CN102069798B - Control device and control method for parallel mild hybrid power motorcycle - Google Patents
Control device and control method for parallel mild hybrid power motorcycle Download PDFInfo
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Abstract
The invention provides a control device for a parallel mild hybrid power motorcycle, and belongs to the technical fields of hybrid power motorcycles. The control device solves the problem that output and operation of the engine and the motor of the conventional hybrid power motorcycle do not reach optimization. The control device comprises a whole electronic control unit (ECU), a battery, an accelerator opening sensor, a speed sensor, an engine revolution speed sensor and a brake position sensor; the whole ECU is connected with an engine ECU, a motor ECU and a battery manager; the motor ECU is connected with a frequency converter; the battery manager is connected with the control end of the battery; and the output end of the battery is connected with the power supply end of the frequency converter. A control method comprises the following steps of: starting ignition; reading vehicle condition signals; braking and reclaiming energy; judging the electric quantity of the battery; judging the working condition of the whole vehicle; and controlling power output by the whole ECU. By the control device and the control method, the total power output of the engine power and the motor power and the operating performance are optimized maximumly.
Description
Technical field
The invention belongs to technical field of motorcycles, relate to control setup and the control method thereof of a kind of parallel mild hybrid power motorcycle, particularly a kind of parallel mild hybrid power motorcycle.
Background technology
The pollution that hybrid electric vehicle is used for reducing consumption of fuel and suppresses to bring due to the discharging nuisance.Known hybrid power is the assembly power of driving engine and motor, and is different according to its array mode, can be divided into three kinds of assembled schemes:
The first is series hybrid, a driving engine drive current producer generating, and current feedback circuit charges to battery, the driven by power motor rotation is provided and is driven vehicle wheel rotation by battery, so this drive scheme is affected by motor fully.The advantage of this scheme is, when driving engine only needed to provide average power and moves under fixing and optimized state, this scheme basically can low consumption.
The second is in parallel the mixing, and the transmission device that driving engine is connected with motor separately is connected with drive wheel, and engine power is provided by fuel, and motor power is provided by battery.Hybrid electric vehicle can be delivered to drive wheel together with engine power and motor power.Simultaneously, hybrid electric vehicle has by utilizing motor to come the structure of auxiliary engine, thereby has reduced consumption of fuel, has suppressed simultaneously the pollution that causes due to the discharging nuisance.
The third is the series parallel type mixing of above-mentioned two kinds of structure compositions.Series parallel type mix be with motor parallel to engine crankshaft, rotate with the common driving crank of driving engine, bent axle is connected with axle drive shaft in power drive by change-speed box and reducing gear.Motor in this scheme plays the effect of actuating motor, electrical motor and electrical generator.
The control setup of three kinds of above-mentioned hybrid electric vehicles is to adopt accelerator open degree sensor and car speed sensor to detect control, in travelling, the operational ton of accelerator open degree sensor inspection vehicle driver to accelerator open degree, car speed sensor detects the speed of a motor vehicle, comes control engine and machine operation according to the detection signal of accelerator open degree and the detection signal of the speed of a motor vehicle.Because the maximum speed of revolution of the maximum speed of revolution of motor and driving engine is different, so that the driving engine in this control setup and motor do not have the actv. combination, total output output and the drive ability of engine power and motor power do not reach optimization.In addition, in this hybrid electric vehicle, battery needs frequent discharging and recharging, to the battery unprotect.
Summary of the invention
The present invention is directed to prior art and have the problems referred to above, proposed a kind of control setup and control method thereof of parallel mild hybrid power motorcycle, can make total output output and the drive ability of engine power and motor power reach optimization after this control setup and control method coordinate.
the present invention realizes by following technical proposal: a kind of control setup of parallel mild hybrid power motorcycle, comprise car load ECU, battery, the accelerator open degree sensor and the car speed sensor that all are connected with car load ECU, it is characterized in that, this control setup also comprises engine speed sensor and the normal danger sensor that is connected with car load ECU, also be connected with the Engine ECU for control engine on car load ECU, the battery manager that is used for controlling the motor ECU of motor and is used for controlling battery charging and discharging, be connected with frequency converter on motor ECU, battery manager is connected with the control end of above-mentioned battery, the mouth of battery is connected with the power end of frequency converter, accelerator open degree sensor, car speed sensor, engine speed sensor and normal danger sensor send to car load ECU with the electric signal that detects, car load ECU processes backward Engine ECU according to the signal that receives, motor ECU and battery manager send control command, Engine ECU is according to the control command control engine, motor ECU controls motor speed according to control command by controlling frequency converter, battery manager is controlled battery charging and discharging and inoperative driving engine when electric weight is not enough according to control command.
