• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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  • 优先权
    • 专利摘要:
    VARIABLE FREQUENCY DRIVE MOTOR CONTROL Various embodiments include a control method, comprising: initiating (301) a motor control algorithm in response to control control input received by a user interface d 'a plurality of interfaces (115, 116) coupled to a motor controller (112) via a digital connection; transforming (303), with a variable frequency drive command (103), the outputs from the motor control algorithm into voltages, frequencies and / or signals modulated in pulse width (PWM) which must be transmitted from a variable frequency drive (104) coupled to the variable frequency drive control (103); and controlling (305) the operation of an electric motor (114) with a motor control (112) and the variable frequency drive (104) which responds to voltages, frequencies and / or PWM, the control of motor (112) communicating digitally with the variable frequency drive control (103) via a digital connection.
    公开号:FR3084799A1
    申请号:FR1908745
    申请日:2019-07-31
    公开日:2020-02-07
    发明作者:Warren Neil Rattan；Charles Edward Iii Neal；James Douglas Funkhouser；Derek Williams；Gary Lee Cline；Derek James Abel；Troy Dale Bachman
    申请人:Halliburton Energy Services Inc；
    IPC主号:
    专利说明:

    Description
    TITLE OF THE INVENTION:
    VARIABLE DRIVE MOTOR CONTROL [0001] BACKGROUND [0002] During a well drilling operation, cement casing is generally inserted into the borehole to provide structural support for the borehole in unstable geological formations in addition to sealing the borehole. The casing is generally cast in place by circulating a cement paste through the interior of the casing and out of it into the ring through a casing shoe at the lower end of the casing train.
    In offshore drilling operations, the cementing operation can be carried out by an offshore cementing frame. One or more electric motors on the chassis provide the pressure used to inject the cement into the wellbore. It is desirable to control the operation of these motors in order to control the flow of cement into the wellbore.
    Brief Description of the Drawings [0004] [Fig.l] is a flow diagram showing a variable frequency drive (VED) control system, according to various examples of the disclosure.
    [Fig-2] is a flow diagram showing a control configuration for redundancy for a VED motor control system with a plurality of motors, according to various examples of the disclosure.
    [Fig.3] is a flowchart showing a method for controlling a VED and an electric motor, according to various examples of the disclosure.
    [Fig.4] is a flow diagram of a drilling system comprising a drilling installation in the form of an example of an offshore platform which comprises a chassis, according to various examples of the disclosure.
    [Fig.5] is a flow diagram of an example of a control system which can be used to implement the activities of multiple processes, according to various examples of this disclosure.
    Description of Embodiments Some of the challenges noted above, as well as others, can be addressed by a VED engine control unit. The apparatus includes the ability to communicate with and control the variable frequency drive of a platform in a VED motor control system. Such a device can reduce the number of cables used to control the electric motors used on offshore cementing frames during a cementing operation.
    The subsequent discussion on the device and the systems of Figures 1 and 2 relates to the Ethernet connections between the elements. The Ethernet connection is presented for illustrative purposes only since other forms of digital connections, which transfer digital signals, can be used.
    The VFD used in the present embodiments can be a VFD of any type or any brand. Different types / brands of VFDs can use different processes for sending and receiving digital data to or from the engine control. The present embodiments have the ability to choose the type / brand of VFD via a user interface. The engine controller then knows which algorithm to use for a given type / brand of VFD.
    Figure 1 is a flowchart showing a VFD motor control, according to various examples of the disclosure. The system is illustrated comprising a part of a platform 101 and of a chassis 102 with various functions in each block 101, 102. Other embodiments can incorporate different functions in each of the platform 101 or of the chassis 102.
    The platform 101 includes the equipment used to dig a wellbore. For example, platform 101 may include mud tanks, mud pumps, a derrick or pylon, winches, a turntable, a drill string and power generation equipment. The platform 101 in the example of FIG. 1 also includes a VFD 104, a programmable logic controller (PLC) of the VFD 103 and a remote control part 105.
    The VFD 104 is coupled to the PLC of the VFD 103 via a communication line 123. The VFD 104 is a motor control which is coupled to and which drives an electric motor 114 by varying the frequency, the voltage and / or the pulse width modulated signal (PWM) supplied to the electric motor 114. The VFD 104 is coupled to the electric motor 114 on the chassis 102 via a power control line 121.
