CN204589885U - A kind of pure electric road sweeper vehicle-mounted monitoring system - Google Patents
A kind of pure electric road sweeper vehicle-mounted monitoring system Download PDFInfo
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- CN204589885U CN204589885U CN201520225178.6U CN201520225178U CN204589885U CN 204589885 U CN204589885 U CN 204589885U CN 201520225178 U CN201520225178 U CN 201520225178U CN 204589885 U CN204589885 U CN 204589885U
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Abstract
The utility model discloses a kind of pure electric road sweeper vehicle-mounted monitoring system, belong to analysis to measure and control technology field, be mainly used in carrying out Real-Time Monitoring and control to the operation process of small-sized pure electric road-sweeper.Information gathering conditioning module, touch-screen display module, three-color LED alarm module, power module, vision-based detection module, controller module and actuator module that this system is made up of multiple sensor and modulate circuit etc. form, for measurement, the analysis & control of apparatus for work in small-sized pure electric road sweeper operation process, the real-time measurement and display of job parameter, the early warning of the real-time control of apparatus for work and operation fault and judgement can be realized.This system can improve the operating efficiency of road-sweeper, reduce the automatization level of apparatus for work fault rate and lifting road-sweeper, thus alleviates the working strength of street cleaner.
Description
Technical field
The present invention relates to a kind of pure electric road sweeper vehicle-mounted monitoring system, belong to measurement, analysis & control technical field.
Background technology
Air pollution problems inherent caused by motor vehicle exhaust emission, makes to adopt the electric automobile of green energy resource to receive increasing concern.People generally believe that pure electric automobile will be future automobile industrial expansion trend, but be subject to the restriction of existing battery technology level, battery energy density is generally on the low side, cause the continual mileage of pure electric automobile limited, electrically-charging equipment construction and safety problem in addition, makes pure motorized be subject to great restriction in the development in family expenses passenger car and long haul field.Mini motor sweeper as towards residential quarter, the cleaning special-purpose vehicle of plant area, the feature such as have compartmentalization work, mileage is fixed, service time is short, can ignore above-mentioned restriction, very be applicable to pure motorized.
Road-sweeper is as one of sanitation equipment, be a kind of new and effective cleaning equipment integrating road cleaning, garbage reclamation and transport, be widely used in the road-cleaning in urban road, arterial highway, square, airfield pavement, physical culture place, tunnel, large-scale plant area, uptown, harbour and park etc.Road-sweeper not only can clean rubbish, but also udst separation can be carried out to the air dielectric on road, and along with the raising of scientific and technological level and cultural awareness, present product design turns to emotionism from functionalism, it is object, client-oriented design that design based on technology turns to technology, has higher requirement to the reliability, comfortableness, environmental protection and energy saving etc. of product.
Recognize in the investigation of urban sanitary workers, the time length of road work, labour intensity are large, operating efficiency is not high.At present, country introduces some external cleaning equipments and improves sanitation worker's task efficiency, existing import equipment on market, what mostly adopt is oil engined vacuum pump " absorption " rubbish, although this method efficiency is very high, but equipment is larger, need extra tractive force, and the use of fossil fuel, both improve cost, contaminated environment again, does not meet the development trend of current social.Therefore, design accords with the demands of the market, and by promoting the electromechanical integration level of electric cleaning car, all can meet consumers' demand, meet the trend of social demand and technical development in safety, environmental protection, performance, comfortable and valency are excellent.
