CN104360617B - A kind of motor control method - Google Patents
A kind of motor control method Download PDFInfo
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- CN104360617B CN104360617B CN201410631747.7A CN201410631747A CN104360617B CN 104360617 B CN104360617 B CN 104360617B CN 201410631747 A CN201410631747 A CN 201410631747A CN 104360617 B CN104360617 B CN 104360617B
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- port
- plink
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The present invention relates to a kind of motor control method, particularly a kind ofly copied the motor control method realizing Long-distance Control by port.The feature of the method is: carry out control port by self-defining pLINK mode and copy, be separated by control port with controller body, realizes issuing steering order at a distance and feeding back performing data and real-time running data; Supported different agreement can carry out substituting or changing according to the application scenario of user by pLINK layer, carry out information coding and information decoding, can realize changing or increasing the agreement supported by the upgrading of drive software, and each agreement has independent data channel, ensure real-time and the efficiency of communication.The present invention can simplify the installation of electric machine controller, later maintenance and interference prevention greatly, accelerates installation rate, reduces interface value volume and range of product, reduce purchase cost, realize concentrating and distributed AC servo system of network, carry out networking and organize into groups synchronous or asynchronous operation, and multiple controller information is shared.
Description
Technical field
The present invention relates to a kind of motor control method, particularly control port is separated with electric machine controller body by a kind of pLINK port copy mode of passing through, and realizes the motor control method of Long-distance Control.
Background technology
Brushless motor refers to the motor of brushless and commutator, and application main is at present DC Brushless Motor and AC synchronous servomotor.The brushless motor of function admirable and Power Electronic Technique, microelectric technique, digital technology, control technology and material science are combined closely, and will become the driving source of all kinds of machinery and equipment from now on.Brushless motor is not new things, but in recent years along with high-power electronic device MOS, IGBT (InsulatedGateBipolarTransistor, insulated gate bipolar transistor) with the development of Drive Control Technique and permanent magnetic material, brushless dc machine technology has just had new breakthrough, is again a dark horse, and constantly enters new field, application is more extensive, is even expected to replace brush motor, structural electromotor and common alternating current generator.
The application of brushless electric machine more and more comes extensively, and the function had becomes increasingly complex, and environment for use becomes increasingly complex also.Brushless motor controller is as power drive device, and usual environment for use is relatively more severe, is in various oil, water, dust, metal fragment environment.And get more and more along with use occasion, require also to get more and more to the controlling functions of controller, corresponding control interface quantity also gets more and more, and multiple interfaces is exposed in severe working environment, must have high-grade protection guarantee reliability of operation.Function complexity causes complex interfaces, installs the problems such as assembling is loaded down with trivial details, complex manufacturing, interface device technical requirement grade are high, reliability decrease, shortening in serviceable life, is unfavorable for applying.
At present at the framework that driving system for brushless motor that is civilian, industrial and military field is all made up of motor phase line, angular transducer line, power lead and miscellaneous control line, complicated controlling functions should be completed, require that again control interface quantity is few, current controller architecture can not realize, reduce control interface and must simplify function, what's new increases interface quantity again, and these are all unfavorable for applying.Existing framework also cannot realize complicated networking and organize into groups synchronous, asynchronous operation.
