CN101722923B - Anti-theft electric motorcar controller with electronic registration code - Google Patents

Anti-theft electric motorcar controller with electronic registration code Download PDF

Info

Publication number
CN101722923B
CN101722923B CN2009101549547A CN200910154954A CN101722923B CN 101722923 B CN101722923 B CN 101722923B CN 2009101549547 A CN2009101549547 A CN 2009101549547A CN 200910154954 A CN200910154954 A CN 200910154954A CN 101722923 B CN101722923 B CN 101722923B
Authority
CN
China
Prior art keywords
registration code
controller
battery
driven car
sign indicating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN2009101549547A
Other languages
Chinese (zh)
Other versions
CN101722923A (en
Inventor
华宏伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Jinyun Sanding Industrial Co Ltd
Original Assignee
Zhejiang Jinyun Sanding Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Jinyun Sanding Industrial Co Ltd filed Critical Zhejiang Jinyun Sanding Industrial Co Ltd
Priority to CN2009101549547A priority Critical patent/CN101722923B/en
Publication of CN101722923A publication Critical patent/CN101722923A/en
Application granted granted Critical
Publication of CN101722923B publication Critical patent/CN101722923B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to an anti-theft electric motorcar controller with an electronic poll code, which is mainly characterized in that: the hardware part of an electric motorcar controller keeps unchanged substantially, while an electronic poll code authentication process is added in control software, namely, an electric control lock automatically inputs the electronic poll code in a password key into the electric motorcar controller in a touch input mode when being unlocked, the controller compares an input electronic password with a digital password stored in a controller chip, and an electric motorcar can be started when the input electronic password and the digital password are consistent and cannot be started when the input electronic password and the digital password are inconsistent. Therefore, a novel electric motorcar controller integrated with a burglar alarm and the controller is formed and has the characteristics of low cost, strong function and good anti-interference performance and anti-theft performance.

