CN103986375B - Method for achieving multi-motor synchronism based on armature current detecting - Google Patents
Method for achieving multi-motor synchronism based on armature current detecting Download PDFInfo
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Abstract
The invention provides a method for achieving multi-motor synchronism based on armature current detecting and belongs to the technical field of motor control. The method comprises the steps that (1) a direct-current motor drives a chip to sample armature current signals; (2) the waveform of an armature current pulsation component is drawn on a computer, according to the relation of the armature current pulsation component and motor rotating speed, the motor rotating speed is detected, and the magnitude of an armature current direct-current component is recorded; (3) a blurry PID controller is designed; (4) the blurry PID controller designed in the step (3) is used for computing current controlled quantity which is transmitted to a motor driver; and (5) a pulse width modulation (PWM) technology is used for regulating and controlling the motor rotating speed, and accordingly speed synchronization and position synchronization of multiple motors are achieved. According to the method, a structure is simple, adjusting is convenient, reliability is high, the armature current pulsation component is used for detecting the speed synchronism of the multiple motors, and external devices such as a sensor are not used.
Description
Technical field
It is more particularly to a kind of to be detected based on armature supply and realize that many motors are same the present invention relates to motor control technology field
Step property method.
Background technology
With the fast development of science and technology, the requirement to various mechanical performances and product quality is also being gradually stepped up, single
Control of the single needle to a motor can not meet the demand of modern technologies development, and need the people to carry out together multiple electric motors
Step control.The rotating speed of motor is one of important parameter to multiple electric motors implementation Synchronization Control, therefore to be related to turn motor
The detection and regulation of speed.
The method of detection motor speed is many both at home and abroad at present, according to it is different it is theoretical successively produced simulation velocimetry,
Synchronous velocimetry and counting velocimetry.Traditional motor speed detection is that auxiliary sensing equipment is installed on generator, including
There is photo-electric (installing the photoelectric velocity measurement elements such as photoelectric figure pulse coder), electromagnetic type (utilizes electromagnetic induction principle or variable
Hall element of magnetic resistance etc.), condenser type (amplitude modulation or frequency modulation(PFM) are carried out to the higher-order of oscillation) etc., also some special surveys
Fast device is come pulsing signal using the radioactive material for being placed in a rotating body.But in measurement DC micromotor rotating speed
When, add-on device measurement rotating speed is particularly inconvenient, and increased production cost.
Rotating speed to direct current generator is adjusted exactly changing the DC component of armature electric current.At present, direct current generator
Speed governing has various control algorithm, using it is most be PID (Proportion ratios, Integration integrations,
Differentiation differential) control algolithm.Traditional PID controller is most widely used most basic one in Industry Control
Controller is planted, has the advantages that simple structure, good stability, reliability are high, easy to adjust, and PID Rule adjustings are to suitable
Many Industry Control objects, the control especially for Linear Time-Invariant System is highly effective.But multi-motors drive system this
" Generalized Control object " has the features such as non-linear, imperfection, uncertainty and ambiguity, and its mathematical models is difficult to obtain
, and during control system is designed, this kind of system cannot also fully meet classical control theory and modern control theory
The more exacting terms for being proposed is assumed.
The content of the invention
It is an object of the invention to overcome above-mentioned deficiency, there is provided one kind is detected based on armature supply and realizes multi- drive synchronization
Property method, it reflects the speed sync of motor using the flutter component of armature supply, and motor is tested the speed；Using armature
Current dc component reflects the position synchronism of motor load, and is calculated as the control of position synchroballistic using fuzzy
Method, and speed governing is carried out to motor by pulse modulation technology PWM；So as to the speed sync for reaching many motors is synchronous with position.
One kind is detected based on armature supply and realizes multi- drive synchronization method, comprised the following steps that：
1) DC motor Driver chip sampling armature current signal, obtains influence motor synchronous operation after removal interference signal
Armature supply flutter component and armature supply DC component；
2) waveform of armature supply flutter component is drawn out on computers, is turned according to armature supply flutter component and motor
The relation of speed detects the rotating speed of motor, and records the size of armature supply DC component；
3) fuzzy controller is designed, that is, is designed using the adaptive of fuzzy controller on-line tuning PID controller parameter
Answer fuzzy controller；
4) using step 3) fuzzy controller of design calculates current controlled quentity controlled variable and is transported to motor driver；
5) pulse modulation technology PWM is recycled to regulate and control motor speed, so as to realize the speed sync of multiple electric motors
With position synchronization.