    A motor control PLC 112 represents the computer which transmits the command from VFD 104 via the communication line 190 to the DP / PD coupler 113 to the PLC of VFD 103 via a communication line 120 and up to VFD 104 via communication line 123. For example, the motor control PLC 112 can execute a motor control algorithm which determines the desired motor parameters, such as: how to start or how stops the engine under normal conditions, how you start or stop the engine in special situations (e.g. failure conditions), when to turn the engine blower on or off, the speed of acceleration or engine deceleration, torque, shaft speed, as well as other engine parameters. The PLC of VFD 103 ensures a “transmission” of the motor control information coming from the PLC of the motor control 112. The PLC of the motor control 112 supplies the desired parameters of the motor to the PLC of VFD 103 which must be transferred to the VFD 104, via the communication line 123, and the VFD 104 then determines the frequency, the voltage and / or the PWM signal which must be supplied to the electric motor 114, via the power supply control line 121, in order that the motor 114 can obtain the desired motor parameters.
    The remote room control 105 located on the platform 101 is a computer which includes a man / machine interface (HMI) ("human-machine interface") 106 (that is to say, a user interface). The HMI 106 includes a display (e.g., a liquid crystal display (LCD), an LCD touch screen, a cathode ray tube (CRT), a light emitting diode (LED)) that can use a graphical user interface, a keyboard, any means for entering commands allowing an operator to control the operation of the electric motor 114. For example, the display of the HMI 106 may include various icons that the operator can touch to initiate or stop various functions of the electric motor . The remote room control 105 is coupled to a port of an Ethernet switch 111 on the chassis 102 via an Ethernet line 122.
    The chassis 102 includes a metal frame on which portable equipment can be mounted to facilitate handling with cranes or platform trucks. The frame 102 can be mobile and can be coupled to the platform 101 during a drilling operation. In the example of FIG. 1, the chassis also includes a control console with a main PLC 110, a motor control PLC 112, a decentralized peripheral coupler (DP) / DP 113, the Ethernet switch 111 and the electric motor. 114. The control desk with the main PLC 110 also includes another HMI 115 (ie, a user interface). The electric motor 114 can be used to pump a fluid (eg, cement) to the bottom of the wellbore.
    The control console with the main PLC 110 is coupled to a port of the Ethernet switch 111 on an Ethernet line 134. The control console with the encoders which are used for speed and torque control are also coupled to the PLC of the motor control 112 via an encoder control line 132. The PLC of the motor control 112 is also coupled to a port of the Ethernet switch 111 via an Ethernet line 133. The PLC of the motor control 112 is also coupled to the HMI 115 of the control console via an Ethernet line 131.
    The DP / DP coupler 113 (ie, a network coupler) couples the PLC of the motor control 112 to the VFD of the PLC 103 of the platform via respective communication lines 120. The DP / DP coupler 113 communicates using predetermined communication standards such as a DP Process Field Bus (Profibus) for field bus communication in the automation .
    Profibus DP is an operational protocol for operating sensors and actuators via centralized control in production and automation applications in the field. Profibus DP consists of three distinct layers: the application layer, the security layer and the bit transmission layer, each having a specific role in the assembly and transmission of high level information from process equipment to main control systems.
    The PLC for controlling the motor 112 is coupled to the electric motor 114 via sensor lines 135. For example, the electric motor 114 can provide data relating to temperature, humidity, or other data in real-time status of the engine from the sensors of the motor control PLC 112 via sensor lines 135. The motor control PLC 112 can use real-time data from the sensor as another factor when of engine control 114. For example, if the sensors indicate an overheat condition from engine 114, the PLC of engine control 112 may reduce the speed of the engine to reduce the temperature.
    The motor control PLC 112 shares information with the main PLC 110 and the remote control 105 via an Ethernet connection (that is, a connection 133, a switch 111, a connection 134, a connection 122) since each component is plugged into the Ethernet switch 111. The information that is shared includes the motor speed set point, real motor speed, real torque, limit set point torque, power (in kilowatts), power (HP), current (in Amp), frequency (in Hz), VFD state (on / off) and motor temperature. VFD alarms, humidity sensor, leakage sensor and blow pressure alarms are also monitored. This information is shared so that it is visible to operators in the remote room and on the main screens on the control console.
    In an example of operation, we can assign to the HMI 106 of the platform 101 a primary control input to the engine 114 while we can assign to the HMI 115 of the chassis 102 a backup command of the engine 114 in failure in the primary control. Switching between the HMI 115 of the chassis and the HMI 106 of the platform as a control input to the PLC of the motor control 112, via the Ethernet line 133,134 is done via a switch
    Ethernet 111.
