CN103762922B - A kind of method of AC servo weak-magnetic speed-regulating - Google Patents

A kind of method of AC servo weak-magnetic speed-regulating Download PDF

Info

Publication number
CN103762922B
CN103762922B CN201410037067.2A CN201410037067A CN103762922B CN 103762922 B CN103762922 B CN 103762922B CN 201410037067 A CN201410037067 A CN 201410037067A CN 103762922 B CN103762922 B CN 103762922B
Authority
CN
China
Prior art keywords
torque
speed
motor
axis inductance
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201410037067.2A
Other languages
Chinese (zh)
Other versions
CN103762922A (en
Inventor
孙园园
齐丹丹
徐正华
吴波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Estun Automation Co Ltd
Original Assignee
NANJING ESTUN AUTOMATIC CONTROL TECHNOLOGY Co Ltd
Nanjing Estun Automation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NANJING ESTUN AUTOMATIC CONTROL TECHNOLOGY Co Ltd, Nanjing Estun Automation Co Ltd filed Critical NANJING ESTUN AUTOMATIC CONTROL TECHNOLOGY Co Ltd
Priority to CN201410037067.2A priority Critical patent/CN103762922B/en
Publication of CN103762922A publication Critical patent/CN103762922A/en
Application granted granted Critical
Publication of CN103762922B publication Critical patent/CN103762922B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a kind of method of AC servo weak-magnetic speed-regulating, first the method measures magnetic linkage corresponding to each motor temperature, corresponding d-axis inductance and quadrature axis inductance when then measuring different torque under base speed, then voltage limit equation and torque equation is solved according to Newton iteration method, draw the set-point of stator direct-axis current and quadrature axis current, make different temperatures, different torque, torque-speed table that different rotating speeds is corresponding.The torque-speed table of relevant temperature section is selected according to motor temperature, then according to the cross, straight shaft current set-point of torque reference value and actual feedback rotating speed determination motor.The method draws cross, straight shaft current reference value according to requirement of actual working condition simultaneously, improves the fast-response energy of system.Meanwhile, the formulation due to different torque-speedometer considers d-axis and q-axis inductance with the change with motor internal temperature of the change of torque and magnetic linkage, avoids the change of motor operating state and causes the impact of parameter drift, improve the control precision of system.<!-- 2 -->

