JP2010213434A - Motor control device and cooling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely start and control an AC motor without a sensor for detecting a rotating position. <P>SOLUTION: When a requested duty ratio dB* of a motor exceeds a value 0 after stopping motor control (S110, S160), and the lapse time t from the stop of the motor control reaches or exceeds a predetermined time tref, the motor is started and controlled (S160 to S200). Whereby the motor can be surely started and controlled. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an electric motor control device and a cooling device.

  Conventionally, this type of motor control device controls a motor composed of a stator (stator) having armature windings U, V, and W and a mover (rotor) having field windings. The thing is proposed (for example, refer patent document 1). In this control device, the armature winding measured by supplying a small current to the field winding and rotating the mover while the supply of the AC voltage from the inverter to the armature windings U, V, W is stopped. The error between the rotational position of the movable element corresponding to the induced voltage (potential) induced in U, V, and W and the rotational position of the movable element detected by the position detector (Hall sensor) that detects the rotational position of the movable element. The reference point of the rotational position of the moving element by the position detector is corrected so that becomes zero, and the timing of the switching signal output to the inverter circuit is adjusted based on the rotational position obtained using the corrected reference point. .

JP 2003-333848 A

  By the way, some of these motor control devices control a motor that does not have a rotational position detection sensor (such as a hall sensor) that detects the rotational position. In this case, if you try to restart the motor while the motor is rotating due to inertia after stopping the motor control, you will not be able to properly grasp the rotational position of the motor, and then control the motor properly. Since it cannot be performed, the start-up may fail.

  The main object of the motor control device and the cooling device of the present invention is to allow an AC motor that does not have a sensor for detecting a rotational position to be started and controlled more reliably.

  The motor control device and the cooling device of the present invention employ the following means in order to achieve the above-mentioned main object.

The first electric motor control device of the present invention comprises:
An electric motor control device that controls an AC electric motor that does not have a sensor that detects a rotational position,
When restarting the AC motor after stopping the control of the AC motor, a post-standby startup process for starting the AC motor after a predetermined time has elapsed is executed.
It is characterized by that.

  In the first motor control device of the present invention, at the time of restarting the AC motor after the control of the AC motor is stopped, the post-standby startup process for starting the AC motor after a predetermined time has elapsed. Execute. When it takes time until the AC motor stops rotating after the control of the AC motor is stopped, there is a case where the AC motor cannot be started properly when the AC motor is started in a state where the AC motor is rotating. On the other hand, by starting the AC motor after a predetermined time has elapsed since the control of the AC motor was stopped, the AC motor can be started and controlled more reliably. Here, the predetermined time may be a time required until the AC motor stops rotating after the control of the AC motor is stopped, or a slightly longer time.

  In such a first electric motor control device of the present invention, at the time of the restart, the AC motor is started, and when the AC motor cannot be started, the post-standby starting process is executed. In this way, the AC motor can be started more quickly, and when the AC motor cannot be started, the AC motor can be started more reliably thereafter. In this case, the predetermined time may be a time required from when the AC motor cannot be started until the AC motor stops rotating or a slightly longer time.

The second motor control device of the present invention is
An electric motor control device that controls an AC electric motor that does not have a sensor that detects a rotational position,
A rotational speed sensor for detecting the rotational speed of the AC motor;
When restarting the AC motor after stopping the control of the AC motor, after the standby to start the AC motor after the detected rotational speed of the AC motor becomes equal to or lower than a preset rotational speed Execute the startup process,
It is characterized by that.

  In the second motor control device according to the present invention, when the AC motor is restarted after the control of the AC motor is stopped, the AC motor after the rotational speed of the AC motor becomes equal to or lower than a predetermined rotational speed. Execute the startup process after waiting to start. If the AC motor is started in a state where the AC motor is rotating, the AC motor may not be started properly. On the other hand, by starting the AC motor after the rotation speed of the AC motor becomes equal to or lower than the predetermined rotation speed, the AC motor can be started and controlled more reliably. Here, the predetermined rotational speed may be an upper limit of the rotational speed at which it can be determined that the AC motor has substantially stopped rotating.

  In the first or second motor control device of the present invention, the AC motor may be controlled based on the rotational position of the AC motor estimated using the current or the induced voltage of the AC motor.

