WO2008107992A1 - 電気車の制御装置 - Google Patents
電気車の制御装置 Download PDFInfo
- Publication number
- WO2008107992A1 WO2008107992A1 PCT/JP2007/054536 JP2007054536W WO2008107992A1 WO 2008107992 A1 WO2008107992 A1 WO 2008107992A1 JP 2007054536 W JP2007054536 W JP 2007054536W WO 2008107992 A1 WO2008107992 A1 WO 2008107992A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- command value
- loss
- controller
- electric vehicle
- vector control
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
-
- 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
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/20—AC to AC converters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2007800520288A CN101622782B (zh) | 2007-03-08 | 2007-03-08 | 电动车辆的控制装置 |
ES07738027T ES2384001T3 (es) | 2007-03-08 | 2007-03-08 | Controlador de vehículo eléctrico |
EP07738027A EP2131488B9 (en) | 2007-03-08 | 2007-03-08 | Electric vehicle controller |
PCT/JP2007/054536 WO2008107992A1 (ja) | 2007-03-08 | 2007-03-08 | 電気車の制御装置 |
JP2009502408A JP4956611B2 (ja) | 2007-03-08 | 2007-03-08 | 電気車の制御装置 |
AT07738027T ATE548795T1 (de) | 2007-03-08 | 2007-03-08 | Steuerung für ein elektrofahrzeug |
US12/530,391 US8489262B2 (en) | 2007-03-08 | 2007-03-08 | Electric vehicle controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2007/054536 WO2008107992A1 (ja) | 2007-03-08 | 2007-03-08 | 電気車の制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008107992A1 true WO2008107992A1 (ja) | 2008-09-12 |
Family
ID=39737897
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/054536 WO2008107992A1 (ja) | 2007-03-08 | 2007-03-08 | 電気車の制御装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8489262B2 (ja) |
EP (1) | EP2131488B9 (ja) |
JP (1) | JP4956611B2 (ja) |
CN (1) | CN101622782B (ja) |
AT (1) | ATE548795T1 (ja) |
ES (1) | ES2384001T3 (ja) |
WO (1) | WO2008107992A1 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2451389C1 (ru) * | 2010-12-29 | 2012-05-20 | Открытое акционерное общество Научно-исследовательский и конструкторско-технологический институт подвижного состава (ОАО "ВНИКТИ") | Способ управления асинхронным тяговым двигателем |
RU2466883C1 (ru) * | 2011-09-13 | 2012-11-20 | Открытое акционерное общество "МЕТРОВАГОНМАШ" | Способ управления тяговым асинхронным приводом |
WO2013046461A1 (ja) | 2011-09-30 | 2013-04-04 | 三菱電機株式会社 | 電動機のベクトル制御装置、電動機、車両駆動システムおよび電動機のベクトル制御方法 |
WO2013046459A1 (ja) | 2011-09-30 | 2013-04-04 | 三菱電機株式会社 | 鉄道車両用主電動機 |
WO2014174597A1 (ja) * | 2013-04-23 | 2014-10-30 | 三菱電機株式会社 | 交流電動機の制御装置 |
WO2015079540A1 (ja) * | 2013-11-28 | 2015-06-04 | 三菱電機株式会社 | 電力変換装置 |
US9647575B2 (en) | 2013-04-23 | 2017-05-09 | Mitsubishi Electric Corporation | Power converter |
JP2021052502A (ja) * | 2019-09-25 | 2021-04-01 | 本田技研工業株式会社 | 制御装置、車両システム及び制御方法 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8816627B2 (en) * | 2011-11-10 | 2014-08-26 | Mitsubishi Electric Research Laboratories, Inc. | Energy efficient motion control system |
KR101283892B1 (ko) * | 2011-12-07 | 2013-07-08 | 기아자동차주식회사 | 친환경 차량에서 dc-dc컨버터 제어장치 및 방법 |
WO2013115240A1 (ja) * | 2012-01-30 | 2013-08-08 | 三菱電機株式会社 | モータ制御装置 |
JP6036640B2 (ja) * | 2013-02-28 | 2016-11-30 | 株式会社デンソー | スイッチトリラクタンスモータの制御装置 |
FR3034927B1 (fr) * | 2015-04-13 | 2017-04-07 | Renault Sas | Procede et systeme de commande d'une machine electrique asynchrone d'un groupe motopropulseur d'un vehicule automobile a traction electrique ou hybride. |