    The main HMI PLC 115 and the ΗΜΙ 106 of the remote chamber are connected to and communicate via Ethernet connections 122, 123, 134 with the main PLC 110 and the motor control PLC 112. Even if the two HMI 106 , 115 see real time data on the state of the engine, only an HMI 106, 115 can be used to control the equipment at a given time. The order exchange can be carried out by an operator at one of the two HMI 106, 115 only executing a command which requests an order from the other HMI 106, 115. For example, if an order request comes from a main HMI PLC 115, a message coming from the HMI 106 of the remote room will indicate that another HMI requests a command. The message can give the remote room HMI 106 operator an option to accept or reject this request. The order request can also be made in the opposite direction. If there is no operator at the HMI to receive the order request, the order will be automatically redirected to the HMI which makes the request after a predetermined waiting time.
    An operator at the HMI 106 of the platform (or the HMI 115 backup) can issue a control command to the electric motor 114 via an Ethernet switch 111 to the PLC for controlling the motor 112. The PLC of the motor control 112 uses the motor control algorithm and thus transmits the processed data via the communication line 120 to the PLC of VED 103. The PLC of VED 103 sends a signal to VED 104 via the line of communication 123, to order the VED 104 to produce the right input frequency, the right voltage and / or the right PWM power which must be supplied to the electric motor 114 via the power control line 121 in order to carry out the desired command .
    The data which is transmitted from the main HMI 106 or from the encoder of the main control desk, via the command line of the encoder 132, can include the revolutions per minute (TPM) setting point and the torque limit adjustment point for the motor shaft. The encoder, located in the control console, is an electromechanical device which transforms the angular rotation of the encoder shaft into an analog signal or a digital code. This code is translated into the motor control PLC 112 and can be used to control the rotational speed and / or the torque.
    The data from the VED 104 engine which is read, via the VED 103 PLC, includes the real TPM / speed, the torque limit adjustment point, the real engine torque, the maximum TPM, the limit maximum torque, on / off state of drive, frequency, current, motor power, as well as faults that have been issued from the motor. This data can be displayed on the main HMI 106 and / or on the backup HMI 115.
    Figure 2 is a flowchart showing a control configuration for redundancy for a VFD engine control system with a plurality of engines, according to various examples of the disclosure. For the sake of clarity, not all of the functions in FIG. 1 are illustrated in FIG. 2. For example, the HMI 106 of the remote control can be included in the main console 210 as part of the system control . A DP / DP 113 coupler can be included in each of a PLC of motor A 204 and motor B 205.
    The motor A 201 and the motor B 202 can be mounted on the same chassis on different chassis. The motors 201, 202 are coupled coders which inform the VFD with a real speed of the motor to their respective coder cables 230, 231 from their VFD or PLC of the respective VFD 220, 221 which each include the respective coders. Depending on the configuration of the VFD, other embodiments may not use the encoders. Each respective PLC 204, 205 of the motor is coupled to its motor 201, 202 via the sensor lines of the motor 240, 241. The PLC 204 of motor A can be mounted on the same chassis as motor A 201 and PLC 205 of the engine B can be mounted on the same chassis as engine B 202.
    Each VFD or PLC of VFD 220, 221 of the motor is coupled to the respective PLC 204, 205 of the motor via a DP / DP Profibus coupler and the control line 260, 261. The main console 210 (eg, the main PLC, the main control) is coupled to the PLC of motor A 204 and the PLC of motor B 205 via separate Ethernet lines 270, 271 for HMI, separate Ethernet lines 280, 281 to an Ethernet switch and lines separate separate 290, 291 for the motor shaft speed of the torque control as well as the remote / local switch control. The main console 210 is responsible for the overall control of the system. Connections 260, 261, 270, 271, 280, 281 are digital connections (eg, Ethernet) as part of a network of connections.
    The PLC commands in association with the HMIs are networked in such a way that they provide multiple layers of redundancy in the example of FIGS. 1 and 2. For example, if the HMI is faulty in the chamber remotely, the operator is able to see engine feedback and engine control in real time from the chassis HMI. If the HMI on the chassis fails, in addition to the HMI of the remote chamber, the operator has two HMIs from the engine control to display engine data. If the main PLC fails, the operator can continue to operate the plurality of motors from the encoders on the console and still have motor data displayed on the motor control HMIs. If one or both of the engine control PLCs fail, the operator may be able to continue using the other engine control to complete the job.
