• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a motor controller (8; 22) for a synchronous motor (1) which has a number of N staggered stator coils (7) which are arranged around a rotor (4) of the synchronous motor (1), wherein the stator coils ( 7) of the motor control (8; 22) a coil voltage (US) can be imprinted and a coil current (IS) is formed, in a proportional with the rotational speed of the synchronous motor (1) rotating coordinate system, a direct current component (ID; IDW) and a cross-flow component (IQ), wherein the transverse flow component (IQ) causes a rotor (4) in the direction of rotation driving tangential force (FT) and wherein the direct current component (ID) causes a force (FR) perpendicular to the rotor surface on the rotor (4), wherein the Motor controller (8; 22) has a direct current generator (20) for generating a periodically changing in the rotating coordinate system direct current component (IDW), generated by the perpendicular to the rotor surface e force (FR) vibrations of the engine control (8; 22) driven synchronous motor (1), wherein the direct current generator is designed for evaluating at least one angle information and a control cross-current.
    公开号:AT512002A1
    申请号:T1331/2011
    申请日:2011-09-15
    公开日:2013-04-15
    发明作者:
    申请人:Xylem Ip Holdings Llc；
    IPC主号:
    专利说明:

    j. υ / y t-
    Motor control for a synchronous motor
    The invention relates to a motor control for a synchronous motor having a number of N mutually staggered stator coils, which are arranged around a rotor of the synchronous motor, wherein the stator coils of the motor control, a coil voltage can be embossed and forms a coil current, in a proportional with the rotational speed of the synchronous motor rotating coordinate system having a direct current component and a cross-flow component, wherein the cross-flow component causes a rotor driving in the direction of rotation tangential force and wherein the direct current component causes a force perpendicular to the rotor surface on the rotor.
    The invention further relates to a method for controlling a synchronous motor in which a coil voltage in a number of N staggered stator coils, which are arranged around a rotor of the synchronous motor, impressed and forms a coil current, wherein the coil current in a proportional to the rotational speed the synchronous motor rotating coordinate system having a direct current component and a cross-flow component and wherein the cross-flow component causes the rotor in the direction of rotation driving tangential force and wherein the direct current component causes a force perpendicular to the rotor surface on the rotor.
    The document DE 10 2008 023 574 A1 discloses a circulation pump including an electric motor, which is formed by a spherical motor, wherein spherical motor is to be understood as a motor with halbkugelformigem rotor. The rotor of the ball motor is mounted on a spherical bearing, which has a sliding body with a convex spherical surface and a bearing cup with a concave spherical surface. The rotor comprises a plurality of permanent magnets and the stator comprises a plurality of staggered stator coils. The spherical motor disclosed in this document is driven by a motor control as a synchronous motor.
    Such motor control for synchronous motors is known, for example, in the STM32 type integrated circuit from STMicroelectronics. The well-known motor control has a field-oriented control, in which stator coils of the motor control a coil current is impressed, in one with the speed of the
    Synchronous motor rotating coordinate system has a direct current component and a cross-flow component. The cross-flow component is known in professional circles as "quadrature axis component" and generates according to the Lorentz force rule a tangential force which acts tangentially to the circumference of the ball motor and thereby rotates the spherical motor rotates in the direction of rotation. The known motor control controls the spherical motor with the cross-flow component according to the desired speed of the ball motor.
    The direct current component is known in professional circles as a "direct axis component" and generates according to the Lorentz force rule, a force perpendicular to the rotor surface of the rotor. The known motor control drives the spherical motor with a direct current component of constant amplitude to achieve a weakening of the magnetic field at high speeds of the ball motor. This is necessary because the permanent magnet synchronous motor induces high voltages (EMF) at its terminals at high speeds. If the induced voltage is equal to the supply voltage, then the synchronous motor can not become faster even if the load torque is close to zero. Field weakening can be used to reduce the induced voltage at the motor terminals, which increases the maximum speed. However, since this measure reduces the efficiency, it is only used in special cases.