Control interface cost remains high, complicated interface protection, special three anti-connection plugs, and each control line is various tediously long, and assembling very complicated, cost height production hour is long, and efficiency is low.Each control interface needs the device using high-protection level, and cost is high.Control interface reaches 20 multi-cables, and correct in order to connect, these cables have fool-proof design, and each interface is different, can not have misconnection, and misconnection may.In order to reach high-grade protection, these interfaces most demand fulfillment waterproof, the requirement such as grease proofing, dust-proof, against pressure, make material various in style, and purchase cost increases.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of reasonable in design, simplified apparatus is installed, safeguard and interference prevention, reduce costs, can realize the motor control method of the synchronous or asynchronous operation of networking marshalling.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme:
A kind of motor control method, comprises the following steps:
The first step: carry out local virtual port initialization configuration in local microprocessor, remote dummy port initialization configuration is carried out in long-range microprocessor, comprise initialization of virtual port data structure, serial port protocol and interface, configuration pLINK alternative, load protocol-driven module, and open pLINK interrupt event monitoring modular;
Second step: remote control terminal receives the steering order to motor that user assigns;
3rd step: protocol conversion module carries out agreement according to the application scenario of user and substitutes or conversion;
4th step: described steering order is converted to the data structure under respective protocol by data structure modular converter, and carry out data transmission by the data channel that this agreement is independent;
5th step: local virtual port accepts steering order, and be converted into actual Electric Machine Control order;
6th step: motor actuating motor steering order;
7th step: local virtual port obtains the execution result data of motor, and be the data structure under respective transmissions agreement by execution result data encapsulation;
8th step: local virtual port uploads execution result data by the data channel receiving steering order;
9th step: remote dummy port accepts execution result data, and be after pLINK data structure by execution result data encapsulation, be reflected to the virtual port state of remote control terminal.
Microprocessor is local microprocessor and long-range microprocessor, virtual port is the remote dummy port and local virtual port that are mapped out by pLINK mode, local virtual port is positioned at local control end, and initial configuration is completed in local microprocessor, remote dummy port is positioned at remote control terminal, and completes initial configuration in long-range microprocessor.Remote dummy port is identical with local virtual port function.
When pLINK interrupt event monitoring modular detects that interrupt event occurs, local control end immediately disable motor drives, and implements to stop in emergency.
By restoring the control port of entity at remote control terminal, manually motor can be controlled in second step; Also can pass through visualization interface (namely build GUI panel or utilize api function or entity control panel) or be controlled by direct read/write register pair motor.
Protocol conversion module supports substituting of MODBUS agreement, CAN protocol, 802.2 agreements and 802.11 agreements or conversion.View modular converter realizes change by upgrading drive software or increases the agreement supported.
In 4th step, be that each agreement opens up independent data channel when transmitting data.
Receive the mode of execution result data for feed back to remote control terminal by local virtual port status refresh module at the 9th step medium-long range control end, or remote control terminal directly obtains by running api function.
Application scenario according to user of the present invention, refers to determine to use which kind of agreement and passage to carry out data transmission according to the mode of user's networking.
PLINK of the present invention is a kind of data interactive mode that the present invention defines, and by the combination of software and hardware, maps out the port of identical function at its two ends, completes the function of analogue enlargement.
As preferably, remote control terminal is controlled motor by visualization interface, and its advantage is, can the control operation of the person of simplifying the operation, and clearly can be recognized the running status of local motor by visualization interface in real time simultaneously.
As preferably, pLINK interrupt event monitoring modular is arranged at local virtual port, and its advantage is, when interrupt event occurs, can drive by disable motor in time, implement to stop in emergency, prevent motor out of control.
As preferably, drive software adopts distributed componentization design, and its advantage is, is with good expansibility, and can realize the agreement changed or increase is supported, expand application scenario of the present invention by the mode of upgrading drive software.
As preferably, adopt the mode of " former road returns " during local virtual port uploading data, its advantage is, simplification device, saves the time of data transmission, raises the efficiency.
The present invention compared with the existing technology has the following advantages and effect:
1, owing to adopting pLINK mode to copy port, the port being arranged in severe machine operation environment has been copied to remote location, thus greatly simplifie the installation of electric machine controller, accelerate installation rate, installation site requires to reduce, even can be installed to motor internal, later maintenance is also relatively simple.
2, owing to having arrived remote location by virtual for control port, interference prevention technique simplifies, and needs protective treatment without control interface, and can greatly reduce interface quantity and kind, purchase cost is minimized simultaneously.
3, due to the protocol conversion based on pLINK, can seamless embedding classical network, realize concentrating or distributed AC servo system of network, multiple controller can synchronous, the asynchronous operation of networking marshalling, and the running status that simultaneously can realize each motor is reported and information sharing.
4, due to based on Digital Control panel, possessed visual networking and concentrated control Intelligent Force.
5, because the present invention is OO application programming, without the need to closing electrocardiograph form, directly the peripheral hardware of controller when hosted, being accessed by driver, thus raising the efficiency, simplifying the operation.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the embodiment of the present invention 2.
