CN102882480A - Program-controlled broadband operational amplifier for 0-10MHz bandwidth - Google Patents
Program-controlled broadband operational amplifier for 0-10MHz bandwidth Download PDFInfo
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- CN102882480A CN102882480A CN2012102419330A CN201210241933A CN102882480A CN 102882480 A CN102882480 A CN 102882480A CN 2012102419330 A CN2012102419330 A CN 2012102419330A CN 201210241933 A CN201210241933 A CN 201210241933A CN 102882480 A CN102882480 A CN 102882480A
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Abstract
The invention belongs to the field of the automatic control technology and specifically relates to a program-controlled broadband amplifier for a 0-10MHz bandwidth. The program-controlled broadband amplifier adopts a multistage cascading manner; the whole multistage amplification link consists of a preceding stage amplification circuit, a middle stage amplification circuit, a program-controlled amplification circuit, a D/A converter, a singlechip, a phase inverter, a final stage power amplification circuit and a diode peak detection circuit, wherein the program-controlled amplification circuit is arranged between the preceding stage amplification circuit and the middle stage amplification circuit; the diode peak detection circuit is arranged behind the middle stage amplification circuit; the singlechip is connected between the diode peak detection circuit and the D/A converter; and the phase inverter is connected between the D/A converter and the program-controlled amplification circuit. According to the invention, the direct current signals and alternating current small signals within 10MHz can be subjected to 0-60dB stable amplification and gain controllable regulation; 50ohm load can be driven through amplifying the final-stage power; and the operational amplifier is widely suitable for automation control instruments, medical electrical instruments and electronic measuring instruments, etc.
Description
Technical field
The invention belongs to the automatic control technology field, be specifically related to a kind of program control broadband operational amplifier.
Background technology
First amplifier that uses the vacuum tube design is greatly about finishing around the nineteen thirty, and this amplifier can be carried out and add and the work that subtracts.The purpose that operational amplifier is devised the earliest is that the voltage analogy is become numeral, is used for adding, subtracts, the computing of multiplication and division, also becomes the basic construction square of realizing simulation computer (analog computer) simultaneously.Yet the purposes on design of circuit system of ideal operational amplifier but far surpasses the calculating of addition subtraction multiplication and division.Early stage operational amplifier is to use the vacuum tube design, present then be the element of ic-type mostly, nineteen sixty is for late period, fairchild's semiconductor (Fairchild Semiconductor) has been released first integrated circuit operational amplifier that is widely used, model is μ A709, and the designer then is Bao Baiweile (Bob Widlar).But 709 are replaced by the new product μ A741 that comes subsequently soon, and 741 have better performance, more stable, also easier use.741 operational amplifiers have become unique symbol on the microelectronics industry developing history, and the evolution of having gone through many decades still is not substituted, and the manufacturer of a lot of integrated circuits is still producing 741 so far.Until μ A741 today remains the typical teaching material of explanation operational amplifier principle in each electronic engineering of university.
The transformation of formation from the discrete component to the integrated device is to be determined by the superiority of integrated circuit itself: at first, in integrated circuit, it is less than the area that the large resistance of manufacturing takies to make active device (transistor, field effect transistor etc.), and can not increase trouble on the technique yet, therefore, a large amount of active devices that use are made active load in the integrated circuit, to obtain large resistance, improve the multiplication factor of amplifying circuit; Be made into current source, to obtain stable bigoted electric current.So the multiplication factor of general integrated operational amplifier is more much bigger than the multiplication factor of discrete element.Secondly, because all elements are with being on the silicon chip in the integrated circuit, the phase mutual edge distance is very near, and all under same process adjustments, make, therefore, although the absolute precision of each component parameters is poor, but relative accuracy is high, so symmetrical performance is good, the special adaptation, made the demanding circuit of symmetry, such as differential circuit, mirror current source etc.Certainly, if when system exceeds the demand of integrated amplifier for the demand of amplifier, usually can utilize the discrete element to realize the operational amplifier of these special requirements.
Integrated operational amplifier is the form appearance with the general-purpose operation amplifier at first, as its name suggests, this type of operational amplifier is designed to perform mathematical calculations at first, it has the circuit unit than high-amplification-factor, promotion along with industrial expansion and market demand diversified trend, the bandwidth of operational amplifier has obtained greatly expanding, frequency response has had sufficient assurance, so broadband operational amplifier begins to be widely used in the professional domains such as automatic control, electronic measurements.