After car load ECU sensor-lodging, accelerator open degree signal, vehicle speed signal are compared, correctly judge the car load operating condition of this moment, calculate the required power under current working, by controlling the mode of operation of battery, motor and driving engine, provide driving power required under this operating mode.If the electric weight of battery detected when inadequate, inoperative driving engine prevents the excessive power consumption of battery, thereby affects battery life.When accelerating mode, also outputting power of motor in the time of engine output power has improved the acceleration capability of car load.When decelerating mode, the resistance that electric power generation produces is as braking force, and electric power generation charges to battery, and energy is reclaimed.
In the control setup of above-mentioned parallel mild hybrid power motorcycle, described engine output and described output power of motor sum are near the maximum output power of driving engine.Motor only plays booster action, relies on motor to provide and accelerates the additional power required with climbing, has consequently improved overall efficiency, does not sacrifice performance simultaneously.
In the control setup of above-mentioned parallel mild hybrid power motorcycle, until before described engine speed reaches the first rotating speed, the first rotating speed is 4000rpm, engine speed sensor is passed to car load ECU with tach signal, car load ECU sends control command to motor ECU after this signal is compared, and motor ECU controls motor according to control command rotating speed is along with the increase of engine speed increases; When engine speed surpassed the first rotating speed and arrives the second rotating speed, the second rotating speed was 9000rpm, and motor ECU controls motor according to control command rotating speed is along with the increase of engine speed reduces, and when engine speed reached the second rotating speed, motor speed was zero.This mode is used for control engine power and motor power sum near the maximum output power of driving engine, after engine speed surpasses the first rotating speed, reduce described motor power along with the engine speed increase, make the synthetic horsepower output of driving engine be no more than the maximum output power of former driving engine, and additionally increase horsepower output by motor when engine starting, improve the acceleration capability of car load.
In the control setup of above-mentioned parallel mild hybrid power motorcycle, described battery manager stops electric motor starting when receiving the signal of electric weight deficiency; When receiving the signal that battery electric quantity is full of, stop charging.Way to manage by this battery is protected battery, improves the service life of battery.
In the control setup of above-mentioned parallel mild hybrid power motorcycle, when described car load ECU received the brake signal that the normal danger sensor transports, motor ECU controlled electric power generation and also stores in battery by frequency converter.In common regenerative brake ratio, the resistance that produces during with electric power generation is braked, and therefore can carry out energy to a part of braking energy and reclaim.
In the control setup of above-mentioned parallel mild hybrid power motorcycle, described car load ECU, Engine ECU, motor ECU and battery manager adopt the CAN line to carry out mutual information transmission.
A kind of control method of parallel mild hybrid power motorcycle is characterized in that, this control method comprises the steps:
1) ignition trigger: the switch that switches on power, after car load ECU detected ignition signal, battery manager detected the electric weight of battery, when battery electric quantity is sufficient, the electric motor starting driving engine; When battery electric quantity is not enough, the inoperative driving engine of motor;
2) read in the vehicle condition signal: after engine starting, the brake signal that accelerator open degree signal, engine rotational speed signal and the vehicle speed signal that the accelerator open degree sensor that car load ECU receives successively, engine speed sensor and car speed sensor send and normal danger sensor transmit;
3) braking and energy reclaim: when car load ECU judgement brake signal is emergency brake signal, by original mechanical braking sytem or the hydraulic brake system on motor bike; When car load ECU judgement brake signal was non-emergent speed-slackening signal, motor ECU controlled electric power generation, and battery manager is controlled the battery charging, with the energy recovery of braking;
4) battery electric quantity judgement: when car load ECU institute does not detect the brake signal of normal danger sensor transmission, battery manager detects the electric weight of battery again, when battery electric quantity was sufficient, car load ECU was according to accelerator open degree signal, engine rotational speed signal and vehicle speed signal judgement vehicle condition running state; When battery electric quantity is not enough, finish the starting of driving engine;