Further, step 2) described in armature supply flutter component be with the relational expression of motor speed：
Wherein, fn--- pulsation of current frequency (Hz)；
K --- commutator segment number；
N --- motor speed (r/min)；
P --- number of pole-pairs；
C --- the coefficient determined by the odd even of number of segment, C=1 when K is even number, C=2 when K is odd number.
Further, the circuit design structure of described fuzzy controller is：
Using the size of the size reflected load of armature supply DC component, and according to load traveled distance deviation e and partially
Difference rate of change ecAs input variable, by parameter value K after being processed through fuzzy controllerp、Ki、KdIt is input in PID controller, by
Output variable is obtained after the motor driver of PID controller connection direct current generator, and output variable is carried out through velocity checking circuits
Negative-feedback regu- lation.
Further, the control algolithm of the fuzzy controller realizes that step is as follows：
4-1) input, the obfuscation of output variable, specially：
The input variable and output variable of fuzzy controller are chosen, wherein input variable is motor load traveled distance
Deviation e and deviation variation rate ec, output variable is the correction amount K of three parameters of PID controllerp、ΔKi、ΔKd；
Definition input, the domain of output variable；
According to input, the situation of output variable, the linguistic variable and its Linguistic Value of its obfuscation are determined；
The membership function of its Linguistic Value is defined on the affiliated domain of each linguistic variable, and utilizes membership function computational language
The degree of membership of value；
The control rule of fuzzy controller 4-2) is set up, i.e., according to the design experiences to fuzzy controller, is summarized
Draw fuzzy rule；
4-3) the defuzzification of output variable, i.e., the degree of membership of the obfuscation Linguistic Value according to output variable calculates output
It is determined that value；
4-4) set up fuzzy control table.
By adopting the above-described technical solution, the present invention has the advantage that：
1st, simple structure, easy to adjust, reliability are high, and the speed sync of many motors is detected with armature supply flutter component
Property, it is no to use the external device (ED)s such as sensor；
2nd, each size for loading is detected by armature supply DC component, the difference reflection motor load position of load is same
Step property；
3rd, by fuzzy-adaptation PID control, reduce hyperharmonic and shorten the response time, while having certain robustness；
4th, change the dutycycle of voltage on armature using pulse modulation technology PWM, so as to change average voltage, control
The rotating speed of motor, finally realizes the run-in synchronism of multiple electric motors.
Other advantages of the invention, target and feature will be illustrated in the following description to a certain extent, and
And to a certain extent, based on being will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be wanted by following specification and right
Book is sought to realize and obtain.
Brief description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
The detailed description of one step, wherein：
Fig. 1 is that the present invention is detected and the flow chart for realizing multi- drive synchronization method based on armature supply；
Fig. 2 is fuzzy controller structure chart；
Fig. 3 realizes program flow diagram for PWM.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The present invention obtains influence motor synchronous operation electricity first with DC motor Driver chip sampling armature current signal
Pivot current component, includes armature supply DC component and armature supply flutter component.By armature supply flutter component and electricity
The detectable motor speed of the relation of machine rotating speed, so as to reflect the speed sync of motor.Fuzzy controller is designed, profit
With the size of the size reflected load of armature current dc component, and become according to motor load traveled distance value deviation e and deviation
Rate ecExport the parameter value K of corresponding PID controllerp、Ki、Kd.Fuzzy controller goes out according to the parameter value calculation for obtaining
Current controlled quentity controlled variable is simultaneously sent to motor driver, recycles pulse modulation technology PWM to regulate and control motor speed, final real
The speed of existing multiple electric motors is synchronous with position.
