected result as a position detection signal. In the present invention, it is preferable that three Hall sensors are provided as they are connected to a three-phase motor. Accordingly, when the fail-safe unit 40 is detected that a malfunction occurs in one or two of three Hall sensors. In this case, the position detection signal in the normal operation may be generated and transmitted to the current controller 10.

The sensor abnormality detecting unit 100 may determine whether the abnormality is detected from the position detection signal output from each of the hall sensors 30. Each Hall sensor 30 generates a square wave signal from the sinusoidal signal output from the motor rotor. When the three Hall sensors detect the position of the motor rotor, the Hall sensors each have a 120 degree phase difference. The square wave can be output. The sensor abnormality detection unit 100 may determine whether the hall sensor is malfunctioning according to a relationship between a sine wave signal output from the motor rotor or a position detection signal output from the hall sensor.

For example, the output current of the motor M varies according to the phase angle of the motor. The output current of the motor M may be out of a predetermined range as a value of the output current of the motor in a normal operation state or may be previously set at a motor phase angle in a normal operation state. If it is out of the set range, it may be determined that there is an error in the hall sensor of the motor.

In addition, the sensor abnormality detecting unit 100 detects a phase of a position detection signal output from each hall sensor when it is determined that there is an error in a hall sensor, and thus is abnormal to a position detection signal of any hall sensor among a plurality of hall sensors. You can check if this is present.

The position detection signal compensation unit 110 receives related information of a hall sensor malfunctioning from the sensor abnormality detection unit 100, and generates a position detection signal output when the corresponding hall sensor is normally operated, so that compensation can be performed. do.

As described above, when an abnormality is detected in the hall sensor, the operation of the motor is stopped immediately. However, if the operation of the motor is suddenly stopped while driving the vehicle, the driver's stability is greatly lowered. Fail-safe unit 40 according to an embodiment of the present invention to compensate for this problem, even if the detection of the hall sensor abnormality by controlling the motor to operate normally, even after the driver recognizes the failure of his vehicle Make sure you have enough.

The position detection signal compensator 110 compensates for the position detection signal of the hall sensor detected as malfunction based on the position detection signal of the hall sensor determined to operate normally, and the compensation of the position detection signal is normal. Based on the position detection signal having a phase that is 120 degrees faster than the hall sensor that is detected to be malfunctioning among the hall sensors that are determined to operate.

For example, for the three Hall sensors that output three position detection signals, such as HA, HB, and HC, respectively, the HA signal and the HB signal are determined to be normal operations, whereas the HC signal is determined to be a malfunction. The position detection signal compensator 110 compensates for the position detection signal so that the HC signal in the steady state is applied to the current controller 10. To this end, the position detection signal compensation unit 110 may generate a HC signal in a steady state based on the HA signal.

Similarly, when it is determined that the HA signal is an abnormal signal among the three position detection signals, the position detection signal compensation unit 110 may generate the HA signal in the normal state based on the HB signal.

In addition, when it is determined that two signals, HA, HC, of the three signals HA, HB, and HC are abnormal, the position detection signal compensator 110 generates an HA signal based on the HB signal that is determined to be in a normal state. The HC signal may be generated based on the generated HA signal and transferred to the current controller.

The position detection signal compensation unit 110 may include an integration circuit and compensate for the position detection signal determined as a malfunction by inputting the position detection signal of the hall sensor determined to be in a normal state.

Integral circuits are often used to produce sawtooth waves or triangle waves, and in terms of phase, they output signals with a phase delay of -90 degrees to the input signal.

A more detailed description related to the position detection signal compensation unit 110 according to an embodiment of the present invention will be described later with reference to FIGS. 3 and 4.

The fail safe part of the position detection sensor for a motor according to an embodiment of the present invention configured as described above operates as follows.

2 is a flowchart illustrating a flow of a fail safe method of a position detection sensor for a motor according to an exemplary embodiment of the present invention.

Referring to FIG. 2, in a fail safe method of a position detection sensor for a motor according to an embodiment of the present invention, first, a position detection signal is output from each of a plurality of hall sensors according to an operation of a motor rotor (S100).

The sensor abnormality detection unit receives each position detection signal output from the hall sensor, and determines whether the corresponding hall sensor is operating normally based on the received position detection signal.

As a result of the determination, the hall sensor determined to be malfunctioning among the plurality of hall sensors is compensated to be output so that a position detection signal in a normal state is output (S120).

The position detection signal and the compensated position detection signal determined to be in a normal state are transmitted to the current controller, and the current controller calculates a control current of the motor based on the input position detection signal (S130).

3 and 4 are circuit diagrams showing a circuit for generating a position detection signal in a malfunction sensor in a fail safe method of a position detection sensor for a motor according to an embodiment of the present invention.

3 and 4 are circuit diagrams showing a circuit for generating a position detection signal in a malfunction sensor in a fail safe method of a position detection sensor for a motor according to an embodiment of the present invention.

FIG. 5 is a graph showing waveforms generated as position detection signals in a malfunction sensor in a fail safe method of a position detection sensor for a motor according to an exemplary embodiment of the present invention.

Referring to FIG. 3, in the integrated circuit of the position signal compensator according to an embodiment of the present invention, the input current and the feedback current have the same value, and the integration operation uses the charging characteristic of the capacitor. The output voltage of the integrating circuit is related to the capacitor, which has to take into account the range of the input frequency since the capacitor is frequency dependent.