5) car load operating mode judgement: accelerator open degree signal and vehicle speed signal detected and be operating mode at the uniform velocity when all constant; The accelerator open degree signal detected and be accelerating mode when becoming large; The accelerator open degree signal detected constant, vehicle speed signal is rear accelerating mode when becoming large; When rear accelerating mode, when current vehicle speed signal being detected more than or equal to default vehicle speed signal, car load accelerates to finish, and motor stops electronic, and car load switches at the uniform velocity operating mode; The accelerator open degree signal being detected is reducing, is being decelerating mode when vehicle speed signal reduces; The accelerator open degree signal detected constant, vehicle speed signal is reducing and vehicle speed signal is also rear decelerating mode greater than default vehicle speed signal; When rear decelerating mode, vehicle speed signal reduces and current vehicle speed signal during less than or equal to default vehicle speed signal, and motor stops generating, and car load switches at the uniform velocity operating mode; The accelerator open degree signal detected constant, vehicle speed signal is becoming large, and current vehicle speed signal is the descending operating mode during greater than default vehicle speed signal;
6) car load ECU power ratio control output: when car load ECU judged the car load operating mode, by Engine ECU control engine rotating speed, the required rotating speed rotating speed current according to driving engine of motor calculated, and controls motor speed by motor ECU; When vehicle condition at the uniform velocity, electric power generation charges to battery, when accelerating mode and rear accelerating mode, and output power of motor, when decelerating mode, rear decelerating mode and descending operating mode, the electric power generation recuperated energy; In the change process of these operating modes, the signal that accelerator open degree sensor, engine speed sensor and car speed sensor will detect in real time is transported to car load ECU, to realize circulation.
Default vehicle speed signal is the vehicle speed signal value according to the preset amount of accelerator open degree.Along with the change of accelerator open degree is large, it is large that the vehicle speed signal value becomes, and like this, comes more current vehicle speed signal take the vehicle speed signal value as benchmark, when the current vehicle speed signal value equaled predefined vehicle speed signal, the operating mode of car load just entered at the uniform velocity operating mode by rear accelerating mode or rear decelerating mode.Owing to will battery being detected at prestart, in the process of exercising, when other sensors such as accelerator open degree sensor being detected at every turn and changing, the electric weight of battery is detected in the capital again, will shutting theengine down when if the electric weight of battery is not enough, prevent the battery overdischarge, therefore, this control method can improve the service life of battery.
Compared with prior art, the control setup of this parallel mild hybrid power motorcycle has advantages of following:
1, this control setup is except adopting accelerator open degree sensor and car speed sensor, engine speed sensor and normal danger sensor have also been adopted in addition, flow to the multiple vehicle condition of the signal judgement car load of car load ECU by these four kinds of sensors, come according to the vehicle condition of car load, car load ECU calculates the output speed of motor according to the rotating speed of driving engine, it is more accurate to judge, can make total output output and the drive ability of engine power and motor power reach optimization after coordinating this control method, improve the efficient of car load, and need not sacrifice the performance of car load.
2, this control setup adopts motor that the energy of braking is reclaimed when braking, reduces complete-vehicle oil consumption.During recovery, the electricity that motor sends springs back in battery by the electric capacity in frequency converter, and circuit structure is simplified.
3, this control method will detect battery except prestart, if the real electric weight that detects battery when also wanting in the process of exercising will shutting theengine down during the electric weight of battery deficiency, prevents the battery overdischarge, therefore, improved the service life of battery.
Description of drawings
Fig. 1 represents the schematic diagram of the control setup of parallel mild hybrid power motorcycle.
Fig. 2 represents the communication structure schematic diagram between the car load control unit.
Fig. 3 represents that hybrid power motorcycle synthesizes the horsepower output exemplary plot.
Fig. 4 represents the control policy example logic figure of car load control setup.
In figure, 1, car load ECU; 2, accelerator open degree sensor; 3, car speed sensor; 4, engine speed sensor; 5, normal danger sensor; 6, instrument; 7, driving engine; 8, Engine ECU; 9, motor ECU; 10, battery manager; 11, battery; 12, frequency converter; 13, motor.
