CN102355181A - Double-channel redundant brushless direct current motor driver and relay protection method thereof - Google Patents
Double-channel redundant brushless direct current motor driver and relay protection method thereof Download PDFInfo
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- CN102355181A CN102355181A CN2011102787982A CN201110278798A CN102355181A CN 102355181 A CN102355181 A CN 102355181A CN 2011102787982 A CN2011102787982 A CN 2011102787982A CN 201110278798 A CN201110278798 A CN 201110278798A CN 102355181 A CN102355181 A CN 102355181A
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Abstract
The invention relates to a double-channel redundant brushless direct current motor driver and a relay protection method thereof. The driver comprises a control circuit, two power amplifying circuits, two inverter bridge main circuits, four phase current detection circuits, two over-current protection circuits and two relay protection circuits, wherein the control circuit coordinates work of each part and controls actions of starting, stopping, speed regulation, reversing and the like of a motor; a control object is a double-redundancy brushless direct current motor; the phase current detection circuit has a main effect of detecting phase current of the motor in real time; the current is processed and then input into a controller to perform feedback regulation on rotation speed of the motor; the over-current protection circuit can be used for timely diagnosing and protecting a fault when a system fails; the relay protection circuit is a key part of the system, has the effect of controlling current load by using a weak control signal and can cut off power supply at the first time when a main circuit fails; and the reliability and the safety for the entire system are improved.
Description
Technical field
The present invention relates to a kind of steering wheel with redundant brshless DC motor driver of binary channels and relay protection scheme thereof, belong to technical field of motors.
Background technology
Servo actuator is the actuator of flight control system, also claims steering wheel.It carries out directly (compound steering wheel) or (axle helps the type steering wheel) control indirectly according to the output order of flight control computer to each control surface of aircraft.It is by controller, compositions such as actuator.By using the energy to be divided into: three kinds of dynamo-electric, electric liquid and pneumatic servos; Can divide by controlled physical quantity: three kinds of position, speed and power steering wheels.What in flight control system, use always at present is position model electro-hydraulic servo steering wheel, and the servo steering wheel of electrodynamic type is also developed rapidly at present.But the servo steering wheel of electrodynamic type is compared with traditional simple mechanical formula steering wheel, and reliability is lower slightly, when circuit breaks down, will influence the use of steering wheel, and therefore the harm aviation safety designs a motor driven systems with high reliability and be necessary.
At present, the servo steering wheel of electrodynamic type mainly adopts brshless DC motor, and brshless DC motor adopts high performance rare earth permanent-magnetic material manufacturing, has at a high speed high efficiency, high dynamic response, advantages such as high heat capacity and high reliability.Also have characteristics such as low noise and long-life simultaneously.Be the New-type electric machine that a kind of new development is got up, be used for multiple field at present, especially in Aircraft Steering Engine, be widely used.
The solid-state relay reliable operation; Life-span is long, noiseless, no-spark; No electromagnetic interference; Switching speed is fast, and antijamming capability is strong, and volume is little; Shock-resistant; Anti-vibration, explosion-proof, moistureproof, anticorrosion, can be compatible with logical circuits such as TTL, DTL, HTL reaches direct driving large current load with small control signal.Main deficiency is to have on-state voltage drop (needing corresponding cooling measure), and the off-state leakage current is arranged, and alternating current-direct current can not be general, and the contact sets number is few, in addition index errors such as overcurrent, overvoltage and voltage build-up rate, current-rising-rate.
Summary of the invention
The present invention is primarily aimed at the problem that steering wheel exists with aspects such as brshless DC motor drive reliability and relaying protections; Overcome its weak point; From improving the angle of steering wheel, develop a kind of steering wheel with redundant brshless DC motor driver of binary channels and relay protection scheme thereof with brshless DC motor drive reliability and fail safe.