Fig. 1 is the oscillogram of armature supply flutter component, and reference picture 1, one kind is detected based on armature supply and realizes electricity more
Machine synchronism method, comprises the following steps that：
1) DC motor Driver chip sampling armature current signal, obtains influence motor synchronous operation after removal interference signal
Armature supply flutter component and armature supply DC component；
2) waveform of armature supply flutter component is drawn out on computers, is turned according to armature supply flutter component and motor
The relation of speed detects the rotating speed of motor, and records the size of armature supply DC component；
3) fuzzy controller is designed, that is, is designed using the adaptive of fuzzy controller on-line tuning PID controller parameter
Answer fuzzy controller；
4) using step 3) fuzzy controller of design calculates current controlled quentity controlled variable and is transported to motor driver；
5) pulse modulation technology PWM is recycled to regulate and control motor speed, so as to realize the speed sync of multiple electric motors
With position synchronization.
Wherein, step 2) described in armature supply flutter component be with the relation of motor speed：
Wherein, fn--- pulsation of current frequency (Hz)；
K --- commutator segment number；
N --- motor speed (r/min)；
P --- number of pole-pairs；
C --- the coefficient determined by the odd even of number of segment, C=1 when K is even number, C=2 when K is odd number.
Armature supply ripple frequency f can be obtained on computersn, by above formula, just can detect motor speed
N, you can learn motor whether speed sync.
Wherein, step 3) described in the structure of fuzzy controller be：
Using the size of the size reflected load of armature supply DC component, and according to load traveled distance deviation e and partially
Difference rate of change ecAs input variable, by parameter value K after being processed through fuzzy controllerp、Ki、KdIt is input in PID controller, by
Output variable is obtained after the motor driver of PID controller connection direct current generator, and output variable is carried out through velocity checking circuits
Negative-feedback regu- lation.Its concrete structure is as shown in Figure 2.
The control algolithm of the fuzzy controller realizes that step is as follows：
4-1) input, the obfuscation of output variable, specially：
The input variable and output variable of fuzzy controller are chosen, wherein input variable is motor load traveled distance
Deviation e and deviation variation rate ec, output variable is the correction amount K of three parameters of PID controllerp、ΔKi、ΔKd；
Definition input, the domain of output variable；
According to input, the situation of output variable, the linguistic variable and its Linguistic Value of its obfuscation are determined；
The membership function of its Linguistic Value is defined on the affiliated domain of each linguistic variable, and utilizes membership function computational language
The degree of membership of value；
The control rule of fuzzy controller 4-2) is set up, i.e., according to the design experiences to fuzzy controller, is summarized
Draw fuzzy rule；
4-3) the defuzzification of output variable, i.e., the degree of membership of the obfuscation Linguistic Value according to output variable calculates output
It is determined that value；
4-4) set up fuzzy control table.
Specific implementation method of the invention includes the following aspects：
First, the obfuscation of input variable
1) input variable of fuzzy controller chooses motor load traveled distance value deviation e and deviation variation rate ec；
2) according to deviation e and deviation variation rate ecActual domain, carried out the domain of discretization E and Ec：
E=Ec={ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }
3) Linguistic Value of the linguistic variable of obfuscation can be according to the actual loading size of motor, if the forward direction of motor is operated to
" just ", inverted running is " negative ", specially：
" negative big " (NB)：[- 6, -4], inverted running is especially big；
" in negative " (NM)：[- 4, -2], inverted running is larger；
" negative small " (NS)：[- 2,0], inverted running is smaller；
" zero " (ZE)：[0,0], center；
" just small " (PS)：[0,2], forward direction operation is smaller；
" center " (PM)：[2,4], forward direction operation is larger；
" honest " (PB)：[4,6], forward direction operation is especially big；
The Linguistic Value for then determining is：" negative big ", " in negative ", " negative small ", " zero ", " just small ", " center ", " honest " seven languages
Speech variable, the input quantity Linguistic Value fuzzy subset of fuzzy controller is chosen for：
{NB,NM,NS,ZE,PS,PM,PB}
4) membership function of its Linguistic Value is defined on the domain of each linguistic variable：
If the membership function of E, Ec is all trigonometric function distribution, represent that the discrete form stroke of headstock gear countershaft is less than -5
When, its language rule is all represented by " negative big " (NB)；When its stroke is during 4-5, its language rule is all represented by " just
(PB) greatly "；It is possible thereby to the whole stroke of headstock gear countershaft is showed with language.