Description

A kind of battery-driven car anti-theft controller of charged sub-registration code
Technical field:
The invention belongs to the application invention of computer digit technology in controller for electric vehicle, be specifically related to a kind of battery-driven car anti-theft controller of charged sub-registration code.
Background technology
Brushless motor is a most universal present battery-driven car propulsion source, and the development of its controller divides two stages: F/s is to use the pure hardware circuit controller of special chip, and sort circuit is comparatively simple, is eliminated at present; Subordinate phase is to use the control chip of MCU; by the intellectuality control that technology such as simulation, numeral, high-power MOSFET driving realize, preferably resolve commutation problem that battery-driven car adopts brushless motor to bring, load stability problem and to the problems such as protection of controller, motor, power supply.But all at present controller for electric vehicle are not having more technological breakthrough aspect the antitheft control, mostly are to have kept an antitheft input interface, control with a level signal, realize antitheft control by external antitheft control annunciator.The defective that such design brings is a lot: the one, and the effect of only threatening does not have antitheft effect, but opens just actuating vehicle of electric door lock; The 2nd, cost height, the burglar alarm that adds comprise that onsite alarming and scene add two kinds of patterns of radio alarming, and relative cost is higher; The 3rd, poor anti jamming capability is reported to the police by the sense vehicle instantaneous variation, and rate of false alarm is too high, and the phenomenon that disturbs residents is serious; The 4th, radio alarming is owing to the limitation of civilian frequency, and the various probability of interference between other wireless control apparatus are very high, adopts the battery-driven car of remote-control key, is an insurmountable difficult problem on interference protection mode pirate of the open problem.
Summary of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of battery-driven car anti-theft controller of charged sub-registration code.
The technical scheme that is adopted is:
A kind of battery-driven car anti-theft controller of charged sub-registration code, controller for electric vehicle comprises the control system of hardware components, in control system, increased the authentication procedure of electronic register sign indicating number, electronic register code authentication program is divided three processes: first process is that the original licensed sign indicating number is preserved, read key cipher after entering main program, judge whether it is administrator password, not to be user cipher, judge whether registration code 1 is arranged in the controller, be not about to this user cipher and save as registration code 1, have whether registration code 2 is arranged in the controller of judgement, be not about to this user cipher and save as registration code 2, finish first process, promptly in the EEPROM of controller, set up the registration code of the original matched key that dispatches from the factory; Second process is working process, judges after first process promptly whether key cipher is registration code, is to enter the electric vehicle control system initialize routine, is not to carry out the electric brake control program; The 3rd process is that registration code alters the procedure, key cipher to be read such as read behind the administrator password, whether interpretation is legal registration code, promptly confirms change person's legitimacy, after circulation confirmed that two registration codes are all effective, the key cipher that reads in once more was identified and saves as new registration code; When judgement was not registration code, the electric brake control program was to illegally implementing anti-theft protection to the sign indicating number behavior; For preventing to sign indicating number deciphering, added wait time reading between the original key cipher to be read such as administrator password, wait time is set to 1~5 second.
2, the electronic register sign indicating number adopts TM the core of the card chip technology, and version is the digital chip key (patent applied for: application number: 200820167444.4) be a kind of firm and cheap data carrier of touch type.
For the anti-theft capability the present invention who improves battery-driven car has adopted electronic register sign indicating number technology, totally 64 of this electronic register sign indicating numbers, can be not heavy mutually with other any one 1-wire bus device, preceding 8 is 1-wire bus family sign indicating number, 48 of backs are the unique serial codes of device, and last 8 is the CRC check sign indicating number of preceding 56 bit data.The benefit that it reaches: the one, even if the electric switch control lock of battery-driven car is opened, vehicle does not start yet; The 2nd, even if vehicle is stolen, there is not legal key, vehicle also can't start; The 3rd, cost is low, is a kind of anti-theft technique of realizing by software upgrading on the reason hardware foundation, and cost is less than 1/10th of the radio alarming controller; The 4th, antijamming capability is strong, realizes that by the contact mode transmission of electronic register sign indicating number, antitheft differentiation are that digital authenticating rather than induction detect; The 5th, anti-dismounting ability is good, and what controller read is one group of password, rather than high or low level, even data line is cut off, also can't make the controller normal operation; The 6th, technology maturation reliability height, the TM chip technology of employing and MCU technology are present most widely used technology, no technical barrier and the technology hidden danger that may exist; The 7th, integral body has promoted the theftproof performance of battery-driven car, has avoided user's secondary to install burglary-resisting installation unnecessary expense of bringing and the influence to vehicle performance that may exist additional; The 8th, can suppress the pilferage behavior with technological means.
Technical characterstic of the present invention is: the hardware components of controller for electric vehicle is constant, but in Control Software, increased the verification process of electronic register sign indicating number, in the mode of touching the electronic register sign indicating number is input to controller for electric vehicle automatically when lockset is opened, the affirmation control vehicle by the electronic register sign indicating number starts and reaches antitheft purpose.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing.
Fig. 1 is the electronic register code authentication programming logic block diagram of this patent
Fig. 2 is the main program logic diagram of this patent
Fig. 3 is the interrupt routine logic diagram of this patent
Fig. 4 is the schematic block circuit diagram of this patent
The specific embodiment
Further specify below in conjunction with accompanying drawing:
As shown in Figure 1, electronic register code authentication program is divided three processes: first process is that the original licensed sign indicating number is preserved, read key cipher after entering main program, judge whether it is administrator password, not to be user cipher, judge whether registration code 1 is arranged in the controller, this user cipher does not promptly save as registration code 1, have whether registration code 2 is arranged in the controller of judgement, this user cipher does not promptly save as registration code 2, finish first process, promptly in the EEPROM of controller, set up the registration code of the original matched key that dispatches from the factory.Second process is working process, judges after first process promptly whether key cipher is registration code, is to enter the electric vehicle control system initialize routine, is not to carry out the electric brake control program.Whether the 3rd process is that registration code alters the procedure, and original key cipher to be read such as reads behind the administrator password, be legal registration code promptly, circulation confirm two registration codes all effectively after, the key cipher that reads in once more is identified and saves as new registration code.When judgement was not registration code, the electric brake control program was to illegally implementing anti-theft protection to the sign indicating number behavior; For preventing to sign indicating number deciphering, added wait time reading between the original key cipher to be read such as administrator password, wait time is set to 1-5 second.
To important indicator of controller for electric vehicle software design-calculated is exactly the speed of controlling in real time, because the affirmation process of electronic register sign indicating number is finished before the control main program in real time in advance, therefore, increase the running velocity that the electronic register verification process can not influence control program.
The principle of battery-driven car electric brake is to produce the electric brake torque by apply counter-current on motor coil.Controller for electric vehicle can produce five kinds of electric brake methods by software control:
1, bilateral copped wave: in the driving circuit/following two ends have two MOS conductings to be controlled by PWM.Characteristics are that surge of current is less, and torque pulsation is little, but motor speed when very low storage battery be that power output is arranged.
2, the one-sided copped wave of single tube: the upper end MOS in the driving circuit closes, and the metal-oxide-semiconductor conducting in lower end is controlled by PWM, and all the other two MOS close.Characteristics are that the current waveform fluctuation is bigger, and torque pulsation is big, has alternate afterflow, thereby the copper loss of motor stator winding is bigger.
3, the upper end MOS in two-tube one-sided copped wave-driving circuit closes, and the metal-oxide-semiconductor conducting in lower end is controlled by PWM, and all the other two MOS close.Characteristics are that torque is bigger, and noise is little.
4, the mode of stopping: upper end MOS closes, and three MOS in lower end are interrupted open-minded.Characteristics are that moment is big, brake fast when being fit to high speed.
5, embrace lock: upper end MOS closes, three the MOS all-pass in lower end.Characteristics are that moment is big, brake and antitheft control fast when being fit to low speed.
The functional requirement that main program is finished: 1, electronics commutation, 2, infinite speed variation, 3, the brake outage, 4, speed limit 51+1 power-assisted, 6, ABS flexible electrical magnetic brake, 7, cruise, 8, eliminate the commutation noise, 9, reversing;
The security requirement that main program is finished: 1, current limliting drives, and 2, overcurrent protection, 3, rotation-clogging protection, 4, battery under-voltage protection, 5, energy-conservation and reduce temperature rise, 6, antitheft locked, 7, the temperature rise restriction, 8, fault detection capability.
As shown in Figure 2, the general work flow process of program
System initialization: PWM opens, ADC, comparator, the setting of PGA etc.; Obtain working parameter (mode of operation, current reference value etc.) MOSFET and battery voltage detection.
---cruising,---------adjustment of reference work electric current is returned in stall processing---output state indication---to control main program general flow: the adjustment of reference work electric current in the renewal of battery voltage detection and maximum reference work electric current in the renewal of speed command for input detection and state change
Controller is taken all factors into consideration the processing speed of micro controller system in the software design, all adopt and regularly interrupt going the special variation of checking system, and make fast processing and reaction.
As shown in Figure 3, interrupt routine general flow:
---overcurrent interrupts detection, and---TMR interrupts detection, and---A/D interrupts detecting (comprising electric current, handle, brake, cell pressure), and---brake interruption detection---returned and interrupted inlet to interrupt inlet
As shown in Figure 4, the Electrical Bicycle control system mainly consists of the following components: based on the single chip machine controlling circuit of MCU controller, its radical function is control such as the starting of finishing motor, commutation, speed governing, braking and realizes protection to motor, battery; With IR2132S is driving, the inverter circuit of core, and its radical function is the bootstrap technique driving power MOSFET management and control system current of electric that utilizes IR2131S; Position signal treatment circuit, current signal treatment circuit and some peripheral protections, auxiliary circuit, its radical function have to be finished to signals sampling, to the power supply of circuit, shows signal is provided, sends function such as alerting signal.
Basic functional principle is: the PWM output port of MCU is through chip for driving, the driving power field effect transistor, by its three phase full bridge driving circuit of forming motor is controlled, position probing and current detecting form inverse feedback, the motor speed parameter can be calculated in the time of position probing, therefore three closed loop controls of position ring, speed ring and electric current loop can be carried out motor.Location parameter is measured by the Hall element that brushless direct current motor carries, and catches the location by the C port of MCU, and the magnitude of current of feedback is to realize that by the pressure drop that detects on the bypass resistance A/D that is carried by MCU samples, changes.
Circuit generally can be divided into five parts:
One, power unit
Controller has three groups of power supplys, first group of battery that provides total energy, chemical capacitor on the plank is that decoupling is used, be used to eliminate because the noise jamming that power lead, resistance that the circuit card cabling brought, parasitic inductance etc. cause, owing to be operated under big electric current, high-frequency, the condition of high temperature, especially to little, the resistant to elevated temperatures requirement in the lossy angle of chemical capacitor, the explosion of generating heat easily of common chemical capacitor.Second group of power supply provides the voltage of 12-15V, this group voltage mainly offers the turning-on voltage of MOSFET, because it is more special that the driving of field effect transistor requires, the following fine conducting of voltage ability of the above 20V of 10V must be arranged, so must have suitable voltage to supply with, this group voltage also provides pre-voltage stabilizing for back 5V regulator block simultaneously.The 3rd group of power supply is 5V, in total system, than higher, not merely is because decision circuit to the requirement of 5V power supply, and the power line voltage of MCU etc. all can not be too high, and because all AD conversion of MCU all is to be benchmark with 5V voltage, so work as 5V on time electric current can not appear, under-voltage value, and handle control etc. all can not reach the situation of designing requirement, even akinesia, so the scope of this voltage should be limited between the 4.90-5.10V by strictness.