Description

A kind of method of AC servo weak-magnetic speed-regulating
Technical field
The present invention relates to a kind of method of AC servo weak-magnetic speed-regulating, particularly relate to and consider that the parameter of electric machine changes with motor operating state and carries out weak-magnetic speed-regulating to AC servo, belong to field of industrial automation control.
Background technology
At present, servo system is widely used in the industries such as feeding, robot and injection moulding, and these application scenarios require that servo system can export constant torque below in base speed, can carry out invariable power raising speed again more than base speed.Along with motor speed increases, winding back emf can increase, and stator terminal voltage will be caused to be greater than busbar voltage, thus cause the saturated of current regulator, and in order to obtain wider speed adjustable range, servo system adopts weak magnetics detect technology usually.
Above-mentioned application scenario, general employing is applicable to the motor that weak magnetic has saliency, and corresponding field weakening control method.Traditional field weakening control method, need derive the relational expression of rotating speed and direct-axis current, adjusts quadrature axis current i according to rotation speed change q, then obtain current direct-axis current i according to formula d, do not consider that the parameter of electric machine is as quadrature axis inductance L d, d-axis inductance L qand magnetic linkage ψ fthe problem of drifting about is there is along with the change of motor operating state.Therefore, system does not all reach satisfied performance on dynamic response and control precision.
Summary of the invention
The invention discloses a kind of method of AC servo weak-magnetic speed-regulating, the method considers the problem that the parameter of electric machine changes with the change of motor operating state, improves response performance and the control precision of weak magnetics detect.
For achieving the above object, the technical scheme that the present invention takes is:
A method for AC servo weak-magnetic speed-regulating, comprises the following steps:
The first step: record motor internal temperature different time corresponding magnetic linkage, obtain temperature-magnetic linkage table;
Second step: corresponding d-axis inductance and quadrature axis inductance when testing of electric motors is in different torque, obtain torque-d-axis and q-axis inductance table, method of testing is: make motor speed be in base speed, and test torque is corresponding d-axis inductance and quadrature axis inductance in zero to this interval of maximum;
3rd step: given motor temperature, rotating speed and torque, its medium speed should be greater than base speed, magnetic linkage is obtained by searching temperature-magnetic linkage table, obtaining d-axis inductance and quadrature axis inductance by searching torque-d-axis and q-axis inductance table, the value of rotating speed, torque, magnetic linkage, d-axis inductance and quadrature axis inductance being substituted into voltage limit equation (L di d+ ψ f) 2+ (L qi q) 2≤ (u smax/ ω r) 2with torque equation T e=P n[ψ fi q+ (L d-L q) i di q] in, wherein, u smaxfor inverter exports maximum voltage amplitude, ω rfor rotating speed, T efor torque, ψ ffor magnetic linkage, P nfor motor number of pole-pairs, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis current; Solve voltage limit equation and torque equation according to Newton iteration method, draw the set-point of stator direct-axis current and quadrature axis current;
4th step: repeat step 3, solve each temperature value within the scope of motor temperature, rotating speed at the set-point of base speed to each tachometer value in maximum (top) speed interval and stator direct-axis current corresponding to each torque value of torque in zero to breakdown torque interval and quadrature axis current, obtain the rotary speed-torque table that different temperatures is corresponding;
5th step: the actual speed and the torque that obtain motor feedback, judge whether to need to carry out weak magnetics detect according to current actual speed according to setting principle, if need to carry out weak magnetics detect, then by the set-point of rotary speed-torque table determination stator direct-axis current and quadrature axis current, the set-point of this direct-axis current and quadrature axis current is used to carry out weak magnetics detect to motor.
The inventive method according to the rotary speed-torque table of motor internal thermal creep stress relevant temperature section when running, then is tabled look-up in real time according to torque reference value and actual feedback rotating speed and is drawn the cross, straight shaft current set-point of motor.Because the method can draw cross, straight shaft current reference value according to requirement of actual working condition simultaneously, the fast-response energy of system therefore effectively can be improved.Meanwhile, the formulation due to different rotating speeds-torque indicator considers d-axis and q-axis inductance with the change with motor internal temperature of the change of torque and magnetic linkage, avoids the change of motor operating state and causes the impact of parameter drift, improve the control precision of system.
Accompanying drawing explanation
Fig. 1 is claw pole type motor voltage limit ellipse and current limitation circle schematic diagram.
Fig. 2 is claw pole type motor weak magnetic field operation track.
Fig. 3 is the system block diagram using the inventive method to carry out weak magnetics detect.
Fig. 4 is stator current vector track.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Because the voltage of motor and inverter, electric current have certain restriction, when therefore motor runs, its terminal voltage and stator current can not go beyond the limit of value u smax, i smax, voltage and current Limiting Equations is respectively shown in formula (1) and formula (2):
(L di d+ψ f) 2+(L qi q) 2≤(u smax/ω r) 2(1)
i d 2 + i q 2 &le; i s max 2 - - - ( 2 )
Wherein, ω rfor rotating speed, ψ ffor magnetic linkage, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis current, i smax, u smaxfor motor maximum current amplitude and inverter export maximum voltage amplitude.
As can be seen from formula (1), for each rotational speed omega r(center is-ψ all to correspond to a voltage limit ellipse under rectangular axis electric current dq coordinate system f/ L d, 0), and two shaft lengths of ellipse are along with motor speed ω rincrease and reduce gradually, therefore voltage limit ellipse is cluster elliptic curve.Track corresponding to formula (2) is the circle in the center of circle with initial point under dq coordinate system, and be called current limitation circle, when motor stabilizing runs, stator current also must drop within current limitation Circular test.
The each running status of permagnetic synchronous motor has a stator current vector corresponding with it, and this current phasor is subject to the restriction of voltage Limiting Equations and current limitation equation simultaneously, at i d, i qin coordinate plane, this vector can only be in the common factor of voltage limit track and current limitation track.From above-mentioned analysis, during the weak magnetic stable operation of motor, stator rectangular axis current i d, i qvoltage limit equation (formula 1), current limitation equation (formula 2) and torque equation (formula 3) must be met simultaneously, determine rotational speed omega for a certain r, stator current vector must fall on the torque curve of ABCDEF institute enclosing region in FIG.