Fig. 3 is pLINK data transmission stream journey schematic diagram of the present invention.
Fig. 4 is the schematic flow sheet of virtual port initial configuration of the present invention.
Fig. 5 is pLINK of the present invention data transmission flow schematic diagram under the 802.11 protocol.
Fig. 6 is pLINK of the present invention data receiver schematic flow sheet under the 802.11 protocol.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, and following examples are explanation of the invention and the present invention is not limited to following examples.
Embodiment 1: as shown in Figure 1, a kind of control method of brushless electric machine, mainly carry out port by pLINK mode by the form of pure digi-tal to copy, map out the virtual port identical with entity control port function, control port is realized to be separated with brushless motor controller body, away from the harsh environments being full of various oil, water, dust, metal fragment, thus realize simplified apparatus installation, maintenance and interference prevention, reduce costs.As shown in Figure 3, concrete steps are as follows:
The first step: carry out virtual port initial configuration in the microprocessor.Microprocessor is local microprocessor and long-range microprocessor, virtual port is local virtual port and remote dummy port, local virtual port completes initial configuration in local microprocessor, and remote dummy port completes initial configuration in long-range microprocessor.As shown in Figure 4, comprise initialization of virtual controller data structure, determine virtual interface type; Initialization serial port protocol and interface; Configuration pLINK alternative, and load protocol-driven module; And open pLINK interrupt event monitoring modular.
Second step: the steering order for brushless electric machine that the control window reception user of remote control terminal assigns.Remote control terminal can control brushless electric machine by running visualization interface, namely by building GUI panel or utilizing api function or operated by the control panel of entity, also can realize controlling brushless electric machine by direct read/write register.
3rd step: protocol conversion module carries out agreement according to set rule and substitutes or conversion.Virtual port drives layer pLINK to be driven by drive software, drive software is provided with data structure modular converter and protocol conversion module, particularly, protocol conversion module is according to the application scenario of user, namely determine required host-host protocol according to the networking mode of user, and carry out agreement substitute or conversion.At present, protocol conversion module supports substituting of MODBUS agreement, CAN protocol, 802.2 agreements and 802.11 agreements or conversion, and view modular converter can realize changing or increasing the agreement supported by upgrading drive software.In addition, the present invention is that each agreement opens up independent data channel, thus farthest meets the demand that brushless electric machine controls in real time, reduces encapsulating expense, improves real-time and the efficiency of communication.
4th step: steering order is converted to the data structure under respective transmissions agreement by data structure modular converter, and carries out data transmission.The function of data conversion module is exactly the steering order issued is converted to the data structure be applicable under required protocol environment, or the data coming from each host-host protocol are converted to pLINK data structure, thus realize controlling brushless electric machine in application layer, and without the need to considering brushless electric machine form.
5th step: local virtual port accepts steering order, and be translated into actual brushless electric machine control command.
6th step: be positioned at local brushless electric machine and perform brushless electric machine steering order.
7th step: local virtual port obtains the execution result data of brushless electric machine, and be the data structure under corresponding host-host protocol by execution result data encapsulation.
8th step: former for execution result data road is returned to remote control terminal by local virtual port, execution result is uploaded to remote control terminal by the transmission channel namely by receiving brushless electric machine steering order.
9th step: remote dummy port accepts execution result data, and be after pLINK data structure by execution result data encapsulation, be reflected to the virtual port state in the control window of remote control terminal.Remote control terminal receives the mode of execution result data for feed back to remote control terminal by local virtual port status refresh module, or remote control terminal directly obtains by running api function.
The Refresh Data rate of local virtual port status refresh module is at 100khz-1.5Mhz, the port controlling response time is less than 70uS, in normal operation, when running into the generation of pLINK interrupt event, as virtual port data interrupt time, the controller of local control end can cut out brushless electric machine at once and drive, and implements to stop in emergency, and with machinery and the locked brushless electric machine rotating shaft of electric drive mode on positive and negative 2 directions, to prevent brushless electric machine out of control.