The core component of the adjustable link of gain of wide-band amplifier was resistor network in the past, and regulative mode is manual adjustments, although adopt gain-adjusted wider range of this mode, its not hommization, and low precision in addition are unfavorable for the demand of producing, living.Along with the progress of technology, automaticity is more and more higher, and the design concept of wide-band amplifier is also moved towards " people-oriented " thereupon.The adjustable wide-band amplifier that gains is also changed into Gain Automatic adjustable gradually by manual adjustment of gain, such as Tektronics-TDS3012C digital oscilloscope, the hand-held digital multimeter of Fluke-F15B, the hand-held oscilloscope of Fluke-F196C, these devices adopt Automatic Control for the amplification of signal, broken away from fundamentally in the past that analog instrument need to carry out bothering of gear switch for the signal of different amplitudes, and its inner core control section is the program control broadband amplifier device.(monolithic AD603 adjustable gain scope is 42dB only to mention use two-stage AD603 cascade among the document XXX, can reach more than the 80dB after the cascade), because AD603 is the programmable gain amplifier (PGA) that control voltage is directly proportional with gain, gain with voltage control, be convenient to Single-chip Controlling, but its shortcoming is that (1) gain and bandwidth relationship are uncertain, needs to determine by the external hardware circuit, shown in Fig. 1 (a) and Fig. 1 (b), cause underaction; (2) gain ranging only is 40dB, realize the requirement that 0～60dB is adjustable, needs two cascades, has increased the complexity of system; (3) for wideband DC amplifier, must emphasize DC precision, in the reality test, be necessary to amplify output to having inputted DC level.The output offset voltage of AD603 is ± 30mV that it is larger to amplify the dc error that then brings in final stage again, need to do zeroing and process.
The present invention considers to adopt VCA810 to make up circuit, VCA810 is the broadband voltage-controlled amplifier of a high-gain adjusting range, its control voltage becomes to be the good linear proportionate relationship with signal gain (dB), conveniently gained by Single-chip Controlling, and its adjustable gain scope larger (80dB), can only use a slice in the system, be combined with other amplifiers, then not use the existing self-excitation problem of AD603.
Summary of the invention
The object of the invention is to propose a kind of 0 ~ 10MHz programmable operational amplifier of realizing in the mode of multi-stage cascade, satisfy technical indicator: (1) is for the input effective value
The signal of 20mV carries out 60dB and amplifies, maximum output sinusoidal signal effective value Vo 〉=6V; (2) gain fluctuation in 0 ~ 10MHz frequency band
3dB.
0 ~ 10MHz programmable operational amplifier that the present invention proposes, mode with multi-stage cascade realizes, the multistage amplifier chain route of whole piece prime, middle rank, programmable amplifying circuit, D/A(analog-to-digital conversion), single-chip microcomputer, inverter, final stage power amplification circuit, diode peak-detector circuit form, as shown in Figure 2.Wherein, programmable amplifying circuit is placed between prime and the intermediate amplifying circuit; The diode peak-detector circuit is connected in after the intermediate amplifying circuit; Single-chip microcomputer is connected between diode peak-detector circuit and the D/A converter; Inverter is connected between D/A converter and the programmable amplifying circuit; Single-chip microcomputer is by the peak value of inner A/D sampled peak detecting circuit, and makes comparisons with the peak value that presets, and constantly changes control voltage
Value, final so that output valve is consistent with set point.Single-chip microcomputer is connected with operation keyboard and display.
1. such as the frequency response curve of Fig. 4 broadband Voltage Feedback type amplifier OPA842 as can be known, when maximum 10 is got in its gain, the frequency of correspondence-3dB decay is still greater than 10MHz, so it is the broadband direct voltage feedback-type amplifier OPA842 of 200MHz, bandwidth 400MHz that preposition and intermediate amplifying circuit is all selected gain bandwidth product, feedback ratio
2. programmable amplifying circuit is selected accurate wideband current feedback-type amplifier VCA810, and its linear amplification range is
, as shown in Figure 8.The output voltage swing of considering VCA810 is
If immediately following intermediate amplifying circuit, then the input voltage of VCA810 is excessive, has directly affected its enlarging function after the preamplifying circuit.Therefore, the present invention has been placed on the programmable amplifying circuit take VCA810 as core between prime and the intermediate amplifying circuit, has guaranteed that the programmable stage amplifying circuit has enough amplification reserves.