The cooling device of the present invention comprises:
A cooling device that cools a device that generates heat using a cooling medium,
An electric pump driven by an AC motor for circulating the cooling medium in a circulation flow path including the device;
The first or second motor control device of the present invention according to any one of the above-described aspects for controlling the AC motor, that is, the motor control device for controlling an AC motor that basically does not have a sensor for detecting the rotational position. In the restart of starting the AC motor after stopping the AC motor control, a post-standby startup process for starting the AC motor is executed after a predetermined time has elapsed. And a motor control device that controls an AC motor that does not have a sensor that detects a rotational position, the rotation speed sensor that detects the rotation speed of the AC motor, and control of the AC motor is stopped. When the AC motor is restarted later, the AC motor is started after the standby for starting the AC motor after the rotational speed of the AC motor becomes equal to or lower than a predetermined rotational speed set in advance. Processing is executed, and a motor control device, characterized in that,
It can also be provided.

  Since the cooling device of the present invention includes the first or second motor control device of the present invention according to any one of the above-described aspects, the effects exhibited by the first or second motor control device of the present invention, for example, AC It is possible to achieve the same effect as the effect of enabling the electric motor to be started and controlled more reliably. Here, the “device” may be an internal combustion engine or an AC motor different from the AC motor that drives the electric pump.

It is a block diagram which shows the outline of a structure of the motor vehicle 20 which mounts the cooling device 30 as one Example of this invention. It is explanatory drawing which shows an example of the map for request | requirement duty ratio setting. It is a flowchart which shows an example of the electric motor control routine performed by the electronic control unit 50 of an Example. It is a flowchart which shows an example of the electric motor control routine performed by the electronic control unit 50 of a modification. It is a flowchart which shows an example of the electric motor control routine performed by the electronic control unit 50 of a modification.

  Next, the form for implementing this invention is demonstrated using an Example.

  FIG. 1 is a configuration diagram showing an outline of the configuration of an automobile 20 equipped with a cooling device 30 as an embodiment of the present invention. As shown in FIG. 1, the automobile 20 includes an engine 22 that uses gasoline or light oil as fuel as on-vehicle equipment, an automatic transmission 24 that shifts the power from the engine 22 and outputs it to drive wheels 26 a and 26 b, A cooling device 30 that cools the engine 22 using cooling water as a cooling medium, and an electronic control unit 50 that controls the entire automobile and also functions as a part of the cooling device 30 are provided.

  The cooling device 30 includes a circulation channel 34 that circulates cooling water to a water jacket 31 formed in a cylinder block and a cylinder head of the engine 22 and a radiator 32 that cools the cooling water by outside air, and cooling water to the circulation channel 34. And an electric pump 36 for pressure-feeding. The electric pump 36 is driven by a so-called sensorless AC electric motor 38 that does not have a sensor (for example, a resolver) for detecting the rotational position. The electric motor 38 receives DC power from a battery 40 by an inverter 42. It is converted into phase AC power and supplied. In the cooling device 30, the electric pump 36 is driven by the electric motor 38 to circulate cooling water in the circulation flow path 34, thereby cooling the engine 22.

  The electronic control unit 50 is configured as a microprocessor centered on the CPU 52, and includes a ROM 54 for storing a processing program, a RAM 56 for temporarily storing data, and an input / output port (not shown) in addition to the CPU 52. The electronic control unit 50 includes signals from various sensors that detect the operating state of the engine 22, signals from various sensors that detect the state of the automatic transmission 24, signals from various sensors that detect the state of the battery 40, electric The phase currents Iu and Iv from the current sensors 44U and 44V that detect the phase currents flowing in the U phase and V phase of the motor 38, and the temperature of the cooling water attached to the vicinity of the outlet of the water jacket 31 of the circulation channel 34 are detected. The coolant temperature Tw from the temperature sensor 46 is input via the input port. The electronic control unit 50 also receives various control signals for controlling the fuel injection control, ignition control, intake air amount adjustment control, etc. of the engine 22, various control signals for controlling the automatic transmission 24, and an inverter 42. A switching control signal or the like is output through the output port. Here, the electric motor control device mainly corresponds to the electronic control unit 50 and the current sensors 44U and 44V.