2nd, the obfuscation of output variable
PID controller is corrected with fuzzy controller in fuzzy controller, therefore output variable elects PID control as
The correction amount K of three parameters of devicep、ΔKi、ΔKd.Defining output variable domain is：
KpDomain be：{ -0.3, -0.2, -0.1,0,0.2,0.2,0.3 }
KiDomain be：{ -0.06,0.04,0.02,0,0.02,0.04,0.06 }
KdDomain be：{ -3, -2, -1,0,1,2,3 }
Choose similar with input variable, the output variable Linguistic Value fuzzy subset of definable fuzzy controller is：
{NB,NM,NS,ZE,PS,PM,PB}
Membership function and its meaning are identical with input variable selection, and output quantity is stated using fuzzy language.
3rd, the control rule for determining fuzzy controller is set up
Fuzzy controller is exactly the parameter K of the combination with PID controller of input variable not in the same timep、Ki、KdBetween
Control planning.During system operation, combined according to different input variables, controller provides K according to control rulep、Ki、Kd's
Variable quantity, the control effect for having reached.The regular universal law is controlled to be：
1) when system deviation is larger, from larger KpValue, speeds system response time；Use less KdValue, it is to avoid
The differential saturation for answering deviation excessive suddenly to cause, produced control action；Make KiValue takes zero, and it is excessively super that anti-locking system occurs
Adjust, remove integral action；
2) system deviation and during medium big deviation variation rate, the K of selection of smallp, reduce system overshoot；Use moderate Ki
Value；Also moderate K is selecteddValue, it is ensured that system response time；
3) when system deviation is smaller, K is suitably increasedpAnd KiValue；KdHave to be chosen at and seem more important herein, its shadow
The anti-interference of acoustic system and vibration；When larger, less K is takendValue, when smaller, can suitably increase KdValue；
4) when system deviation rate of change is larger, K is suitably reducedpValue, increases KiValue.
Using principles above e, ec、Kp、Ki、KdTo describe Fuzzy PID Control Rules, obtain：
If(e is NB)and(ec is NB)then(Kp is PB)(Ki is NB)(Kd is PS)
If(e is NB)and(ec is NM)then(Kp is PB)(Ki is NB)(Kd is NS)
If(e is NB)and(ec is NS)then(Kp is PM)(Ki is NM)(Kd is NB)
If(e is NB)and(ec is Z)then(Kp is PM)(Ki is NM)(Kd is NB)
If(e is NB)and(ec is PS)then(Kp is PS)(Ki is NS)(Kd is NB)
Therefore, according to e and ecThe fuzzy subset of Linguistic Value can respectively obtain Kp、Ki、Kd49 fuzzy rules, specific mould
Paste control rule is formulated according to actual field debugging.
4th, the defuzzification of system output quantity
The present invention carries out defuzzification using gravity model appoach, by the fuzzy control rule for obtaining, according to the deviation of system-computed
And deviation variation rate can obtain the output quantity of system.Wherein Δ KpThe degree of membership μ of fuzzy control ruleΔp1Tried to achieve by below equation：
μΔp1=μNB(E)*μNB(Ec)
Wherein, μNB(E) it is subordinate to angle value, μ for deviationNB(Ec) it is subordinate to angle value for deviation variation rate, * is minimizing operation
Symbol, above formula can be written as：
μΔp1=min { μNB(E),μNB(Ec)}
ΔKpSimilar can also be obtained with other membership functions under deviation variation rate in different deviations.
Under a certain input quantity, output quantity Δ KpValue be：
Wherein, upj(ΔKp) (j=1,2 ... 49) be certain moment E and Ec the corresponding Δ K of degree of membershippVarious combinations be subordinate to
Category degree, Δ KpjIt is domain KpOn real number value.Similar, Δ Ki、ΔKdDegree of membership can be obtained by similar procedure.By above-mentioned mistake
The output valve that journey is derived is fuzzy quantity, is multiplied by after scale factor and just can apply to the parameters revision of PID controller.
The adjustment of PID controller controls the formula to be：
Kp=Kp0+ΔKp、Ki=Ki0+ΔKi、Kd=Kd0+ΔKd
Wherein, Kp0、Ki0、Kd0It is Kp、Ki、KdInitial value, Δ Kp、ΔKi、ΔKdIt is the adjusted value for controlling it to export.PID
Controller calculates current controlled quentity controlled variable, and is sent to motor driver and realizes electric machine speed regulation.
