CN105116803A - Seamless underwear machine valve group distributed drive control system and control method - Google Patents
Seamless underwear machine valve group distributed drive control system and control method Download PDFInfo
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- CN105116803A CN105116803A CN201510512054.0A CN201510512054A CN105116803A CN 105116803 A CN105116803 A CN 105116803A CN 201510512054 A CN201510512054 A CN 201510512054A CN 105116803 A CN105116803 A CN 105116803A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 29
- 238000012360 testing method Methods 0.000 claims description 24
- 230000000875 corresponding effect Effects 0.000 claims description 12
- 238000012423 maintenance Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000009954 braiding Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000002829 reductive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25232—DCS, distributed control system, decentralised control unit
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- General Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a seamless underwear machine valve group distributed drive control system and a control method. The system comprises a main control layer and an execution layer. The main control layer and the execution layer are connected through two RS485 buses. The main control layer comprises a main control chip and two RS485 modules which are respectively connected with the main control chip through lines. The execution layer comprises a shuttle valve group and another valve group. The shuttle valve group and another valve group are respectively connected with an RS485 module on the main control layer through an RS485 bus. The shuttle valve group comprises a shuttle valve plate and a shuttle valve which is connected with the shuttle valve plate. Another valve group comprises another valve plate and another valve which is connected with another valve plate. According to the invention, a control circuit is simplified; the scalability and the stability are improved; work current is reduced; temperature is lowered; the valves are effectively protected; and the action accuracy of the valves is improved.
Description
Technical field
The present invention relates to a kind of seamless underwear machine air valve set control system and control method, particularly relate to a kind of seamless underwear machine air valve distribution type driving control system and control method, belong to field of electric control.
Background technology
In seamless underwear machine, the topworkies such as shuttle, triangle, half-needle, clip, scissors are all driven by air valve, of a great variety, and space layout disperses.Selected air valve mostly is electromagnetic gas valve, and the size of electromagnetic gas valve inner coil current is the key factor affecting air valve temperature.Domestic controller is compared with import barrier device, and extendability and anti-interference are not strong, and operation circuit is complicated, and general higher by air valve coil current, causes air valve temperature very high, affects operating characteristic.
Summary of the invention
A kind of seamless underwear machine air valve distribution type driving control system and control method are the object of the present invention is to provide, the present invention passes through function and the performance requirement of reductive analysis diverse location air valve, adopt the distributed control scheme based on RS485 bus communication, operation circuit is simplified, improves extendability and stability.Air valve type of drive adopts PWM (pulse-length modulation) hold mode, reduces working current, reduces temperature, available protecting air valve, improves air valve action accuracy.
For achieving the above object, technical scheme of the present invention is:
A kind of seamless underwear machine air valve distribution type driving control system, comprises master control preparative layer and execution level; Described master control preparative layer is connected respectively by 2 road RS485 buses with execution level; 2 RS485 modules that described master control preparative layer comprises main control chip, is connected respectively by circuit with main control chip; Described execution level comprises shuttle air valve group and other air valve groups, and wherein said shuttle air valve group is connected with the RS485 module of 1 on master control preparative layer respectively by 1 RS485 bus with other air valve groups; The shuttle air valve that described shuttle air valve group comprises shuttle valve plate, is connected with shuttle valve plate; Other air valves that other air valve groups described comprise other valve plates, are connected with other valve plates.
Described shuttle air valve group has 8 groups; Other described air valve groups have 5 groups.
Described shuttle valve plate is provided with RS485 module, control chip, air valve switch circuit, first interface and address toggle switch; RS485 module on wherein said shuttle valve plate is connected with the RS485 module on master control preparative layer by 1 RS485 bus; RS485 module on described shuttle valve plate is connected with the control chip on shuttle valve plate by circuit; Control chip on described shuttle valve plate is connected with the air valve switch circuit on shuttle valve plate by circuit; Described air valve switch circuit is connected with the first interface on shuttle valve plate by circuit, and described first interface is connected with shuttle air valve; Described address toggle switch is connected with control chip by circuit, for every block shuttle valve plate provides address information.