3. it is in parallel that the final stage power amplification circuit adopts multi-disc (such as the 3-4 sheet) current feedback amplifier THS3091, to drive 50
Load.The frequency response curve of THS3091 as shown in figure 10, when frequency is 10MHz, its corresponding gain G=1,2,5,10 o'clock are almost all undamped, meet the designing requirement of 3dB passband; Simultaneously, consider when middle rank amplifies with maximum output amplitude+3.2V output, make G=5, final stage output amplitude+16V is also arranged, namely effective value be+11.2V, greater than preset value+6V, and during G=2, the output effective value is+and 3.84V＜+6V, so make 5 times of final stage amplifications.
4. the present invention will realize with stored program control system the AGC control of large closed loop, consider for low-power consumption, the present invention adopts the LM3S811 single-chip microcomputer to put device as micro-control, its inner A/D sample rate be 10bit be 1KHz＜＜10MHz, be that sampling rate is far below the speed of signal intensity, so designed again the diode peak-detector circuit immediately following final stage THS3091, as shown in figure 12, thereby output amplitude kept relative stability.To at every turn the sample peak value that obtains of single-chip microcomputer is made comparisons with the peak value that presets, and constantly changes control voltage
Value, final so that output valve is consistent with set point.
5. the D/A change-over circuit adopts 12 analog-digital chip TLV5616, and its chip pin figure and peripheral circuit are respectively shown in Figure 14,15.TLV5616 is output as positive voltage in view of the D/A conversion chip, therefore selects universal amplifier TLC084 immediately following the inverter of D/A change-over circuit, to satisfy the control voltage that is added on the VCA810
For negative, realize circuit as shown in figure 17.Wherein, No. 9 pin places are except the uplink feedback branch road, by resistance R
18And capacitor C
18The downstream branch that serial forms is added " lead-lag compensation " circuit for the self-oscillation of eliminating circuit.
Among the present invention, voltage gain AV can preset and show that presetting range is 0～60dB, and step pitch is 2dB (also can regulate continuously).
Among the present invention, the resistance that is connected in parallel on the charging capacitor both sides in the diode peak-detector circuit is in the past replaced to triode, be added in the real-time discharge work that level on the transistor base just comes to finish efficiently electric capacity by control.
Among the present invention, adopt lead-lag to compensate to eliminate self-oscillatory impact immediately following the inverter circuit after the D/A.
Among the present invention, the program control broadband amplifier device adopts the PCB(printed circuit board) realize, accomplished digitally the abundant isolation with simulation ground, effectively avoided signal " backflow " and crosstalked.
In sum, the gain of whole system is assigned as: preposition and intermediate amplifying circuit all adopts 10 times of amplifications; The final stage amplifying stage adopts 5 times of amplifications; As shown in Figure 8, the linear amplification region of programmable stage chip VCA810 is corresponding to control voltage
, have
Gain, enough satisfy both provisioning requests.So, when the input voltage peak value
The time, amplifying through 60dB, the output voltage peak value then can reach 10V, and namely effective value is 7.07V
6V satisfies technical indicator (1).
In addition, by above-mentioned discussion as can be known: it is the broadband direct voltage feedback-type amplifier OPA842 of 200MHz, bandwidth 400MHz that preposition amplification is all selected gain bandwidth product with the middle rank amplification, then is 10 bandwidth corresponding to gain
20MHz; The controllable gain bandwidth of the VCA810 of program control amplifying stage is 25MHz, namely
25MHz; An o'clock corresponding bandwidth is 210MHz to final stage current feedback amplifier THS3091 in gain G=2, then the bandwidth during its corresponding G=5
84MHz is with above-mentioned value substitution formula (2-4)
Try to achieve
12.12MHz 10MHz, the same requirement of satisfying the cut-off frequency that proposes in (2).