The present invention provides a kind of steering wheel with the redundant brshless DC motor driver of binary channels; Comprise 1 control circuit; 2 power amplification circuits are following power amplification circuit A; Power amplification circuit B; 2 inverter bridge main circuits are following inverter bridge main circuit A; Inverter bridge main circuit B; 4 phase current testing circuits are following first current detection circuit; Second current detection circuit; The 3rd current detection circuit; The 4th current detection circuit; 2 current foldback circuits are following current foldback circuit A; Current foldback circuit B, 2 relay protection circuits are following relay protection circuit A; Relay protection circuit B;
Wherein, the input of power amplification circuit A and power amplification circuit B links to each other with the control port of control circuit respectively; The output of power amplification circuit A links to each other with the input of inverter bridge main circuit A, and the output of power amplification circuit B links to each other with the input of inverter bridge main circuit B; It is following brshless DC motor A side and B side three phase windings that the output of inverter bridge main circuit A and inverter bridge main circuit B is connected respectively on the two cover windings of two margin brushless DC motors; The input of first current detection circuit and second current detection circuit is connected any two in the brshless DC motor A side three-phase to be gone up mutually, and output connects the control port of control circuit respectively; The input of the 3rd current detection circuit and the 4th current detection circuit is connected any two in the brshless DC motor B side three-phase and goes up mutually; Output connects the control port of control circuit respectively; Remaining one goes up mutually in the input connection brshless DC motor A side three-phase of current foldback circuit A, and output connects on the control port of control circuit; Remaining one goes up mutually in the input connection brshless DC motor B side three-phase of current foldback circuit B, and output connects on the control port of control circuit; Relay protection circuit A is connected in series in the power supply circuits of inverter bridge main circuit A, and control end is connected on the control port of control circuit; Relay protection circuit B is connected in series in the power supply circuits of inverter bridge main circuit B, and control end is connected on the control port of control circuit;
Control circuit is the command and control center of whole system; Coordinate work and the control motor of each several part startup, stop, speed governing and action such as reverse; Controlling object is two margin brushless DC motors, promptly in a motor stator, embeds two cover windings, plays the purpose that improves reliability; The effect of power amplification circuit is that the control signal of controller output is isolated, amplified, and increases its driving force; The inverter bridge main circuit mainly comprises device for power switching, and conducting guarantees the operate as normal of motor in order; The phase current testing circuit mainly plays real-time detection electric machine phase current, is input to controller after treatment, and motor speed is carried out feedback regulation; Current foldback circuit is can be timely to diagnosing malfunction and protection when breaking down in system; Relay protection circuit is the key component of system, and it utilizes faint control signal, plays the effect of control large current load; Can be when main circuit breaks down; The very first time is cut off power supply, in case system is caused infringement greatly, the reliability and the fail safe that have improved entire system.
The relay protection method of the redundant brshless DC motor driver of described binary channels is characterized in that:
Have 3 kinds of operational modes; First kind is remaining A isolated operation mode; Be that control circuit sends control command, through outputing to power amplification circuit A, power amplification circuit is given inverter bridge main circuit A after signal is amplified; A side three phase windings that connect two margin brushless DC motors then, the operation of control motor; First current detection circuit and second current detection circuit are gathered in the A side remaining three-phase any two mutually phase currents respectively, carry back control circuit then, through playing the purpose of control motor speed after the conversion; Current foldback circuit A then gathers the phase current of residue one phase in the A side remaining three-phase, is transported to control unit then, plays the effect of overcurrent protection; Relay protection circuit A plays switch, when the inverter bridge main circuit breaks down, power supply can be cut off, and prevents further damage; When the A remaining broke down, control circuit sent instruction, cut off A remaining circuit, started B remaining circuit simultaneously, guaranteed the normal operation of system;
Second kind is remaining B isolated operation mode; Be that control circuit sends control command, output to power amplification circuit B through IO2, power amplification circuit is given inverter bridge main circuit B after signal is amplified; B side three phase windings that connect two margin brushless DC motors then, the operation of control motor; The 3rd current detection circuit and the 4th current detection circuit are gathered in the B side remaining three-phase any two mutually phase currents respectively, carry back control circuit then, through playing the purpose of control motor speed after the conversion; Current foldback circuit B then gathers the phase current of residue one phase in the B side remaining three-phase, is transported to control unit then, plays the effect of overcurrent protection; Relay protection circuit B plays switch, when the inverter bridge main circuit breaks down, power supply can be cut off, and prevents further damage; When the B remaining broke down, control circuit sent instruction, cut off B remaining circuit, started A remaining circuit simultaneously, guaranteed the normal operation of system;
The third is two common operational modes of remaining; Two kinds of operational modes being mentioned are promptly moved simultaneously; Each remaining is born half load of motor; When wherein any one remaining breaks down; Control circuit cuts off this remaining circuit automatically; Another remaining circuit is unaffected, bears the load of whole motor.
The present invention has improved steering wheel with brshless DC motor drive reliability and fail safe.
Description of drawings
Fig. 1 is an overall structure block diagram of the present invention.
Fig. 2 is an A remaining relay protection circuit.
Fig. 3 is a B remaining relay protection circuit.
Fig. 4 is an A remaining isolated operation structure chart.
Fig. 5 is a B remaining isolated operation structure chart.
Fig. 6 is two remainings work structuring figure simultaneously.
Concrete label is following among the figure:
1. current foldback circuit A
2. current foldback circuit B
3. two margin brushless DC motors
4. inverter bridge main circuit A
5. inverter bridge main circuit B
6. power amplification circuit A
7. power amplification circuit B
8. control circuit
9. first current detection circuit
10. second current detection circuit
11. relay protection circuit A
12. relay protection circuit B
13. the 3rd current detection circuit
14. the 4th current detection circuit
15. remaining A
16. remaining B
17. photovoltaic isolator PVI1050NS U1 switching circuit
18. photovoltaic isolator PVI1050NS U1
19. inverter bridge main circuit A
20. photovoltaic isolator PVI1050NS U2 switching circuit
21. photovoltaic isolator PVI1050NS U2
22. inverter bridge main circuit B
K
1, K
2. the control end of relay protection circuit
The input of DC1, DC3. photovoltaic isolator PVI1050NS
The power supply of DC2, DC4. inverter bridge main circuit A, B
Q
2, Q
4.N raceway groove POWER mos manages
Q
1, Q
3.NPN type triode
R
1, R
2, R
3, R
4, R
5, R
6. resistance
U1, U2. photovoltaic isolator PVI1050NS
Embodiment
Narrate the specific embodiment of the present invention with reference to the accompanying drawings.A kind of steering wheel of the present invention comprises 1 control circuit with redundant brshless DC motor driver of binary channels and relay protection scheme preferred implementation thereof; 2 power amplification circuit (power amplification circuit A; Power amplification circuit B); 2 inverter bridge main circuit (inverter bridge main circuit A; Inverter bridge main circuit B); 4 phase current testing circuit (first current detection circuits; Second current detection circuit; The 3rd current detection circuit; The 4th current detection circuit); 2 current foldback circuit (current foldback circuit A; Current foldback circuit B); 2 relay protection circuit (relay protection circuit A; Relay protection circuit B); Wherein, the input of power amplification circuit A and power amplification circuit B links to each other with IO2 with the control port IO1 of control circuit respectively; The output of power amplification circuit A links to each other with the input of inverter bridge main circuit A, and the output of power amplification circuit B links to each other with the input of inverter bridge main circuit B; The output of inverter bridge main circuit A and inverter bridge main circuit B is connected respectively on the two cover windings of two margin brushless DC motors; The input of first current detection circuit and second current detection circuit is connected any two in the brshless DC motor A side three-phase to be gone up mutually, and output connects the control port IO3 and the IO4 of control circuit respectively; The input of the 3rd current detection circuit and the 4th current detection circuit is connected any two in the brshless DC motor B side three-phase and goes up mutually; Output connects the control port IO5 and the IO6 of control circuit respectively; Remaining one goes up mutually in the input connection brshless DC motor A side three-phase of current foldback circuit A, and output connects on the control port IO7 of control circuit; Remaining one goes up mutually in the input connection brshless DC motor B side three-phase of current foldback circuit B, and output connects on the control port IO8 of control circuit; Relay protection circuit A is connected in series in the power supply circuits of inverter bridge main circuit A, and control end is connected on the control port IO9 of control circuit; Relay protection circuit B is connected in series in the power supply circuits of inverter bridge main circuit B, and control end is connected on the control port IO10 of control circuit.Shown in figure one connects.
In the better embodiment of the present invention; Described A remaining relay protection circuit comprises living isolator PVI1050NS, N raceway groove POWER mos pipe and the accessory circuit thereof beaten of photovoltaic; Behind the DC power supply DC1 connecting resistance R1; Give birth to the input of beating isolator PVI1050NS U1 as photovoltaic; Q1 is a NPN type triode; Form switching circuit with R2, R3, K1 is the switching circuit control port, connection control circuit; Because PVI1050NS is two independently photovoltaic isolator integrated; So in order to improve the ability that drives follow-up mos pipe; With two independently photovoltaic isolator be together in series; Output voltage can be risen to about 10V like this; Improved driving force greatly; Connect N raceway groove POWER mos pipe then, play the purpose that control N raceway groove POWER mos pipe cut-offs.When system normally moved, control circuit sent high level signal K1, and K1 is a high level, so triode Q1 conducting, the input of U1 has electric current to flow through, output output 10V left and right sides voltage, Q2 conducting; Otherwise when system's abnormal running, Q2 ends, and cuts off inverter bridge main circuit A power supply.Shown in Fig. 2 connects.
In the better embodiment of the present invention; Described B remaining relay protection circuit comprises living isolator PVI1050NS, N raceway groove POWER mos pipe and the accessory circuit thereof beaten of photovoltaic; Behind the DC power supply DC3 connecting resistance R4; Give birth to the input of beating isolator PVI1050NS U2 as photovoltaic; Q3 is a NPN type triode; Form switching circuit with R5, R6, K2 is the switching circuit control port, connection control circuit; Because PVI1050NS is two independently photovoltaic isolator integrated; So in order to improve the ability that drives follow-up mos pipe; With two independently photovoltaic isolator be together in series; Output voltage can be risen to about 10V like this; Improved driving force greatly; Connect N raceway groove POWER mos pipe then, play the purpose that control N raceway groove POWER mos pipe cut-offs.When system normally moved, control circuit sent high level signal K2, and K2 is a high level, so triode Q3 conducting, the input of U2 has electric current to flow through, output output 10V left and right sides voltage, Q4 conducting; Otherwise when system's abnormal running, Q4 ends, and cuts off inverter bridge main circuit B power supply.Shown in Fig. 3 connects.
Instance one:
Remaining A isolated operation; Control circuit can adopt DSP control; DSP is only through IO1 output control signal; The small-power pwm control signal of output is through behind the power amplifying device; Export to inverter bridge main circuit A; Control circuit is given the K1 high level then; Relay protection circuit A work; Give the power supply of inverter bridge main circuit; First current detection circuit and second current detection circuit detect any biphase current in two margin brushless DC motor A side remaining three-phases in real time; Current foldback circuit A then detects the electric current of residue one phase, plays overcurrent protection.When system breaks down; For example; When inverter bridge main circuit A takes place to lead directly to danger; The moment increase of motor three-phase current, current foldback circuit and relay protection circuit work, and inverter bridge main circuit A power supply is cut off; DSP cuts off IO1 output simultaneously; Start IO2 output simultaneously, system automatically switches to remaining B, and system normally moves.
Instance two:
Remaining B isolated operation; Control circuit can adopt DSP control; DSP is only through IO2 output control signal; The small-power pwm control signal of output is through behind the power amplifying device; Export to inverter bridge main circuit B; Control circuit is given the K2 high level then; Relay protection circuit B work; Give the power supply of inverter bridge main circuit; The 3rd current detection circuit and the 4th current detection circuit detect any biphase current in two margin brushless DC motor B side remaining three-phases in real time; Current foldback circuit B then detects the electric current of residue one phase, plays overcurrent protection.When system breaks down; For example; When inverter bridge main circuit B takes place to lead directly to danger; The moment increase of motor three-phase current, current foldback circuit and relay protection circuit work, and inverter bridge main circuit B power supply is cut off; DSP cuts off IO2 output simultaneously; Start IO1 output simultaneously, system automatically switches to remaining A, and system normally moves.
Instance three:
Remaining A, B move simultaneously; Be that system operates under two remaining states; Control circuit can adopt DSP control; DSP exports control signal through IO1, IO2, and the small-power pwm control signal of output is exported to inverter bridge main circuit A, B after passing through power amplification circuit A, B; Control circuit is given K1, K2 high level then; Inverter bridge main circuit A, B power supply are given in relay protection circuit A, B work, and two remainings are born the load of half separately; First current detection circuit and second current detection circuit detect any biphase current in two margin brushless DC motor A side remaining three-phases in real time, and current foldback circuit A then detects the electric current of residue one phase; The 3rd current detection circuit and the 4th current detection circuit detect any biphase current in two margin brushless DC motor B side remaining three-phases in real time, and current foldback circuit B then detects the electric current of residue one phase, play overcurrent protection.When system breaks down; For example; When inverter bridge main circuit A takes place to lead directly to danger; The moment increase of motor A side winding current, current foldback circuit and relay protection circuit work, and inverter bridge main circuit A power supply is cut off; DSP cuts off IO1 output simultaneously; IO2 output is unaffected, and remaining B operate as normal is born the load of whole system.
Claims (2)
1. the redundant brshless DC motor driver of a binary channels; It is characterized in that: comprise 1 control circuit; 2 power amplification circuits are following power amplification circuit A; Power amplification circuit B; 2 inverter bridge main circuits are following inverter bridge main circuit A; Inverter bridge main circuit B; 4 phase current testing circuits are following first current detection circuit; Second current detection circuit; The 3rd current detection circuit; The 4th current detection circuit; 2 current foldback circuits are following current foldback circuit A; Current foldback circuit B, 2 relay protection circuits are following relay protection circuit A; Relay protection circuit B;
Wherein, the input of power amplification circuit A and power amplification circuit B links to each other with the control port of control circuit respectively; The output of power amplification circuit A links to each other with the input of inverter bridge main circuit A, and the output of power amplification circuit B links to each other with the input of inverter bridge main circuit B; It is following brshless DC motor A side and B side three phase windings that the output of inverter bridge main circuit A and inverter bridge main circuit B is connected respectively on the two cover windings of two margin brushless DC motors; The input of first current detection circuit and second current detection circuit is connected any two in the brshless DC motor A side three-phase to be gone up mutually, and output connects the control port of control circuit respectively; The input of the 3rd current detection circuit and the 4th current detection circuit is connected any two in the brshless DC motor B side three-phase and goes up mutually; Output connects the control port of control circuit respectively; Remaining one goes up mutually in the input connection brshless DC motor A side three-phase of current foldback circuit A, and output connects on the control port of control circuit; Remaining one goes up mutually in the input connection brshless DC motor B side three-phase of current foldback circuit B, and output connects on the control port of control circuit; Relay protection circuit A is connected in series in the power supply circuits of inverter bridge main circuit A, and control end is connected on the control port of control circuit; Relay protection circuit B is connected in series in the power supply circuits of inverter bridge main circuit B, and control end is connected on the control port of control circuit.
2. the relay protection method of the redundant brshless DC motor driver of binary channels according to claim 1 is characterized in that:
Have 3 kinds of operational modes; First kind is remaining A isolated operation mode; Be that control circuit sends control command, through outputing to power amplification circuit A, power amplification circuit is given inverter bridge main circuit A after signal is amplified; A side three phase windings that connect two margin brushless DC motors then, the operation of control motor; First current detection circuit and second current detection circuit are gathered in the A side remaining three-phase any two mutually phase currents respectively, carry back control circuit then, through playing the purpose of control motor speed after the conversion; Current foldback circuit A then gathers the phase current of residue one phase in the A side remaining three-phase, is transported to control unit then, plays the effect of overcurrent protection; Relay protection circuit A plays switch, when the inverter bridge main circuit breaks down, power supply can be cut off, and prevents further damage; When the A remaining broke down, control circuit sent instruction, cut off A remaining circuit, started B remaining circuit simultaneously, guaranteed the normal operation of system;
Second kind is remaining B isolated operation mode; Be that control circuit sends control command, output to power amplification circuit B through IO2, power amplification circuit is given inverter bridge main circuit B after signal is amplified; B side three phase windings that connect two margin brushless DC motors then, the operation of control motor; The 3rd current detection circuit and the 4th current detection circuit are gathered in the B side remaining three-phase any two mutually phase currents respectively, carry back control circuit then, through playing the purpose of control motor speed after the conversion; Current foldback circuit B then gathers the phase current of residue one phase in the B side remaining three-phase, is transported to control unit then, plays the effect of overcurrent protection; Relay protection circuit B plays switch, when the inverter bridge main circuit breaks down, power supply can be cut off, and prevents further damage; When the B remaining broke down, control circuit sent instruction, cut off B remaining circuit, started A remaining circuit simultaneously, guaranteed the normal operation of system;
The third is two common operational modes of remaining; Two kinds of operational modes being mentioned are promptly moved simultaneously; Each remaining is born half load of motor; When wherein any one remaining breaks down; Control circuit cuts off this remaining circuit automatically; Another remaining circuit is unaffected, bears the load of whole motor.
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| CN2011102787982A CN102355181A (en) | 2011-09-19 | 2011-09-19 | Double-channel redundant brushless direct current motor driver and relay protection method thereof |
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| CN2011102787982A CN102355181A (en) | 2011-09-19 | 2011-09-19 | Double-channel redundant brushless direct current motor driver and relay protection method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102780426A (en) * | 2012-08-20 | 2012-11-14 | 天津市松正电动汽车技术股份有限公司 | Dual-power motor driving system |
| CN102780428A (en) * | 2012-08-20 | 2012-11-14 | 天津市松正电动汽车技术股份有限公司 | Dual-stator motor drive system |
| CN102842460A (en) * | 2012-08-30 | 2012-12-26 | 北京动力机械研究所 | Overload control circuit with double-channel redundant function |
| CN103051258A (en) * | 2012-12-21 | 2013-04-17 | 兰州飞行控制有限责任公司 | Power supply circuit for Hall sensor of dual-redundancy servo motor |
| CN103414430A (en) * | 2013-08-09 | 2013-11-27 | 北京控制工程研究所 | Method for reducing main backup magnetic coupling of solar panel driving circuit |
| CN103474951A (en) * | 2013-08-28 | 2013-12-25 | 北京空间飞行器总体设计部 | Low drop-out overcurrent protection circuit with controllable output |
| CN103715952A (en) * | 2013-07-09 | 2014-04-09 | 李鑫 | Open direct current brushless motor controller based on six MOS tube power modules |
| CN104467564A (en) * | 2014-12-31 | 2015-03-25 | 哈尔滨工业大学 | Redundant brushless direct current motor control system |
| CN107317533A (en) * | 2017-07-27 | 2017-11-03 | 中国船舶重工集团公司第七二四研究所 | The online switching device of double servo-drivers and method based on magnetic latching contactor |
| CN108321771A (en) * | 2017-12-29 | 2018-07-24 | 河南北瑞电子科技有限公司 | A kind of Switching Power Supply with overload protection |
| CN109029548A (en) * | 2018-04-24 | 2018-12-18 | 天津大学 | A kind of steering gear system and method for real-time accurate feedback running current and output torque |
| CN110995111A (en) * | 2019-12-18 | 2020-04-10 | 四川航天烽火伺服控制技术有限公司 | Steering engine control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102780428A (en) * | 2012-08-20 | 2012-11-14 | 天津市松正电动汽车技术股份有限公司 | Dual-stator motor drive system |
| CN102780426A (en) * | 2012-08-20 | 2012-11-14 | 天津市松正电动汽车技术股份有限公司 | Dual-power motor driving system |
| CN102780428B (en) * | 2012-08-20 | 2015-09-30 | 天津市松正电动汽车技术股份有限公司 | A kind of dual-stator motor drive system |
| CN102842460A (en) * | 2012-08-30 | 2012-12-26 | 北京动力机械研究所 | Overload control circuit with double-channel redundant function |
| CN103051258B (en) * | 2012-12-21 | 2015-06-24 | 兰州飞行控制有限责任公司 | Power supply circuit for Hall sensor of dual-redundancy servo motor |
| CN103051258A (en) * | 2012-12-21 | 2013-04-17 | 兰州飞行控制有限责任公司 | Power supply circuit for Hall sensor of dual-redundancy servo motor |
| CN103715952B (en) * | 2013-07-09 | 2016-09-07 | 李鑫 | Based on the six open DC brushless motor controllers of metal-oxide-semiconductor power model |
| CN103715952A (en) * | 2013-07-09 | 2014-04-09 | 李鑫 | Open direct current brushless motor controller based on six MOS tube power modules |
| CN103414430B (en) * | 2013-08-09 | 2015-07-08 | 北京控制工程研究所 | Method for reducing main backup magnetic coupling of solar panel driving circuit |
| CN103414430A (en) * | 2013-08-09 | 2013-11-27 | 北京控制工程研究所 | Method for reducing main backup magnetic coupling of solar panel driving circuit |
| CN103474951A (en) * | 2013-08-28 | 2013-12-25 | 北京空间飞行器总体设计部 | Low drop-out overcurrent protection circuit with controllable output |
| CN103474951B (en) * | 2013-08-28 | 2016-05-04 | 北京空间飞行器总体设计部 | The controlled low voltage difference current foldback circuit of a kind of output |
| CN104467564A (en) * | 2014-12-31 | 2015-03-25 | 哈尔滨工业大学 | Redundant brushless direct current motor control system |
| CN107317533A (en) * | 2017-07-27 | 2017-11-03 | 中国船舶重工集团公司第七二四研究所 | The online switching device of double servo-drivers and method based on magnetic latching contactor |
| CN108321771A (en) * | 2017-12-29 | 2018-07-24 | 河南北瑞电子科技有限公司 | A kind of Switching Power Supply with overload protection |
| CN109029548A (en) * | 2018-04-24 | 2018-12-18 | 天津大学 | A kind of steering gear system and method for real-time accurate feedback running current and output torque |
| CN110995111A (en) * | 2019-12-18 | 2020-04-10 | 四川航天烽火伺服控制技术有限公司 | Steering engine control system |
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