Described first interface is provided with 24, and each first interface is connected with 1 shuttle air valve.
Other valve plates described are also provided with RS485 module, control chip, air valve switch circuit, the second interface and address toggle switch; RS485 module on other wherein said valve plates is connected with the RS485 module on master control preparative layer by 1 RS485 bus; RS485 module on other described valve plates is connected with the control chip on other valve plates by circuit; Control chip on other described valve plates is connected with the air valve switch circuit on other valve plates by circuit; Air valve switch circuit on other described valve plates is connected with the second interface on other valve plates by circuit; The second described interface is connected with other air valves; Described address toggle switch is connected with control chip by circuit, for other valve plates of every block provide address information.
The second described interface is provided with 3, and each second interface is connected with 8 other air valves.
A kind of seamless underwear machine air valve distribution type drived control method, comprises the steps:
1) seamless underwear machine is started, by the main control chip on described master control preparative layer, program initialization is carried out to master control preparative layer, control chip on execution level simultaneously carries out program initialization to execution level, read in the address information of address toggle switch, every block shuttle valve plate is different with other valve plate address informations, and the shuttle air valve on described execution level initialization shuttle valve plate is closed condition with the state of other air valves on other valve plates;
2) then by the functional requirement selection instruction pattern of the main control chip on described master control preparative layer according to host computer, air valve test instruction, air valve action command and functional configuration instruction is divided into; Wherein air valve action command is by resolving gained to each required flower pattern; Steering order is sent to execution level by two RS485 buses through RS485 module by the main control chip of described master control preparative layer, comprises the address information of all shuttle valve plates and other valve plates in described execution level in steering order;
3) the shuttle air valve group of then described execution level and other air valve groups receive the steering order from master control preparative layer; Described shuttle air valve group and other air valve groups receive the steering order that wherein 1 RS485 bus sends respectively;
4) subsequently described execution level program adopts interrupt mode reception from the steering order of master control preparative layer, has no progeny, resolve instruction in entering; Advanced row address information is resolved, if address information coupling, carries out other instructions parse; If address information is not mated, then return waiting status, wait for next instruction;
5) when after matching addresses, described shuttle valve plate is resolved other instructions received with the control chip on other valve plates; If resolving instruction is parameter configuration instruction, then corresponding regulating impulse width modulation period and dutycycle, and complete information through RS485 module to master control preparative layer transmission configuration; If resolving instruction is air valve action command, the action command received and air valve original state is compared, if action command is identical with air valve original state, then directly carries out pulse-length modulation maintenance; If action command is different from original state, process in two kinds of situation, when air valve is from open state to off status, directly close gas check valve; When air valve is from off status to open state, first opened to air valve high pressure a period of time, ensure that air valve can be opened, then carry out pulse-length modulation maintenance; If resolving instruction is air valve test instruction, air valve test instruction is converted into corresponding actions instruction, identical with action command processing mode; Air valve test instruction comprises the test of single air valve, the test of single channel air valve, air valve burn-in test and air valve loop test; Air valve wherein described in above-mentioned steps comprises the corresponding shuttle air valve connected and other air valves be connected corresponding on other valve plates on shuttle valve plate;
6) when described execution level receives error message, then fed back to master control preparative layer through RS485 module by RS485 bus, and enter waiting status, wait for next command information;
7) being that described master control preparative layer adopts interrupt mode reception from the information of execution level again, when receiving false alarm information, needing to carry out shutdown process; When carrying out parameter configuration, sending parameter configuration instruction by two RS485 buses and parameter configuration carried out to every block shuttle valve plate, other valve plates, and receive each shuttle valve plate, configuration that other valve plates are sent just continues operation after completing information;
8) repeat step 2,3,4,5,6,7, until action command is sent, braiding terminates.