Description of drawings
Fig. 1 (a) is determined by external circuit with gain and bandwidth that Fig. 1 (b) has reacted programmable gain amplifier AD603.
Fig. 2 is system principle diagram.
Fig. 3 is OPA842 chip pin figure.
Fig. 4 is the frequency response curve of OPA842.
Fig. 5 is preposition and intermediate amplification principle figure.
Fig. 6 is VCA810 chip pin figure.
Fig. 7 is the controllable gain amplifying circuit.
Fig. 8 is the linear amplification region of VCA810 schematic diagram.
Fig. 9 is THS3091 chip pin figure.
Figure 10 is the THS3091 frequency response curve.
Figure 11 for not the level power amplification circuit.
Figure 12 is the diode peak-detector circuit.
Figure 13 is diode peak-detector circuit Output simulation sectional drawing.
Figure 14 is DAC chip TLV5616 chip pin figure.
Figure 15 is the TLV5616 peripheral circuit diagram.
Figure 16 is the output voltage-load current curve of TLV5616.
Figure 17 is the lead-lag compensating circuit.
Figure 18 is the Bode diagram after TLC084 compensates through lead-lag.
Figure 19 is the closed loop logarithmic curve with the TLC084 of lead-lag compensation.
Figure 20 is the amplifier section domain.
Figure 21 is power amplification and peak detection part domain.
Embodiment
Further describe the present invention below in conjunction with accompanying drawing.
It is the broadband direct voltage feedback-type amplifier OPA842 of 200MHz, bandwidth 400MHz that gain bandwidth product is selected in preposition amplification, feedback ratio
, its chip pin figure as shown in Figure 3.Adopt duplicate supply among the present invention
Power supply, homophase input, multiplication factor are 11 times, and consider that the signal source output resistance is 50
So, between it outputs to Pin3 input, done 50
Impedance matching.Pin7 and Pin4 dc supply input have all been made 0.01uF and have been moved back lotus root, as shown in Figure 5.
The chip pin figure of VCA810 as shown in Figure 6, its application circuit is very simple, go out power supply,, directly grounded inverting input, the placement-and-routing of as long as it consider 3 pins: homophase input, output and voltage controling end, as shown in Figure 7,
Be the output of preposition OPA842 amplifying circuit, for the consideration of programmable stage and amplifying stage impedance matching, done 50 at the in-phase input end of VCA810
Impedance matching; Anti-phase termination 25
Resistance to be guaranteeing the resistors match of positive and negative input, thereby prevents the imbalance of amplifier.Control voltage
Passed through
With
Input again pin No. 3 behind the low pass filter that forms, when effectively having avoided single-chip microcomputer D/A output may with noise jamming.
The realization of power amplification is that 200MHz, slew rate are 7300V/us, output driving current based on bandwidth
Wideband current feedback-type amplifier THS3091, its chip pin figure is as shown in Figure 9.Adopt duplicate supply among the present invention
Power supply, 3 in parallel realizations 50 of THS3091
The driving of load.Wherein
(this value is the chip handbook recommendation of THS3091, amplifies in this case identical multiple and can obtain maximum bandwidth).The specific implementation circuit as shown in figure 11.
The diode peak-detector circuit adopted the electric charge after the mode of a charging capacitor both sides resistance in parallel realizes capacitor charging to discharge to charge next time in the past.Discharge is untimely can't carry out the disadvantage that real-time peak value detects thereby the discharge mode of this pure hardware exists; Simultaneously, use the RC(resistance capacitance) network struction detection module generally will guarantee the constant that charges
=RC〉3T just can make charging rate satisfy the demands, and the signal frequency among the design is 0 ~ 10MHz, and this just means will pick out one group of suitable R, the C value satisfies the real-time detection in quite wide frequency band range, and obviously this is again difficult.Based on above 2 points, for the real-time that guarantees final stage THS3091 output waveform peak value is detected, among the design the resistance that is connected in parallel on the charging capacitor both sides in the diode peak-detector circuit is in the past replaced to triode, be added in the discharge work that level on the transistor base is just finished electric capacity by control.Specific implementation circuit and adopt functional simulation that Protel99SE carries out this circuit respectively shown in Figure 12,13.Wherein, wherein, in and out3 are respectively input, the output waveform of detector diode D1 among Figure 13.