The differentiation of above-mentioned steps does not have considered critical effect; only otherwise offset object of the present invention; all according to inventional idea of the present invention; above-mentioned steps is replaced or deleted to work as with carrying out non-creativeness and belongs to protection scope of the present invention; as as described in the 3rd step and the 4th step can exchange, carry out even simultaneously.
PLINK (port-link), is a kind of data interactive mode of the present invention's definition, by the combination of software and hardware, maps out the identical virtual port of function, complete the function of analogue enlargement at its two ends.PLINK has cable, radiowave, visible, invisible light etc. at the transmission medium of Physical layer.Use digitized means, complete controlling functions, use virtual port technology, make equipment can by system direct control in application layer, and without the need to considering data link and Physical layer.Use 802.11 frameworks at radio physical layer, be the 8 core double-shielded cable that can carry out software definition at serial ports physical layer interface, the transmission of Ethernet+CAN+RS485 adaptive interface type can be provided simultaneously.By such setting, client can select to retain the own agreement of Physical layer or standard interface and protocol infrastructure at the remote control terminal of equipment, as RS232, RS485, LIN, CAN, MODBUS, even USB, Bluetooth, ZIGBEE, WIFI etc. (needing different alternative driving agreements) realize real-time, the non real-time application of various different platform master control.
As shown in Figure 5, be pLINK layer data transmission flow under the 802.11 protocol.Protocol conversion module is converted to 802.11 host-host protocols according to embody rule occasion, server registration is completed after being connected to interworking wireless local area net, steering order is encapsulated as the data structure under applicable 802.11 agreements by data structure modular converter, and data are transmitted, after data are sent, transmission state is back to pLINK layer.The concentrated automatic speed regulation of the extraction fan at such as a kind of factory building top controls, and uses industry wireless network.Then pLINK layer can select the TCP on pLINK to map, and uses 802.11 agreements to carry out following the communication of extraction fan controller, thus completes the concentrated speed regulating control to extraction fan.
Fig. 6 is pLINK data receiver flow process under the 802.11 protocol.
Embodiment 2: as shown in Figure 2, the difference of the present embodiment and embodiment 1 is, the present embodiment restores the control port of entity at remote control terminal, carries out manual control, is applicable to the Long-distance Control of one to one or a pair two.It is composed as follows: the control port of being drawn entity by the microprocessor in virtual port simulator, input is pLINK cable or wireless network module.Because the entity port of far-end can away from brushless motor controller, therefore can be placed in need not the place of high-grade protection, can use common non-three anti-connectors.
The virtual port run in microprocessor drives the control port that instead of entity, and copy virtual control port in microprocessor internal memory.Simultaneously, the driver operated in microprocessor controls api function by director port and sets up the mapping relations with virtual port, namely the control command coming from user is obtained, these orders controlling brushless electric machine operation are that the controller control port state by changing entity realizes originally, and be now the entity control end at the remote control terminal being positioned at user, transmission medium (Physical layer is passed through by after control command digitizing, cable, radiowave etc.) be transferred to brushless motor controller, layer reduction is driven to reconstruct out through virtual port, carry out brushless electric machine control.
Virtual port drives layer pLINK to be the software program that responsible communications protocol substitutes conversion and virtual port control port, supported different agreement can be undertaken substituting or changing by set rule by it, carry out information coding (transmit control device status information), information decoding (receiving the control command of user).Layer is driven at this, will to serial link, the common protocol such as MODBUS, CAN and TCP/IP identify, conversion.Such as, current application is the application of a heavy frequency control for card compressor of air conditioner, the control data so deriving from vehicle console is transmitted by vehicle-mounted CAN network, bottom hardware Physical layer identifies current pLINK and is arranged in CAN network, from passage and the agreement of main separation pLINK-CAN, the CAN data stream of the J1989 standard of heavily blocking is transformed pLINK map, and be reflected in virtual port state, for controller microprocessor.
Being positioned at that virtual port drives under layer pLINK is the Physical layer that hardware is relevant.This layer adopts modular form, and different agreements divides different hardware modules.The agreement of current support can be divided into serial link module, MOSBUS serial link (RS232, RS485), CAN module, ethernet module, wireless network module (802.11b/p).Can select according to different application occasion, when installing multiple module, pLNIK layer automatically can carry out Network Recognition and select corresponding RFCOMM and data IO channel.