    The embodiments also provide failure data which may not be available conventionally or easily accessible. The following failure conditions are continuously monitored and / or displayed, and can also be logged, if they occur: the communication status of the VLD Profibus DP PLC, the communication status of the DP / DP coupler, failures of the motor drive like drive off, drive off, drive in remote mode, general alarm / warning triggers, humidity sensor failure, leakage sensor failure, engine temperature failure , overpressure trigger (ΟΡΚΟ), and / or E-Stop.
    Figure 3 is a flow diagram showing a method for controlling a VLD and an electric motor, according to various examples of the disclosure. The method of Figure 3 is given for illustrative purposes only as the apparatuses and systems of Figures 1 and 2 can operate with different methods.
    At block 301, an engine control algorithm is initiated in response to a control command input received by one of the plurality of interfaces coupled to engine control via a digital connection. The engine control algorithm determines how to start and stop engines under normal conditions, how to start and stop engines in different special situations (e.g. failure, ΟΡΚΟ, E-Kill), when to turn on or off the blower motors and / or the acceleration or deceleration speeds of the motor shaft.
    At block 303, a variable frequency drive transforms the outputs from the motor control algorithm into voltages, frequencies and / or PWM signals which must be sent from a variable frequency drive coupled to the variable frequency drive controller. The outputs from the motor control algorithm may include a revolution per minute (RPM) / motor shaft speed set point and a torque limit set point.
    At block 305, the operation of an electric motor is controlled with a motor control and variable frequency drive which responds to voltages, frequencies and / or PWM, the motor control communicating digitally with variable frequency drive control via digital connection.
    Figure 4 is a flow diagram of a drilling system comprising a drilling installation 400 in the form of an example of an offshore platform which comprises a frame 102, according to various examples of the disclosure. System 400 includes a drilling rig that includes any of the multiple types of offshore drilling platforms 403 (e.g., semi-submersible floating platform, jackup, barge, drilling vessel, etc.) that are used for drilling an underwater borehole 404 by means of a drill string 408 suspended and driven by the drilling rig 403. In other embodiments, the disclosed method and apparatus can be used in different rig configurations, including offshore and onshore drilling.
    The drill string 408 includes drill rod sections suspended from a drilling platform 433 on the drilling rig 403. A downhole module or downhole module (BHA) located at a lower end of the drill string 408 includes a drill bit 416 which is driven at least in part by the drill string 408 to drill in the land formations, which drives the wellbore 404. A portion of the wellbore 404 may contain a borehole borehole 419 which comprises casing suspended by a well head 411 on the seabed. A marine riser 414 extends from the wellhead 411 to the drilling rig 403. A rotation control device (RCD) 428 is positioned below a drilling floor 431 formed by the drilling platform 433. The drilling train 408 thus extends from the drilling floor 431, through the RCD 428, the riser 414, the wellhead 411, the wellbore casing and along the wellbore 404.
    A chassis 102 is coupled to a remote control / VFD 101 on the platform 433, as illustrated in FIG. 1. After removal of the drill string 408, the motors of a pump system on the chassis 102 provide a suspension of pressurized cement from a tank 440 on the drilling platform 403 to a supply line 443 connected to an interior pipe of the drilling platform 433. The cement is forced into the bottom of the hole through the casing 450 in the borehole 419 and upward through the annular space between the casing 450 and the borehole 419.
    Figure 5 is a flow diagram of an exemplary system 500 which can operate to implement activities of multiple methods, according to various examples of the disclosure. The system 500 can be implemented as shown in FIGS. 1 and 2 with reference to the PLC blocks 103, 110, 112, 204, 205, 220, 221 and / or the HMI blocks 106,
    115.
    The system 500 can include circuits such as a control 520, a memory 530 and a communication unit 535. The memory 530 can be structured to include a database. The control 520, the memory 530 and the communication unit 535 can be placed to operate as control circuits for controlling the operation of the systems of Figures 1 and 2 and for performing any method disclosed herein in order to control one or more motors for injecting cement into a borehole.
    The communication unit 535 can contain a communication capacity for various protocols (eg, Profibus). Such telecommunication capacity can include wired telecommunication technologies and wireless technologies.
    The system 500 may also include a bus 537 which provides electrical conductivity among the components of the system 500. The bus 537 may include an address bus, a data bus and a control bus, each being independently configured or in integrated format. The bus 537 can be produced using a number of different communication media allowing the distribution of components of the system 500. The bus 537 can comprise a network. The use of bus 537 can be regulated by command 520.