Beneficial effect of the present invention is: a kind of seamless underwear machine air valve distribution type driving control system of the present invention and control method, to driving, way is various, the air valve of space layout's dispersion adopts distributed drived control method, by the communication modes of multichannel multinode, improve real-time and the stability of system.The mode that air valve type of drive adopts PWM to keep, regulates PWM frequency value and dutycycle, reduces air valve working current, reduce power consumption, improve action accuracy rate, extends air valve serviceable life.
Accompanying drawing explanation
Fig. 1 is control system Organization Chart of the present invention;
Fig. 2 is the enlarged diagram of shuttle valve plate in Fig. 1;
Fig. 3 is the enlarged diagram of other valve plates in Fig. 1;
Fig. 4 is master control preparative layer program flow diagram of the present invention.
Fig. 5 is execution of the present invention program flow diagram layer by layer.
Embodiment
Embodiment 1
A kind of seamless underwear machine air valve distribution type driving control system of the present embodiment, as shown in Figure 1, 2, 3, comprises master control preparative layer 1 and execution level 2; Described master control preparative layer 1 is connected respectively by 2 road RS485 buses with execution level 2; 2 RS485 modules 6 that described master control preparative layer 1 comprises main control chip 5, is connected respectively by circuit with main control chip 5, the present embodiment main control chip 5 used model is STM32F407; Described execution level 2 comprises 8 groups of shuttle air valve groups 3 and 5 groups of other air valve groups 4, and wherein said shuttle air valve group 3 is connected with the RS485 module 6 of 1 on master control preparative layer 1 respectively by 1 RS485 bus with other air valve groups 4; 120 shuttle air valves 11 that described in the present embodiment, 8 groups of shuttle air valve groups 3 comprise 8 pieces of shuttle valve plates 7, are connected with shuttle valve plate 7; 112 other air valves 14 that described 5 groups of other air valve groups 4 comprise 5 pieces of other valve plates 12, are connected with other valve plates 12.1 wherein said shuttle air valve 11 is used for driving 1 action of shuttle, and other described air valves 14 are used to drive following all parts, as triangle, looped pile, probe, half-needle, wire clamp, scissors, head, dropped stitch device.
Described shuttle valve plate 7 is provided with RS485 module 6, control chip 8, air valve switch circuit 9, first interface 10 and address toggle switch 15; On wherein said shuttle valve plate, the RS485 module 6 of 7 is connected with the RS485 module 6 on master control preparative layer 1 by 1 RS485 bus; RS485 module on described shuttle valve plate 7 is connected with the control chip 8 on shuttle valve plate 7 by circuit, and described control chip 8 model is STM32F103; Control chip 8 on described shuttle valve plate 7 is connected with the air valve switch circuit 9 on shuttle valve plate 7 by circuit; Described air valve switch circuit 9 is connected with the first interface of 24 on shuttle valve plate 7 10 by circuit, described first interface 10 is connected with shuttle air valve 11,120 shuttle air valves 11 in the present embodiment are divided into 8 groups, often organize 15 shuttle air valves 11 to be connected with 15 first interfaces 10 of 1 shuttle valve plate 7, all the other interfaces are idle, give over to expansion and use; Described address toggle switch 15 is connected with control chip 8 by circuit, for every block shuttle valve plate 7 provides address information.