Remote dummy port data transmission flow process.Remote control terminal sends the steering order of Controller-oriented object at application layer interface, steering order is translated into virtual port controling parameters by application layer, and controling parameters is passed to pLINK layer, controling parameters is packaged into Frame by the transmission medium characteristic of setting by pLINK, is sent to corresponding hardware port.Such as, current application is the application of a heavy frequency control for card compressor of air conditioner, the virtual port controling parameters got off from application layer transmission by the J1939 standard packing encapsulation heavily blocking use, is sent to the CAN port of main control equipment, starts the map transmission of pLINK-CAN by pLINK.
PLINK data arrive controller end, through pLINK RFCOMM layer, CAN link LLC layer, the raw data of J1939 standard is obtained from the pLINK port on CAN, raw data drives layer pLINK to return to virtual port control API by virtual port, and API passes to brushless electric machine control module again and completes brushless electric machine speed regulating control.Brushless electric machine state is returned by former road, be back to the pLINK layer of main control equipment from CAN mapped port through pLINK cable transmission, director port status data is reduced into after separating Packet analyzing, adjusted back to remote control terminal by the virtual port state refresh module of application layer again, or remote control terminal directly obtains by running API.
In the agreement that brushless electric machine application is supported, as programming automation CAN, RS485, MODBUS; Industrial control system CAN, 802.2,802.11WLAN, wireless short-range net WPAN; Intelligent building MODBUS, 802.2,802.11; Power transmission and distribution communications protocol MODBUS; Intelligent electric meter MODBUS, vehicle-carrying communication CAN, 802.11p are all by the mapping mode support of pLINK, and except ether/WLAN (wireless local area network) Physical layer needs driver module, other all can carry native interface by plate and complete.
Wherein MODBUS in fact supports serial link, CAN, Ethernet and wireless network, but the present invention drives layer not have at pLINK will so agreement be all mapped to the convenient transmission of MODBUS, but open up independent data channel for each agreement separately, farthest to meet the demand that brushless electric machine controls now in real time, to reduce encapsulating expense, improve real-time and the efficiency of communication.
In sum, the present invention can copy by port the concentration/distribution formula realizing network and control, and multiple controller can networking be organized into groups synchronous, asynchronous operation, thus realizes the report of each brushless electric machine running status and information sharing.The present invention greatly facilitates brushless motor controller and installs, and due to without various control cables, installation rate is accelerated, and installation site requires to reduce simultaneously, and even can be installed to brushless electric machine inside, later maintenance is also relatively simple.The present invention can simplify process for protecting, needs protective treatment without control interface.Meanwhile, owing to greatly reducing interface quantity and kind, purchase cost is minimized, and produces and simplifies, quantity of getting the raw materials ready, of less types, and fund occupancy volume reduces, and the multi-functional controller of multi items in enormous quantities be conducive to is got the raw materials ready.
In addition, the present invention has had great improvement for the production of brushless motor controller.Controller control port uses numerous cables to draw from master control borad through the anti-water hole of housing, and control cables installs needs 2 to 3 stations aborning, uses unit clamp shaping, plug-in unit, after crossing wave-soldering, also needs further repair welding, the askew line of visual inspection, wrong line, thread cast-off, visual inspection line look, wire size, the presentation quality of line, speed is slow, and production efficiency is low.Present invention eliminates control cables, at most also only have a pLINK line.Greatly convenient production, and directly can use computer on a production line, networking is tested, and uses the virtual port be mapped on computer automatically to do global function and tests fast, and patch test duration shortening more than 40% than originally manual, testing efficiency improves greatly.Due to without numerous connectors, the reliability of controller itself also improves greatly.
Here is the code of plink package and unpacking process:
In addition, it should be noted that, the specific embodiment described in this instructions, the shape, institute's title of being named etc. of its parts and components can be different.All equivalences of doing according to structure, feature and the principle described in inventional idea of the present invention or simple change, be included in the protection domain of patent of the present invention.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment; only otherwise depart from structure of the present invention or surmount this scope as defined in the claims, protection scope of the present invention all should be belonged to.