  In the cooling device 30 mounted on the automobile 20 of the embodiment configured in this way, when the ignition is turned on, based on the cooling water temperature Tw of the engine 22, an electric drive is performed using the required duty ratio setting map illustrated in FIG. 2. The required duty ratio dB * of the motor 38 is set. Here, the required duty ratio dB * is a duty ratio corresponding to the number of rotations of the electric motor 38 capable of pumping cooling water at a flow rate required for cooling the engine 22 to the circulation flow path 34 by the electric pump 36. As shown in FIG. 2, the value 0 is set in the region where the coolant temperature Tw is lower than the threshold value Twref as the lower limit of the temperature at which the engine 22 needs to be cooled, and the coolant temperature Tw is set in the region where the coolant temperature Tw is equal to or higher than the threshold value Twref. The higher the value, the greater the tendency. This is because in a region where the coolant temperature Tw is equal to or higher than the threshold value Twref, the higher the coolant temperature Tw, the higher the temperature of the engine 22 and the more the engine 22 needs to be cooled with a greater cooling power. Then, when the required duty ratio dB * becomes larger than the value 0 for the first time after the ignition is turned on, the inverter 42 is switched regardless of the rotational position of the electric motor 38 using the preset duty ratio dB0. The electric motor 38 is forcibly activated, and after the activation, the electric motor is estimated by using the phase currents Iu and Iv flowing in the U-phase and V-phase of the three-phase coil of the electric motor 38 from the current sensors 44U and 44V. The electric motor 38 is controlled by switching the inverter 42 so that the electric motor 38 rotates at the rotation speed corresponding to the required duty ratio dB * using the rotational position 38 and the required duty ratio dB *. The rotational position of the electric motor 38 using the phase currents Iu and Iv is estimated by, for example, estimating the induced voltage of the electric motor 38 from the phase currents Iu and Iv and estimating the rotational position based on the estimated induced voltage. This can be done. In this case, when the control of the electric motor 38 is stopped, the phase currents Iu and Iv are substantially 0, so that it is difficult to estimate the rotational position of the electric motor 38.

  Next, the operation of the cooling device 30 of the embodiment thus configured, particularly the operation of controlling the electric motor 38 used for driving the electric pump 36 will be described. FIG. 3 is a flowchart showing an example of an electric motor control routine executed by the electronic control unit 50. This routine is repeatedly executed every predetermined time (for example, every several tens of msec or every several hundred msec).

  When the electric motor control routine is executed, the CPU 52 of the electronic control unit 50 firstly, the phase currents Iu and Iv flowing in the U phase and V phase of the three-phase coil of the electric motor 38 from the current sensors 44U and 44V, the engine The required duty ratio dB * set using the target rotation speed setting map illustrated in FIG. 2 based on the cooling water temperature Tw of 22 is input (step S100), and the input required duty ratio dB * is from the value 0. It is determined whether it is larger (step S110). This is a process for determining whether or not the electric motor 38 needs to be controlled in order to cool the engine 22.

  When the required duty ratio dB * is 0, it is determined that it is not necessary to control the electric motor 38, the control of the electric motor 38 is stopped (step S120), and it indicates whether or not the activation of the electric motor 38 has been completed. A value 0 is set in the start completion flag F (step S130), and when the elapsed time t has not been started since the control of the electric motor 38 is stopped, the time measurement is started (steps S140 and S150). This routine is terminated. Note that if the control of the electric motor 38 is stopped while the electric motor 38 is rotating, the electric motor 38 is stopped due to a gradually decreasing rotational speed while rotating due to inertia.