Other valve plates 12 described are also provided with RS485 module 6, control chip 8, air valve switch circuit 9, second interface 13 and address toggle switch 15; RS485 module 6 on other wherein said valve plates 12 is connected with the RS485 module 6 on master control preparative layer 1 by 1 RS485 bus; RS485 module 6 on other described valve plates 12 is connected with the control chip 8 on other valve plates 12 by circuit, and described control chip 8 model is STM32F103; Control chip 8 on other described valve plates 12 is connected with the air valve switch circuit 9 on other valve plates 12 by circuit; Air valve switch circuit 9 on other described valve plates 12 is connected with 3 the second interfaces 13 on other valve plates 12 by circuit; The second described interface 13 is connected with other air valves 14, each interface connects 8 other air valves 14,112 in the present embodiment other air valves 14 are divided into 5 groups, often organize maximum 24 other air valves 14, be connected with 3 the second interfaces 13 of 1 other valve plate 12, all the other interfaces are idle, give over to expansion and use; Described address toggle switch 15 is connected with control chip 8 by circuit, for other valve plates 12 of every block provide address information.
A kind of seamless underwear machine air valve distribution type drived control method of the present embodiment, as shown in Figure 4,5, comprises the steps:
1) seamless underwear machine is started, program initialization is carried out by 5 pairs of master control preparative layers of the main control chip on described master control preparative layer 11, control chip 8 pairs of execution levels 2 on execution level 2 simultaneously carry out program initialization, read in the address information of address toggle switch 15, every block shuttle valve plate 7 is different with other valve plate 12 address informations, and the state of the shuttle air valve 11 on described execution level 2 initialization shuttle valve plate 7 and other air valves 14 on other valve plates 12 is closed condition;
2) then by the functional requirement selection instruction pattern of the main control chip 5 on described master control preparative layer 1 according to host computer, air valve test instruction, air valve action command and functional configuration instruction is divided into; Wherein air valve action command is by resolving gained to each required flower pattern; Steering order is sent to execution level 2 by two RS485 buses through RS485 module 6 by the main control chip 5 of described master control preparative layer 1, comprises the address information of all shuttle valve plates 7 and other valve plates 12 in described execution level 2 in steering order;
3) the shuttle air valve group 3 of then described execution level 2 and other air valve groups 4 receive the steering order from master control preparative layer 1; Described shuttle air valve group 3 and other air valve groups 4 receive the steering order that wherein 1 RS485 bus sends respectively;
4) subsequently described execution level 2 program adopts interrupt mode reception from the steering order of master control preparative layer 1, has no progeny, resolve instruction in entering; Advanced row address information is resolved, if address information coupling, carries out other instructions parse; If address information is not mated, then return waiting status, wait for next instruction;
5) when after matching addresses, described shuttle valve plate 7 is resolved other instructions received with the control chip 8 on other valve plates 12; If resolving instruction is parameter configuration instruction, then corresponding regulating impulse width modulation period and dutycycle, and send configuration through RS485 module 6 to master control preparative layer 1 and complete information; If resolving instruction is air valve action command, the action command received and air valve original state is compared, if action command is identical with air valve original state, then directly carries out pulse-length modulation maintenance; If action command is different from original state, process in two kinds of situation, when air valve is from open state to off status, directly close gas check valve; When air valve is from off status to open state, first opened to air valve high pressure a period of time, ensure that air valve can be opened, then carry out pulse-length modulation maintenance; If resolving instruction is air valve test instruction, air valve test instruction is converted into corresponding actions instruction, identical with action command processing mode; Air valve test instruction comprises the test of single air valve, the test of single channel air valve, air valve burn-in test and air valve loop test; Air valve wherein described in above-mentioned steps comprises the corresponding shuttle air valve 11 connected and other air valves 14 be connected corresponding on other valve plates 12 on shuttle valve plate 7;
6) when described execution level 2 receives error message, then fed back to master control preparative layer 1 through RS485 module 6 by RS485 bus, and enter waiting status, wait for next command information;
7) being that described master control preparative layer 1 adopts interrupt mode reception from the information of execution level 2 again, when receiving false alarm information, needing to carry out shutdown process; When carrying out parameter configuration, send parameter configuration instruction by two RS485 buses and parameter configuration carried out to every block shuttle valve plate 7, other valve plates 12, and receive each shuttle valve plate 7, configuration that other valve plates 12 are sent just continues operation after completing information;
8) repeat step 2,3,4,5,6,7, until action command is sent, braiding terminates.