T e＝P n[ψ fi q+(L d-L q)i di q](3)
Wherein, T efor torque, ψ ffor magnetic linkage, P nfor motor number of pole-pairs, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis current.
In Fig. 2, determine rotational speed omega for a certain r, the oval and current limitation circle of torque curve and voltage limit respectively has intersection point M, a N, so stator rectangular axis current i d, i qcurrent phasor drops on the curve of MN shown in Fig. 2 and all meets control overflow.Consider that direct-axis current can produce d-axis armature reaction, thus permanent magnet is demagnetized, the M point that stator current d axle component is minimum is chosen in reality, the i.e. intersection point of voltage limit ellipse and torque curve, therefore by solving the set-point of voltage limit elliptic equation and torque equation acquisition stator rectangular axis electric current.
Solve voltage limit elliptic equation (1) and torque equation (3), need the parameter of electric machine of first given correspondence, i.e. rotational speed omega r, torque T e, magnetic linkage ψ fand straight, quadrature axis inductance L d, L q.Along with the change of temperature, permanent magnet magnet steel working point changes, magnetic linkage ψ falong with the rising of temperature diminishes.First, the magnetic linkage ψ testing corresponding under different temperatures by experiment f, draw temperature-magnetic linkage table.Because in a certain temperature section, magnetic linkage ψ fchange may be very little, so temperature can be divided into normal temperature, middle gentle high temperature three temperature sections according to actual conditions, test the magnetic linkage ψ under different temperatures section respectively f.Directly, quadrature axis inductance L d, L qvalue change with the change of rotating speed hardly, but to reduce with the increase of torque, therefore when electronics operates in base speed, test torque T estraight, quadrature axis inductance L that in zero to torque maximum value interval, each torque is corresponding d, L q.Because when torque changes in a certain scope, corresponding straight, quadrature axis inductance L d, L qmay be almost constant, so according to actual conditions torque T ebe divided into multiple interval, test draws each interval corresponding straight, quadrature axis inductance L d, L q, draw torque-straight, quadrature axis inductance meter.
After drawing temperature-magnetic linkage table and torque-straight, quadrature axis inductance meter, need to calculate the set-point of different temperatures, rotating speed and the stator direct-axis current corresponding to torque and quadrature axis current.First, choosing a certain temperature range, finding corresponding magnetic linkage ψ by searching temperature-magnetic linkage table f, by magnetic linkage ψ fvalue substitute into above-mentioned voltage limit elliptic equation (1) and torque equation (3); Then, setting speed ω r(in order to apply weak magnetics detect, set rotating speed should in base speed and rotating speed maximum range) and torque T e, determine the interval belonging to torque, by straight, the quadrature axis inductance L of searching torque-straight, quadrature axis inductance meter finds this torque corresponding d, L q, by rotational speed omega r, torque T ewith straight, quadrature axis inductance L d, L qvalue substitute into voltage limit elliptic equation (1) and torque equation (3); Finally, adopt Newton iteration method, solve stator rectangular axis given value of current value according to different torque and rotational speed.The rotary speed-torque table that (normal temperature, middle gentle high temperature three temperature sections can be roughly divided into) under can being made different temperatures like this.
Judge whether that the judgment principle needing to carry out weak magnetics detect can be described in detail by composition graphs 4 according to the actual speed of motor feedback.
In the diagram, the implication of each point is as follows:
O point is the origin of coordinates;
G point is the intersection point of current limitation circle and q axle, and such G point coordinates is (0, i smax), like this through the oval corresponding rotational speed omega of voltage limit of G gcan according to i d=0, i q=i smaxsubstitute into voltage limit equation (formula (1)) to solve;
H point is voltage limit oval with the current limitation round intersection point tangent with q axle, and the voltage limit tangent with q axle is oval through initial point O, like this through the oval corresponding rotational speed omega of voltage limit of H point hcan according to i d=0, i q=0 substitutes into voltage limit equation (formula (1)) solves;
P point is the voltage limit ellipse tangent with current limitation circle and the intersection point of current limitation round dot, and P point coordinates is (-i smax, 0), like this through the oval corresponding rotational speed omega of voltage limit of P point pcan according to i d=-i smax, i q=0 substitutes into voltage limit equation (formula 1) solves;
Q point is the central point of voltage limit ellipse, and Q point coordinates is (-ψ f/ L d, 0).
Setting given rotating speed is ω *, full speed section is divided into four intervals:
Interval 1(ω *≤ ω g): this interval motor speed, lower than base speed, is permanent torque district, adopts the control strategy of id=0.
Interval 2(ω g< ω *< ω h): when motor runs on this interval, the voltage limit that corresponding rotating speed is corresponding is oval all exists intersection point with q axle, therefore can adopt i d=0 controls or carries out weak magnetics detect, selects control mode according to as follows: to make i in voltage limit equation (i.e. formula (1)) d=0, ω r=ω *, solve i is made in torque equation (i.e. formula (3)) d=0, solve i qT0=T e/ (p nψ f), if i qT0> i qu0then run by weak magnetics detect mode, otherwise press i d=0 mode controls.
Interval 3(ω h< ω *< ω p): rotating speed is higher than ω hvoltage limit ellipse during operation without intersection point, can only carry out weak magnetics detect with q axle.
Interval 4(ω *>=ω p): work as ψ f/ L d> i smaxtime, interval 4 do not exist, and namely reach maximum speed at P point; Work as ψ f/ L d< i smaxtime, interval 4 exist, and voltage limit ellipse without intersection point, can only carry out weak magnetics detect, i with q axle d, i qalong the oval value of voltage limit, and reach maximum speed at Q point.
According to above analysis, can know that interval 1 for i d=0 controls, and interval 2 can adopt i d=0 controls or carries out weak magnetics detect, and interval 3,4 must adopt weak magnetics detect.
The principle of whether carrying out weak magnetics detect simplified also can be: base speed adopts i below d=0 controls, and base speed adopts weak magnetics detect above.The theoretical value of base speed is ω h, according to the method simplified, the base speed experimentally testing and debugging of actual selection, generally lower than the theoretical value calculated, leaves certain surplus.
Use the inventive method carries out the system block diagram of weak magnetics detect as shown in Figure 3, mainly comprises speed pi regulator, control mode judgement and hand-off process module, weak magnetics detect module, current PI adjuster, straight/alternation changes, 2/3 converts, Park converts, Clark converts, SVPWM.

