CN104555841A - Control method for electric clothes changing hanging basket lifting system - Google Patents
Control method for electric clothes changing hanging basket lifting system Download PDFInfo
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- CN104555841A CN104555841A CN201510016901.4A CN201510016901A CN104555841A CN 104555841 A CN104555841 A CN 104555841A CN 201510016901 A CN201510016901 A CN 201510016901A CN 104555841 A CN104555841 A CN 104555841A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
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Abstract
The invention discloses a control method for an electric clothes changing hanging basket lifting system. The control method is implemented by comprehensive execution of three methods in the lifting process of the hanging basket, respectively being dynamic sampling and calculating control parameters of motor current, tracing retention of motion state of the hanging basket, and automatically stopping when raising to the top and declining to the ground; the motion state of the hanging basket is recorded, retained and traced in real time; when being raised to the top, the hanging basket does not respond to the raiding operation, or when reaching the ground, the hanging basket des not respond to the declining operation, to avoiding accident results caused by misoperation. According to the control method, the control parameters can be dynamically regulated by effectively overcoming differences caused by load change, mechanical wearing and lubricating condition difference of the motor, to achieve the automatic stop when the hanging basket is raised to the top and declined to the ground, potential safety hazards caused by manual misoperation is completely eliminated, and stability and safety of the system is significantly improved.
Description
Technical field
The present invention relates to electronic change gondola elevating control technical field, especially a kind of electronic change gondola jacking system control method.
Background technology
There is the mode stopping to top and stop on earth of following several electronic change gondola at present.
One is the lifting and the stopping that adopting key to control hanging basket.This control system arranges a key switch to each motor, key switch has 3 gears, is rising respectively, stops, declines, during key rotates to " rising " gear, hanging basket starts to rise, when hanging basket rises to top, by key being rotated to " stopping " gear manually; During key rotates to " decline " gear, hanging basket starts to decline, when hanging basket drops to ground, by key being rotated to " stopping " gear manually.The control system of this mode have cheap, control simple feature, but after using a period of time, easily occur the phenomenon such as switch contact bad contact, key cylinder clamping stagnation, safeguard and change frequent, use cost is higher; Key has certain mutual opening rate to cause safety not high, loses or damages rear reprovision trouble, maintenance management inconvenience; Due to be manually difficult to judge hanging basket whether arrive top or to, can not be in good time key is rotated to " stopping " gear can cause use inconvenience even can damage hanging basket.
Two is adopt limitation travel switch.The lift control system of the patent No. to be 201010232981.4 denominations of invention be a kind of electric clothing storage cradle mentions the limitation travel switch that a kind of mercury switch and magnet coordinate, this device can accurately judge hanging basket whether rise put in place and time cut off motor power, a kind of automatically to top automatic stop control system, but this system adopts mechanical mode, easy wearing and tearing, be not durable, and this mode is not suitable for the basket body of application plastic material more and more widely.
Three is adopt over-current detection circuit.The patent No. is that 200920255125.3 utility model names are called that the patent of the system of hanging basket controlled in wireless mentions that a kind of electronic type is to top detection mode; the principle that its over-current detection circuit detects is after change gondola rises to top; current of electric will rapidly increase to over-current state; detected by over-current detection circuit, cut off feeding electric motors in time and realize protection.This kind of mode is the detection mode of electronic type, and this mechanical mode of relative limit travel switch is more durable; But motor is under different loads, working current is different, along with the reasons such as motor use, mechanical wear, lubrication state also can cause working current gradual change, judge that the overcurrent that hanging basket rises when putting in place also wants respective change, this brings heavy handling labor to hanging basket in use.And the method for shutting down that ground drops to for hanging basket at present everybody controls or the mode of timing in multiplex manual observation, because rope in use can be aging or be elongated, fixed-time control often causes basket to decline exempting to ground or rewinded, need often to adjust timing value.Except above-mentioned many reasons, a kind of potential safety hazard effectively preventing people from bringing for maloperation is generally lacked in existing control method, namely again lifting operations is performed when hanging basket is on top, motor just can be rotated further and drive hanging basket to go up, even if system has mechanical detection or over-current detection scheme, also need just can react after motor action response, owing to cannot rise at top hanging basket itself, it is now the operation of haling lifting rope, rope degree of tension can be caused to increase substantially and even to break rope, potential titanic peril, therefore in the urgent need to providing one more convenient, more effective, more stable control method.
