CN102490690A - Pulse width modulation window wiper control system of locomotive - Google Patents
Pulse width modulation window wiper control system of locomotive Download PDFInfo
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- CN102490690A CN102490690A CN2011104217165A CN201110421716A CN102490690A CN 102490690 A CN102490690 A CN 102490690A CN 2011104217165 A CN2011104217165 A CN 2011104217165A CN 201110421716 A CN201110421716 A CN 201110421716A CN 102490690 A CN102490690 A CN 102490690A
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Abstract
The invention discloses a pulse width modulation window wiper control system of a locomotive, which comprises a direct-current power delay power-off switching circuit, a window wiper direct-current motor PWM (pulse width modulation) control driving circuit, a motor overcurrent protecting circuit, a window wiper direct-current stop braking circuit and a single-speed direct-current motor. A central control unit is connected with a running MOSFET (metal oxide semiconductor field effect transistor) by a PWM running high-frequency high-speed isolating circuit and a high-speed MOS (metal oxide semiconductor) driving circuit to control the single-speed window wiper motor to wipe and run at slow speed or high speed or intermittently. A brake output port of the central control unit is connected with a brake MOSFET by a brake isolating circuit and a brake bipolar MOS driving circuit to control the single-speed window wiper motor to dynamically brake and stop. The single-speed motor overcomes the shortcoming of quick abrasion of a slip ring carbon brush due to asymmetric torque of a double-speed motor, the PWM control driving circuit reduces a heating value and temperature rise of a direct-current motor driving circuit, service lives of the motor and the system are prolonged, and cost is lowered.
Description
Technical field
The present invention relates to the electronic technology field of locomotive windshield wiper control, be particularly useful for track traffics such as locomotive, city rail, subway and control with windshield wiper.
Background technology
Locomotive windshield wiper is divided into two types of pneumatic windshield wiper and electronic windshield wipers.The electronic windshield wiper of locomotive has particularity: locomotive direct current 110V power supply (electronic windshield wiper power supply) fluctuation serious (± 30%); Electrical network impulse voltage is high; The operation torque load(ing) is big, and extraordinary circumstances such as windshield wiper torque load(ing)s such as two car intersections, entering tunnel increase suddenly frequently appear in locomotive.
Electronic windshield wiper has two kinds of controlling schemes at present.One, relay control double speed permanent magnet DC motor scheme: problems such as shortcoming is a relay contact arcing scaling loss, electromagnetic interference is serious, noise is big, motor weak point in service life, fault rate is high.Two, electronic power switch control double speed permanent magnet DC motor scheme: shortcoming is that this method does not only fundamentally solve motor short problem in service life, and because design is unreasonable, electronic power switch usually damages.Double-speed motor is owing to the asymmetric quick worn-down defective of slip ring carbon brush that causes of moment, and service life is very short.The electronic windshield wiper fault rate of locomotive is up to 30-40%, and original locomotive windshield wiper becomes an obstacle that relates to safe driving, therefore is badly in need of the locomotive windshield wiper of a kind of reliable in quality, high stability.
Summary of the invention
The objective of the invention is to, overcome present electronic windshield wiper cost height, lack service life, control circuit is fragile, and the deficiency that fault rate is high provides a kind of simple in structure, low, the stable performance of cost, the locomotive windshield wiper control system that reliability is high.
Technical scheme of the present invention is: a kind of locomotive windshield wiper control system of pulse duration modulation; Comprise direct supply delay cut-off switch circuit, windshield wiper DC machine PWM control Driver Circuit, over current of motor protective circuit; The windshield wiper DC machine stops braking circuit, the single speed DC machine.
Said direct supply delay cut-off switch circuit (2) input end connects the overvoltage of locomotive 110V direct supply, surge protection circuit (1); Mouth connects common-mode signal suppression circuit (3); Control end connects the halt circuit of input control circuit (5), and common-mode signal suppression circuit (3) connects the anode of isolated from power change-over circuit (4) and rain shaving electrical machine (10).
Said windshield wiper DC machine PWM control Driver Circuit; Central Processing Unit (CPU) (6) input scan port connects input control circuit (5); Central Processing Unit (CPU) (6) PWM output port connects PWM operation high-frequency high-speed buffer circuit (12) input end; PWM operation high-frequency high-speed buffer circuit (12) mouth connects high speed metal-oxide-semiconductor driving circuit (13) input end; High speed metal-oxide-semiconductor driving circuit (13) mouth connects operation MOSFET (14) grid, and operation MOSFET (14) drain electrode connects single speed rain shaving electrical machine (10) negative terminal, and source electrode connects motor current detecting circuit (15) power connection negative pole.
Said operation MOSFET (14) grid source electrode connects two-way voltage-limiting protection circuit, is a pair of stabilivolt differential concatenation; Operation MOSFET (14) the drain-source utmost point connects the RC spike and suppresses and the absorption circuit.
Said high speed metal-oxide-semiconductor driving circuit (13) output termination current limliting repeating resistance and bleeder resistance, the current limliting repeating resistance other end connect operation MOSFET (14) grid, bleeder resistance other end ground connection.
Said over current of motor protective circuit; Motor current detecting circuit (15) connects operation MOSFET (14) and over current of motor comparator circuit (16); Over current of motor comparator circuit (16) mouth connects over-current detection buffer circuit (17) input end; Over-current detection buffer circuit (17) mouth connects the over-current detection port of Central Processing Unit (CPU) (6), and current detection circuit (15) is noninductive high-power precision resistance, and over current of motor comparator circuit (16) is a comparator circuit.
Said windshield wiper DC machine stops braking circuit: Central Processing Unit (CPU) (6) PWM output port connects braking buffer circuit (7) input end; Braking buffer circuit (7) mouth connects braking ambipolar metal-oxide-semiconductor driving circuit (8) input end; Brake the grid that ambipolar metal-oxide-semiconductor driving circuit (8) mouth connects braking MOSFET (9); The drain electrode of braking MOSFET (9) connects common-mode signal suppression circuit (3) mouth, and source electrode connects rain shaving electrical machine (10) negative pole.
Said braking MOSFET (9) grid source electrode connects two-way voltage-limiting protection circuit, is a pair of stabilivolt differential concatenation, and the drain-source utmost point connects the RC spike and suppresses and the absorption circuit, and rain shaving electrical machine (10) two ends connect the afterflow protective circuit.
Said scraping arm position detecting circuit (18) detects the appointment stop position that arm mechanism (11) is scraped in DC machine (10) output; Scraping arm position detecting circuit (18) connection location detects buffer circuit (19) input end, and position probing buffer circuit (19) mouth connects Central Processing Unit (CPU) (6) position probing port.
Said spray electric machine control driving circuit; Central Processing Unit (CPU) (6) PWM spray port connects spray buffer circuit (20) input end; Spray buffer circuit (20) mouth connects ambipolar metal-oxide-semiconductor driving circuit (21); Ambipolar metal-oxide-semiconductor driving circuit (21) connects spray MOSFET (22) grid, and drain electrode connects spray motor (23) negative pole, and source electrode connects power cathode.
The locomotive windshield wiper control system of said pulse duration modulation; By Central Processing Unit (CPU) (6) scan in control circuit (5) at a slow speed, fast, intermittently or danger signal; Through windshield wiper DC machine PWM control Driver Circuit output pulse width modulation signal, control single speed direct current rain shaving electrical machine (10) drive scrape arm mechanism (11) to railway locomotive glass carry out at a slow speed, fast, intermittently wiper operation or stop.
Said windshield wiper DC machine stops braking circuit, scrapes arm mechanism (11) by scraping arm position detecting circuit (18) detection and is in the appointment stop position, exports Central Processing Unit (CPU) (6) to through position probing buffer circuit (11); After Central Processing Unit (CPU) (6) is handled; After stopping the output of PWM run signal,, brake ambipolar metal-oxide-semiconductor driving circuit (8) by braking buffer circuit (7); Braking MOSFET (9) output speed-slackening signal is realized the rain shaving electrical machine resistance braking.
Said direct supply delay cut-off switch circuit (2) is realized; When input control circuit (5) input danger signal; After assurance was scraped arm mechanism (11) and can be got back to initial position and stop, direct supply delay cut-off switch circuit (2) was just delayed time and is broken off the wiper system power supply.After windshield wiper stopped, system was except outside the delay cut-off switch circuit (2), and other all circuit cut off the power supply fully.
Said over current of motor protective circuit; Detect current of electric through the operation series connected motor current detecting circuit of MOSFET (14) (15); Over current of motor comparator circuit (16) exports Central Processing Unit (CPU) (6) to over-current detection buffer circuit (17), after processing such as Central Processing Unit (CPU) digital filter, if Intelligent Measurement is in over-current phenomenon avoidance takes place in the normal course of operation; Stop windshield wiper rain shaving electrical machine (10) operation at once, and stop automatically.Motor current detecting circuit (15) is noninductive high-power resistance.Over current of motor comparator circuit (16) is an operation amplifier circuit.
Said spray electric machine control driving circuit, spray motor (23) is in discontinuous work, press input control circuit (5) spray button after, the single spray time stops spray automatically greater than after 10 seconds.Press the spray button until next time.
Advantage of the present invention:
Wear and tear the defective that service life is very short to the windshield wiper double-speed motor fast owing to the asymmetric slip ring carbon brush that causes of moment.The pulse duration modulation method of windshield wiper single speed DC machine is proposed, carry out windshield wiper at a slow speed, fast, intermittently, adjusting out of service, single speed DC machine windshield wiper control system prolongs about more than 10 times than the double-speed motor windshield wiper control system life-span.
The design control signal is isolated change-over circuit, realizes controlling and driving and motor power circuit actv. electrical isolation; Designed the two-way voltage-limiting protection circuit of grid source electrode of MOSFET; Drain-source utmost point RC spike suppresses and absorbs circuit; Actv. has suppressed control and driving module and power device MOSFET peak power; The cal val of depowering device and temperature rise, and suppressed switching noise, prolonged the control system circuit lifetime.
Designed direct supply delay cut-off switch circuit, after windshield wiper stopped, other windshield wiper system power supplies except that time delay circuit were broken off in time-delay.Reducing the charged work-hours of locomotive windshield wiper control system is original 10-20%, prolongs control system and electrical machinery life 5-10 doubly.
Description of drawings
Fig. 1 is the locomotive windshield wiper control system block diagram of pulse duration modulation.
Fig. 2 is a direct supply delay cut-off switch circuit schematic diagram.
Fig. 3 is windshield wiper motor PWM controlling and driving and stops to brake driving principle figure.
Fig. 4 is a windshield wiper scraping arm stop position testing circuit.
Fig. 5 is a windshield wiper over current of motor testing circuit.
Fig. 6 is spray electric machine control driving principle figure.
The specific embodiment
In conjunction with accompanying drawing and instance the present invention is further specified as follows:
Shown in Fig. 1-6; A kind of locomotive windshield wiper control system of pulse duration modulation; By Central Processing Unit (CPU) (6) scan in control circuit (5) input at a slow speed, fast, intermittently or danger signal; Through PWM operation high-frequency high-speed buffer circuit (12), high speed metal-oxide-semiconductor driving circuit (13), operation MOSFET (14); Output pulse width modulation signal, control single speed rain shaving electrical machine (10) drive scrape arm mechanism (11) to railway locomotive glass carry out at a slow speed, fast, intermittently wiper operation or stop.
As shown in Figure 2; The direct supply delay cut-off switch circuit of the locomotive windshield wiper control system of pulse duration modulation is connected 0 with GND through rotor switch, through the discharge of capacitor C 2; The time delayed turn-off of aerotron Q1, thereby the time delayed turn-off of control power circuit high power valve Q1.Delay time by R3, R4, C2 is adjustable, about 10 seconds of design time-delay, guarantee that the windshield wiper scraping arm is returned to assigned address and stops after, other circuit except that the delay cut-off switch circuit all cut off the power supply, and reduce system current"on"time, prolongation system life.High-power PNP pipe Q1 is 2SA1943, maximum operating currenbt 15A.
As shown in Figure 3; Central Processing Unit (CPU) (6) scan in control circuit (5) input at a slow speed, fast, intermittently behind the signal; Central Processing Unit (CPU) output pwm signal tremendously high frequency high-speed isolated chip G7, G7 output pwm signal to high speed metal-oxide-semiconductor chip for driving U5, Driven MOSFET pipe Q8 work.MOSFET selects IRFP460 for use, maximal work voltage 500V, and electric current 20A, RDS is less than 0.27 ohm.The two-way voltage-limiting protection circuit of MOSFET pipe Q8 grid source electrode, two-way voltage-limiting protection circuit is D18, a pair of stabilivolt 1N4744 of D19 differential concatenation, prevents that MOSFET grid source electrode high pressure from damaging.The spike that the Q8 drain-source utmost point connects R41, C41 composition suppresses and the absorption circuit, suppresses the peak power of MOSFET.
Manage Q8 traverse time cal val for reducing MOSFET, high-frequency high-speed isolating chip G7, the positive rise of high speed metal-oxide-semiconductor chip for driving U5, the traverse time of falling edge are the nanosecond rank.For guaranteeing the reliable conducting fast of MOSFET pipe Q8, high speed metal-oxide-semiconductor chip for driving U5 adopts the 12V power supply, and power supply is taken from isolated from power change-over circuit 4.For guaranteeing the quick conducting of MOSFET pipe Q8, it is 10 ohm that current limliting repeating resistance R39 selects smaller value.Grid discharge loop when Q8 bleeder resistance R40 ends as MOSFET pipe Q8, the R40 resistance value can not be excessive, can influence the MOSFET turn-off time.
As shown in Figure 4, the windshield wiper motor stops glancing impact, and behind the danger signal of Central Processing Unit (CPU) (6) scan in control circuit (5) input, entering stops braking mode.Central Processing Unit (CPU) (6) is through R44, and C43 isolates optocoupler G8, and the scraping arm reset position testing circuit that R47 forms detects the scraping arm reset signal.R44 is the power metal film resistance.When detecting scraping arm and move to reset position, stop the output of windshield wiper motor PWM control signal, Q8 ends, and the inducing current of rain shaving electrical machine is released energy by sustained diode 16 afterflows.After the time that time-delay is extremely lacked, Central Processing Unit (CPU) (6) output high level speed-slackening signal, through photoelectricity coupling chip G6 output, conducting NMOS drives aerotron Q6, the braking of conducting at last MOSFET pipe Q7, the quick resistance braking of rain shaving electrical machine.MOSFET pipe Q7 selects IRFP460 for use, maximal work voltage 500V, and electric current 20A, RDS is less than 0.27 ohm.
Braking MOSFET pipe Q7 grid source electrode connects two-way voltage-limiting protection circuit, and two-way voltage-limiting protection circuit is D13, a pair of stabilivolt 1N4744 of D14 differential concatenation, prevents that MOSFET grid source electrode high pressure from damaging.The spike that the Q7 drain-source utmost point connects R35, C38 composition suppresses and the absorption circuit, suppresses the peak power of MOSFET.For preventing to disturb the spike accidental triggering to drive aerotron Q6 conducting, optocoupler G6 two ends parallel connection filter capacitor.High-frequency diode D15, D17 guarantee Q7, the unidirectional conducting of Q8.
Over-current detection circuit as shown in Figure 3 through managing the noninductive power resistor R42 of Q8 source series bonded assembly high precision, R43 with operation MOSFET, is converted into voltage signal to motor operating current.R42, R43 are the metallic membrane power resistor of precision 1%.
As shown in Figure 5, the voltage signal of the current of electric of detection conversion, comparator of forming through op amp U3 and reference voltage relatively after, export Central Processing Unit (CPU) (6) to through opto-coupler chip G3 and carry out over-current detection.Reference voltage is provided by the bleeder circuit that precision resistance R12, R13 form.Filter capacitor C33 carries out hardware filtering, prevents that the interfering signal false triggering from producing over-current signal.Central Processing Unit (CPU) (6) detects over-current signal, carries out software filtering, behind the certain overcurrent of affirmation motor, stops pwm signal output at once, and motor is out of service.
As shown in Figure 6, scan in control circuit (5) outputs signal to Central Processing Unit (CPU) (6), and Central Processing Unit (CPU) (6) output low level spray signal is controlled aerotron Q4 conducting through photoelectricity coupling G5, and Driven MOSFET pipe Q5 drives the spray machine operation.MOSFET pipe Q5 selects IRF740 for use, maximal work voltage 400V, and electric current 10A, RDS is less than 0.55 ohm.Q5 grid source electrode connects the voltage-limiting protection circuit, and the voltage-limiting protection circuit is that D12 is 1N4744, prevents that MOSFET grid source electrode high pressure from damaging.The spike that the Q5 drain-source utmost point connects R37, C29 composition suppresses and the absorption circuit.The spray circuit is controlled to be by Central Processing Unit (CPU) (6) and is interrupted work system, and the single work-hours did not damage because of long-play high temperature with protection spray motor less than 10 seconds.
The present invention mainly adopts pulse width modulation mode control rain shaving electrical machine to carry out low speed, at a high speed, intermittently and the mode of operation that stops.Main high-frequency high-speed photoelectric coupled device, high speed metal-oxide-semiconductor driving circuit, the spike absorption techniques used; Reduce the FET dynamic response time, reduce peak power, greatly reduce DC machine Driven MOSFET cal val and temperature rise; Improve the drives electric current, prolong FET service life.The windshield wiper system power supply is broken off in direct supply delay cut-off switch circuit (2) time-delay, provides time enough to make scraping arm can get back to initial position.After windshield wiper stopped, system was except outside the input time delay power-down circuit, and other all circuit cut off the power supply fully.Native system has the input of wide power voltage, and is simple in structure, stable performance, the advantage that reliability is high.
Should be pointed out that for the present invention to have the embodiment of multiple conversion and modification, be not limited to the instantiation of above-mentioned embodiment through proving absolutely.Above-mentioned instance is as just explanation of the present invention, rather than restriction.In a word, which conspicuous to those skilled in the art conversion is protection scope of the present invention comprise or substitute and remodeling.
Claims (10)
1. the locomotive windshield wiper control system of a pulse duration modulation; It is characterized in that: comprise direct supply delay cut-off switch circuit, windshield wiper DC machine PWM control Driver Circuit, over current of motor protective circuit; The windshield wiper DC machine stops braking circuit; Spray electric machine control driving circuit, single speed direct current rain shaving electrical machine, spray motor.
2. the locomotive windshield wiper control system of pulse duration modulation according to claim 1; It is characterized in that direct supply delay cut-off switch circuit (2) input end connects the overvoltage of locomotive 110V direct supply, surge protection circuit (1); Mouth connects common-mode signal suppression circuit (3); Control end connects the halt circuit of input control circuit (5), and common-mode signal suppression circuit (3) connects the anode of isolated from power change-over circuit (4) and rain shaving electrical machine (10).
3. the locomotive windshield wiper control system of pulse duration modulation according to claim 1; It is characterized in that windshield wiper DC machine PWM control Driver Circuit; Central Processing Unit (CPU) (6) input scan port connects input control circuit (5); Central Processing Unit (CPU) (6) PWM output port connects PWM operation high-frequency high-speed buffer circuit (12) input end; PWM operation high-frequency high-speed buffer circuit (12) mouth connects high speed metal-oxide-semiconductor driving circuit (13) input end; High speed metal-oxide-semiconductor driving circuit (13) mouth connects operation MOSFET (14) grid, and operation MOSFET (14) drain electrode connects single speed rain shaving electrical machine (10) negative terminal, and source electrode connects motor current detecting circuit (15) power connection negative pole.
4. the locomotive windshield wiper control system of pulse duration modulation according to claim 3 is characterized in that: move MOSFET (14) grid source electrode and connect two-way voltage-limiting protection circuit, be a pair of stabilivolt differential concatenation; Operation MOSFET (14) the drain-source utmost point connects the RC spike and suppresses and the absorption circuit.
5. the locomotive windshield wiper control system of pulse duration modulation according to claim 3; It is characterized in that: high speed metal-oxide-semiconductor driving circuit (13) output termination current limliting repeating resistance and bleeder resistance; The current limliting repeating resistance other end connects operation MOSFET (14) grid, bleeder resistance other end ground connection.
6. the locomotive windshield wiper control system of pulse duration modulation according to claim 1; It is characterized in that: the over current of motor protective circuit; Motor current detecting circuit (15) connects operation MOSFET (14) and over current of motor comparator circuit (16); Over current of motor comparator circuit (16) mouth connects over-current detection buffer circuit (17) input end; Over-current detection buffer circuit (17) mouth connects the over-current detection port of Central Processing Unit (CPU) (6), and current detection circuit (15) is noninductive high-power precision resistance, and over current of motor comparator circuit (16) is a comparator circuit.
7. the locomotive windshield wiper control system of pulse duration modulation according to claim 1; It is characterized in that the windshield wiper DC machine stops braking circuit: Central Processing Unit (CPU) (6) braking output port connects braking buffer circuit (7) input end; Braking buffer circuit (7) mouth connects braking ambipolar metal-oxide-semiconductor driving circuit (8) input end; Brake the grid that ambipolar metal-oxide-semiconductor driving circuit (8) mouth connects braking MOSFET (9); The drain electrode of braking MOSFET (9) connects common-mode signal suppression circuit (3) mouth, and source electrode connects rain shaving electrical machine (10) negative pole.
8. the locomotive windshield wiper control system of pulse duration modulation according to claim 7; It is characterized in that: braking MOSFET (9) grid source electrode connects two-way voltage-limiting protection circuit; Be a pair of stabilivolt differential concatenation; The drain-source utmost point connects the RC spike and suppresses and the absorption circuit, and rain shaving electrical machine (10) two ends connect the afterflow protective circuit.
9. the locomotive windshield wiper control system of pulse duration modulation according to claim 7; It is characterized in that: scraping arm position detecting circuit (18) detects the appointment stop position that arm mechanism (11) is scraped in DC machine (10) output; Scraping arm position detecting circuit (18) connection location detects buffer circuit (19) input end, and position probing buffer circuit (19) mouth connects Central Processing Unit (CPU) (6) position probing port.
10. the locomotive windshield wiper control system of pulse duration modulation according to claim 1; It is characterized in that spraying the electric machine control driving circuit; Central Processing Unit (CPU) (6) PWM spray port connects spray buffer circuit (20) input end, and spray buffer circuit (20) mouth connects ambipolar metal-oxide-semiconductor driving circuit (21), and ambipolar metal-oxide-semiconductor driving circuit (21) connects spray MOSFET (22) grid; Drain electrode connects spray motor (23) negative pole, and source electrode connects power cathode.
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| CN201110421716.5A CN102490690B (en) | 2011-12-16 | 2011-12-16 | Pulse width modulation window wiper control system of locomotive |
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| CN201110421716.5A CN102490690B (en) | 2011-12-16 | 2011-12-16 | Pulse width modulation window wiper control system of locomotive |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103580565A (en) * | 2012-08-02 | 2014-02-12 | 重庆金美通信有限责任公司 | Direct current motor driving circuit with radiation suppressing and motor protecting functions |
| CN104442713A (en) * | 2014-12-05 | 2015-03-25 | 南车株洲电力机车有限公司 | Railway vehicle and wiper speed control device |
| CN104917144A (en) * | 2015-06-04 | 2015-09-16 | 科力远混合动力技术有限公司 | Relay control circuit in high-voltage system for hybrid electric vehicle |
| CN105634375A (en) * | 2016-03-31 | 2016-06-01 | 广东美的环境电器制造有限公司 | Motor speed regulation device and household electric appliance |
| CN106312407A (en) * | 2015-07-02 | 2017-01-11 | 王婧 | Three-way non-polar supporting mechanism for passive trolley |
| CN107662582A (en) * | 2016-07-28 | 2018-02-06 | 通用汽车环球科技运作有限责任公司 | System for causing electronic module to isolate with front windshield and rear window washer |
| CN107786132A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of high speed, high-precision servo control system for high power density motor |
| CN108969181A (en) * | 2018-07-19 | 2018-12-11 | 广州途悠悠健康科技有限公司 | A kind of human body heating physiotherapy equipment circuit structure |
| CN111301347A (en) * | 2019-12-10 | 2020-06-19 | 株洲桓基电气股份有限公司 | Electric windshield wiper control system of motor train unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107662582A (en) * | 2016-07-28 | 2018-02-06 | 通用汽车环球科技运作有限责任公司 | System for causing electronic module to isolate with front windshield and rear window washer |
| CN107786132A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of high speed, high-precision servo control system for high power density motor |
| CN108969181A (en) * | 2018-07-19 | 2018-12-11 | 广州途悠悠健康科技有限公司 | A kind of human body heating physiotherapy equipment circuit structure |
| CN111301347A (en) * | 2019-12-10 | 2020-06-19 | 株洲桓基电气股份有限公司 | Electric windshield wiper control system of motor train unit |
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