A kind of seamless underwear machine air valve distribution type driving control system of the present embodiment and control method, to driving, way is various, the air valve of space layout's dispersion adopts distributed drived control method, by the communication modes of multichannel multinode, improve real-time and the stability of system.The mode that air valve type of drive adopts PWM to keep, regulates PWM frequency value and dutycycle, reduces air valve working current, reduce power consumption, improve action accuracy rate, extends air valve serviceable life.
Claims (7)
1. a seamless underwear machine air valve distribution type driving control system, is characterized in that: comprise master control preparative layer (1) and execution level (2); Described master control preparative layer (1) is connected respectively by 2 road RS485 buses with execution level (2); 2 RS485 modules (6) that described master control preparative layer (1) comprises main control chip (5), is connected respectively by circuit with main control chip (5); Described execution level (2) comprises shuttle air valve group (3) and other air valve groups (4), and wherein said shuttle air valve group (3) is connected with 1 RS485 module (6) on master control preparative layer (1) respectively by 1 RS485 bus with other air valve groups (4); The shuttle air valve (11) that described shuttle air valve group (3) comprises shuttle valve plate (7), is connected with shuttle valve plate (7); Other air valves (14) that other air valve groups (4) described comprise other valve plates (12), are connected with other valve plates (12).
2. a kind of seamless underwear machine air valve distribution type driving control system as claimed in claim 1, is characterized in that: described shuttle air valve group (3) has 8 groups; Other described air valve groups (4) have 5 groups.
3. a kind of seamless underwear machine air valve distribution type driving control system as claimed in claim 1, is characterized in that: described shuttle valve plate (7) is provided with RS485 module (6), control chip (8), air valve switch circuit (9), first interface (10) and address toggle switch (15); RS485 module (6) on wherein said shuttle valve plate (7) is connected with the RS485 module (6) on master control preparative layer (1) by 1 RS485 bus; RS485 module (6) on described shuttle valve plate (7) is connected with the control chip (8) on shuttle valve plate (7) by circuit; Control chip (8) on described shuttle valve plate (7) is connected with the air valve switch circuit (9) on shuttle valve plate (7) by circuit; Described air valve switch circuit (9) is connected with the first interface (10) on shuttle valve plate (7) by circuit, and described first interface (10) is connected with shuttle air valve (11); Described address toggle switch (15) is connected with control chip (8) by circuit.
4. a kind of seamless underwear machine air valve distribution type driving control system as claimed in claim 3, it is characterized in that: it is individual that described first interface (10) is provided with (24), each first interface (10) is connected with 1 shuttle air valve (11).
5. a kind of seamless underwear machine air valve distribution type driving control system as claimed in claim 1, is characterized in that: described other valve plates (12) are also provided with RS485 module (6), control chip (8), air valve switch circuit (9), the second interface (13) and address toggle switch (15); RS485 module (6) on wherein said other valve plates (12) is connected with the RS485 module (6) on master control preparative layer (1) by 1 RS485 bus; RS485 module (6) on described other valve plates (12) is connected with the control chip (8) on other valve plates (12) by circuit; Control chip (8) on described other valve plates (12) is connected with the air valve switch circuit (9) on other valve plates (12) by circuit; Air valve switch circuit (9) on described other valve plates (12) is connected with the second interface (13) on other valve plates (12) by circuit; Described the second interface (13) is connected with other air valves (14); Described address toggle switch (15) is connected with control chip (8) by circuit.
6. a kind of seamless underwear machine air valve distribution type driving control system as claimed in claim 5, it is characterized in that: described the second interface (13) is provided with 3, each second interface (13) is connected with 8 other air valves (14).