Summary of the invention
The object of the invention is for overcoming the deficiencies in the prior art, a kind of electronic change gondola jacking system control method is provided, effectively can overcome difference dynamic conditioning controling parameters that the load variations of motor self, mechanical wear, lubrication state difference etc. brings to realize hanging basket and automatically rise to top and drop to ground and automatically stop, completely eliminate the potential safety hazard that people is maloperation, significantly improve stability and the safety of system.
The present invention realizes above-mentioned goal of the invention, adopt following technical scheme: a kind of electronic change gondola jacking system control method, calculate controling parameters, hanging basket state of kinematic motion maintenance tracking by the current of electric dynamic sampling in cage lifting process, rise to top and drop to ground automatically to stop three kinds of method synthesis execution to realize, in cage lifting process, filtering, shaping are carried out to current of electric, dynamic acquisition current data calculates dynamic limit threshold current T (I), for hanging basket safety control; To hanging basket state of kinematic motion real time recording, maintenance, tracking, when hanging basket no longer responds lifting operations to during top, or hanging basket no longer responds step-down operation to during ground; When hanging basket rises to top or drops to ground according to current of electric rate of change
in conjunction with dynamic limit threshold current T (I), method realize automatic shut-down operation.
The method that current of electric dynamic sampling in described cage lifting process calculates controling parameters is in cage lifting process, carry out filtering, shaping to current of electric, dynamic sampling, calculates the average current in 5 ~ 20 seconds after machine operation
then dynamic current limit is determined
as the absolute rating of hanging basket safety control.
Described hanging basket state keeps the method for following the tracks of to be define S
tas the status information of hanging basket, wherein S
t=TOP, RISING, FALLING or BOTTOM, represent that hanging basket is in " rising to top ", " in rising ", " in decline ", " dropping to ground " four kinds of states respectively; To hanging basket state S in hanging basket operating process
treal-time update, no longer responds lifting operations when hanging basket is in " rising to top " state, no longer responds step-down operation when hanging basket is in " dropping to ground " state.
Described rising to top and drop to the self-braking method in ground is, suddenly increase when hanging basket rises to motor load time can not continue to rise in top, electric current also sharply increases, in hanging basket decline process, the gravity motor in tow of hanging basket, therefore current of electric is less, and motor loses that hanging basket pulls and ER effect is large suddenly, when current of electric rate of change when hanging basket is down to ground
realize automatic shut-down operation, effectively overcome the difference that motor brings due to the different mechanical wear of load, lubrication state; For preventing current of electric rate of change
when can not automatically stop owing to being interfered, as motor real-time current I > T (I), when namely motor real-time current I is greater than dynamic limit threshold current T (I), realizes hanging basket and automatically stop.