EP3462600A1 (de) | 2017-09-29 | 2019-04-03 | Siemens Aktiengesellschaft | Energieeffiziente asynchronmaschine |
CN109980995B (zh) * | 2018-06-01 | 2020-07-28 | 清华大学 | 转矩分配的方法、装置、计算机设备和存储介质 |
EP3618265A1 (en) | 2018-09-03 | 2020-03-04 | KONE Corporation | Self-commissioning of a bearingless-motor drive |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH07322700A (ja) | 1994-05-27 | 1995-12-08 | Meidensha Corp | 誘導電動機の最大効率制御方法 |
JPH10167594A (ja) * | 1996-12-13 | 1998-06-23 | Hitachi Ltd | エレベータの制御装置 |
JPH11146501A (ja) * | 1997-11-05 | 1999-05-28 | Hitachi Ltd | 電気車の制御装置 |
JPH11285299A (ja) | 1998-03-27 | 1999-10-15 | Mitsubishi Electric Corp | 誘導電動機のベクトル制御装置および方法 |
JP2005160183A (ja) * | 2003-11-25 | 2005-06-16 | Mitsubishi Electric Corp | 同期電動機駆動装置及び同期電動機駆動装置の制御方法及び冷凍冷蔵庫及び空気調和機 |
JP2006121855A (ja) * | 2004-10-25 | 2006-05-11 | Nissan Motor Co Ltd | 交流モータ制御装置 |
JP2006129698A (ja) * | 2005-12-02 | 2006-05-18 | Hitachi Ltd | 誘導電動機の制御装置 |
JP2006340448A (ja) * | 2005-05-31 | 2006-12-14 | Toshiba Corp | 電動機制御装置 |
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JPH08322300A (ja) * | 1994-08-11 | 1996-12-03 | Meidensha Corp | 誘導電動機のベクトル制御装置 |
JP3262253B2 (ja) * | 1995-02-22 | 2002-03-04 | 株式会社日立製作所 | 電気車用駆動制御装置及び制御方法 |
JP3675014B2 (ja) * | 1995-06-08 | 2005-07-27 | 株式会社デンソー | インバータ制御装置 |
US5959430A (en) * | 1997-03-07 | 1999-09-28 | Kabushiki Kaisha Toshiba | Power conversion system |
WO1998042070A1 (en) * | 1997-03-19 | 1998-09-24 | Hitachi, Ltd. | Apparatus and method for controlling induction motor |
JP2000115907A (ja) * | 1998-10-09 | 2000-04-21 | Mitsubishi Electric Corp | 内燃機関型電気機関車用制御装置 |
JP2001211511A (ja) * | 2000-01-25 | 2001-08-03 | Toshiaki Jofu | 電動式走行車輌 |
DE10103520A1 (de) * | 2001-01-26 | 2002-08-01 | Isad Electronic Sys Gmbh & Co | Generatorsystem, insbesondere für ein Kraftfahrzeug, sowie Verfahren zum Ansteuern eines Wechselrichters eines Asynchrongenerators |
JP3867518B2 (ja) * | 2001-06-06 | 2007-01-10 | 株式会社日立製作所 | 同期電動機のセンサレス制御システム |
US6725134B2 (en) * | 2002-03-28 | 2004-04-20 | General Electric Company | Control strategy for diesel engine auxiliary loads to reduce emissions during engine power level changes |
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JP4452519B2 (ja) * | 2004-01-20 | 2010-04-21 | 本田技研工業株式会社 | 車両推進用のdcブラシレスモータ駆動制御装置及び方法 |
JP4455248B2 (ja) * | 2004-09-24 | 2010-04-21 | 三菱電機株式会社 | 誘導電動機のベクトル制御装置 |
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JP5311950B2 (ja) * | 2008-09-24 | 2013-10-09 | トヨタ自動車株式会社 | 回転電機制御システム |
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-
2007
- 2007-03-08 JP JP2009502408A patent/JP4956611B2/ja not_active Expired - Fee Related
- 2007-03-08 WO PCT/JP2007/054536 patent/WO2008107992A1/ja active Application Filing
- 2007-03-08 EP EP07738027A patent/EP2131488B9/en not_active Not-in-force
- 2007-03-08 US US12/530,391 patent/US8489262B2/en active Active
- 2007-03-08 AT AT07738027T patent/ATE548795T1/de active
- 2007-03-08 ES ES07738027T patent/ES2384001T3/es active Active
- 2007-03-08 CN CN2007800520288A patent/CN101622782B/zh not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH07322700A (ja) | 1994-05-27 | 1995-12-08 | Meidensha Corp | 誘導電動機の最大効率制御方法 |