The realization of DA conversion is based on 12 analog-digital chip THV5616, and its chip pin figure and peripheral circuit are respectively shown in Figure 14,15.Among Figure 15, No. 1 to No. 4 pin on the left side all only needs to link to each other with the single-chip processor i/o mouth, sheet choosing end
Can in program, compose zero, with physically ground connection equivalence.The right power input VDD according to the recommendation on the datasheet have+5V with+3V is available, for simplicity, makes the power supply of VDD=5V and amplifying circuit be consistent herein.The value of No. 6 pin analog reference voltage REFIN is between-0.3V and VDD+0.3V, simultaneously as can be seen from Figure 16: when VDD=5V, and V
Ref=2V is so carried out dividing potential drop between No. 8 pin and No. 5 pin.Simultaneously, consider+may exist between 5V analog power and the digit chip and crosstalk, so the ceramic condenser with 0.1uF carries out filtering between VDD and AGND, also further eliminated the impact of DA output on rear class.
TLV5616 is output as positive voltage in view of the DA conversion chip, and TLC084 plays the work of inverter herein in order to satisfy the control voltage that is added on the VCA810
For negative, realize circuit as shown in figure 17, in the lower end of No. 9 pins than common inverter circuit many a RC IEEE Std serial highway, purpose is in order to prevent because the self-oscillation that the extra limit of the generation of the parasitic capacitance in the circuit causes.The loop gain equation that this circuit is corresponding is:
As can be seen from Figure 18,
The place has introduced a limit, and this limit makes the gain at corner frequency place lower 3dB.When first limit that appears at amplifier zero point of introducing
In the time of before, just can offset this zero point by
The phase shift that limit causes.This phase shift obtained offsetting before second limit of amplifier occurs fully, and the response of circuit this moment just looks like that the limit of being introduced by compensating network never occurred the same.But, this moment
Be reduced 3dB or more, so loop gain is just passed through 0dB at lower frequency place.
The advantage of lead-lag compensation is that desirable closed loop gain is unaffected.The thevenin equivalent circuit of input circuit can calculate with formula (2) among Figure 17, and the gain after substituting with the Dai Weining equivalent parameters can be calculated with formula (3), and desirable closed loop gain can be calculated with formula (4):
Even if derive without above-mentioned strict theory, start with and also can draw the conclusion of formula (4) from " empty short " concept of amplifier, because RC network links to each other with void is low.As long as loop gain
Very large, feedback operation just can be eliminated the Closed-cycle effect of RC fully, and that the work of circuit just wants there is not RC network is such.As seen from Figure 19, those two zero limits that have compensation to introduce have appeared at the incipient part of curve, have just disappeared before first limit of therefore assorted amplifier occurs, and this has just prevented the interaction between zero limit, has eliminated self-oscillation.
The present invention has obtained checking at bread board and PCB respectively, the PCB of Figure 20,21 has distinguished correspondence amplifier section and power amplifying part.Because circuit of the present invention is the digital-analog mixed type circuit, therefore exist inevitably signal " to crosstalk ", the black secant has been blocked the interference of TLV5616 for the amplifier analog signal among Figure 20; Black secant among Figure 21 then is fully to isolate with " simulation ground " " digitally ", accomplishes final power amplifier " one point earth ", has effectively avoided the generation of signal " backflow ".
Claims (8)
1. 0 ~ 10MHz program control broadband amplifier device, it is characterized in that: the mode that adopts multi-stage cascade, the multistage amplifier chain route of whole piece prime, middle rank, programmable amplifying circuit, D/A converter, single-chip microcomputer, inverter, final stage power amplification circuit, diode peak-detector circuit form, wherein, programmable amplifying circuit is placed between prime and the intermediate amplifying circuit; The diode peak-detector circuit is connected in after the intermediate amplifying circuit; Single-chip microcomputer is connected between diode peak-detector circuit and the D/A converter; Inverter is connected between D/A converter and the programmable amplifying circuit; Single-chip microcomputer is by the peak value of inner A/D sampled peak detecting circuit, and makes comparisons with the peak value that presets, and constantly changes control voltage
Value, final so that output valve is consistent with set point; This program control broadband amplifier device is realized the small-signal of input voltage effective value Vi≤20mV in 3dB passband 0～10MHz is carried out the 60dB amplification, and gain fluctuation≤3dB, maximum output sinusoidal signal effective value Vo 〉=6V and signal output waveform are without obvious distortion in the passband; Input resistance 〉=50 Ω; Load resistance 50 ± 2 Ω.