The specific embodiment
Be below specific embodiments of the invention, and by reference to the accompanying drawings technical scheme of the present invention be further described, but the present invention is not limited to these embodiment.
as shown in Figure 1, the control setup of parallel mild hybrid power motorcycle comprises car load ECU, battery, the accelerator open degree sensor 2 that is connected with car load ECU 1, car speed sensor 3, engine speed sensor 4 and normal danger sensor 5 and the instrument 6 that shows the vehicle performance data, also be connected with the Engine ECU 8 for control engine 7 on car load ECU 1, motor ECU 9 and battery manager 10, battery manager 10 is used for controlling discharging and recharging of battery 11, battery manager 10 is connected with the control end of battery 11, the mouth of battery 11 is connected with the power end of frequency converter 12, the mouth of frequency converter 12 connects motor, motor 13 is by on the bent axle that is parallel to driving engine 7, the bent axle of driving engine 7 is connected with the trailing wheel of car load with speed reduction gearing by power-transfer clutch, motor ECU 9 is connected with the control end of frequency converter 12, be used for controlling motor 13 by frequency converter 12.This motor 13 is made actuating motor when starting, as electrical motor, as electrical generator, this motor 13 is I SG motor common on market when descending or deceleration when accelerating.Accelerator open degree sensor 2, car speed sensor 3, driving engine 7 tachogens 4 and normal danger sensor 5 send to car load ECU 1 with the electric signal that detects, car load ECU 1 processes backward Engine ECU 8, motor ECU 9 and battery manager 10 according to the signal that receives and sends control command, Engine ECU 8 is according to control command control engine 7, motor ECU 9 controls motor 13 according to control command by controlling frequency converter 12, and battery manager 10 is controlled battery 11 according to control command and discharged and recharged.
After car load ECU 1 sensor-lodging, accelerator open degree signal, vehicle speed signal are compared, correctly judge the car load operating condition of this moment, by controlling battery 11, motor 13 and driving engine 7 work, provide driving power required under this operating mode.When accelerating mode, also horsepower output of motor 13 in the time of driving engine 7 horsepower output improves the acceleration capability of car load.Work as decelerating mode, motor 13 generatings are charged to battery 11, and energy is reclaimed.
Specifically, as shown in Figure 2, car load ECU 1, Engine ECU 8, motor ECU 9 and battery manager 10 adopt the CAN line to carry out mutual information transmission.
Motor 13 is controlled nodes: be used for connecting motor ECU 9, the information that this motor ECU 9 will be referred to motor 13 startings is delivered on the CAN line and from identical line and is received various activation command signals;
Driving engine 7 is controlled node: be used for connecting engine ECU 8, the information that this Engine ECU 8 will be referred to driving engine 7 is delivered on the CAN line and from identical line and is received various activation command signals;
Instrument 6 shows nodes: be used for connecting instrument 6, this instrument 6 will be referred to information that instrument 6 shows and delivers on the CAN line and from identical line and receive various signals, and selects rear transmission signal.
Battery 11 is controlled node: be used for connecting battery manager 10, the information that battery manager 10 will be referred to its charge condition sends on the CAN line and receives various command and the control inputs signal.
Car load control unit node: be used for to connect car load ECU, this device receives from the signal of motor ECU 9, Engine ECU 8, instrument 6 and battery manager 10 transmissions and various command and control signal is sent to each device from the CAN line.
Car load ECU 1 reads driving engine 7 tachogens 4, accelerator open degree sensor 2, car speed sensor 3 and normal danger sensor 5 every a time by the CAN line and carries the signal of coming, signal is transformed, and the signal that receives in instrument 6 simultaneously also imports in car load ECU 1.Compare analysis according to the signal that receives by control program, Engine ECU 8 control engine 7 work, motor ECU 9 controllers are controlled motor 13 cooperation driving engine 7 work simultaneously, improve the acceleration capability of car load.
Because motor 13 is auxiliary powers, so the power sum of the power of driving engine 7 outputs and motor 13 outputs is near the maximum output power of driving engine 7.As shown in Figure 3, until before driving engine 7 speed reach the first rotating speed, the first rotating speed is 4000rpm, engine speed sensor 4 is passed to car load ECU 1 with tach signal, send control command to motor ECU 9 after 1 pair of this signal of car load ECU compares, motor ECU 9 controls motor 13 according to control command rotating speed is along with the increase of driving engine 7 rotating speeds increases; When driving engine 7 speed surpass first rotating speed arrival the second rotating speed, the second rotating speed is 9000rpm, motor ECU9 controls motor 13 according to control command rotating speed is along with the increase of driving engine 7 rotating speeds reduces, and when driving engine 7 rotating speeds reached the second rotating speed, motor 13 rotating speeds were zero.