  Then, when this routine is executed after the next time, if the required duty ratio dB * is larger than 0 in step S110, the value of the activation completion flag F is checked (step S160), and the activation completion flag F is 0. Sometimes, it is determined that the activation of the electric motor 38 is not completed, the elapsed time t is compared with the predetermined time tref (step S170), and when the elapsed time t is less than the predetermined time tref, this routine is terminated as it is. When the time t is equal to or longer than the predetermined time tref, the electric motor 38 is started (step S180), and when the start of the electric motor 38 is completed, a value 1 is set to the start completion flag F (step S190). Exit. Here, the predetermined time tref can be determined according to the specification of the electric motor 38 as a time required for the electric motor 38 to stop rotating after the control of the electric motor 38 is stopped or a slightly longer time, for example, 500 msec, 700 msec, 1000 msec, etc. can be used. In the embodiment, it is determined that the start of the electric motor 38 is completed when the rotational position of the electric motor 38 can be estimated using the phase currents Iu and Iv from the current sensors 44U and 44V. It was supposed to be. When a so-called sensorless electric motor 38 that does not have a sensor for detecting the rotational position is used, if the electric motor 38 is rotated by inertia after the control of the electric motor 38 is stopped, the electric motor 38 is started. Then, since the rotational position of the electric motor 38 cannot be estimated properly, the electric motor 38 cannot be properly controlled thereafter, and its activation fails. In consideration of this, in the embodiment, the electric motor 38 is started when the elapsed time t is equal to or longer than the predetermined time tref and the electric motor 38 is assumed to stop rotating. Thereby, the electric motor 38 can be started and controlled more reliably. When the electric motor 38 is successfully started in this way, when this routine is executed after the next time and the required duty ratio dB * is greater than 0 (step S110), the start completion flag F is 1 (step S160). ), The electric motor 38 is controlled using the rotational position of the electric motor 38 estimated from the phase currents Iu, Iv and the required duty ratio dB * (step S200), and this routine is terminated.

  According to the motor control device provided in the cooling device 30 of the embodiment described above, when the required duty ratio dB * becomes larger than 0 after the control of the electric motor 38 is stopped, the control of the electric motor 38 is stopped. Since the electric motor 38 is activated and controlled when the elapsed time t from the time reaches the predetermined time tref or more, the electric motor 38 can be activated and controlled more reliably.

  In the motor control device provided in the cooling device 30 of the embodiment, when the required duty ratio dB * becomes larger than the value 0 after the control of the electric motor 38 is stopped (the required duty ratio dB * is larger than the value 0 and the start completion flag F When the elapsed time t becomes equal to or greater than the predetermined time tref, the electric motor 38 is started. However, once the electric motor 38 is started and fails to start, The electric motor 38 may be restarted when the elapsed time t2 from the failure becomes equal to or longer than the predetermined time tref2. An example of the electric motor control routine in this case is shown in FIG. The routine in FIG. 4 is the same as the electric motor control routine in FIG. 3 except that the processes in steps S300 to S360 are executed instead of the processes in steps S130 to S150 and S170. Therefore, the same process is given the same step number, and the detailed description thereof is omitted. In the electric motor control routine of FIG. 4, when the required duty ratio dB * is 0 in step S110, the control of the electric motor 38 is stopped (step S120), and the activation completion flag F and the activation of the electric motor 38 have failed. A value 0 is set for both the startup failure flag F2 indicating whether or not (step S300), and this routine is terminated. Then, when this routine is executed after the next time, if the required duty ratio dB * is greater than 0 in step S110, the activation completion flag F and the activation failure flag F2 are both 0 in steps S160 and S310. Then, the electric motor 38 is activated (step S320), and it is determined whether or not the electric motor 38 has been successfully activated (step S330). Here, in the embodiment, whether or not the electric motor 38 has been successfully activated is determined from the current sensors 44U and 44V within a predetermined time (for example, several tens of msec) after the electric motor 38 is activated. The phase currents Iu and Iv are used to determine whether or not the rotational position of the electric motor 38 can be estimated. As described above, when starting the electric motor 38 while the electric motor 38 is rotating with inertia, the starting may fail. When it is determined in step S330 that the electric motor 38 has been successfully activated, the activation completion flag F is set to 1 (step S190), and this routine is terminated. In this case, the electric motor 38 is started more quickly. On the other hand, when it is determined that the activation of the electric motor 38 has not been successful, that is, it has failed, a value 1 is set to the activation failure flag F2 (step S340), and the time t2 elapsed since the determination is started (step S340). S350), this routine is finished. When the activation failure flag F2 is 1 in step S310, the elapsed time t2 is compared with the predetermined time tref2 (step S360). When the elapsed time t2 is less than the predetermined time tref2, this routine is ended as it is, and the elapsed time t2 is When the predetermined time tref2 or more is reached, the electric motor 38 is started (step S180). When the electric motor 38 is completely started, the start completion flag F is set to 1 (step S190), and this routine is finished. . Here, the predetermined time tref2 can be determined according to the specification of the electric motor 38 as a time required for the electric motor 38 to stop rotating after a failure in starting the electric motor 38 or a slightly longer time, for example, The same time as the threshold value tref can be used. In this way, the electric motor 38 can be started more quickly, and the electric motor 38 can be started more reliably after the electric motor 38 has failed to start.