Current of electric dynamic sampling in described cage lifting process calculates controling parameters, hanging basket state of kinematic motion keeps following the tracks of, rise to top and drop to ground and automatically stops three kinds of method synthesis to perform the step carrying out controlling being:
S1 system initialization, arranges St=STOP, and T (I) is the safe preset value 2.5 ~ 4 of experience;
The operating order to be obtained such as S2;
Whether S3 is lifting operations: judge whether operating order is lifting operations, if it is jumps to S41, otherwise jumps to S42;
S41 St=TOP?: judge that whether hanging basket status information is for rising to dome-shaped state, if it is do not perform any operation directly to jump to S2 and again wait for operating order, thus avoid maloperation to force motor rising to grasp the potential safety hazard brought, otherwise jump to S51;
S42 St=BOTTOM?: judging that whether hanging basket status information is for dropping to ground state, if it is not performing any operation and directly jumping to S2 and again wait for operating order, otherwise jumping to S52;
S51 St=RISING: status information is set for rise;
S52 St=FALLING: status information is set for decline;
S61 starts hanging-basket motor and performs lifting operations;
S62 starts hanging-basket motor and performs step-down operation;
S71/S72 sample rate current calculates T (I): in order to eliminate radio-frequency interference pointed pulse owing to producing between carbon brush and coil when motor coil electrode commutates to the impact of sampled result, sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again mean filter is carried out to the result stopping filtering, obtain sample rate current I
i, wherein i=1,2 ..., n, n=kt, t are that the time is carried out in sampling, and k obtains sample rate current I in the unit time
inumber of times, to this current of electric carry out t=(5 ~ 20) sampling try to achieve average current
then dynamic limit threshold current is calculated
S81/S82 sample rate current I: sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again carry out mean filter to the result stopping filtering, obtain sample rate current I;
S91/S92 I > T (I)?: judge whether sample rate current I exceeds dynamic limit threshold current T (I), if exceeded, illustrate that hanging basket has risen to top or dropped to ground, could not stop owing to being interfered, jump to S121/S122 and stop motor and end operation, thus effectively prevent the excessive generation of electric current unexpected, otherwise jump to S101/S102;
S101/S102 sample rate current calculates
sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again carry out mean filter to the result stopping filtering, obtain sample rate current I
i, wherein i=1,2 ..., n, n=kt, t are that the time is carried out in sampling, and k obtains sample rate current I in the unit time
inumber of times, calculate current of electric rate of change
S101/S102
judge current of electric rate of change
whether beyond (3 ~ 12) T (I), if it is illustrate that hanging basket has risen to top or dropped to ground and result in current of electric and increase suddenly, so jump to S121/S131, otherwise show that hanging basket is rising or declining, not yet put in place, jump to S81/S91 and again detect;
S121/S122: stop motor;
S131 St=TOP: the status information upgrading hanging basket, for rising to top, then returns S2 again to wait for operating order;
S132 St=BOTTOM: the status information upgrading hanging basket, for dropping to ground, then returns S2 again to wait for operating order.
The invention has the beneficial effects as follows: method is simple, effectively easy to operate, use fast, safely, stablize; Effectively can overcome difference dynamic conditioning controling parameters that the load variations of motor self, mechanical wear, lubrication state difference etc. brings to realize hanging basket and automatically rise to top and drop to ground and automatically stop, completely eliminate the potential safety hazard that people is maloperation, significantly improve stability and the safety of system; The present invention is suitable for the control of driven hanging basket jacking system, is easy to promote as early as possible.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is, rate-determining steps diagram of circuit.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated:
Embodiment 1
Calculate controling parameters, hanging basket state of kinematic motion maintenance tracking by the current of electric dynamic sampling in cage lifting process, rise to top and drop to ground automatically to stop three kinds of method synthesis execution to realize, in cage lifting process, filtering, shaping are carried out to current of electric, dynamic acquisition current data calculates dynamic limit threshold current T (I), for hanging basket safety control; To hanging basket state of kinematic motion real time recording, maintenance, tracking, when hanging basket no longer responds lifting operations to during top, or hanging basket no longer responds step-down operation to during ground; When hanging basket rises to top or drops to ground according to current of electric rate of change
in conjunction with dynamic limit threshold current T (I), method realize automatic shut-down operation.
Embodiment 2
The method that current of electric dynamic sampling in described cage lifting process calculates controling parameters is in cage lifting process, carry out filtering, shaping to current of electric, dynamic sampling, calculates the average current in 5 ~ 20 seconds after machine operation
then dynamic current limit is determined
as the absolute rating of hanging basket safety control.
Embodiment 3
Described hanging basket state keeps the method for following the tracks of to be define S
tas the status information of hanging basket, wherein S
t=TOP, RISING, FALLING or BOTTOM, represent that hanging basket is in " rising to top ", " in rising ", " in decline ", " dropping to ground " four kinds of states respectively; To hanging basket state S in hanging basket operating process
treal-time update, no longer responds lifting operations when hanging basket is in " rising to top " state, no longer responds step-down operation when hanging basket is in " dropping to ground " state.