Claims (1)

1. a method for AC servo weak-magnetic speed-regulating, is characterized in that comprising the following steps:
(1) record motor internal temperature different time corresponding magnetic linkage, obtain temperature-magnetic linkage table;
(2) corresponding d-axis inductance and quadrature axis inductance when testing of electric motors is in different torque, obtain torque-d-axis and q-axis inductance table, method of testing is: make motor speed be in base speed, and test torque is corresponding d-axis inductance and quadrature axis inductance in zero to this interval of maximum;
(3) given motor temperature, rotating speed and torque, its medium speed should be greater than base speed, by temperature-magnetic linkage table determination magnetic linkage, by torque-d-axis and q-axis inductance table determination d-axis inductance and quadrature axis inductance, the value of rotating speed, torque, magnetic linkage, d-axis inductance and quadrature axis inductance is substituted into voltage limit equation (L di d+ ψ f) 2+ (L qi q) 2≤ (u smax/ ω r) 2with torque equation T e=P n[ψ fi q+ (L d-L q) i di q] in, wherein, u smaxfor inverter exports maximum voltage amplitude, ω rfor rotating speed, T efor torque, ψ ffor magnetic linkage, P nfor motor number of pole-pairs, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis current; Solve voltage limit equation and torque equation according to Newton iteration method, draw the set-point of stator direct-axis current and quadrature axis current;
(4) step (3) is repeated, solve each temperature value within the scope of motor temperature, rotating speed at the set-point of base speed to each tachometer value in maximum (top) speed interval and stator direct-axis current corresponding to each torque value of torque in zero to breakdown torque interval and quadrature axis current, obtain the rotary speed-torque table that different temperatures is corresponding;
(5) actual speed and the torque of motor feedback is obtained, judge whether to need to carry out weak magnetics detect according to current actual speed, if need to carry out weak magnetics detect, then by the set-point of rotary speed-torque table determination stator direct-axis current and quadrature axis current, the set-point of this direct-axis current and quadrature axis current is used to carry out weak magnetics detect to motor.
CN201410037067.2A 2014-01-24 2014-01-24 A kind of method of AC servo weak-magnetic speed-regulating Active CN103762922B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410037067.2A CN103762922B (en) 2014-01-24 2014-01-24 A kind of method of AC servo weak-magnetic speed-regulating