    In the case of the ball motor driven by the known motor control, it has been shown in practice that mechanical vibrations can occur which are caused by mechanical, electrical or magnetic asymmetries of the electric motor and / or the pump. Mechanical asymmetries can result, for example, from an imbalance of the rotor or a pump impeller, a non-ideal concentric position between rotor and stator due to component tolerances or due to operational wear of the bearings. Electromagnetic asymmetries of the stator field can arise, for example, because of the tolerance of the individual coils, in particular in their arrangement within the stator and due to slightly different coil winding lengths. Magnetic asymmetries can arise in rotors with permanent magnets, which are due to an asymmetrical magnetic field of the permanent magnets produced. These vibrations can, for example, when using the ball motor as a heating circulating pump via the heating pipes * 4 "4" 4 "4" 4 441 4441 4 «4 4 4» 4 4 4 4 4 • 4 44 44 4 444 · 4 can be transmitted to the entire heating system and cause disturbing noises throughout the house. But also in other synchronous motors driven by the known motor controls, such as in electric motors with a cylindrical rotor, where the forces cancel each other theoretically mechanical vibrations resulting from the force due to the elastic deformation and a slightly non-ideal rotationally symmetric structure of the synchronous motor result.
    The invention has for its object to provide a motor control for a synchronous motor, the mechanical vibrations of the synchronous motor counteracts targeted to minimize these and thereby significantly reduce the votes of the synchronous motor vibrations and noise.
    This object is achieved in a motor control according to the invention in that the motor control comprises a direct current generator for generating a periodically changing in the rotating coordinate system direct current component to compensate for the force generated perpendicular to the rotor surface vibrations of the driven motor control synchronous motor, wherein the direct current Generator for evaluating at least one angle information and a control cross-current avisgebildet is.
    This object is achieved in a method for controlling a synchronous motor according to the invention that a periodically changing in the rotating coordinate system direct current component and predetermined by impressing the coil voltage to compensate by acting perpendicular to the rotor surface force oscillations of the driven motor control synchronous motor, wherein for generating the suitable periodically alternating direct current component at least one angle information and a control cross-current are evaluated.
    By providing the direct current generator for generating a rotating with the coordinate system periodically changing direct current component has the advantage that by means of the direct current component by acting perpendicular to the rotor surface forces electromagnetic vibrations of the rotor are excited, which counteract the unwanted mechanical vibrations and ideally to Compensate completely. It has proven to be particularly advantageous to use a 4 × 4 ×
    To control the motor motor to be driven synchronous motor by attaching mechanical sensors to determine the actually occurring in the special synchronous motor mechanical vibrations. This measurement result is stored in sequence as adaptation information in the form of parameters in motor control adaptation means. These parameters affect the amplitude, phase and frequency of the direct current component to be delivered by the motor controller to the particular synchronous motor. This has the advantage that the motor control can be adapted to the unwanted mechanical vibrations of a particular driven by the motor control synchronous motor, whereby a particularly good suppression of unwanted mechanical shrinkage is achieved by the counter-poled electromechanically generated vibrations.
    It should be noted that in a synchronous motor having a cylindrical rotor and an ideal symmetrical structure, the radial forces generated by the direct current component cancel each other out. Even if these pulsating forces cancel each other out in the sum they lead to a vibration between rotor and stator quasi in the "air gap" which leads to noises. Even small or large asymmetries in the rotor or stator lead to vibrations. Therefore, practice has shown that the described compensation effect can also be achieved with synchronous motors with a cylindrical rotor.
    However, it has proven particularly advantageous to use the motor control according to the invention for controlling a ball motor. Due to the fact that the rotor of a ball motor is constructed asymmetrically, the radial forces caused by the direct current components do not cancel even in an ideally rotationally symmetrical rotor of the ball motor and can thus be used very effectively to compensate for the unwanted mechanical vibrations of the ball motor.
    The above-described compensation effect can also be achieved by providing a direct voltage generator instead of the direct current generator. The direct voltage generator can now also compensate for the vibrations of the synchronous motor driven by the motor control by generating a periodically changing in the rotating coordinate system direct voltage component, as set by targeted voltage specification of the desired direct current, as described above. Thus it follows that both in the execution with a
    Direct current generator as well as in the embodiment with a direct voltage generator adjusts a periodically changing direct current component to compensate for vibrations caused by the electric motor and / or the pump.
    Further advantageous embodiments of the engine control according to the invention are explained in more detail below with reference to FIGS.
    Figure 1 shows an exploded view of a ball motor, which is controlled by a motor control according to Figure 5 or 6 as a synchronous motor.
    Figure 2 shows the permanent magnetic field characteristic of the rotor of a ball motor is magnetized four-pole.