Fig. 3 realizes program flow diagram for PWM, and motor speed is regulated and controled using pulse modulation technology PWM, if with AVR
Single-chip microcomputer then realizes the program circuit reference picture 3 of rotation speed regulating and controlling as control main body, including 1, timer T0 is interrupted；2nd, timer
T0 assigns initial value；3rd, Lset is used for controlling the time of low level pulse, and Allset-Lset is used for controlling the time of high level pulse,
It is simultaneously the change for being capable of achieving square-wave cycle by the timing of control timer, so far main program is by control timer
Disconnected execution number of times can produce dutycycle and cycle adjustable square-wave signal.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of the technical program, it all should cover in the present invention
Right in the middle of.
Claims (2)
1. it is a kind of to be detected based on armature supply and realize multi- drive synchronization method, it is characterised in that to comprise the following steps that：
(1) DC motor Driver chip sampling armature current signal, obtains influenceing motor synchronous operation after removal interference signal
Armature supply flutter component and armature supply DC component；
(2) waveform of armature supply flutter component is drawn out on computers, according to armature supply flutter component and motor speed
Relation detect the rotating speed of motor, and record the size of armature supply DC component；
(3) fuzzy controller is designed, that is, is designed using the self adaptation of fuzzy controller on-line tuning PID controller parameter
Fuzzy controller；
(4) calculate current controlled quentity controlled variable and be transported to motor driver using the fuzzy controller of step (3) design；
(5) pulse modulation technology PWM is recycled to regulate and control motor speed, so as to realize speed sync and the position of multiple electric motors
Put synchronization；
The circuit design structure of described fuzzy controller is：
Using the size of the size reflected load of armature supply DC component, and become according to load traveled distance deviation e and deviation
Rate ecAs input variable, by parameter value K after being processed through fuzzy controllerp、Ki、KdIt is input in PID controller, is controlled by PID
Output variable is obtained after the motor driver of device connection direct current generator processed, and output variable carries out negative-feedback through velocity checking circuits
Regulation；
The control algolithm of the fuzzy controller realizes that step is as follows：
4-1) input, the obfuscation of output variable, specially：
The input variable and output variable of fuzzy controller are chosen, wherein input variable is motor load traveled distance deviation e
With deviation variation rate ec, output variable is the correction amount K of three parameters of PID controllerp、ΔKi、ΔKd；
Definition input, the domain of output variable；
According to input, the situation of output variable, the linguistic variable and its Linguistic Value of its obfuscation are determined；
The membership function of its Linguistic Value is defined on the affiliated domain of each linguistic variable, and using membership function computational language value
Degree of membership；
The control rule of fuzzy controller 4-2) is set up, i.e., according to the design experiences to fuzzy controller, summary draws
Fuzzy rule；
4-3) the defuzzification of output variable, i.e., the degree of membership of the obfuscation Linguistic Value according to output variable calculates the determination of output
Value；
4-4) set up fuzzy control table；
The obfuscation of input variable：
1) input variable of fuzzy controller chooses motor load traveled distance value deviation e and deviation variation rate ec；
2) according to deviation e and deviation variation rate ecActual domain, carried out the domain of discretization E and Ec：
E=Ec={ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }
3) Linguistic Value of the linguistic variable of obfuscation is according to the actual loading size of motor, if the forward direction of motor operates to " just ",
Inverted running is " negative ", specially：
" negative big " NB：[- 6, -4], inverted running is especially big；
" in negative " NM：[- 4, -2], inverted running is larger；
" negative small " NS：[- 2,0], inverted running is smaller；
" zero " ZE：[0,0], center；
" just small " PS：[0,2], forward direction operation is smaller；
" center " PM：[2,4], forward direction operation is larger；
" honest " PB：[4,6], forward direction operation is especially big；
The Linguistic Value for then determining is：" negative big ", " in negative ", " negative small ", " zero ", " just small ", " center ", " honest " seven language become