Two, signal input and preprocessing part
This part circuit comprise power line voltage input, working current relatively, hall signal input, brake signal input and various other functional switch signal inputs etc. of amplifying input, the input of handle voltage, motor rotor position sensor.
Three, intelligent signal processing, control part
The core of intelligent signal processing and control is the MCU controller, product category is a lot, is example with the PIC16F72 chip: this chip has 28 pins, removes power supply, resets, oscillator etc., have 22 reusable IO mouths, all can be elected to be the input port of electronic register sign indicating number.Wherein the 13rd pin is the CCP1 delivery port, and exportable ultimate resolution reaches the adjustable pwm signal of 10BIT, and other has AN0-AN4 totally 5 road AD analogue to digital conversion input ports, and the voltage that detects external circuit can be provided, and an external interrupt input pin can be handled accident.Each pin is used as follows:
1:MCLR resets/the dual-purpose mouth of programming high pressure input
2: analog quantity input: the current signal input port after the amplification, micro controller system carries out controlling through computing after the A-D conversion output of PWM with this signal, makes electric current unlikely excessive and burn power tube.Voltage should be about 0-1.5V during normal operation
3: analog quantity input: the input port of power line voltage after dividing potential drop, micro controller system carry out A-D conversion back with this signal and judge whether cell pressure is low excessively, if low then cut off output to protect battery, avoid battery to damage because of overdischarge.Just often voltage should be more than 3V
4: analog quantity input: the handle speed governing voltage input that linear Hall is formed, micro controller system is just controlled the gross horsepower of exporting to motor according to this voltage, thereby reaches the purpose of regulating the speed.
5: analog/digital amount input port: brake signal voltage input.Can use AD converter to judge, or judge just that according to level this pin is a high level at ordinary times, when brake signal was imported, this pin became low level, and micro controller system cuts off the power supply of giving motor after receiving this signal, to reduce unnecessary loss.
6: the digital quantity input port: 1+1 power-assisted impulse singla input port, when the bicyclist treadles when car is moved ahead, the impulse singla that gear sensor sends is received in this mouthful meeting, can export certain power to motor after this signal is received by micro controller system and go ahead more like a cork to help the bicyclist.
7: analog/digital amount input port: because the position transduser aligning method difference of motor, which kind of motor the level of this mouthful just determines to be suitable for, the common in the market motor that so-called 120 ° and 60 ° arrangements are arranged.The size of electric current when the controller that has can also just be controlled starting according to the voltage of this mouthful is to be fit to different dynamics demands.
8: microcontroller power supply ground.
9: the external oscillator input pin of micro controller system.
10: the external oscillator feedback of micro controller system output pin.
11: digital input port: functional switch 1 (can make the input port of electronic register sign indicating number)
12: digital input port: functional switch 2 (can make the input port of electronic register sign indicating number)
13: digital output: PWM modulation signal output pin, speed or electric current are by the pulse duty factor width control of its output.
14: digital input port: functional switch 3 (can make the input port of electronic register sign indicating number)
15,16,17: digital input port: motor rotor position sensor signal input, micro controller system change decision according to its signal allows the corresponding windings of motor switch on, thereby motor is rotated to the direction of needs all the time.This said the branch of 120 ° and 60 ° above signal, this angle is actually electric phase place poor of these three signals, and 120 ° is exactly the same with three-phase electricity, and each phase place and fwd phase angle differ 120 °.60 ° is exactly to differ 60 °.
18: digital output: LED light of this mouth control, most of manufacturer all is used as failure condition with this indicator lamp and shows, and the different number of times of this indicator lamp flicker represents that different fault types is conveniently to produce, to keep in repair when controller has major failure.
19: microcontroller power supply ground.
20: microcontroller power supply just.The upper limit is 5.5V.
21: digital input port: external interrupt input, because accidental cause increases suddenly during not in range of control, this mouth has low level pulse input when electric current.Produce when micro controller system is received this signal and interrupt, the output of disable motor, thus protection unlikely damage of important devices or fault no longer enlarge.
22: digital output: the synchronous freewheeling control end, when current ratio was big, this mouthful output low level was controlled decision circuit thereafter, and the synchronous freewheeling function is opened.This function is explanation in detail in the back.
23--28: digital output: be the logical switch of power tube, micro controller system is according to the signal of motor rotor position sensor, by the conducting of exporting three-phase ac signal power controlling switch mosfet here with close, makes the motor normal operation.
Four, drive control signal preprocessing part
Drive control signal is synthetic by two kinds of signals: pwm signal and phase place logical switch signal.The three phase switch that power switch partly is made up of three groups of half-bridge switch, in order to power-up sequence and the energising direction that changes motor coil, the power tube that is just joining with power supply is last bridge, the power tube that joins with power supply ground is following bridge, the phase place logical switch signal of last bridge is provided by A+, B+, C+, these three control signals must be controlled the cooresponding bridge of going up with the synthetic back of pwm signal, and the phase place logical switch signal of following bridge is provided by A-, B-, C-, directly is used to control down the switch of bridge basically.
Five, power drive switch sections
By the signal of micro controller system according to motor rotor position sensor, the conducting of output three-phase ac signal power controlling switch mosfet and closing makes the motor normal operation.
At last, should be pointed out that above embodiment only is the more representational example of the present invention.Obviously, technical scheme of the present invention is not limited to the foregoing description, and many distortion can also be arranged.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention all should be thought protection scope of the present invention.