Embodiment 4
Described rising to top and drop to the self-braking method in ground is, suddenly increase when hanging basket rises to motor load time can not continue to rise in top, electric current also sharply increases, in hanging basket decline process, the gravity motor in tow of hanging basket, therefore current of electric is less, and motor loses that hanging basket pulls and ER effect is large suddenly, when current of electric rate of change when hanging basket is down to ground
realize automatic shut-down operation, effectively overcome the difference that motor brings due to the different mechanical wear of load, lubrication state; For preventing current of electric rate of change
when can not automatically stop owing to being interfered, as motor real-time current I > T (I), when namely motor real-time current I is greater than dynamic limit threshold current T (I), realizes hanging basket and automatically stop.
Embodiment 5
Current of electric dynamic sampling in described cage lifting process calculates controling parameters, hanging basket state of kinematic motion keeps following the tracks of, rise to top and drop to ground and automatically stops three kinds of method synthesis to perform the step carrying out controlling being:
S1 system initialization, arranges St=STOP, and T (I) is the safe preset value 2.5 ~ 4 of experience;
The operating order to be obtained such as S2;
Whether S3 is lifting operations: judge whether operating order is lifting operations, if it is jumps to S41, otherwise jumps to S42;
S41 St=TOP?: judge that whether hanging basket status information is for rising to dome-shaped state, if it is do not perform any operation directly to jump to S2 and again wait for operating order, thus avoid maloperation to force motor rising to grasp the potential safety hazard brought, otherwise jump to S51;
S42 St=BOTTOM?: judging that whether hanging basket status information is for dropping to ground state, if it is not performing any operation and directly jumping to S2 and again wait for operating order, otherwise jumping to S52;
S51 St=RISING: status information is set for rise;
S52 St=FALLING: status information is set for decline;
S61 starts hanging-basket motor and performs lifting operations;
S62 starts hanging-basket motor and performs step-down operation;
S71/S72 sample rate current calculates T (I): in order to eliminate radio-frequency interference pointed pulse owing to producing between carbon brush and coil when motor coil electrode commutates to the impact of sampled result, sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again mean filter is carried out to the result stopping filtering, obtain sample rate current I
i, wherein i=1,2 ..., n, n=kt, t are that the time is carried out in sampling, and k obtains sample rate current I in the unit time
inumber of times, to this current of electric carry out t=(5 ~ 20) sampling try to achieve average current
then dynamic limit threshold current is calculated
S81/S82 sample rate current I: sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again carry out mean filter to the result stopping filtering, obtain sample rate current I;
S91/S92 I > T (I)?: judge whether sample rate current I exceeds dynamic limit threshold current T (I), if exceeded, illustrate that hanging basket has risen to top or dropped to ground, could not stop owing to being interfered, jump to S121/S122 and stop motor and end operation, thus effectively prevent the excessive generation of electric current unexpected, otherwise jump to S101/S102;
S101/S102 sample rate current calculates
sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again carry out mean filter to the result stopping filtering, obtain sample rate current I
i, wherein i=1,2 ..., n, n=kt, t are that the time is carried out in sampling, and k obtains sample rate current I in the unit time
inumber of times, calculate current of electric rate of change
S101/S102
judge current of electric rate of change
whether beyond (3 ~ 12) T (I), if it is illustrate that hanging basket has risen to top or dropped to ground and result in current of electric and increase suddenly, so jump to S121/S131, otherwise show that hanging basket is rising or declining, not yet put in place, jump to S81/S91 and again detect;
S121/S122: stop motor;
S131 St=TOP: the status information upgrading hanging basket, for rising to top, then returns S2 again to wait for operating order;
S132 St=BOTTOM: the status information upgrading hanging basket, for dropping to ground, then returns S2 again to wait for operating order.
Claims (5)
1. an electronic change gondola jacking system control method, it is characterized in that: be calculate controling parameters, hanging basket state of kinematic motion maintenance tracking by the current of electric dynamic sampling in cage lifting process, rise to top and drop to ground automatically to stop three kinds of method synthesis execution to realize, in cage lifting process, filtering, shaping are carried out to current of electric, dynamic acquisition current data calculates dynamic limit threshold current T (I), for hanging basket safety control; To hanging basket state of kinematic motion real time recording, maintenance, tracking, when hanging basket no longer responds lifting operations to during top, or hanging basket no longer responds step-down operation to during ground; When hanging basket rises to top or drops to ground according to current of electric rate of change
in conjunction with dynamic limit threshold current T (I), method realize automatic shut-down operation.