    The system 500 may include one or more display units 560 in the form of a component distributed over the surface of the borehole, which can be used with the instructions stored in the memory 530 to implement an interface for user to monitor / control the operation of the apparatus and of the system of FIGS. 1 and 2 or of the components distributed inside the system 500. Such a user interface can be used in association with the telecommunication unit 535 and with bus 537.
    These implementations may include a machine-readable recording device comprising instructions executable by a machine, for example a computer-readable recording device comprising instructions executable by a computer. In addition, a computer-readable storage device can be a physical device that stores data represented by a physical structure within the device. Such a physical device can be a non-transient device. Examples of machine-readable storage devices may include, without limitation, read-only memory, random access memory, magnetic disk recording device, optical recording device, flash memory and other electronic, magnetic and / or optical memory devices.
    Other examples may include the following Examples 1 to 20:
    Example 1 may relate to an apparatus, in particular a control apparatus, comprising: a main control having a first user interface; an electric motor coupled to and configured to be controlled by a variable frequency drive, the variable frequency drive is coupled to and configured to be controlled by a variable frequency drive control; a motor control coupled to an electric motor and the main control; a network switch coupled, via respective digital connections, to the main control, the motor control and a remote control having a second user interface, the network switch being configured to switch data between the main control, the remote control and the engine control; and a network coupler coupled between the variable frequency drive control and the motor control, wherein one of the first user interface or the second user interface is configured to control operation of the electric motor via digital connections and the network coupler.
    In Example 2, the subject of Example 1 can also include the fact that the main control and the first user interface are placed on a chassis and the remote control and the second user interface are placed on a platform.
    In Example 3, the subject of any of Examples 1 and 2 may also include the fact that the main control also includes an encoder coupled to the motor control via a control line of the encoder so transforming an angular speed of the encoder shaft into an analog signal or a digital code.
    In Example 4, the subject of any one of Examples 1 to 3 may further include the fact that the electric motor is coupled to the motor control via lines of the sensor.
    In Example 5, the subject of any of Examples 1 to 4 may also include the fact that the sensor lines are configured to provide real-time motor condition outputs from the electric motor.
    In Example 6, the subject of any of Examples 1 to 5 can also include the fact that the real-time motor condition outputs include temperature and humidity.
    In Example 7, the subject of any of Examples 1 to 6 can also include the fact that the network coupler is a decentralized peripheral coupler using a process field bus communication standard.
    In Example 8, the subject of any one of Examples 1 to 7 may also include the fact that the first and second user interfaces include graphical user interfaces.
    Example 9 may relate to a system, in particular a control system, comprising: a first command to control the system; a plurality of motor controls coupled to the first control, each motor control being coupled to the first control via a respective digital connection; a plurality of variable frequency drives, each variable frequency drive being coupled to a respective control of the plurality of motor controls via a digital network connection; and a plurality of electric motors, each electric motor being coupled to a respective control of the plurality of motor controls and to a respective drive of the plurality of variable frequency drives.
    In Example 10, the subject of Example 9 can also include the fact that the digital connections are Ethernet connections.
    In Example 11, the subject of any of Examples 9 to 10 may also include the fact that the plurality of variable frequency drives includes variable frequency drive controls.
    In Example 12, the subject of any one of Examples 9 to 11 may also include the fact that each of the plurality of motors is coupled to its respective variable frequency drive via power cables. electrical and, in response to a configuration of its respective variable frequency drive, an encoder cable.
    In Example 13, the subject of any one of Examples 9 to 12 can also include the fact that the plurality of motor controls are coupled to the first control via lines of bus communication standards. decentralized peripheral process field (Profibus), Ethernet lines and independent cabling.
    In Example 14, the subject of any one of Examples 9 to 13 can also include the fact that the Profibus wiring supplies a motor shaft speed and torque control signals from the first control to the plurality of motor controls.
    In Example 15, the subject of any one of Examples 9 to 14 may also include the fact that the plurality of motors are each coupled to their respective motor controls via connections of motor sensors which provide data on an engine condition in real time.
    Example 16 may relate to a method, in particular a control method, comprising: the initiation of an engine control algorithm in response to a control command input received by a user interface of a plurality of interfaces coupled to a motor controller via a digital connection; converting, with variable frequency drive control, the outputs from the motor control algorithm to voltages, frequencies and / or pulse width modulation (PWM) which are transmitted from a drive to variable frequency coupled to the variable frequency drive control; and controlling the operation of an electric motor with a motor control and variable frequency drive which responds to voltages, frequencies and / or PWM, the motor control communicating digitally with the variable frequency drive control via digital connection.