    Figure 3 shows forces acting symbolically on the rotor of the ball motor when a transverse current component is impressed in the stator coil.
    FIG. 4 symbolically shows acting forces on the rotor of the ball motor when a direct current component is impressed into the stator coil.
    FIG. 5 shows a block diagram of a motor controller with a direct-current generator.
    Figure 6 shows a block diagram of a motor controller with a direct voltage generator.
    1 shows an exploded view of a motor with a hemispherical rotor or a ball motor 1, which can be controlled by a motor control according to FIG. 5 or according to FIG. 6 as a synchronous motor. The spherical motor 1 comprises an electric motor 2 with a stator 3, a rotor 4 and a pump part 5, in which the pumped medium is pumped. A seal 6 seals the pump part 5 with the electric motor 2.
    The rotor 4 has a plurality of permanent magnet elements and is designed as a four-pole permanent magnet with two north poles and two south poles. FIG. 2 shows the permanent magnetic field characteristic of the rotor magnetic field RM of the rotor 4, FIG. 2 showing on the left a plan view of the spherical part of the rotor 4 and FIG. 2 a right side view of the rotor 4. 6 • *
    The stator 3 of the electric motor 2 has N = 3 staggered by 120 degrees each stator coils per Magnetpolpaar, in Figure 3 symbolically one of these stator coils 7 is shown. When driving a motor with a motor control as a synchronous motor of the stator coils a proportional to the rotational speed of the synchronous motor rotating stator magnetic field MS is impressed, which cooperates with the permanent rotor magnetic field RM and drives the rotor at the desired speed. For the sake of simplicity, currents and voltages in the stator coils of a synchronous motor will be described in the coordinate system rotating proportionally with the speed of the synchronous motor. This operation, also known as Clark and Park Transformation, transfers variables of a fixed three-axis coordinate system with 120 degrees (the angle applies to 3-phase drives) twisted coordinates into a two-axis coordinate system with orthogonal axes. Such a Clark and Park transformation has long been known in motor control and implemented in the market of integrated circuits.
    For a two-pole permanent magnet in the rotor (a pole pair), the stator magnetic field and thus also the coordinate system would rotate at the simple speed of the synchronous motor. In a four-pole rotor magnetic field (two pole pairs), as in the rotor 4 of the ball motor 1, the coordinate system rotates at twice the speed of the synchronous motor. This applies accordingly for higher numbers of poles. The motor control according to FIG. 5 now impresses a coil voltage US into the stator coil 7 in the coordinate system rotating proportionally with the rotational speed of the ball motor 1, whereby a coil current IS is formed which has a direct current component ID and a cross-current component IQ, depending on the electrical properties of the stator coil 7 , wherein a phase shift of 90 degrees between the two current components is given.
    In FIG. 3, the transverse current component IQ is formed in the stator coil 7, which interacts with the rotor magnetic field RM. By this interaction (Lorentz force) between the coil current IS and the rotor magnetic field RM acts on the rotor 4 of the ball motor 1, a tangential force FT, which drive the rotor 4 at the predetermined speed.
    In FIG. 4, the direct current component ID is formed in the stator coil 7, which interacts with the rotor magnetic field RM. As a result of this interaction between coil current 7... *. *. The rotor magnetic field RM acts on the rotor 4 of the ball motor 1, a force FR perpendicular to the rotor surface 4. As shown by the side view of the rotor 4 in FIG. 4, the axial component of the force components of the radial forces FR acting perpendicular to the rotor surface are added due to the asymmetry of the rotor 4 of the ball motor 1 and form an axial force FA.
    In Figure 5, a motor control 8 is shown, with which the spherical motor 1 as
    Synchronous motor is driven, the motor control 8 as field-oriented
    Torque control is formed. The engine control 8 has a
    Voltage converter 9, in which a rectifier 10 and a three-phase inverter 11 are provided. The mains voltage applied to the rectifier 10 of e.g. 230V and
    50 heart is rectified in the rectifier 10 and smoothed with a smoothing capacitor C. The smoothed DC voltage is fed to the three-phase inverter 11, which is further fed by a motor control stage 12 a control information RI, which sets the coil voltage US per stator coil 7 rotating with the coordinate system. Of the
    Three-phase inverter 11 imprints each of the three stator coils 7 of the control information RI
    * US corresponding coil voltage JS ', whereupon in each case the coil current IS is formed in the stator coils 7.