2. according to the one electronic change gondola jacking system control method described in claims 1, it is characterized in that: the method that the current of electric dynamic sampling in described cage lifting process calculates controling parameters is, in cage lifting process, filtering, shaping are carried out to current of electric, dynamic sampling, calculates the average current in 5 ~ 20 seconds after machine operation
then dynamic current limit is determined
as the absolute rating of hanging basket safety control.
3. according to the one electronic change gondola jacking system control method described in claims 1, it is characterized in that: described hanging basket state keeps the method for following the tracks of to be define S
tas the status information of hanging basket, wherein S
t=TOP, RISING, FALLING or BOTTOM, represent that hanging basket is in " rising to top ", " in rising ", " in decline ", " dropping to ground " four kinds of states respectively; To hanging basket state S in hanging basket operating process
treal-time update, no longer responds lifting operations when hanging basket is in " rising to top " state, no longer responds step-down operation when hanging basket is in " dropping to ground " state.
4. according to the one electronic change gondola jacking system control method described in claims 1, it is characterized in that: described rising to top and drop to the self-braking method in ground is, suddenly increase when hanging basket rises to motor load time can not continue to rise in top, electric current also sharply increases, in hanging basket decline process, the gravity motor in tow of hanging basket, therefore current of electric is less, motor loses that hanging basket pulls and ER effect is large suddenly, when current of electric rate of change when hanging basket is down to ground
realize automatic shut-down operation, effectively overcome the difference that motor brings due to the different mechanical wear of load, lubrication state; For preventing current of electric rate of change
when can not automatically stop owing to being interfered, as motor real-time current I > T (I), when namely motor real-time current I is greater than dynamic limit threshold current T (I), realizes hanging basket and automatically stop.
5. according to the one electronic change gondola jacking system control method described in claims 1, it is characterized in that: current of electric dynamic sampling in described cage lifting process calculates controling parameters, hanging basket state of kinematic motion keeps following the tracks of, rise to top and drop to ground and automatically stops three kinds of method synthesis to perform the step carrying out controlling being:
S1 system initialization, arranges St=STOP, and T (I) is the safe preset value 2.5 ~ 4 of experience;
The operating order to be obtained such as S2;
Whether S3 is lifting operations: judge whether operating order is lifting operations, if it is jumps to S41, otherwise jumps to S42;
S41St=TOP?: judge that whether hanging basket status information is for rising to dome-shaped state, if it is do not perform any operation directly to jump to S2 and again wait for operating order, thus avoid maloperation to force motor rising to grasp the potential safety hazard brought, otherwise jump to S51;
S42St=BOTTOM?: judging that whether hanging basket status information is for dropping to ground state, if it is not performing any operation and directly jumping to S2 and again wait for operating order, otherwise jumping to S52;
S51 St=RISING: status information is set for rise;
S52 St=FALLING: status information is set for decline;
S61 starts hanging-basket motor and performs lifting operations;
S62 starts hanging-basket motor and performs step-down operation;
S71/S72 sample rate current calculates T (I): in order to eliminate radio-frequency interference pointed pulse owing to producing between carbon brush and coil when motor coil electrode commutates to the impact of sampled result, sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again mean filter is carried out to the result stopping filtering, obtain sample rate current I
i, wherein i=1,2 ..., n, n=kt, t are that the time is carried out in sampling, and k obtains sample rate current I in the unit time
inumber of times, to this current of electric carry out t=(5 ~ 20) sampling try to achieve average current
then dynamic limit threshold current is calculated