  In the motor control device provided in the cooling device 30 of the embodiment, when the required duty ratio dB * becomes larger than the value 0 after the control of the electric motor 38 is stopped (the required duty ratio dB * is larger than the value 0 and the start completion flag F When the elapsed time t is equal to or greater than the predetermined time tref, the electric motor 38 is started, but the rotation speed sensor (the rotation position is detected) for detecting the rotation speed Nm of the electric motor 38. When the rotational speed Nm of the electric motor 38 becomes equal to or lower than the predetermined rotational speed Nref, the electric motor 38 may be started. An example of the electric motor control routine in this case is shown in FIG. The routine of FIG. 5 is the same as the electric motor control routine of FIG. 3 except that the process of step S400 is executed instead of the processes of steps S140, S150, and S170. Therefore, the same process is given the same step number, and the detailed description thereof is omitted. In the electric motor control routine of FIG. 5, when the required duty ratio dB * is greater than the value 0 in step S110 and the start completion flag F is the value 0 in step S160, the rotational speed Nm of the electric motor 38 is set to the predetermined rotational speed Nref. (Step S400), the routine is terminated when the rotational speed Nm of the electric motor 38 is larger than the predetermined rotational speed Nref, and the electric motor 38 is started when the rotational speed Nm of the electric motor 38 is equal to or lower than the predetermined rotational speed Nref. (Step S180), and this routine is finished. Here, the predetermined rotation speed Nref can be determined based on the specifications of the electric motor 38, the detection accuracy of the rotation speed sensor, and the like as the upper limit of the rotation speed at which it can be determined that the electric motor 38 has substantially stopped rotating. Larger values can be used. Even in this case, similarly to the embodiment, the electric motor 38 can be started and controlled more reliably.

  In the motor control device provided in the cooling device 30 of the embodiment, the electric motor 38 is controlled using the rotational position estimated based on the phase currents Iu and Iv detected by the current sensors 44U and 44V. The method is not limited to the method of controlling the electric motor 38 by estimating the rotational position by the method, but other methods (for example, detecting the induced voltage of the electric motor 38 or estimating the induced voltage based on the voltage of each phase of the electric motor 38). Thus, the electric motor 38 may be controlled by estimating the rotational position by a method of estimating the rotational position based on the induced voltage. In addition, the detection of the induced voltage of the electric motor 38 when the electric motor 38 is subjected to rectangular wave control can be performed when the current is not energized because the current flowing through the electric motor 38 is intermittently switched. Even in this case, if the control of the electric motor 38 is stopped and the rotational speed of the electric motor 38 is decreased, the induced voltage is small, and thus it is difficult to estimate the rotational position. For this reason, if the control of the electric motor 38 is stopped and the electric motor 38 is started while the electric motor 38 is rotating by inertia, the rotation position of the electric motor 38 cannot be estimated properly and the start is started. May fail.

  In the embodiment, the motor control device included in the cooling device 30 that cools the engine 22 has been described. However, the cooling device 30 replaces the engine 22 with a motor that inputs and outputs power and a drive circuit that drives the motor (for example, an inverter). Any device that cools a device that generates heat may be used.