For battery 11 is protected, extend the service life of battery 11, battery manager 10 stops motor 13 startings when receiving the signal of electric weight deficiency; When receiving the signal that battery 11 electric weight are full of, stop charging.
When car load ECU 1 received the brake signal that normal danger sensor 5 transports, motor ECU 9 controlled motors 13 and generates electricity and store in battery 11.Engine ECU 8 and motor ECU 9 export to motor 13 according to the driving signal (SU, SV, SW) that control signal and battery 11 voltages are tried to achieve.Motor 13 flows to the three-phase coil of U phase, V phase, W phase by driving signal (SU, SV, SW), driven or regeneration, and drive wheel is exported in motor 13 torques or charged to battery 11 by regeneration.In common regenerative brake ratio, the resistance that produces during with motor 13 generating is braked, and therefore can carry out energy to a part of braking energy and reclaim.If emergency braking adopts mechanical braking or hydraulic braking.
As shown in Figure 4, the control method of parallel mild hybrid power motorcycle comprises the steps:
1) ignition trigger: the switch that switches on power, after car load ECU 1 detected ignition signal, battery manager 10 detected the electric weight of battery 11, when battery 11 electric weight are sufficient, motor 13 fire an engines 7; When battery 11 electric weight are not enough, the inoperative driving engine 7 of motor 13;
2) read in the vehicle condition signal: after driving engine 7 startings, the brake signal that accelerator open degree signal, engine rotational speed signal and the vehicle speed signal that the accelerator open degree sensor 2 that car load ECU 1 receives successively, engine speed sensor 4 and car speed sensor 3 send and normal danger sensor 5 transmit;
3) braking and energy reclaim: when car load ECU 1 judgement brake signal is emergency brake signal, by original mechanical braking sytem or the hydraulic brake system on motor bike; When car load ECU 1 judgement brake signal is non-emergent speed-slackening signal, motor ECU 9 control motor 13 generatings, battery manager 10 is controlled batteries 11 chargings, with the energy recovery of braking;
4) battery 11 electric weight judgements: car load ECU 1 when the brake signal that normal danger sensor 5 transmits not detected, battery manager 10 detects the electric weight of battery 11 again, when battery 11 electric weight were sufficient, car load ECU 1 was according to accelerator open degree signal, engine rotational speed signal and vehicle speed signal judgement vehicle condition running state; When battery 11 electric weight are not enough, finish the starting of driving engine 7;
5) car load operating mode judgement: accelerator open degree signal and vehicle speed signal detected and be operating mode at the uniform velocity when all constant; The accelerator open degree signal detected and be accelerating mode when becoming large; The accelerator open degree signal detected constant, vehicle speed signal is rear accelerating mode when becoming large; When rear accelerating mode, when current vehicle speed signal being detected more than or equal to default vehicle speed signal, car load accelerates to finish, and motor 13 stops electronic, and car load switches at the uniform velocity operating mode; The accelerator open degree signal being detected is reducing, is being decelerating mode when vehicle speed signal reduces; The accelerator open degree signal detected constant, vehicle speed signal is reducing and vehicle speed signal is also rear decelerating mode greater than default vehicle speed signal; When rear decelerating mode, vehicle speed signal reduces and current vehicle speed signal during less than or equal to default vehicle speed signal, and motor 13 stops generating, and car load switches at the uniform velocity operating mode; The accelerator open degree signal detected constant, vehicle speed signal is becoming large, and current vehicle speed signal is the descending operating mode during greater than default vehicle speed signal;
6) car load ECU 1 power ratio control output: when car load ECU 1 judged the car load operating mode, by Engine ECU 8 control engine 7 rotating speeds, the required rotating speed rotating speed current according to driving engine 7 of motor 13 calculated, and controls motor 13 rotating speeds by motor ECU 9; When vehicle condition at the uniform velocity, motor 13 generatings are to battery 11 chargings, when accelerating mode and rear accelerating mode, and motor 13 horsepower outputs, when decelerating mode, rear decelerating mode and descending operating mode, motor 13 generating recuperated energies; In the change process of these operating modes, the signal that accelerator open degree sensor 2, engine speed sensor 4 and car speed sensor 3 will detect in real time is transported to car load ECU 1, to realize circulation.