Claims (3)
1. a motor control method, is characterized in that, comprises the following steps:
The first step: virtual port is the remote dummy port and local virtual port that are mapped out by pLINK mode, described local virtual port is positioned at local control end, described remote dummy port is positioned at remote control terminal, and described remote dummy port is identical with local virtual port function; Local virtual port initialization configuration is carried out in local microprocessor, remote dummy port initialization configuration is carried out in long-range microprocessor, comprise initialization of virtual port data structure, serial port protocol and interface, configuration pLINK alternative, load protocol-driven module, and open pLINK interrupt event monitoring modular;
Second step: remote control terminal receives the steering order to motor that user assigns, described remote control terminal is controlled motor by running visualization interface or is controlled by direct read/write register pair motor, and described visualization interface is build GUI panel or utilize api function or operated by the control panel of entity;
3rd step: protocol conversion module carries out agreement according to the application scenario of user and substitutes or conversion, described protocol conversion module supports substituting of MODBUS agreement, CAN protocol, 802.2 agreements and 802.11 agreements or conversion, and described protocol conversion module realizes change by upgrading drive software or increases the agreement supported;
4th step: described steering order is converted to the data structure under respective protocol by data structure modular converter, and carry out data transmission, be that described each agreement opens up independent data channel when transmitting data;
5th step: the described steering order described in local virtual port accepts, and be converted into actual Electric Machine Control order;
6th step: the Electric Machine Control instruction described in motor performs;
7th step: the execution result data of the motor described in described local virtual port obtains, and be the data structure under respective transmissions agreement by described execution result data encapsulation;
8th step: described local virtual port uploads described execution result data by the data channel receiving described steering order;
9th step: execution result data described in described remote dummy port accepts, and be after pLINK data structure by described execution result data encapsulation, be reflected to the virtual port state of remote control terminal, described remote control terminal receives the mode of described execution result data for feed back to described remote control terminal by local virtual port status refresh module, or described remote control terminal directly obtains by running api function.
2. a kind of motor control method according to claim 1, is characterized in that: when described pLINK interrupt event monitoring modular detects that interrupt event occurs, and described local control end immediately disable motor drives, and implements to stop in emergency.
3. a kind of motor control method according to claim 1, is characterized in that: described second step, by restoring the control port of entity at remote control terminal, manually controls described motor.
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| CN109910007A (en) * | 2019-03-13 | 2019-06-21 | 哈工大机器人集团北京军立方科技有限公司 | Joint of robot communication switching device and method |
| CN110138840B (en) * | 2019-04-22 | 2022-04-19 | 浙江合众新能源汽车有限公司 | Parallel refreshing method based on vehicle-mounted Ethernet |
| CN114003022B (en) * | 2021-11-03 | 2024-04-05 | 深圳硅山技术有限公司 | Equipment monitoring platform based on data stream |
| CN114338269B (en) * | 2021-12-24 | 2023-10-20 | 北京东土科技股份有限公司 | Data transmission method, device, broadband field bus equipment, system and medium |
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| CN201178395Y (en) * | 2008-04-03 | 2009-01-07 | 陈历忠 | Automatic motor controlling apparatus by remote network |
| CN103151978A (en) * | 2013-01-10 | 2013-06-12 | 中国科学院上海光学精密机械研究所 | Driving controller for Ethernet stepping motor |
| CN203911823U (en) * | 2013-10-30 | 2014-10-29 | 中国科学院近代物理研究所 | Ethernet-based electromotor controller and control system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201178395Y (en) * | 2008-04-03 | 2009-01-07 | 陈历忠 | Automatic motor controlling apparatus by remote network |
| CN103151978A (en) * | 2013-01-10 | 2013-06-12 | 中国科学院上海光学精密机械研究所 | Driving controller for Ethernet stepping motor |
| CN203911823U (en) * | 2013-10-30 | 2014-10-29 | 中国科学院近代物理研究所 | Ethernet-based electromotor controller and control system |
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