    The motor control stage 12 has a feedback stage 13 to which the ball motor 1 supplies a speed and / or position information PI. The feedback stage 13 is designed to evaluate the rotational speed and / or position information PI and to output an angle information WI. The angle information WI contains information about the current angular position of the rotor 4 or, the rotor angle Θ and thus also information about the current torque of the ball motor. 1
    The motor control stage 12 has a transformation stage 14, which can be supplied with current information SI from a current sensor at the supply lines of the coil current IS. The transformation stage 14 is designed to evaluate the current information SI and the angle information WI. In addition, the transformation stage 14 is configured to transform the evaluated information in accordance with the Clark and Park transform and output a control direct current RDI and a regular transverse current RQI in the standing coordinate system.
    The motor control stage 12 has addition or subtraction stages 15 and 16, wherein in t «· ♦« · · ·· «· ············································································· · Ψ • * · · ** · «·· > »4 44 ························································································································································································································································· In the second stage 16 subtracted from the predetermined direct current component ID of the direct control current RDI. The current components of the coil current IS added by the addition and subtraction stages 15 and 16 are supplied to PID controllers 17 and 18, which are adapted to output a control information for the cross-flow component RQ and a control information for the direct current component RD, but still in the rotating coordinate system are. By means of an inverse transformation stage 19, the control information RQ and RD for the cross-current component and the direct current component are transformed back into the stationary three-phase coordinate system in accordance with the inverted Clark and Park transformation. The inverse transformation stage 19 is designed to output the regulation information RI to the three-phase inverter 11.
    The motor control described above has been explained only in broad terms, since the described levels of motor control are known and realized in the market of integrated circuits. In a driven with such a motor control ball motor I has been shown in practice that it can lead to mechanical vibrations. Investigations have shown that these vibrations by hydraulic forces and by a non-ideal magnetic structure of the brushless permanent magnet ball motor 1 and by oscillating, directed perpendicular to the rotor surface permanent and electromagnetic forces, whereby forces and in particular axial forces acting oscillating on the rotor or the pump impeller , These vibrations can be transmitted to the entire heating system, for example, when using the ball motor as a heating circulation pump via the heating pipes and lead to disturbing noise throughout the house. The same applies to cylinder engines where the oscillating forces in the gap between rotor and stator produce vibrations that lead to noise.
    The erfmdungsgemäße engine control 1 now has a direct current generator 20 to which the determined by the feedback stage 13 angle information WI is fed, which also contains information about the current speed of the ball motor 1. The direct current generator 20 evaluates this angle information WI, the control cross-flow RQI and other information present in the motor control 8 in order to generate in the spherical motor 9 1 the mechanical vibrations against-polar oscillations. For this purpose, the direct current generator 20 is designed to generate an alternating component or a periodically alternating direct current component IDW, which is subtracted in the first stage 15 together with the direct control current RDI from the setpoint value of the constant direct current component ID.
    An example of how the periodically alternating direct current component IDW is calculated by the direct current generator 20 or with which frequencies one must calculate at IDW is explained below on the basis of a concrete example. Ideally, the rotor magnetic field RM along the air gap between the rotor 4 and stator 3 is sinusoidal. For reasons of production technology (for example due to the magnetization of the rotor or due to the motor design itself), higher harmonics in the rotor magnetic field RM also occur at the base shaft. In the concrete example, the fifth harmonic is present, that is, the amount of the flux density of the rotor magnetic field RM can with
    Bm (0) = 5, sin (0) + Bs sin (50 + θ0). Due to the field-oriented control, the sinusoidal currents with IQ = I and ID = 0 are impressed or set by the impressed coil voltage US so that with Bx a constant and the rotor angle 0 independent torque is set. Furthermore, this standard current causes 5, none
    Radial forces FR. The interaction between the sinusoidal currents with the fifth harmonic in the rotor magnetic field RM causes on the one hand torque fluctuations, which in the specific case leads to no further problems. On the other hand, however, over FR, ~ Bs sin (50 + 0o) / 0 cos (0) FR, ~ 05 / () sin (60 + 0O) + Bs IQ sin (40 + 0) are perpendicular to each individual winding of the stator coils 7 Forces directed to the rotor surface FR generated. Looking at the other two windings, FR2 = FR, (0-120 °) FRy = FR, (0-240 °)
    Above all, the critical force FR acting at a frequency of 6 times perpendicular to the rotor surface is critical because the partial forces of the individual windings add up. In the given spherical motor 1, therefore, resulting axial forces occur, which cause vibrations with 6 times the electrical or 12 times the mechanical frequency.