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410037067.2A CN103762922B (en) 2014-01-24 2014-01-24 A kind of method of AC servo weak-magnetic speed-regulating

Publications (2)

Publication Number Publication Date
CN103762922A CN103762922A (en) 2014-04-30
CN103762922B true CN103762922B (en) 2015-12-02

Family

ID=50530103

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410037067.2A Active CN103762922B (en) 2014-01-24 2014-01-24 A kind of method of AC servo weak-magnetic speed-regulating

Country Status (1)

Country Link
CN (1) CN103762922B (en)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106627251B (en) * 2017-01-22 2019-03-15 北京新能源汽车股份有限公司 A kind of motor control method and device
CN107395085B (en) * 2017-07-14 2020-09-11 阳光电源股份有限公司 Weak magnetic control method and controller of permanent magnet synchronous motor
CN107482981A (en) * 2017-09-07 2017-12-15 浙江安美德汽车配件有限公司 A kind of BSG motors field weakening control method and system
CN108448996B (en) * 2018-03-26 2020-02-18 浙江德欧电气技术有限公司 Control method of high-precision adjustable servo motor
CN109167542A (en) * 2018-09-05 2019-01-08 上海拓为汽车技术有限公司 A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system
DE102018122674B4 (en) * 2018-09-17 2022-06-09 Volkswagen Aktiengesellschaft Method of controlling an electric motor
CN109660167A (en) * 2019-01-23 2019-04-19 四川虹美智能科技有限公司 A kind of control method and device of motor
CN110154032B (en) * 2019-06-20 2022-03-15 浙江智玲机器人科技有限公司 Control system of mechanical arm and mechanical arm
CN110611471B (en) * 2019-10-31 2021-01-22 中车青岛四方车辆研究所有限公司 Control method and control device for output torque of three-phase asynchronous motor
CN113726241B (en) * 2020-05-26 2024-05-31 苏州汇川联合动力系统股份有限公司 Method, apparatus and computer readable storage medium for temperature rise compensation of motor torque
CN112003508B (en) * 2020-09-18 2022-06-10 蔚然（南京）动力科技有限公司 Motor position sensorless control method and device
CN112589832B (en) * 2020-12-04 2022-04-29 成都卡诺普机器人技术股份有限公司 Method for determining maximum working torque of robot joint
CN112615579B (en) * 2020-12-17 2022-09-23 潍柴动力股份有限公司 Voltage limit circle calibration method and device, terminal and storage medium
CN112706623B (en) * 2020-12-22 2022-10-14 广州橙行智动汽车科技有限公司 Motor control method and device and vehicle
CN113437922B (en) * 2021-07-27 2022-06-28 上海莘汭驱动技术有限公司 Driving control method and system for limited-angle torque motor
CN114407014A (en) * 2022-01-25 2022-04-29 达闼机器人股份有限公司 Control method and device for robot actuator, medium, equipment and robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101207362A (en) * 2006-12-19 2008-06-25 天津航天鑫茂稀土机电科技有限公司 Controllable weak magnetic technique combining magnetic structure with vector control of permanent magnet motor
CN102098000A (en) * 2011-01-27 2011-06-15 华中科技大学 Weak magnetic speed regulating method for induction motor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08275599A (en) * 1995-03-30 1996-10-18 Meidensha Corp Control method for permanent magnet synchronous motor
DE102004035763A1 (en) * 2004-07-21 2006-03-16 Wabco Gmbh & Co.Ohg Brake pressure modulator pilot unit