That is, referring to Fig. 4, when the frequency f of the input voltage V1 is smaller than fC (= 1/2? RSC), the operation of this circuit becomes a simple inverting amplifier circuit, so that VO / Vi = -RS / R1. Therefore, when fC <f, it operates as an integrating circuit, and when f <fC, it operates as an inverting amplifier.

In addition, as illustrated in FIG. 4, a Hall sensor signal may be generated by comparing a triangular wave output through an integrating circuit with a ground so that a pulse is generated at a value greater than or equal to zero.

Referring to Fig. 5, first, when the Hall sensor signal of the A phase attached to the three-phase motor is used as the input signal of the integrating circuit shown in Fig. 4, the integral as shown in Figs. 5 (a) and 5 (b) is shown. The bipolar signal passes through the integrator by the action of the elements in the circuit, and the triangular wave signal is output. The output triangular wave signal is compared with the input terminal of the zero detection circuit and compared, and only the signal portion of zero or more is output as the final output signal of the integrating circuit shown in FIG. As shown in Fig. 5 (c), the final output signal output from the integrating circuit is the same as the position detection signal output when the Hall sensor of phase C determined to be malfunctioning is in the normal state, and is output from the Hall sensor of phase A. The position detection signal and the position detection signal output from the Hall sensor on the B phase have a phase difference of 120 degrees, respectively.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (5)

A position detection signal receiving step of receiving position detection signals from a plurality of hall sensors detecting phases of the motor rotor, respectively;
A malfunction detection step of determining whether or not each of the plurality of hall sensors malfunctions based on the received position detection signals;
When it is determined that at least one Hall sensor of the plurality of Hall sensors malfunctions, generating a position detection signal estimated to output when the Hall sensor malfunctioning is normal based on the position detection signal of the Hall sensor determined to be normal Position detection signal compensation step; And
A current control step of transmitting the generated position detection signal to the current control unit of the motor
Fail-safe method of position detection sensor for a motor comprising a. The method of claim 1,
The position detection signal compensation step,
In the malfunction detection step, when there are a plurality of Hall sensors determined to be normal among the plurality of Hall sensors, the phase detection signal of the Hall sensor determined to be malfunctioning among the position detection signals output from the Hall sensor determined to be normal A target detection signal selection step of selecting a position detection signal having a phase difference of 120 degrees faster,
And generating a position detection signal estimated to be output when the malfunctioning hall sensor is in a normal state based on the selected position detection signal. The method of claim 1,
The malfunction detecting step is a malfunction notification step of generating and transmitting a control command to output an alarm sound or to display a malfunction notification message when it is determined that at least one hall sensor of the hall sensors malfunctions.
Fail-safe method of the position detection sensor for a motor further comprising. A sensor abnormality detection unit for receiving a position detection signal from a plurality of hall sensors detecting a phase of a motor rotor, and determining whether the hall sensor is malfunctioning based on the received position detection signals;
If it is determined that at least one Hall sensor malfunctions, a position signal for generating a position detection signal estimated to be output when the malfunctioning Hall sensor is in a normal state based on the position detection signal of the Hall sensor determined to be normal Compensation unit; And
If it is determined that one or more of the hall sensors are malfunctioning, generate a control command for outputting an alarm sound or generating and displaying a message, wherein the position detection signal generated by the position signal compensating unit is a current of the motor. Fail-safe control to control delivery to the control
Fail-safe device of the position detection sensor for a motor comprising a. A plurality of hall sensors detecting a phase of the motor rotor;
A fail-safe unit which detects whether the hall sensor is malfunctioning based on the position detection signal output from the hall sensor and compensates for the position detection signal of the hall sensor which is determined to be a malfunction; And
Current control unit for controlling the current applied to the motor based on the position detection signal of each Hall sensor received from the fail-safe unit
Fail-safe system of the position detection sensor for a motor comprising a.
KR1020120020624A 2012-02-28 2012-02-28 Fail-safe performing method, device and system for positioning sensor of motor KR20130098809A (en)

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KR101519597B1 (en) * 2015-02-03 2015-05-13 이승철 Detector for malfunction of ac motor and distribution panel having that
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KR20160149374A (en) 2015-06-17 2016-12-28 현대자동차주식회사 Control apparatus of motor
KR20190027351A (en) 2018-11-02 2019-03-14 성균관대학교산학협력단 Dual motor and control system thereof
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Cited By (13)

* Cited by examiner, † Cited by third party
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KR101519597B1 (en) * 2015-02-03 2015-05-13 이승철 Detector for malfunction of ac motor and distribution panel having that
KR20160149373A (en) 2015-06-17 2016-12-28 현대자동차주식회사 Control method of motor
KR20160149374A (en) 2015-06-17 2016-12-28 현대자동차주식회사 Control apparatus of motor
US9979331B2 (en) 2015-06-17 2018-05-22 Hyundai Motor Company Method for controlling a motor
KR20190027118A (en) 2017-09-06 2019-03-14 성균관대학교산학협력단 Dual motor and control system thereof
KR20190073881A (en) * 2017-12-19 2019-06-27 엘지이노텍 주식회사 Apparatus for sensing and method for detecting error of the same
KR20190027351A (en) 2018-11-02 2019-03-14 성균관대학교산학협력단 Dual motor and control system thereof
KR20200110845A (en) * 2019-03-18 2020-09-28 캄텍주식회사 An actuator for vechicle and the control method thereof
CN112122999A (en) * 2020-09-21 2020-12-25 珠海格力电器股份有限公司 Motor protection system and method
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