  In the embodiment, the electric motor control device that controls the electric motor 38 that drives the electric pump 36 of the cooling device 30 has been described. However, the embodiment is not limited to the electric motor 38 that drives the electric pump 36, and a sensor that detects the rotational position is used. Any device may be used as long as it controls an AC motor that it does not have.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment and the first electric motor control device of the present invention, the electric motor 38 corresponds to an “AC electric motor”, and when the required duty ratio dB * becomes larger than the value 0 after the control of the electric motor 38 is stopped, An electronic control unit that executes the processes of steps S170 and S180 of the electric motor control routine of FIG. 3 for starting the electric motor 38 when the elapsed time t after the control of the electric motor 38 is stopped exceeds the predetermined time tref. 50 corresponds to the “motor control device”. In the example and the second motor control device of the present invention, the electric motor 38 corresponds to the “AC motor”, the rotation speed sensor (not shown) corresponds to the “rotation speed sensor”, and the control of the electric motor 38 is stopped. When the required duty ratio dB * later becomes larger than the value 0, step S400 of the electric motor control routine of FIG. 5 for starting the electric motor 38 when the rotational speed Nm of the electric motor 38 becomes equal to or lower than the predetermined rotational speed Nref. The electronic control unit 50 that executes the process of S180 corresponds to the “motor control device”.

  Here, each element in the 1st electric motor control apparatus of this invention can be considered as follows. The “AC motor” is not limited to the electric motor 38, and any type of AC motor may be used as long as it does not have a sensor for detecting the rotational position, such as a synchronous motor, an induction motor, or a stepping motor. . As the “electric motor control device”, when the required duty ratio dB * becomes larger than the value 0 after the control of the electric motor 38 is stopped, the elapsed time t after the control of the electric motor 38 is stopped is a predetermined time tref or more. It is not limited to the one that activates the electric motor 38 when it becomes, and when the AC motor is restarted after the control of the AC motor is stopped, it is set in advance after the control of the AC motor is stopped. Any method may be used as long as it executes a post-standby startup process for starting the AC motor after a predetermined time has elapsed. Each element in the second motor control device of the present invention can be considered as follows. The “AC motor” is not limited to the electric motor 38, and any type of AC motor may be used as long as it does not have a sensor for detecting the rotational position, such as a synchronous motor, an induction motor, or a stepping motor. . As the “electric motor control device”, when the required duty ratio dB * becomes larger than 0 after the control of the electric motor 38 is stopped, the electric motor 38 is electrically driven when the rotational speed Nm of the electric motor 38 becomes equal to or lower than a predetermined rotational speed Nref. The rotation of the AC motor is not limited to the one that starts the motor 38, but has a rotation speed sensor that detects the rotation speed of the AC motor and restarts the AC motor after stopping the control of the AC motor. Any method may be used as long as the start-up process after standby for starting the AC motor is executed after the number becomes equal to or less than a predetermined number of rotations set in advance. The “rotational speed sensor” may be any sensor as long as it detects the rotational speed without detecting the rotational position of the AC motor.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  As mentioned above, although the form for implementing this invention was demonstrated using the Example, this invention is not limited at all to such an Example, In the range which does not deviate from the summary of this invention, it is with various forms. Of course, it can be implemented.

  The present invention can be used in the manufacturing industry of motor control devices and cooling devices.

  20 Automobile, 22 Engine, 24 Automatic transmission, 26a, 26b Drive wheel, 30 Cooling device, 31 Water jacket, 32 Radiator, 34 Circulating flow path, 36 Electric pump, 38 Electric motor, 40 Battery, 42 Inverter, 44U, 44V Current Sensor, 46 Temperature sensor, 50 Electronic control unit, 52 CPU, 54 ROM, 56 RAM.

Claims (4)

An electric motor control device that controls an AC electric motor that does not have a sensor that detects a rotational position,
When restarting the AC motor after stopping the control of the AC motor, a post-standby startup process for starting the AC motor after a predetermined time has elapsed is executed.
An electric motor control device characterized by that. The electric motor control device according to claim 1,
At the time of restarting, the AC motor is started, and when the AC motor could not be started, the startup process after standby is executed.
Electric motor control device. An electric motor control device that controls an AC electric motor that does not have a sensor that detects a rotational position,
A rotation speed sensor for detecting the rotation speed of the AC motor;
When restarting the AC motor after stopping the control of the AC motor, after the standby to start the AC motor after the detected rotational speed of the AC motor becomes equal to or lower than a preset rotational speed Execute the startup process,
An electric motor control device characterized by that. A cooling device that cools a device that generates heat using a cooling medium,
An electric pump driven by an AC motor for circulating the cooling medium in a circulation flow path including the device;
The motor control device according to any one of claims 1 to 3, which controls the AC motor;
A cooling device comprising:

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