Summary of the invention
In order to solve in current pure electric road sweeper operation process apparatus for work fault can not early warning in time with react in good time, in pure electric road sweeper operation process, operation dynamically can not show in real time, personal monitoring's efficiency consuming time is low, error is large, workload greatly and do not have the defects such as early warning, the present invention proposes a kind of small-sized pure electric road sweeper real-time monitoring system, for the Real-Time Monitoring in small-sized pure electric road sweeper operation process and control, realize operation to show in real time dynamically, the real-time control of apparatus for work and the early warning of operation fault and emergency measure.Concrete technical scheme is as follows:
A kind of pure electric road sweeper vehicle-mounted monitoring system, comprising: information gathering conditioning module, vision-based detection module, power module, controller module, display module, alarm module and actuator module;
Described information gathering conditioning module comprises dish broom rotate speed sensor, round brush speed probe, vehicle speed sensor, level sensor, voltage sensor, temperature pick up, the first modulate circuit, the second modulate circuit, electronics vehicular control unit ECU, A/D converter; Described dish broom rotate speed sensor connects described first modulate circuit, described round brush speed probe connects described second modulate circuit, described vehicle speed sensor connects described ECU, described level sensor connects described A/D converter, and described first modulate circuit, described second modulate circuit, described ECU, described A/D converter, described voltage sensor and described temperature pick up are all connected the input of described controller module; The output of described controller module connects described display module, described alarm module and described actuator module respectively; Described information gathering conditioning module is for gathering the dish broom rotate speed of electric road sweeper, round brush rotating speed, the speed of a motor vehicle, cistern water level, electric moter voltage and cabin temperature;
Described vision-based detection module comprises camera, image pick-up card; Described camera connects described image pick-up card, and described image pick-up card connects described display module;
Described power module comprises on-vehicle battery, dc voltage changer and inverter; Described on-vehicle battery powers to described monitoring system after described dc voltage changer and the conversion of described inverter;
Described controller module is used for the dish broom rotate speed, round brush rotating speed, the speed of a motor vehicle, cistern water level, electric moter voltage and the cabin temperature that provide according to described information gathering conditioning module, utilize on the one hand artificial neural network to carry out contrasting, regulate dish broom rotate speed and round brush rotating speed by described actuator module after analysis and diagnosis, control alarm module according to car status information on the other hand and display module provides prompting and display.
Further, described controller module adopts PLC.
Further, described display module is touch-screen display, adopts RS232 to be connected with described controller module, and described touch-screen display interface comprises walking interface, cleaning interface, battery management interface, historical failure interface and optimum configurations interface.
Further, described alarm module adopt green, yellow, red trichromatism LED normally runs when showing vehicle operation respectively, limit value early warning and off-limit alarm three kinds of states.
Further, described on-vehicle battery is 48V direct current.
Further, described dc voltage changer comprises 48V-24V, 48V-12V and 12V-3.3V.
Further, direct current 48V is become alternating current 220V by described inverter.
Beneficial effect of the present invention is:
(1) the present invention is by installing front-facing camera, can the operation image of apparatus for work in Real-time Obtaining road sweeper traveling process, and judge the shape size of road granular thing fast, quick and precisely, efficiency is high in detection.
(2) the present invention by install multiple sensor can Real-Time Monitoring road sweeper running status and shown by touch-screen display, PLC controls dish broom rotate speed and the round brush rotating speed of road sweeper according to running status, the sweeping efficiency that improve road sweeper, the fault rate decreasing apparatus for work and alleviate the working strength of street cleaner, improve the automaticity of road sweeper apparatus for work.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of pure electric road sweeper vehicle-mounted monitoring system of the present invention;
Fig. 2 is disc brush speed measuring device schematic diagram;
Fig. 3 is wheel speed speed measuring device schematic diagram.
In figure: 1-disc brush; 2-magnet steel; 3-disc brush sensor; 4-wheel speed sensors; 5-gear ring.
Detailed description of the invention
The present invention is described in further detail below.
As shown in Figure 1, the small-sized pure electric road sweeper vehicle-mounted monitoring system that the present invention proposes is primarily of information gathering conditioning module, touch-screen display module, three-color LED alarm module, power module, vision-based detection module, controller module and actuator module composition, and controller module of the present invention is PLC; Controller module, according to the information of input information gathering conditioning module, regulates dish broom rotate speed and round brush rotating speed by controlling executing agency.Information gathering conditioning module is used for gathering and obtaining road-sweeper current state information, touch-screen display module is for showing road-sweeper current state information, three-color LED alarm module provides the instruction of corresponding state according to status information, power module is made up of on-vehicle battery, dc voltage changer DC-DC and inverter DC-AC, vision-based detection module is for gathering information of road surface, controller module, according to the status information of the road-sweeper gathered, regulates dish broom rotate speed and round brush rotating speed by actuator module.