Amount, the input quantity Linguistic Value fuzzy subset of fuzzy controller is chosen for：
{NB,NM,NS,ZE,PS,PM,PB}
4) membership function of its Linguistic Value is defined on the domain of each linguistic variable：
If the membership function of E, Ec is all trigonometric function distribution, when representing that the discrete form stroke of headstock gear countershaft is less than -5,
Its language rule is expressed as " negative big " NB；When its stroke is during 4-5, its language rule is expressed as " honest " PB；By
This is showed the whole stroke of headstock gear countershaft with language；
The obfuscation of output variable：
PID controller is corrected with fuzzy controller in fuzzy controller, therefore output variable elects PID controller three as
The correction amount K of individual parameterp、ΔKi、ΔKd, defining output variable domain is：
KpDomain be：{ -0.3, -0.2, -0.1,0,0.2,0.2,0.3 }
KiDomain be：{ -0.06,0.04,0.02,0,0.02,0.04,0.06 }
KdDomain be：{ -3, -2, -1,0,1,2,3 }
Choose similar with input variable, the output variable Linguistic Value fuzzy subset of ambiguity in definition PID controller is：
{NB,NM,NS,ZE,PS,PM,PB}
Membership function and its meaning are identical with input variable selection, and output quantity is stated using fuzzy language；
Set up the control rule for determining fuzzy controller：
Fuzzy controller is exactly the parameter K of the combination with PID controller of input variable not in the same timep、Ki、KdBetween control
Relation processed, during system operation, combines according to different input variables, and controller provides K according to control rulep、Ki、KdChange
Amount, the control effect for having reached, control rule universal law be：
11) when system deviation is larger, from larger KpValue, speeds system response time；Use less KdValue, it is to avoid should
Suddenly the differential saturation that excessive deviation causes, produced control action；Make KiValue takes zero, and what anti-locking system occurred crosses overshoot,
Remove integral action；
21) system deviation and during medium big deviation variation rate, the K of selection of smallp, reduce system overshoot；Use moderate KiValue；
Also moderate K is selecteddValue, it is ensured that system response time；
31) when system deviation is smaller, K is suitably increasedpAnd KiValue；KdBeing chosen at for value seem herein more important, its influence system
The anti-interference of system and vibration；When larger, less K is takendValue, when smaller, increases KdValue；
41) when system deviation rate of change is larger, K is suitably reducedpValue, increases KiValue；
The defuzzification of system output quantity：
Defuzzification is carried out using gravity model appoach, by the fuzzy control rule for obtaining, according to the deviation and change of error of system-computed
Rate obtains the output quantity of system, wherein Δ KpThe degree of membership μ of fuzzy control ruleΔp1Tried to achieve by below equation：
μΔp1=μNB(E)*μNB(Ec)
Wherein, μNB(E) it is subordinate to angle value, μ for deviationNB(Ec) it is the angle value that is subordinate to of deviation variation rate, * is minimizing operation symbol, on
Formula is written as：
μΔp1=min { μNB(E), μNB(Ec)}
ΔKpObtain different deviations are also similar with other membership functions under deviation variation rate；
Under a certain input quantity, output quantity Δ KpValue be：
Wherein, upj(ΔKp), j=1,2....49 are the corresponding Δ K of degree of membership of certain moment E and EcpVarious combinations be subordinate to
Degree, Δ KpjIt is domain KpOn real number value.
2. it is based on armature supply as claimed in claim 1 to detect and realize multi- drive synchronization method, it is characterised in that step
(2) armature supply flutter component described in is with the relational expression of motor speed：
Wherein, fn- pulsation of current frequency (Hz)；K-commutator segment number；N-motor speed (r/min)；P-number of pole-pairs；C-by
The coefficient that the odd even of number of segment is determined, C=1 when K is even number, C=2 when K is odd number.
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Inventor after: Lin Jingdong Inventor after: Lin Zhanding Inventor after: Li Xintong Inventor after: Zheng Zhijia Inventor after: Wang Junhang Inventor before: Lin Jingdong Inventor before: Zhou Hongbo Inventor before: Ma Liang Inventor before: Li Maosheng Inventor before: Xu Chunhui Inventor before: You Jiachuan Inventor before: Qiu Xin Inventor before: Xie Yang |
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Effective date of registration: 20201126 Address after: 9 Jianshe East Road, Babu District, Hezhou City, Guangxi Zhuang Autonomous Region Patentee after: Market supervision and Administration Bureau of Babu District, Hezhou City Address before: 400044 Shapingba street, Shapingba District, Chongqing, No. 174 Patentee before: Chongqing University |