2. 0～10MHz program control broadband amplifier device according to claim 1 is characterized in that: preposition and intermediate amplifying circuit employing broadband Voltage Feedback type amplifier OPA842, and its gain G=10.
3. 0～10MHz program control broadband amplifier device according to claim 1 is characterized in that: the integrated voltage control Amplifier VCA810 of programmable amplifying circuit employing single-stage.
4. 0～10MHz program control broadband amplifier device according to claim 1 is characterized in that: it is in parallel that the level power amplification circuit adopts multi-disc current feedback operational amplifier THS3091, to drive 50
Load.
5. 0～10MHz program control broadband amplifier device according to claim 1, it is characterized in that: voltage gain AV can preset and show that presetting range is 0～60dB, and step pitch is 2dB, or step pitch is regulated continuously.
6. 0～10MHz program control broadband amplifier device according to claim 2, it is characterized in that: in the diode peak-detector circuit, be connected in parallel on the charging capacitor both sides by a triode, be added in the real-time discharge work that level on the transistor base just comes to finish efficiently electric capacity by control.
7. 0～10MHz program control broadband amplifier device according to claim 2 is characterized in that: adopt lead-lag to compensate to eliminate self-oscillatory impact immediately following the inverter circuit after the D/A.
8. 0～10MHz program control broadband amplifier device according to claim 1 is characterized in that: the program control broadband amplifier device adopts PCB to realize, makes digitally the abundant isolation with simulation ground, to avoid signal " backflow " and to crosstalk.
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| CN2012102419330A CN102882480A (en) | 2012-07-13 | 2012-07-13 | Program-controlled broadband operational amplifier for 0-10MHz bandwidth |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012102419330A CN102882480A (en) | 2012-07-13 | 2012-07-13 | Program-controlled broadband operational amplifier for 0-10MHz bandwidth |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991276A (en) * | 2015-06-29 | 2015-10-21 | 中国地质大学（武汉） | Programmable gain amplification system for earth natural pulse electromagnetic field signal |
| CN108390653A (en) * | 2018-05-14 | 2018-08-10 | 南京信息工程大学 | A kind of broadband programme-controlled gain operational amplifier circuit |
| CN111469130A (en) * | 2020-04-26 | 2020-07-31 | 珠海格力智能装备有限公司 | Robot control method and device, storage medium and processor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0472406A1 (en) * | 1990-08-21 | 1992-02-26 | Amoco Corporation | High speed low power DC offsetting circuit |
-
2012
- 2012-07-13 CN CN2012102419330A patent/CN102882480A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0472406A1 (en) * | 1990-08-21 | 1992-02-26 | Amoco Corporation | High speed low power DC offsetting circuit |
Non-Patent Citations (3)
| Title |
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| 徐玲: "5V单电源供电的低噪声宽带放大器", 《电子设计工程》, vol. 19, no. 7, 5 April 2011 (2011-04-05) * |
| 赵碧杉等: "一种可编程宽带放大器的设计", 《电子设计工程》, vol. 17, no. 7, 5 July 2009 (2009-07-05), pages 26 - 28 * |
| 金子瑜: "宽带放大器的设计与制作", 《电脑知识与技术》, vol. 6, no. 19, 5 July 2010 (2010-07-05), pages 5349 - 5351 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991276A (en) * | 2015-06-29 | 2015-10-21 | 中国地质大学（武汉） | Programmable gain amplification system for earth natural pulse electromagnetic field signal |
| CN108390653A (en) * | 2018-05-14 | 2018-08-10 | 南京信息工程大学 | A kind of broadband programme-controlled gain operational amplifier circuit |
| CN108390653B (en) * | 2018-05-14 | 2023-12-01 | 南京信息工程大学 | Broadband program-controlled gain operational amplifier circuit |
| CN111469130A (en) * | 2020-04-26 | 2020-07-31 | 珠海格力智能装备有限公司 | Robot control method and device, storage medium and processor |
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Application publication date: 20130116 |