    In order to dampen or eliminate these oscillations, the periodically alternating direct current component IDW with IDW = csm (69 + 9x) is therefore specified with the method described, with 9X the phase position and with c the amplitude can be adjusted exactly. Since the radial forces FR in the present case depend directly on the cross-flow component IQ, it also makes sense, of course, to weight the amplitude c directly proportional to the cross-flow component IQ.
    The temperature may also have an influence on axial forces and vibrations of the ball motor 1. If the temperature changes, the strength of the rotor magnetic field RM also decreases. The direct current generator 20 can take this effect into account when generating the periodically alternating direct current component IDW, wherein a temperature sensor can be provided for determining the temperature or mathematical models can be used to estimate the temperature. In this case, the temperature forms an example of another information present in the engine control unit 8 which is evaluated in order to generate an optimally adapted periodically alternating direct current component IDW.
    By providing the direct current generator 20 and the impressing of the coil voltage US, so that sets a periodically alternating direct current component IDW, the advantage is obtained that periodically changing and in particular axial vibrations acting on the rotor 4 and compensate in the ideal case, the mechanical vibrations in their entirety , As a result, the spherical motor 1 can be operated much quieter, which, for example, when using the ball motor 1 as a circulating pump in the heating system of a house brings significant benefits.
    In the direct current generator 20 are now further adaptation means 21 are provided to which a determined by a measurement of the vibrations of the ball motor 1 adaptation information AI zufiihrbar, with which the direct current generator 20 for 11 11 • * * · Φ * ♦ * Μ · • · * A • · · «♦ *« # * · · · • Φ φ · Φ · «· ·
    Generating a particularly well adapted to the controlled ball motor 1 direct current component IDW is formed. The axial vibrations can be measured, for example, by means of one or more Hall sensors, which are attached to the ball motor 1 at one or more locations. The measured values determined are stored as parameters in storage means of the adaptation means 21 and taken into account in the determination of the alternating direct current component IDW adapted to the spherical motor 1. In addition, the type of synchronous motor, for example a spherical motor or a cylindrical rotor electric motor, is stored in the adaptation means 21. to achieve a correspondingly good adaptation of the synchronous motor to be controlled. As a result, the advantage is obtained that the mechanical vibrations of the ball motor 1 can be compensated virtually entirely and thus the ball motor 1 runs very quietly.
    Analogously, the same applies to cylinder engines, where not an axial vibration leads to noise but a radial oscillation in the gap between the rotor and stator.
    6 shows a block diagram of a motor controller 22 with a direct voltage generator 23. Here, the construction of the motor controller 22 according to Figure 5 corresponds to the structure of the motor controller 8 according to Figure 6, instead of the direct current generator 20 of the direct voltage generator 23 is a periodically changing
    Direct voltage component UDW generated, which is added via a third addition stage 24 after the PID controller 17. In the case of the motor controller 22 too, the coil voltage US is impressed on the stator coils 7, which circuit contains the direct voltage component UDW generated by the direct voltage generator 23.
    Also in the motor controller 22, the provision of matching means 25 in the direct voltage generator 23 is advantageous. With the engine controller 22, the same advantages as explained above with reference to the engine controller 8 are obtained.
    It may be mentioned that the feedback stage in the motor controls 8 and 22 could also be omitted and the angle information WI could be determined mathematically via electrical variables (currents and voltages).
    It may be mentioned that a motor control according to the invention can be adapted to synchronous motors having different numbers N of stator coils, poles in the rotor and phases for driving in the synchronous motor. 12 • · · «m · * · · · ··
    It may be mentioned that the superposition of the predefined direct current component ID and of the direct control current RDI for subtraction can also be carried out analogously.