Claims (2)

1. the battery-driven car anti-theft controller of a charged sub-registration code, it is characterized in that: the battery-driven car anti-theft controller comprises the control system of hardware components, in control system, increased the authentication procedure of electronic register sign indicating number, electronic register code authentication program is divided three processes: first process is that the original licensed sign indicating number is preserved, read key cipher after entering main program, judge whether key cipher is administrator password, if key cipher is not an administrator password, then key cipher is user cipher, self check simultaneously judges whether registration code 1 is arranged in the battery-driven car anti-theft controller, if do not have 1 this user cipher of registration code promptly to save as registration code 1 in the battery-driven car anti-theft controller, judge whether registration code 2 is arranged in the battery-driven car anti-theft controller if there is 1 of registration code to continue self check in the battery-driven car anti-theft controller, if the battery-driven car anti-theft controller does not have registration code 2 these user ciphers promptly to save as registration code 2, finish first process, promptly in the EEPROM of battery-driven car anti-theft controller, set up the registration code of the original matched key that dispatches from the factory; Second process is working process, judges after first process promptly whether key cipher is registration code, is to enter the electric vehicle control system initialize routine, is not to carry out the electric brake control program; The 3rd process is that registration code alters the procedure, after reading administrator password, continue to wait for and read key cipher, and judge and continue to wait for whether the key cipher that reads is legal registration code, to confirm to require the legitimacy of change of registration sign indicating number, if circulation confirms that two are continued to wait for that the key cipher that reads all is legal registration code, the key cipher that reads in once more is identified and saves as new registration code; If continue to wait for that the electric brake control program was to illegally implementing anti-theft protection to the sign indicating number behavior when key cipher that reads was not legal registration code; For preventing to sign indicating number deciphering, added wait time reading between the key ciphers to be read such as administrator password and continuation, wait time is set to 1-5 second.
2. the battery-driven car anti-theft controller of a kind of charged sub-registration code according to claim 1 is characterized in that: the input employing contact mode of electronic register sign indicating number.
CN2009101549547A 2009-12-03 2009-12-03 Anti-theft electric motorcar controller with electronic registration code Active CN101722923B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009101549547A CN101722923B (en) 2009-12-03 2009-12-03 Anti-theft electric motorcar controller with electronic registration code