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101207362A (en) * 2006-12-19 2008-06-25 天津航天鑫茂稀土机电科技有限公司 Controllable weak magnetic technique combining magnetic structure with vector control of permanent magnet motor
CN102098000A (en) * 2011-01-27 2011-06-15 华中科技大学 Weak magnetic speed regulating method for induction motor

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
冯江华 等.考虑参数变化的永磁同步电动机弱磁控制研究.《微电机》.2008,全文. *
冷再兴.永磁同步电动机弱磁调速控制.《万方数据服务平台》.2008,全文. *

Also Published As

Publication number Publication date
CN103762922A (en) 2014-04-30

Similar Documents

Publication Publication Date Title
CN103762922B (en) A kind of method of AC servo weak-magnetic speed-regulating
CN106655941B (en) A kind of method for parameter estimation and device of IPM synchronous motor
CN103607155B (en) Based on the permagnetic synchronous motor method for controlling position-less sensor of rotatory current vector
CN105262394A (en) MTPA control method of built-in PMSM and MTPA control system
CN103107764B (en) Permanent magnet synchronous motor field weakening control method for vehicle
CN103036499B (en) Detection method of permanent magnet motor rotor position
CN107086836B (en) A kind of improved permanent magnet synchronous motor weak magnetic speed regulating method
CN107046386B (en) Novel method for weak magnetic calibration of permanent magnet synchronous motor controller of pure electric vehicle
CN102223133B (en) Maximum torque control method for salient-pole permanent-magnet synchronous motor
CN102684592B (en) Torque and flux linkage control method for permanent synchronous motor
CN102647134B (en) Efficiency optimization control method without angle sensor for permanent magnet synchronous motor
WO2022133892A1 (en) Permanent magnet synchronous motor mtpa control method and apparatus, system and device
CN106712595B (en) Permanent magnet synchronous motor method for controlling torque
CN106059419B (en) A kind of permanent magnet synchronous motor parallel connection vector control scheme
CN103427752A (en) Method and device for measuring torque parameters of permanent-magnet synchronous motor
CN104682787A (en) Method for estimating initial position angle of rotor of three-phase switched reluctance motor
CN111740664B (en) Method for realizing field weakening control of salient pole permanent magnet synchronous motor based on Id=0
CN106788061B (en) A kind of permanent magnet synchronous motor rotary inertia recognition methods based on depression of order electric current loop
WO2024120487A1 (en) Calibration method for performance of permanent magnet synchronous motor
CN107482986B (en) Parameter calibration and control method of motor
CN104579089A (en) Estimation method of rotating speed of permanent-magnet synchronous motor
CN105353220A (en) Identification method for electric performance parameter of three-phase asynchronous motor
CN104836501A (en) Method for permanent-magnet synchronous motor parameter on-line identification
CN110798111A (en) Method and device for detecting zero position of rotary transformer of permanent magnet synchronous motor
CN116365937A (en) Control method for high-speed permanent magnet synchronous motor without position sensor

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20190321

Address after: 211100 No. 155 General Avenue, Jiangning Economic Development Zone, Nanjing City, Jiangsu Province

Patentee after: Nanjing Estun Automation Co., Ltd.

Address before: 211100 No. 155 General Avenue, Jiangning Economic Development Zone, Nanjing City, Jiangsu Province

Co-patentee before: Nanjing Estun Automatic Control Technology Co., Ltd.

Patentee before: Nanjing Estun Automation Co., Ltd.

TR01 Transfer of patent right