Claims (1)
1. the control method of a parallel mild hybrid power motorcycle, is characterized in that, this control method comprises the steps:
1) ignition trigger: the switch that switches on power, car load ECU(1) ignition signal detected after, battery manager (10) detects the electric weight of battery (11), when battery (11) electric weight is sufficient, motor (13) fire an engine (7); When battery (11) electric weight is not enough, the inoperative driving engine of motor (13) (7);
2) read in the vehicle condition signal: after driving engine (7) starting, car load ECU(1) accelerator open degree sensor (2), engine speed sensor (4) and the car speed sensor (3) that receive successively the accelerator open degree signal, driving engine (7) tach signal and the vehicle speed signal that send and the brake signal of normal danger sensor (5) transmission;
3) braking and energy reclaim: at car load ECU(1) when the judgement brake signal is emergency brake signal, by the original mechanical braking sytem on motor bike or hydraulic brake system braking; At car load ECU(1) when the judgement brake signal is non-emergent speed-slackening signal, motor ECU(9) control motor (13) generating, battery manager (10) is controlled battery (11) charging, with the energy recovery of braking;
When 4) battery (11) electric weight judgement: at car load ECU(1) institute does not detect the brake signal of normal danger sensor (5) transmission, battery manager (10) detects the electric weight of battery (11) again, when battery (11) electric weight is sufficient, car load ECU(1) according to accelerator open degree signal, engine rotational speed signal and vehicle speed signal judgement vehicle condition running state; When battery (11) electric weight is not enough, finish the starting of driving engine (7);
5) car load operating mode judgement: accelerator open degree signal and vehicle speed signal detected and be operating mode at the uniform velocity when all constant; The accelerator open degree signal detected and be accelerating mode when becoming large; The accelerator open degree signal detected constant, vehicle speed signal is rear accelerating mode when becoming large; When rear accelerating mode, when current vehicle speed signal being detected more than or equal to default vehicle speed signal, car load accelerates to finish, and motor (13) stops electronic, and car load switches at the uniform velocity operating mode; The accelerator open degree signal being detected is reducing, is being decelerating mode when vehicle speed signal reduces; The accelerator open degree signal detected constant, vehicle speed signal is reducing and vehicle speed signal is also rear decelerating mode greater than default vehicle speed signal; When rear decelerating mode, vehicle speed signal reduces and current vehicle speed signal during less than or equal to default vehicle speed signal, and motor (13) stops generating, and car load switches at the uniform velocity operating mode; The accelerator open degree signal detected constant, vehicle speed signal is becoming large, and current vehicle speed signal is the descending operating mode during greater than default vehicle speed signal;
6) car load ECU(1) power ratio control output: when car load ECU(1) judging the car load operating mode, by Engine ECU (8) control engine (7) rotating speed, the required rotating speed rotating speed current according to driving engine (7) of motor (13) calculates, and by motor ECU(9) control motor (13) rotating speed; When vehicle condition at the uniform velocity, motor (13) generating is to battery (11) charging, when accelerating mode and rear accelerating mode, and motor (13) horsepower output, when decelerating mode, rear decelerating mode and descending operating mode, motor (13) generating recuperated energy; In the change process of these operating modes, the signal that accelerator open degree sensor (2), engine speed sensor (4) and car speed sensor (3) will detect in real time is transported to car load ECU(1), to realize circulation.
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| JP6185606B2 (en) * | 2014-01-23 | 2017-08-23 | 株式会社エフ・シー・シー | Saddle riding |
| CN103888032A (en) * | 2014-02-28 | 2014-06-25 | 成都宇能通能源开发有限公司 | Mechanical in-parallel modularized combined type electric driving system with batteries serving as energy sources |
| US10308138B2 (en) * | 2016-05-11 | 2019-06-04 | Ford Global Technologies, Llc | Hybrid electric vehicle creep control |
| CN107097687B (en) * | 2017-04-28 | 2019-09-03 | 北京新能源汽车股份有限公司 | Automobile jitter control method and device |
| CN108168899A (en) * | 2017-12-28 | 2018-06-15 | 凯迈(洛阳)机电有限公司 | A kind of motor heating break-in control system |
| CN109062085A (en) * | 2018-06-20 | 2018-12-21 | 武汉志力拓贸易有限公司 | Locomotive wireless location auto-power-cutting system |
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| Title |
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| JP特开2010-89603A 2010.04.22 |
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| Publication number | Publication date |
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| CN103287426B (en) | 2015-12-02 |
| CN103287426A (en) | 2013-09-11 |
| CN102069798A (en) | 2011-05-25 |
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