    权利要求:
    Claims (9)
    [1]
    1. motor control (8; 22) for a synchronous motor (1) having a number of N staggered stator coils (7) which are arranged around a rotor (4) of the synchronous motor (1), wherein the stator coils (7 A coil voltage (US) can be impressed by the motor control (8; 22) and a coil current (IS) is formed which has a direct current component (ID; IDW) and a cross-current component (X) in a coordinate system which rotates proportionally with the speed of the synchronous motor (1). IQ), wherein the transverse current component (IQ) causes a rotor (4) in the direction of rotation driving tangential force (FT) and wherein the direct current component (ID) causes a force (FR) perpendicular to the rotor surface on the rotor (4), characterized in that the motor control (8; 22) has a direct current generator (20) for generating a direct current component (IDW) which periodically changes in the rotating coordinate system in order to move through the direction perpendicular to the rotor surface generated force (FR) oscillations of the engine control (8; 22) driven synchronous motor (1) to compensate, wherein the direct current generator is designed for evaluating at least one angle information and a control cross-current.
    [2]
    2. Motor control (8; 22) according to claim 1, characterized in that the direct current generator (20) comprises adaptation means (21) to which a by a measurement of the oscillations of the synchronous motor (1) determined adaptation information can be fed with the engine control (8; 22) is designed to generate an alternating direct current component (IDW) adapted to the synchronous motor (1) to be controlled.
    [3]
    3. Motor control (8,22) according to one of the preceding claims, characterized in that the motor control (8; 22) is optimized for controlling a motor (1) with hemispherical or cylindrical rotor.
    [4]
    4. motor control (22) according to any one of the preceding claims, characterized in that instead of the direct current generator, a direct voltage generator (23) for generating a periodically changing in the rotating coordinate system direct voltage component (UDW) is formed by directed perpendicular to the rotor surface Forces generated vibrations of the synchronous motor (1) driven by the motor control (22) 14.
    [5]
    5. Motor control (8; 22) according to one of the preceding claims, characterized in that the motor control (8; 22) is formed by a field-oriented control.
    [6]
    6. A method for controlling a synchronous motor (1) in which a coil voltage (US) in a number of N staggered stator coils (7) which are arranged around a rotor (4) of the synchronous motor (1) is impressed and a Coil current (IS) is formed, wherein the coil current (IS) in a proportional with the rotational speed of the synchronous motor (1) rotating coordinate system has a direct current component (ID, IDW) and a cross-flow component (IQ) and wherein the cross-flow component (IQ) a the rotor ( 4) in the direction of rotation driving tangential force (FT) causes and wherein the direct current component (ID) causes a force (FR) perpendicular to the rotor surface on the rotor (4), characterized in that in the rotating coordinate system periodically changing direct current component (IDW) generates and is predetermined by impressing the coil voltage (US) in order, by means of the force (FR) acting perpendicular to the rotor surface, to oscillate with the motor control (8 22) synchronized driven synchronous motor (4), wherein for generating the suitable periodically alternating direct current component at least one angle information and a control cross-current are evaluated,
    [7]
    7. The method according to claim 6, characterized in that a measurement of the oscillations of the synchronous motor (1) is carried out and thereby determined adaptation information for generating a to be controlled synchronous motor (1) adapted alternating direct current component (IDW) is used.
    [8]
    8. The method according to claim 6, characterized in that instead of the alternating direct current component (IDW) in the rotating coordinate system periodically changing direct-voltage component (UDW) is impressed by generated by perpendicular to the rotor surface forces generated vibrations of the motor control (22) driven synchronous motor (1) balance.
    [9]
    9. system comprising a synchronous motor (1) and a motor control (8; 22) for the synchronous motor (1), characterized in that a motor control (8; 22) is used according to claim 1 for controlling a ball motor (1).
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    法律状态:
    2018-05-15| MM01| Lapse because of not paying annual fees|Effective date: 20170915 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA1331/2011A|AT512002B1|2011-09-15|2011-09-15|MOTOR CONTROL FOR A SYNCHRONOUS MOTOR|ATA1331/2011A| AT512002B1|2011-09-15|2011-09-15|MOTOR CONTROL FOR A SYNCHRONOUS MOTOR|
    US14/344,900| US9502997B2|2011-09-15|2012-09-13|Engine control for a synchronous motor|
    CN201280056228.1A| CN103931099B|2011-09-15|2012-09-13|Motor regulation for a synchronous motor|
    EP12761939.3A| EP2756594A2|2011-09-15|2012-09-13|Motor regulation for a synchronous motor|
    PCT/EP2012/067986| WO2013037908A2|2011-09-15|2012-09-13|Motor regulation for a synchronous motor|
    CA 2847498| CA2847498A1|2011-09-15|2012-09-13|Engine control for a synchronous motor|
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