Described information gathering conditioning module is made up of dish broom rotate speed sensor, round brush speed probe, vehicle speed sensor, level sensor, voltage sensor, temperature pick up and the first modulate circuit, the second modulate circuit, electronics vehicular control unit ECU and A/D converter, information gathering conditioning module is used for gathering and obtaining road-sweeper current state information, and described status information comprises dish broom rotate speed, round brush rotating speed, the speed of a motor vehicle, cistern water level, electric moter voltage and cabin temperature; Described information gathering conditioning module is connected with controller module as input, and controller module is connected with touch-screen display module, for showing road-sweeper current state information in real time.
Dish broom rotate speed sensor in the present invention is for gathering electric road sweeper dish broom rotate speed, described dish broom rotate speed sensor has four, adopt the Hall revolution speed transducer of same model, be fixed on 2cm place directly over disc brush magnet steel, as shown in Figure 2, for the real-time rotate speed of synchronizing detection road-sweeper four disc brushes, as one of the signal source of PLC module; Described disc brush magnet steel has six, and material is identical, and volume is equal, is uniformly distributed on disc brush 1/2 concentric circle, with the synchronized rotation of disc brush.
Round brush speed probe in the present invention, for gathering electric road sweeper round brush rotating speed, is made up of apertured disc and photoelectric detection system; Described apertured disc is fixed on roller brush shaft, with the synchronized rotation of round brush, and has samely circumferentially partially opened six square holes; Described photoelectric detection system is made up of light emitting diode and reception diode, symmetry is installed on the both sides of apertured disc, the light that light emitting diode is sent is received diode through square hole and receives, the output signal of reception diode is through described second modulate circuit shaping, convert output of pulse signal to, round brush often rotates a circle, and photoelectric detection system exports 6 pulse signals, calculate the rotating speed n of round brush according to the pulse number N of output per second, design formulas is n=N × 60/6 (rev/min).
Vehicle speed sensor in the present invention is for gathering the speed of a motor vehicle of electric road sweeper, adopt induction wheel speed sensors, be made up of gear ring and wheel speed sensors, gear ring is fixed on hub for vehicle wheel, wheel speed sensors is fixed on distance gear ring tooth top 1mm place, as shown in Figure 3; Described induction wheel speed sensors is passive wheel speed sensor, and output pulse signal to PLC, and shows vehicle wheel rotational speed in real time by touch-screen.
Level sensor in the present invention, for gathering the cistern water level of electric road sweeper, adopts throw-in type level sensor, is placed in the steel pipe of tank inner wall, effectively avoids the measure error that dynamic water causes; The output signal of described level sensor is through described A/D converter module, and output pulse signal, as one of the input of PLC; Described steel pipe is fixed on tank inner wall, contour with water tank, and bottom has aperture, is communicated with water tank.
Voltage sensor in the present invention, for gathering electric road sweeper disc brush electric moter voltage, adopts Hall type voltage sensor, measures disc brush electric moter voltage in parallel, does not need external power supply, output signal to PLC.
Temperature pick up of the present invention, for gathering the temperature in electric road sweeper driver's cabin, is placed in the enclosure interior of control instrument board, outputs signal as digital quantity, and shows driving interior temperature in real time by touch-screen.
Described touch-screen display module is touch-screen display, communication modes is set to RS232, be connected with PLC by RS232 connection, parameter value under real-time display road-sweeper current operating state, touch-screen display interface comprises walking interface, cleaning interface, battery management interface, historical failure interface and optimum configurations interface; Information under described walking interface display road-sweeper off working state, comprises the speed of a motor vehicle, movable motor voltage, cabin temperature and water railway carriage or compartment water level; Information under described cleaning interface display road-sweeper duty, comprises dish broom rotate speed, round brush rotating speed, the speed of a motor vehicle, disc brush electric moter voltage, movable motor voltage and water railway carriage or compartment water level; Described battery management interface display battery information, comprises dump energy, charging interval, discharge time and single battery information; Described historical failure interface display road-sweeper is when the fault text description of DTC in first trimester and correspondence; Described optimum configurations interface is used for that parameter limit value is arranged, touch-screen password is arranged and touch-screen verification, and wherein parameter limit value comprises disc brush electric moter voltage higher limit, movable motor higher limit, the higher limit of cistern water level and lower limit.Touch-screen display in the present invention is arranged on driver's cabin, be placed in above driving cabin instrument board, screen size is 10.9 cun, screen background color is blue, easily visible under high light, be connected with PLC by RS232/RS485 connection, display information comprises dish broom rotate speed, round brush rotating speed, the speed of a motor vehicle, cistern water level, electric moter voltage and cabin temperature.