    In Example 17, the object of Examples 16 may also include a second interface from the plurality of interfaces requesting a transfer of command from the user interface.
    In Example 18, the subject of any one of Examples 16 to 17 may further include the transfer of control of the electric motor from a user interface to the second interface after a predetermined time d 'no response from the first interface and vice versa.
    In Example 19, the subject of any of Examples 16 to 18 may also include the fact that the motor control receives information on a motor condition in real time from the electric motor.
    In Example 20, the subject of any one of Examples 16 to 19 can also include the fact that the outputs from the engine control algorithm include a rpm setting point ( TPM) / motor shaft speed and a torque limit set point.
    More generally, in accordance with this disclosure, any of the above Examples 1 to 20 may include any of the features which are described in combination with any of these Examples.
    The detailed description corresponds to the accompanying drawings which show, by way of illustration and not limitation, various embodiments in which the invention can be put into practice. These embodiments are described in sufficient detail to allow those skilled in the art to practice these and other embodiments. Other embodiments can be used and structural, logical and electrical substitutions can be made for these embodiments. The various embodiments are not necessarily mutually exclusive, as certain embodiments can be combined with at least one other embodiment to obtain new embodiments. The detailed description should therefore not be taken in a limiting sense.
    Even if specific embodiments have been illustrated and described here, it will be appreciated by specialists that any arrangement which is calculated to achieve the same objective can be substituted for the specific embodiments illustrated. Various embodiments use permutations and / or combinations of the embodiments described herein. It should be understood that the foregoing description is intended to be illustrative, not restrictive, and that the phraseology or terminology used here is for descriptive purposes. Combinations of the above-mentioned embodiments and other embodiments will be apparent to those skilled in the art after studying the foregoing description.
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    claims [Claim 1] Control method, characterized in that it comprises:initiating (301) a motor control algorithm in response to control control input received by a user interface from a plurality of interfaces (115, 116) coupled to motor control (112) via a digital connection;transforming (303), with a variable frequency drive command (103), the outputs from the motor control algorithm into voltages, frequencies and / or signals modulated in pulse width (PWM) which must being transmitted from a variable frequency drive (104) coupled to the variable frequency drive control (103); andthe control (305) of the operation of an electric motor (114) with a motor control (112) and the variable frequency drive (104) which responds to voltages, frequencies and / or PWM, the motor control (112) communicating digitally with the variable frequency drive control (103) via a digital connection. [Claim 2] The method of claim 1, also comprising a second interface of the plurality of interfaces (115, 116) requesting a command transfer from the user interface. [Claim 3] The method of claim 2, further comprising transferring control of the electric motor (114) from the user interface to the second interface (115, 116) after a predetermined time of no response from the first interface and vice versa. [Claim 4] The method of any of claims 1 to 3, further comprising the fact that the motor controller (112) receives information on a motor condition in real time from the electric motor (114). [Claim 5] The method of any of claims 1 to 4, wherein the outputs from the motor control algorithm include a set point for revolutions per minute / motor shaft speed (114) and a set point of the torque limit.
    1/5
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    同族专利:
    公开号 | 公开日
    US10128782B2|2018-11-13|
    GB201801700D0|2018-03-21|
    AU2015408050B2|2020-03-05|
    GB2556574A|2018-05-30|
    US20170264220A1|2017-09-14|
    NO20180155A1|2018-01-31|
    FR3040570A1|2017-03-03|
    FR3040570B1|2019-09-13|
    US9912261B2|2018-03-06|
    WO2017039656A1|2017-03-09|
    AU2020203079B2|2021-06-10|
    CA3044585A1|2017-03-09|
    NO20190538A1|2018-01-31|
    CA2994546A1|2017-03-09|
    GB2556574B|2021-10-20|
    NO343781B1|2019-06-03|
    AU2020203079A1|2020-05-28|
    US20180145615A1|2018-05-24|
    AU2015408050A1|2018-02-22|
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    法律状态:
    2019-08-08| PLFP| Fee payment|Year of fee payment: 4 |
    2020-07-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-07-30| PLFP| Fee payment|Year of fee payment: 6 |
    2022-01-21| PLSC| Publication of the preliminary search report|Effective date: 20220121 |
    优先权:
    申请号 | 申请日 | 专利标题
    WOPCT/US2015/048157|2015-09-02|
    PCT/US2015/048157|WO2017039656A1|2015-09-02|2015-09-02|Variable frequency drive motor control|
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