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009101549547A CN101722923B (en) 2009-12-03 2009-12-03 Anti-theft electric motorcar controller with electronic registration code

Publications (2)

Publication Number Publication Date
CN101722923A CN101722923A (en) 2010-06-09
CN101722923B true CN101722923B (en) 2011-04-20

Family

ID=42444656

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009101549547A Active CN101722923B (en) 2009-12-03 2009-12-03 Anti-theft electric motorcar controller with electronic registration code

Country Status (1)

Country Link
CN (1) CN101722923B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102874371B (en) * 2012-10-09 2017-07-14 天津市松正电动汽车技术股份有限公司 A kind of electric motor car governing system and its method
CN105270323B (en) * 2014-06-27 2018-06-26 重庆长安铃木汽车有限公司 Electronic chip anti-theft control system and its theft preventing method applied to pure electric sedan
CN105946790B (en) * 2016-05-03 2019-07-09 北京新能源汽车股份有限公司 Pure electric vehicle and power-on control method thereof
WO2019061442A1 (en) * 2017-09-30 2019-04-04 深圳市大疆创新科技有限公司 Aircraft safety protection method, equipment, aircraft and unmanned aerial vehicle
CN112693410B (en) * 2021-02-02 2023-07-04 成都金洹科科技有限公司 Control circuit of motor vehicle controller
CN115009410B (en) * 2022-06-21 2024-07-30 南京懂玫驱动技术有限公司 Control method of electric bicycle and electric bicycle

Also Published As

Publication number Publication date
CN101722923A (en) 2010-06-09

Similar Documents

Publication Publication Date Title
CN101722923B (en) Anti-theft electric motorcar controller with electronic registration code
CN101807873B (en) The drive circuit of motor, driving method and cooling device
CN101549631B (en) Power system of simple electric vehicle operation method thereof
CN100373764C (en) Method and device for braking washing machine
CN101013875B (en) Motor controller for DSP-based hybrid power automobile
CN103731076B (en) A kind of control method of electric bicycle based on permanent-magnet brushless DC electric machine
CN201133182Y (en) All-digit door machine control system
CN101007510B (en) Hybrid power automobile motor control method
CN104756398A (en) Motor control device and motor drive device
JP6835043B2 (en) Motor drive system
CN101183845A (en) Electric motor speed controller for vehicle
CN101790838A (en) Method for driving an electrical converter and associated apparatus
CN101545497B (en) Automobile engine cooling fan control system based on four-phase double-wire winding brushless DC motor
CN201509176U (en) Brushless motor control system and brushless motor
CN102957372A (en) Double closed-loop control system of permanent-magnet synchronous motor
CN201116080Y (en) Motor controller for hybrid power automobile based on DSP
CN101182744B (en) Two-way controlling electronic door lock
CN207157160U (en) A kind of automotive electronics lock for steering column control system
CN112693410A (en) Control circuit of motor vehicle controller
CN104796046A (en) Semiconductor device and driving apparatus
CN105656369B (en) A kind of box-like anti-theft control device of electric EMU and method
CN101158262B (en) Automatic door brushless motor resistance-encountering discrimination detecting technique
CN105007007B (en) A kind of control method of two-phase switched reluctance motor controller
CN102102577A (en) Engine water temperature control system applied to electric automobile
CN201708750U (en) Permanent magnet synchronous motor controller for vehicle

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant