CN102624375B - The signal processing apparatus of compatible with multiple encoder and resolver interface - Google Patents
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Abstract
The invention discloses the signal processing apparatus of a kind of compatible with multiple encoder and resolver interface.This device at least comprises signal input interface module, signal conditioning circuit module, FPGA circuit module, signal output interface module; Signal input interface module, signal conditioning circuit module, FPGA circuit module, signal output interface module connect successively.This device can the increment type of existing various brand, absolute type encoder and resolver on compatible market, the present invention does not need the signal processing apparatus changing detecting element interface, just can realize the signal simultaneously processing more than one encoders and resolver, and export the result of one or more signal transacting, be applicable to the detection and treatment of the position of dissimilar mechanical moving element, speed, angle signal, be convenient to technical staff's field adjustable, easy to use, practicality is good, has good actual application value and the market competitiveness.
Description
Technical field
The present invention relates to the fields such as Digit Control Machine Tool, robot and servo control technique, be specially adapted to detect the position of different actuator, Multi-encoding device that speed, angle signal use and a kind of interface signal processing unit with compatibility during resolver.
Background technology
In the fields such as Digit Control Machine Tool, robot and servo control technique, the detecting unit of Position Control, speeds control or angle control system is indispensable part, its position detected, speed or angle information, as the feedback signal of closed-loop control, improve the movement velocity of equipment, precision and efficiency.
The detecting unit of Position Control, speeds control or angle control system mainly adopts following three kinds of elements in the market: incremental encoder, absolute type encoder and resolver.Incremental encoder volume is little, price is low, precision is high, fast response time, stable performance, be widely used in the fields such as radar, electro-optic theodolite, ground control's instrument, robot, Digit Control Machine Tool, SERVO CONTROL; Each position that absolute type encoder is determined by mechanical location is definitely unique, strong interference immunity, be convenient to memory and preserve, directly can read absolute location information, there is no accumulated error, the reliability of data is high, be widely used in the angle in various industrial system, linear measure longimetry and positioning control, as Digit Control Machine Tool and robot equally accurate require higher occasion.Resolver is a kind of fine angle, position, speed detector, be applicable to the occasion, particularly high temperature of all use rotary encoders, severe cold, humidity, at a high speed, the rotary encoder such as the high vibrations occasion that cannot normally work.Due to the above feature of resolver, photoelectric encoder can be substituted completely, be widely used in the angle in the fields such as servo-control system, robot system, machine tool, automobile, electric power, Aero-Space, boats and ships, building, position detecting system.
For realizing the compatibility to incremental encoder and absolute type encoder, patent of invention 200810162067.X proposes a kind of AC servo driver of compatible with multiple encoder interfaces, the driver compatible incremental encoder of energy proposed in this invention and absolute type encoder; Utility model patent 201020575348.0 proposes the multiple position feedback of a kind of compatibility and supports the AC servo driver of multiple bus protocol.But these patents all do not relate to the solution to resolver compatibling problem.And in the fields such as Digit Control Machine Tool, robot and servo control technique, in order to the requirement of control system to precision, speed, performance and environment will be met, the detecting unit of Position Control, speeds control or angle control system will use different detecting elements, and this just needs the signal processing apparatus designing the multiple incremental encoder of a kind of compatibility, absolute type encoder and resolver interface.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, the signal processing apparatus of compatible with multiple encoder and resolver interface is provided, be connected with external motion control unit to realize multiple incremental encoder, absolute type encoder and resolver, be convenient to technical staff's field adjustable, improve practicality and the market competitiveness of signal processing apparatus.
Technical scheme of the present invention is summarized as follows:
The signal processing apparatus of compatible with multiple encoder and resolver interface, at least comprise signal input interface module 1, signal conditioning circuit module 2, FPGA circuit module 3, signal output interface module 4, it is characterized in that: this device can process the signal of more than one encoders and resolver simultaneously, and by parameter configuration, select the result of the signal transacting exporting one or more; Signal input interface module 1 output is connected with signal conditioning circuit module 2 input, and signal conditioning circuit module 2 output is connected with FPGA circuit module 3 input pin, and FPGA circuit module 3 output pin is connected with signal output interface module 4; The described signal simultaneously processing more than one encoders and resolver refers to all compound modes of Multi-encoding device and signals of rotating transformer.
Described signal input interface module 1 at least comprises incremental encoder signal input interface 11, absolute type encoder signal input interface 12, signals of rotating transformer input interface 13.
Described signal conditioning circuit module 2 at least comprises incremental encoder signal modulate circuit 21, absolute type encoder signal conditioning circuit 22, signal conditioning circuit of rotating transformer 23.
Described FPGA circuit module 3 at least comprises incremental encoder signal processing unit 31, absolute type encoder signal processing unit 32, signals of rotating transformer processing unit 33, signal output unit 34, and the feature outputed signal according to encoder and rotary encoder and data format, adopt the logic function of Verilog HDL hardware description language programming realization unit; Described absolute type encoder signal processing unit 32 at least comprises the river absolute type encoder signal processing unit 321 that rubs more, Heidenhain absolute type encoder signal processing unit 322.
Described signal output interface module 4 comprises parallel signal output interface 41 and serial signal output interface 42.
Described incremental encoder signal modulate circuit 21 comprises difference single-ended signal change-over circuit 211, photoelectric isolating circuit 212, reverse Schmidt trigger 213; Incremental encoder signal input interface 11 output is connected with the input of difference single-ended signal change-over circuit 211, the output of difference single-ended signal change-over circuit 211 is connected with the input of photoelectric isolating circuit 212, the output of photoelectric isolating circuit 212 is connected with the input of reverse Schmidt trigger 213, and the output of reverse Schmidt trigger 213 is connected with incremental encoder signal process 31 input.
Described absolute type encoder signal input interface 12 at least comprises the river absolute type encoder signal input interface 121 that rubs more, Heidenhain absolute type encoder signal input interface 122.
Described absolute type encoder signal conditioning circuit 22 at least comprises the river absolute type encoder signal conditioning circuit 221 that rubs more, Heidenhain absolute type encoder signal conditioning circuit 222.
The described river absolute type encoder signal conditioning circuit 221 that rubs comprises difference single-ended signal change-over circuit 2211, photoelectric isolating circuit 2212, reverse Schmidt trigger 2213 more; The river absolute type encoder signal input interface 121 that rubs is connected with one end of difference single-ended signal change-over circuit 2211 more, the other end of difference single-ended signal change-over circuit 2211 is connected with one end of photoelectric isolating circuit 2212, the other end of photoelectric isolating circuit 2212 is connected with one end of reverse Schmidt trigger 2213, and the other end of reverse Schmidt trigger 2213 is connected with the one end of the river absolute type encoder signal processing unit 321 that rubs more.
Described Heidenhain absolute type encoder signal conditioning circuit 222 comprises RS485 transceiving chip 2221, photoelectric isolating circuit 2222, reverse Schmidt trigger 2223; One end of RS485 transceiving chip 2221 is connected with Heidenhain absolute type encoder signal input interface 122, the other end of RS485 transceiving chip 2221 is connected with one end of photoelectric isolating circuit 2222, the other end of photoelectric isolating circuit 2222 is connected with one end of reverse Schmidt trigger 2223, and the other end of reverse Schmidt trigger 2223 is connected with one end of Heidenhain absolute type encoder signal processing unit 322.
Described signal conditioning circuit of rotating transformer 23 comprises differential linearity amplifier 231, comparator 232, photoelectric isolating circuit 233, sampling hold circuit 234, A/D converter 235; The input termination signals of rotating transformer input interface 13 of differential linearity amplifier 231, the output of differential linearity amplifier 231 is connected with the input of comparator 232 with sampling hold circuit 234 respectively, the output of comparator 232 is connected with the input of photoelectric isolating circuit 233, the output of sampling hold circuit 234 is connected with the input of A/D converter 235, and photoelectric isolating circuit 233 is connected with the input of signals of rotating transformer processing unit 33 respectively with the output of A/D converter 235.
Described signal output unit 34 is for depositing the signal processing results of incremental encoder, absolute type encoder and resolver, by the parameter configuration to the control register in signal output unit 34, select the result exporting one or more signal transacting; The result of more than one signal transacting described refers to all compound modes of Multi-encoding device and signals of rotating transformer result; Described parameter configuration be by external motion control unit by parallel signal output interface 41 or serial signal output interface 42 to the control register write parameters Configuration Values in signal output unit 34, complete Parameter Configuration process; The mode that signal exports comprises parallel signal and exports and Serial output; External motion control unit is the motion control control unit of equipment, can be digital signal processor DSP, single-chip microcomputer, PC, robot control unit, digital control system control unit etc.
Compared with prior art, beneficial effect of the present invention is:
This signal processing apparatus possesses the signaling interface of incremental encoder, absolute type encoder and resolver, and incremental encoder signal interface can the incremental encoder of existing brand on compatible market; The absolute type encoder of the compatible multiple popular protocol of absolute type encoder signaling interface; The resolver of the various brand of signals of rotating transformer interface compatibility.The present invention can select one or more encoders and resolver as Position Control by parameter configuration, the detecting element of speeds control or angle control system detecting unit, overcoming existing apparatus can only select a kind of type coders as the shortcoming of detecting element simultaneously, achieve the signal processing apparatus not needing to change detecting element interface, just can process the signal of more than one encoders and resolver simultaneously, meet control system to precision, speed, the requirement of performance and environment, be convenient to technical staff's field adjustable, easy to use, practicality is good, there is good actual application value and the market competitiveness.
Accompanying drawing explanation
Fig. 1 is the signal processing apparatus structural representation of compatible with multiple encoder and resolver interface;
Fig. 2 is incremental encoder signal modulate circuit instance graph;
Fig. 3 is absolute type encoder signal conditioning circuit instance graph;
Fig. 4 is signal conditioning circuit of rotating transformer instance graph.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
In the fields such as Digit Control Machine Tool, robot and servo control technique, the detecting unit of Position Control, speeds control or angle control system is indispensable part.Multi-encoding device and resolver is used when the position of the different actuator of detection, speed, angle signal.The present invention is a kind of signal processing apparatus with compatible with multiple encoder and resolver interface.This device can process more than one encoder and the signal of resolver simultaneously.As shown in Figure 1, this signal processing apparatus, at least comprises signal input interface module 1 to the signal processing apparatus structure of compatible with multiple encoder and resolver interface, signal conditioning circuit module 2, FPGA circuit module 3, signal output interface module 4; Signal input interface module 1 at least comprises incremental encoder signal input interface 11, absolute type encoder signal input interface 12, signals of rotating transformer input interface 13; Signal conditioning circuit module 2 at least comprises incremental encoder signal modulate circuit 21, absolute type encoder signal conditioning circuit 22, signal conditioning circuit of rotating transformer 23; FPGA circuit module 3 at least comprises incremental encoder signal processing unit 31, absolute type encoder signal processing unit 32, signals of rotating transformer processing unit 33, signal output unit 34; Signal output interface module 4 comprises parallel signal output interface 41 and serial signal output interface 42; Signal input interface module 1 output is corresponding with signal conditioning circuit module 2 input to be connected, signal conditioning circuit module 2 output is corresponding with FPGA circuit module 3 input pin to be connected, and FPGA circuit module 3 output pin is corresponding with signal output interface module 4 to be connected; This device can process more than one encoder and the signal of resolver simultaneously, and by the parameter configuration to the control register of signal output unit 34, the mode selected the result of the signal transacting exporting one or more and select signal to export.
Incremental encoder signal modulate circuit instance graph, as shown in Figure 2, this incremental encoder signal modulate circuit 21 comprises difference single-ended signal change-over circuit 211, photoelectric isolating circuit 212, reverse Schmidt trigger 213; The input of difference single-ended signal change-over circuit 211 is connected with the output of incremental encoder signal input interface 11, the output of difference single-ended signal change-over circuit 211 is connected with the input of photoelectric isolating circuit 212, the output of photoelectric isolating circuit 212 is connected with the input of reverse Schmidt trigger 213, and the output of reverse Schmidt trigger 213 is connected with the input of incremental encoder signal process 31.The output signal of incremental encoder is connected to difference single-ended signal change-over circuit 211 by incremental encoder signal input interface 11 and obtains single-ended signal, and this single-ended signal is input in incremental encoder signal processing unit 31 by photoelectric isolating circuit 212 and reverse Schmidt trigger 213.Incremental encoder signal processing unit 31 realizes the process of digital filtering to incremental encoder signal, sensing, two frequencys multiplication, quadruple, pulse position counting and adaptive speed leveling etc.
Absolute type encoder signal conditioning circuit instance graph, as shown in Figure 3, this absolute type encoder signal input interface 12 at least comprises the river absolute type encoder signal input interface 121 that rubs more, Heidenhain absolute type encoder signal input interface 122, absolute type encoder signal conditioning circuit 22 at least comprises the river absolute type encoder signal conditioning circuit 221 that rubs more, Heidenhain absolute type encoder signal conditioning circuit 222, absolute type encoder signal processing unit 32 at least comprises the river absolute type encoder signal processing unit 321 that rubs more, Heidenhain absolute type encoder signal processing unit 322.
The described river absolute type encoder signal conditioning circuit 221 that rubs comprises difference single-ended signal change-over circuit 2211 more, photoelectric isolating circuit 2212, reverse Schmidt trigger 2213, one end of difference single-ended signal change-over circuit 2211 is connected with the output of the river absolute type encoder signal input interface 121 that rubs more, the other end of difference single-ended signal change-over circuit 2211 is connected with one end of photoelectric isolating circuit 2212, the other end of photoelectric isolating circuit 2212 is connected with one end of reverse Schmidt trigger 2213, the other end of reverse Schmidt trigger 2213 is connected with the one end of the river absolute type encoder signal processing unit 321 that rubs more.The output signal of river absolute type encoder of rubbing is connected to difference single-ended signal change-over circuit 2211 by the river absolute type encoder signal input interface 121 that rubs more and is obtained single-ended signal more, this single-ended signal is input to by photoelectric isolating circuit 2212 and reverse Schmidt trigger 2213 and rubs in river absolute type encoder signal processing unit 321 more, the river absolute type encoder signal processing unit 321 that rubs processes signal according to the river absolute type encoder data protocol that rubs more more, thus obtains positional value and state information.
Described Heidenhain absolute type encoder signal conditioning circuit 222 comprises RS485 transceiving chip 2221, photoelectric isolating circuit 2222, reverse Schmidt trigger 2223; One end of RS485 transceiving chip 2221 is connected with Heidenhain absolute type encoder signal input interface 122 output, the other end of RS485 transceiving chip 2221 is connected with one end of photoelectric isolating circuit 2222, the other end of photoelectric isolating circuit 2222 is connected with one end of reverse Schmidt trigger 2223, and the other end of reverse Schmidt trigger 2223 is connected with one end of Heidenhain absolute value encoder signal processing unit 322.Heidenhain absolute type encoder outputs signal after receiving the instruction of Heidenhain absolute type encoder signal processing unit 322 transmission, this signal is connected to RS485 transceiving chip 2221 by Heidenhain absolute type encoder signal input interface 121 and is obtained single-ended signal, this single-ended signal is input in Heidenhain absolute type encoder signal processing unit 322 by photoelectric isolating circuit 2222 and reverse Schmidt trigger 2223, Heidenhain absolute type encoder signal processing unit 322 processes signal according to Heidenhain absolute type encoder data protocol, thus obtain positional value and state information.
Signal conditioning circuit of rotating transformer instance graph, as shown in Figure 4, this signal conditioning circuit of rotating transformer 23 comprises differential linearity amplifier 231, comparator 232, photoelectric isolating circuit 233, sampling hold circuit 234, A/D converter 235, the input termination signals of rotating transformer input interface 13 of differential linearity amplifier 231, the output of described differential linearity amplifier 231 is connected with the input of comparator 232 with sampling hold circuit 234 respectively; The output of described comparator 232 is connected with the input of photoelectric isolating circuit 233; The output of described sampling hold circuit 234 is connected with the input of A/D converter 235; Described photoelectric isolating circuit 233 is connected with the input of signals of rotating transformer processing unit 33 respectively with the output of A/D converter 235.The cosine and sine signal that resolver exports, differential linearity respectively through signal conditioning circuit of rotating transformer 23 is amplified, maintenance of sampling, A/D conversion and after cosine and sine signal is converted to square-wave signal, Phototube Coupling, the signal of gained is input to signals of rotating transformer processing unit 33 and carries out the process such as sensing segmentation and counting, and is outputed signal the result of process by signal output unit 34.
Each signal processing unit in FPGA circuit module 3 is according to the process of the data characteristics settling signal of corresponding encoded device and signals of rotating transformer, signal output unit 34 is for depositing incremental encoder, the signal processing results of absolute type encoder and resolver, and by the parameter configuration to the control register in signal output unit 34, select output increment formula encoder, rub river absolute type encoder more, result of any one process in Heidenhain absolute type encoder and signals of rotating transformer result, or the result of the signal transacting of any two kinds, or the result of any three kinds of signal transacting or whole signals, and signal processing results can be exported in the mode of parallel signal output or Serial output, parameter configuration be by external motion control unit by parallel signal output interface 41 or serial signal output interface 42 to the control register write parameters Configuration Values in signal output unit 34, complete Parameter Configuration process.Parameter configuration value: set control register in signal output unit 34 as n position, n >=6, selected wherein 2 be used for controlling increment formula encoder respectively, rub river absolute type encoder more, the way of output of the result of Heidenhain absolute type encoder and signals of rotating transformer, any 4 in residue are selected to be used for controlling increment formula encoder respectively, rub river absolute type encoder more, whether the result of Heidenhain absolute type encoder and signals of rotating transformer exports, when certain position is set to " 1 " (high level), the signal processing results controlled by this can be output, when certain position is set to " 0 " (low level), the signal processing results controlled by this cannot be output.If these 2 of the way of output of control treatment result when being set to " 10 ", the result of signal transacting can only export in parallel output mode, if these 2 when being set to " 01 ", the result of signal transacting can only export with serial output mode, if these 2 when being set to " 11 ", the result of signal transacting both can export in parallel output mode, also can export with serial output mode, if these 2 when being set to " 00 ", the result of inhibit signal process exports; The above-mentioned regulation just providing a kind of parameter configuration value of situation, user oneself can determine according to the demand of oneself.External motion control unit is the motion control control unit of equipment, can be digital signal processor DSP, single-chip microcomputer, PC, robot control unit, digital control system control unit etc.
In this description, it should be pointed out that above embodiment is only the more representational example of the present invention.Obviously, the present invention is not limited to above-mentioned specific embodiment, can also make various amendment, conversion and distortion.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.Every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all should think and belong to protection scope of the present invention.
Claims (10)
1. the signal processing apparatus of compatible with multiple encoder and resolver interface, at least comprise signal input interface module (1), signal conditioning circuit module (2), FPGA circuit module (3), signal output interface module (4), it is characterized in that: this device can process the signal of more than one encoders and resolver simultaneously, and by parameter configuration, select the result of the signal transacting exporting one or more; Signal input interface module (1) output is connected with signal conditioning circuit module (2) input, signal conditioning circuit module (2) output is connected with FPGA circuit module (3) input pin, and FPGA circuit module (3) output pin is connected with signal output interface module (4); Described signal input interface module (1) at least comprises incremental encoder signal input interface (11), absolute type encoder signal input interface (12), signals of rotating transformer input interface (13); The described signal simultaneously processing more than one encoders and resolver refers to all compound modes of Multi-encoding device and signals of rotating transformer.
2. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface, it is characterized in that: described signal conditioning circuit module (2) at least comprises incremental encoder signal modulate circuit (21), absolute type encoder signal conditioning circuit (22), signal conditioning circuit of rotating transformer (23), described signal conditioning circuit of rotating transformer (23) comprises differential linearity amplifier (231), comparator (232), photoelectric isolating circuit (233), sampling hold circuit (234), A/D converter (235), input termination signals of rotating transformer input interface (13) of differential linearity amplifier (231), the output of differential linearity amplifier (231) is connected with the input of comparator (232) with sampling hold circuit (234) respectively, the output of comparator (232) is connected with the input of photoelectric isolating circuit (233), the output of sampling hold circuit (234) is connected with the input of A/D converter (235), photoelectric isolating circuit (233) is connected with the input of signals of rotating transformer processing unit (33) respectively with the output of A/D converter (235).
3. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface, it is characterized in that: described FPGA circuit module (3) at least comprises incremental encoder signal processing unit (31), absolute type encoder signal processing unit (32), signals of rotating transformer processing unit (33), signal output unit (34), and the feature outputed signal according to encoder and rotary encoder and data format, adopt the logic function of Verilog HDL hardware description language programming realization unit; Described absolute type encoder signal processing unit (32) at least comprises river absolute type encoder signal processing unit (321) of rubbing more, Heidenhain absolute type encoder signal processing unit (322).
4. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface, is characterized in that: described signal output interface module (4) comprises parallel signal output interface (41) and serial signal output interface (42).
5. the signal processing apparatus of compatible with multiple encoder according to claim 2 and resolver interface, it is characterized in that: described incremental encoder signal modulate circuit (21) comprises difference single-ended signal change-over circuit (211), photoelectric isolating circuit (212), reverse Schmidt trigger (213); The output of incremental encoder signal input interface (11) is connected with the input of difference single-ended signal change-over circuit (211), the output of difference single-ended signal change-over circuit (211) is connected with the input of photoelectric isolating circuit (212), the output of photoelectric isolating circuit (212) is connected with the input of reverse Schmidt trigger (213), and the output of reverse Schmidt trigger (213) is connected with the input of incremental encoder signal processing unit (31).
6. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface, it is characterized in that: described absolute type encoder signal input interface (12) at least comprises river absolute type encoder signal input interface (121) of rubbing more, Heidenhain absolute type encoder signal input interface (122).
7. the signal processing apparatus of compatible with multiple encoder according to claim 2 and resolver interface, it is characterized in that: described absolute type encoder signal conditioning circuit (22) at least comprises river absolute type encoder signal conditioning circuit (221) of rubbing more, Heidenhain absolute type encoder signal conditioning circuit (222).
8. the signal processing apparatus of compatible with multiple encoder according to claim 7 and resolver interface, it is characterized in that: described river absolute type encoder signal conditioning circuit (221) of rubbing comprises difference single-ended signal change-over circuit (2211) more, photoelectric isolating circuit (2212), reverse Schmidt trigger (2213); River absolute type encoder signal input interface (121) of rubbing is connected with one end of difference single-ended signal change-over circuit (2211) more, the other end of difference single-ended signal change-over circuit (2211) is connected with one end of photoelectric isolating circuit (2212), the other end of photoelectric isolating circuit (2212) is connected with one end of reverse Schmidt trigger (2213), and the other end of reverse Schmidt trigger (2213) is connected with the one end in river absolute type encoder signal processing unit (321) of rubbing more.
9. the signal processing apparatus of compatible with multiple encoder according to claim 7 and resolver interface, it is characterized in that: described Heidenhain absolute type encoder signal conditioning circuit (222) comprises RS485 transceiving chip (2221), photoelectric isolating circuit (2222), reverse Schmidt trigger (2223); One end of RS485 transceiving chip (2221) is connected with Heidenhain absolute type encoder signal input interface (122), the other end of RS485 transceiving chip (2221) is connected with one end of photoelectric isolating circuit (2222), the other end of photoelectric isolating circuit (2222) is connected with one end of reverse Schmidt trigger (2223), and reverse Schmidt trigger (2223) other end is connected with one end of Heidenhain absolute type encoder signal processing unit (322).
10. the signal processing apparatus of compatible with multiple encoder according to claim 3 and resolver interface, it is characterized in that: described signal output unit (34) is for depositing the signal processing results of incremental encoder, absolute type encoder and resolver, by the parameter configuration to the control register in signal output unit (34), select the result exporting one or more signal transacting; The result of more than one signal transacting described is all compound modes of Multi-encoding device and signals of rotating transformer result; Described parameter configuration be by external motion control unit by parallel signal output interface (41) or serial signal output interface (42) to the control register write parameters Configuration Values in signal output unit (34), complete Parameter Configuration process.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102185546A (en) * | 2011-05-30 | 2011-09-14 | 中国科学院国家天文台南京天文光学技术研究所 | Drive control method and system for large-caliber telescope arc motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104019975B (en) * | 2014-06-13 | 2017-02-15 | 西安交通大学 | On-line monitoring system for high-voltage GIS mechanical states |
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