JPH10167594A (ja) * | 1996-12-13 | 1998-06-23 | Hitachi Ltd | エレベータの制御装置 |
JPH11146501A (ja) * | 1997-11-05 | 1999-05-28 | Hitachi Ltd | 電気車の制御装置 |
JPH11285299A (ja) | 1998-03-27 | 1999-10-15 | Mitsubishi Electric Corp | 誘導電動機のベクトル制御装置および方法 |
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Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2451389C1 (ru) * | 2010-12-29 | 2012-05-20 | Открытое акционерное общество Научно-исследовательский и конструкторско-технологический институт подвижного состава (ОАО "ВНИКТИ") | Способ управления асинхронным тяговым двигателем |
RU2466883C1 (ru) * | 2011-09-13 | 2012-11-20 | Открытое акционерное общество "МЕТРОВАГОНМАШ" | Способ управления тяговым асинхронным приводом |
US9246428B2 (en) | 2011-09-30 | 2016-01-26 | Mitsubishi Electric Corporation | Vector control device for an electric motor that controls an electric power converter that converts DC power to AC power, electric motor, vehicle drive system, and vector control method for electric motor |
WO2013046459A1 (ja) | 2011-09-30 | 2013-04-04 | 三菱電機株式会社 | 鉄道車両用主電動機 |
KR20140068223A (ko) | 2011-09-30 | 2014-06-05 | 미쓰비시덴키 가부시키가이샤 | 철도 차량용 주전동기 |
JP5615443B2 (ja) * | 2011-09-30 | 2014-10-29 | 三菱電機株式会社 | 鉄道車両用主電動機 |
US10367388B2 (en) | 2011-09-30 | 2019-07-30 | Mitsubishi Electric Corporation | Main motor for railway vehicle |
JPWO2013046459A1 (ja) * | 2011-09-30 | 2015-03-26 | 三菱電機株式会社 | 鉄道車両用主電動機 |
EP2763287B1 (en) | 2011-09-30 | 2018-01-10 | Mitsubishi Electric Corporation | Main electric motor for railway vehicle |
KR101565267B1 (ko) * | 2011-09-30 | 2015-11-02 | 미쓰비시덴키 가부시키가이샤 | 전동기의 벡터 제어 장치, 전동기, 차량 구동 시스템 및 전동기의 벡터 제어 방법 |
WO2013046461A1 (ja) | 2011-09-30 | 2013-04-04 | 三菱電機株式会社 | 電動機のベクトル制御装置、電動機、車両駆動システムおよび電動機のベクトル制御方法 |
JP5866065B2 (ja) * | 2013-04-23 | 2016-02-17 | 三菱電機株式会社 | 交流電動機の制御装置 |
JPWO2014174597A1 (ja) * | 2013-04-23 | 2017-02-23 | 三菱電機株式会社 | 交流電動機の制御装置 |
US9647575B2 (en) | 2013-04-23 | 2017-05-09 | Mitsubishi Electric Corporation | Power converter |
US10103675B2 (en) | 2013-04-23 | 2018-10-16 | Mitsubishi Electric Corporation | Control device of alternating-current electric motor |
WO2014174597A1 (ja) * | 2013-04-23 | 2014-10-30 | 三菱電機株式会社 | 交流電動機の制御装置 |
JP5951143B2 (ja) * | 2013-11-28 | 2016-07-13 | 三菱電機株式会社 | 電力変換装置および交流電気車駆動システム |
JPWO2015079540A1 (ja) * | 2013-11-28 | 2017-03-16 | 三菱電機株式会社 | 電力変換装置および交流電気車駆動システム |
WO2015079540A1 (ja) * | 2013-11-28 | 2015-06-04 | 三菱電機株式会社 | 電力変換装置 |
US10075097B2 (en) | 2013-11-28 | 2018-09-11 | Mitsubishi Electric Corporation | Power conversion device and AC electric-vehicle drive system |
JP2021052502A (ja) * | 2019-09-25 | 2021-04-01 | 本田技研工業株式会社 | 制御装置、車両システム及び制御方法 |
US11674459B2 (en) | 2019-09-25 | 2023-06-13 | Honda Motor Co., Ltd. | Control apparatus, vehicle system, and control method |
Also Published As
Publication number | Publication date |
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JPWO2008107992A1 (ja) | 2010-06-10 |
EP2131488A4 (en) | 2011-02-09 |
US8489262B2 (en) | 2013-07-16 |
CN101622782B (zh) | 2011-11-16 |
JP4956611B2 (ja) | 2012-06-20 |
EP2131488B1 (en) | 2012-03-07 |
ATE548795T1 (de) | 2012-03-15 |
EP2131488B9 (en) | 2012-06-20 |
ES2384001T3 (es) | 2012-06-28 |
CN101622782A (zh) | 2010-01-06 |
US20100087971A1 (en) | 2010-04-08 |
EP2131488A1 (en) | 2009-12-09 |
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