Described three-color LED alarm module realizes the display of three-color LED failure sorted, with the LED of green, yellow, red three kinds of colors respectively corresponding show vehicle operation time normally run, limit value early warning and off-limit alarm three kinds of states.Fault alarm comprises following several situation: 1. disc brush electric moter voltage is abnormal, continues higher than more than higher limit 30s; 2. cistern water level is too high or too low; 3. round brush rotating speed is abnormal, sees turn as motor.
The information that described PLC module inputs according to information gathering conditioning module, utilizes artificial neural network to carry out contrasting, analysis and diagnosis, regulates dish broom rotate speed and round brush rotating speed, by touch-screen display module display road-sweeper current state by executing agency; PLC in the present invention, select Mitsubishi FX series, 64, I/O mouth, power interface is AC220V.
Described power module is made up of on-vehicle battery, dc voltage changer DC-DC and inverter DC-AC; Described on-vehicle battery is 48V dc-battery, is made up of in series-parallel mode 4 battery pack; Described dc voltage changer comprises 48V-24V, 48V-12V and 12V-3.3V, and wherein, DC48V inputs movable motor, and DC24V inputs touch-screen display, and DC12V inputs disc brush motor and camera, DC3.3V input picture capture card; Described inverter is that direct current 48V becomes alternating current 220V, alternating current 220V input PLC;
Described vision-based detection module is made up of camera, image pick-up card, for gathering information of road surface, shown in real time by touch-screen display, and according to pavement particles thing size and type, dish broom rotate speed will be divided into Three Estate, the larger dish broom rotate speed of particle is higher, as one of driver's foundation regulating dish broom rotate speed.
Should understand; the foregoing is only specific embodiments of the invention; the protection domain be not intended to limit the present invention, under the prerequisite without prejudice to principle of the present invention and flesh and blood, any improvement of doing, modification and equivalent replacement etc. all will fall within the scope of protection of the present invention.
Claims (7)
1. a pure electric road sweeper vehicle-mounted monitoring system, is characterized in that, comprising: information gathering conditioning module, vision-based detection module, power module, controller module, display module, alarm module and actuator module;
Described information gathering conditioning module comprises dish broom rotate speed sensor, round brush speed probe, vehicle speed sensor, level sensor, voltage sensor, temperature pick up, the first modulate circuit, the second modulate circuit, electronics vehicular control unit ECU, A/D converter; Described dish broom rotate speed sensor connects described first modulate circuit, described round brush speed probe connects described second modulate circuit, described vehicle speed sensor connects described ECU, described level sensor connects described A/D converter, and described first modulate circuit, described second modulate circuit, described ECU, described A/D converter, described voltage sensor and described temperature pick up are all connected the input of described controller module; The output of described controller module connects described display module, described alarm module and described actuator module respectively; Described information gathering conditioning module is for gathering the dish broom rotate speed of electric road sweeper, round brush rotating speed, the speed of a motor vehicle, cistern water level, electric moter voltage and cabin temperature;
Described vision-based detection module comprises camera, image pick-up card; Described camera connects described image pick-up card, and described image pick-up card connects described display module;
Described power module comprises on-vehicle battery, dc voltage changer and inverter; Described on-vehicle battery powers to described monitoring system after described dc voltage changer and the conversion of described inverter;
Described controller module is used for the dish broom rotate speed, round brush rotating speed, the speed of a motor vehicle, cistern water level, electric moter voltage and the cabin temperature that provide according to described information gathering conditioning module, utilize on the one hand artificial neural network to carry out contrasting, regulate dish broom rotate speed and round brush rotating speed by described actuator module after analysis and diagnosis, control alarm module according to car status information on the other hand and display module provides prompting and display.
2. pure electric road sweeper vehicle-mounted monitoring system according to claim 1, is characterized in that, described controller module adopts PLC.
3. pure electric road sweeper vehicle-mounted monitoring system according to claim 1, it is characterized in that, described display module is touch-screen display, adopt RS232 to be connected with described controller module, described touch-screen display interface comprises walking interface, cleaning interface, battery management interface, historical failure interface and optimum configurations interface.