S81/S82 sample rate current I: sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again carry out mean filter to the result stopping filtering, obtain sample rate current I;
S91/S92I > T (I)?: judge whether sample rate current I exceeds dynamic limit threshold current T (I), if exceeded, illustrate that hanging basket has risen to top or dropped to ground, could not stop owing to being interfered, jump to S121/S122 and stop motor and end operation, thus effectively prevent the excessive generation of electric current unexpected, otherwise jump to S101/S102;
S101/S102 sample rate current calculates
sample motor real-time current, to sample recently, 5 groups of current values carry out medium filtering, and again carry out mean filter to the result stopping filtering, obtain sample rate current I
i, wherein i=1,2 ..., n, n=kt, t are that the time is carried out in sampling, and k obtains sample rate current I in the unit time
inumber of times, calculate current of electric rate of change
S101/S102
judge current of electric rate of change
whether beyond (3 ~ 12) T (I), if it is illustrate that hanging basket has risen to top or dropped to ground and result in current of electric and increase suddenly, so jump to S121/S131, otherwise show that hanging basket is rising or declining, not yet put in place, jump to S81/S91 and again detect;
S121/S122: stop motor;
S131St=TOP: the status information upgrading hanging basket, for rising to top, then returns S2 again to wait for operating order;
S132St=BOTTOM: the status information upgrading hanging basket, for dropping to ground, then returns S2 again to wait for operating order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510016901.4A CN104555841B (en) | 2015-01-06 | 2015-01-06 | A kind of electronic change gondola jacking system control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510016901.4A CN104555841B (en) | 2015-01-06 | 2015-01-06 | A kind of electronic change gondola jacking system control method |
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| Publication Number | Publication Date |
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| CN104555841A true CN104555841A (en) | 2015-04-29 |
| CN104555841B CN104555841B (en) | 2017-09-01 |
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| CN201510016901.4A Expired - Fee Related CN104555841B (en) | 2015-01-06 | 2015-01-06 | A kind of electronic change gondola jacking system control method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0640677A (en) * | 1992-07-22 | 1994-02-15 | Fuji Electric Co Ltd | Load falling preventer circuit of load lifting gear |
| CN200967735Y (en) * | 2006-10-31 | 2007-10-31 | 关军锁 | Device for controlling dressing hanging basket lifting by using finger-print controller |
| JP2009221009A (en) * | 2008-03-18 | 2009-10-01 | Toshiba Elevator Co Ltd | Elevator control device |
| CN201580968U (en) * | 2009-12-09 | 2010-09-15 | 太原林立科技有限公司 | Wireless control system for hanging basket |
| CN102312634A (en) * | 2010-07-07 | 2012-01-11 | 河南万鑫济科技有限公司 | Anti-pinching control method and control system for automotive electric window |
| CN203319611U (en) * | 2013-05-21 | 2013-12-04 | 洛阳师范学院 | Electric control device of electric clothes changing lifting basket lifting system |
-
2015
- 2015-01-06 CN CN201510016901.4A patent/CN104555841B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0640677A (en) * | 1992-07-22 | 1994-02-15 | Fuji Electric Co Ltd | Load falling preventer circuit of load lifting gear |
| CN200967735Y (en) * | 2006-10-31 | 2007-10-31 | 关军锁 | Device for controlling dressing hanging basket lifting by using finger-print controller |
| JP2009221009A (en) * | 2008-03-18 | 2009-10-01 | Toshiba Elevator Co Ltd | Elevator control device |
| CN201580968U (en) * | 2009-12-09 | 2010-09-15 | 太原林立科技有限公司 | Wireless control system for hanging basket |
| CN102312634A (en) * | 2010-07-07 | 2012-01-11 | 河南万鑫济科技有限公司 | Anti-pinching control method and control system for automotive electric window |
| CN203319611U (en) * | 2013-05-21 | 2013-12-04 | 洛阳师范学院 | Electric control device of electric clothes changing lifting basket lifting system |
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Inventor after: Yang Shuqiang Inventor after: Liu Zhongli Inventor after: Ding Chaoliang Inventor after: Zhang Qianqian Inventor after: Gao Ya Inventor after: Wang Zhaodi Inventor before: Yang Shuqiang Inventor before: Liu Zhongli Inventor before: Ding Chaoliang Inventor before: Gao Ya Inventor before: Chen Qun Inventor before: Wang Zhaodi |
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Granted publication date: 20170901 Termination date: 20210106 |