4. pure electric road sweeper vehicle-mounted monitoring system according to claim 1, is characterized in that, described alarm module adopt green, yellow, red trichromatism LED normally runs when showing vehicle operation respectively, limit value early warning and off-limit alarm three kinds of states.
5. pure electric road sweeper vehicle-mounted monitoring system according to claim 1, is characterized in that, described on-vehicle battery is 48V direct current.
6. pure electric road sweeper vehicle-mounted monitoring system according to claim 1, it is characterized in that, described dc voltage changer comprises 48V-24V, 48V-12V and 12V-3.3V.
7. pure electric road sweeper vehicle-mounted monitoring system according to claim 1, it is characterized in that, direct current 48V is become alternating current 220V by described inverter.
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| CN201520225178.6U CN204589885U (en) | 2015-04-14 | 2015-04-14 | A kind of pure electric road sweeper vehicle-mounted monitoring system |
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| CN201520225178.6U CN204589885U (en) | 2015-04-14 | 2015-04-14 | A kind of pure electric road sweeper vehicle-mounted monitoring system |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104831655A (en) * | 2015-04-14 | 2015-08-12 | 江苏大学 | Vehicle-mounted monitoring system of all-electric road sweeper |
| CN105914898A (en) * | 2016-06-30 | 2016-08-31 | 庄景阳 | Wireless power supply method of sweeping machine |
| CN106100144A (en) * | 2016-06-30 | 2016-11-09 | 泉州市中研智能机电研究院有限公司 | Incremental plan based on wireless power |
| CN106120613A (en) * | 2016-06-30 | 2016-11-16 | 庄景阳 | The control module of sweeping machine |
| CN106601012A (en) * | 2016-12-19 | 2017-04-26 | 广西升禾环保科技股份有限公司 | Terminal based remote monitoring method for sanitation cars |
| CN107165110A (en) * | 2017-05-26 | 2017-09-15 | 徐工集团工程机械有限公司 | Sweeper |
| US10742155B2 (en) | 2018-03-19 | 2020-08-11 | Tula eTechnology, Inc. | Pulsed electric machine control |
| CN112168056A (en) * | 2019-07-04 | 2021-01-05 | 上海神舟精宜汽车制造有限公司 | Intelligent control method for dust collection vehicle based on touch screen |
| US10944352B2 (en) | 2018-03-19 | 2021-03-09 | Tula eTechnology, Inc. | Boosted converter for pulsed electric machine control |
| US11133767B2 (en) | 2018-03-19 | 2021-09-28 | Tula eTechnology, Inc. | Pulsed electric machine control using tables |
| US11427177B2 (en) | 2019-11-20 | 2022-08-30 | Tula eTechnology, Inc. | Pulsed electric machine control using tables |
| US11557996B1 (en) | 2021-07-08 | 2023-01-17 | Tula eTechnology, Inc. | Methods of reducing vibrations for electric motors |
| US11623529B2 (en) | 2018-03-19 | 2023-04-11 | Tula eTechnology, Inc. | Pulse modulated control with field weakening for improved motor efficiency |
| US11628730B2 (en) | 2021-01-26 | 2023-04-18 | Tula eTechnology, Inc. | Pulsed electric machine control |
| US11637513B2 (en) | 2021-03-15 | 2023-04-25 | Tula eTechnology, Inc. | Methods of optimizing waveforms for electric motors |
| US11637466B1 (en) | 2021-10-18 | 2023-04-25 | Tula Etechnology Inc. | Mechanical and electromechanical arrangements for field-weakening of an electric machine that utilizes permanent magnets |
| US11673476B2 (en) | 2021-08-12 | 2023-06-13 | Tula eTechnology, Inc. | Method of optimizing system efficiency for battery powered electric motors |
| US11695361B2 (en) | 2021-06-14 | 2023-07-04 | Tula eTechnology, Inc. | Electric machines with efficient torque transitions |
| US11888424B1 (en) | 2022-07-18 | 2024-01-30 | Tula eTechnology, Inc. | Methods for improving rate of rise of torque in electric machines with stator current biasing |
| US11916498B2 (en) | 2021-09-08 | 2024-02-27 | Tule eTechnology Inc. | Electric machine torque adjustment based on waveform integer multiples |
| US11973447B2 (en) | 2021-06-28 | 2024-04-30 | Tula eTechnology, Inc. | Selective phase control of an electric machine |
| US12003202B2 (en) | 2023-03-08 | 2024-06-04 | Tula eTechnology, Inc. | Pulsed electric machine control |
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2015
- 2015-04-14 CN CN201520225178.6U patent/CN204589885U/en not_active Withdrawn - After Issue
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104831655A (en) * | 2015-04-14 | 2015-08-12 | 江苏大学 | Vehicle-mounted monitoring system of all-electric road sweeper |
| CN105914898A (en) * | 2016-06-30 | 2016-08-31 | 庄景阳 | Wireless power supply method of sweeping machine |
| CN106100144A (en) * | 2016-06-30 | 2016-11-09 | 泉州市中研智能机电研究院有限公司 | Incremental plan based on wireless power |
| CN106120613A (en) * | 2016-06-30 | 2016-11-16 | 庄景阳 | The control module of sweeping machine |
| CN106601012A (en) * | 2016-12-19 | 2017-04-26 | 广西升禾环保科技股份有限公司 | Terminal based remote monitoring method for sanitation cars |
| CN107165110A (en) * | 2017-05-26 | 2017-09-15 | 徐工集团工程机械有限公司 | Sweeper |
| US11623529B2 (en) | 2018-03-19 | 2023-04-11 | Tula eTechnology, Inc. | Pulse modulated control with field weakening for improved motor efficiency |
| US10944352B2 (en) | 2018-03-19 | 2021-03-09 | Tula eTechnology, Inc. | Boosted converter for pulsed electric machine control |
| US11133767B2 (en) | 2018-03-19 | 2021-09-28 | Tula eTechnology, Inc. | Pulsed electric machine control using tables |
| US11228272B2 (en) | 2018-03-19 | 2022-01-18 | Tula eTechnology, Inc. | Pulsed electric machine control |
| US11626827B2 (en) | 2018-03-19 | 2023-04-11 | Tula eTechnology, Inc. | Pulsed electric machine control |
| US10742155B2 (en) | 2018-03-19 | 2020-08-11 | Tula eTechnology, Inc. | Pulsed electric machine control |
| US11863096B2 (en) | 2018-03-19 | 2024-01-02 | Tula eTechnology, Inc. | Boosted converter for pulsed electric machine control |
| CN112168056A (en) * | 2019-07-04 | 2021-01-05 | 上海神舟精宜汽车制造有限公司 | Intelligent control method for dust collection vehicle based on touch screen |
| US11427177B2 (en) | 2019-11-20 | 2022-08-30 | Tula eTechnology, Inc. | Pulsed electric machine control using tables |
| US11628730B2 (en) | 2021-01-26 | 2023-04-18 | Tula eTechnology, Inc. | Pulsed electric machine control |
| US11637513B2 (en) | 2021-03-15 | 2023-04-25 | Tula eTechnology, Inc. | Methods of optimizing waveforms for electric motors |
| US11695361B2 (en) | 2021-06-14 | 2023-07-04 | Tula eTechnology, Inc. | Electric machines with efficient torque transitions |
| US11973447B2 (en) | 2021-06-28 | 2024-04-30 | Tula eTechnology, Inc. | Selective phase control of an electric machine |
| US11557996B1 (en) | 2021-07-08 | 2023-01-17 | Tula eTechnology, Inc. | Methods of reducing vibrations for electric motors |
| US11673476B2 (en) | 2021-08-12 | 2023-06-13 | Tula eTechnology, Inc. | Method of optimizing system efficiency for battery powered electric motors |
| US11916498B2 (en) | 2021-09-08 | 2024-02-27 | Tule eTechnology Inc. | Electric machine torque adjustment based on waveform integer multiples |
| US11637466B1 (en) | 2021-10-18 | 2023-04-25 | Tula Etechnology Inc. | Mechanical and electromechanical arrangements for field-weakening of an electric machine that utilizes permanent magnets |
| US11888424B1 (en) | 2022-07-18 | 2024-01-30 | Tula eTechnology, Inc. | Methods for improving rate of rise of torque in electric machines with stator current biasing |
| US12003202B2 (en) | 2023-03-08 | 2024-06-04 | Tula eTechnology, Inc. | Pulsed electric machine control |
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