7. a seamless underwear machine air valve distribution type drived control method, is characterized in that: comprise the steps:
1) seamless underwear machine is started, by the main control chip (5) on described master control preparative layer (1), program initialization is carried out to master control preparative layer (1), control chip (8) on execution level (2) simultaneously carries out program initialization to execution level (2), read in the address information of address toggle switch (15), every block shuttle valve plate (7) is different with other valve plates (12) address information, the state of the shuttle air valve (11) on described execution level (2) initialization shuttle valve plate (7) and other air valves (14) on other valve plates (12) is closed condition,
2) then by the functional requirement selection instruction pattern of the main control chip (5) on described master control preparative layer (1) according to host computer, air valve test instruction, air valve action command and functional configuration instruction is divided into; Wherein air valve action command is by resolving gained to each required flower pattern; Steering order is sent to execution level (2) by two RS485 buses through RS485 module (6) by the main control chip (5) of described master control preparative layer (1), comprises the address information of all shuttle valve plates (7) and other valve plates (12) in described execution level (2) in steering order;
3) the shuttle air valve group (3) of then described execution level (2) and other air valve groups (4) receive the steering order from master control preparative layer (1); Described shuttle air valve group (3) and other air valve groups (4) receive the steering order that wherein 1 RS485 bus sends respectively;
4) subsequently described execution level (2) program adopts interrupt mode reception from the steering order of master control preparative layer (1), has no progeny, resolve instruction in entering; Advanced row address information is resolved, if address information coupling, carries out other instructions parse; If address information is not mated, then return waiting status, wait for next instruction;
5) when after matching addresses, the control chip (8) on described shuttle valve plate (7) and other valve plates (12) is resolved other instructions received; If resolving instruction is parameter configuration instruction, then corresponding regulating impulse width modulation period and dutycycle, and complete information through RS485 module (6) to master control preparative layer (1) transmission configuration; If resolving instruction is air valve action command, the action command received and air valve original state is compared, if action command is identical with air valve original state, then directly carries out pulse-length modulation maintenance; If action command is different from original state, process in two kinds of situation, when air valve is from open state to off status, directly close gas check valve; When air valve is from off status to open state, first opened to air valve high pressure a period of time, ensure that air valve can be opened, then carry out pulse-length modulation maintenance; If resolving instruction is air valve test instruction, air valve test instruction is converted into corresponding actions instruction, identical with action command processing mode; Air valve test instruction comprises the test of single air valve, the test of single channel air valve, air valve burn-in test and air valve loop test; Air valve wherein described in above-mentioned steps comprises the upper corresponding shuttle air valve (11) connected of shuttle valve plate (7) corresponding other air valves (14) of being connected upper with other valve plates (12);
6) when described execution level (2) receives error message, then fed back to master control preparative layer (1) through RS485 module (6) by RS485 bus, and enter waiting status, wait for next command information;
7) being that described master control preparative layer (1) adopts interrupt mode reception from the information of execution level (2) again, when receiving false alarm information, needing to carry out shutdown process; When carrying out parameter configuration, send parameter configuration instruction by two RS485 buses and parameter configuration carried out to every block shuttle valve plate (7), other valve plates (12), and receive each shuttle valve plate (7), configuration that other valve plates (12) are sent just continues operation after completing information;
8) repeat step 2,3,4,5,6,7, until action command is sent, braiding terminates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510512054.0A CN105116803A (en) | 2015-08-19 | 2015-08-19 | Seamless underwear machine valve group distributed drive control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510512054.0A CN105116803A (en) | 2015-08-19 | 2015-08-19 | Seamless underwear machine valve group distributed drive control system and control method |
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| CN105116803A true CN105116803A (en) | 2015-12-02 |
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| CN201510512054.0A Pending CN105116803A (en) | 2015-08-19 | 2015-08-19 | Seamless underwear machine valve group distributed drive control system and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108227524A (en) * | 2017-11-27 | 2018-06-29 | 魔玛智能科技（上海）有限公司 | Hybrid driving control system |
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| EP0600263A3 (en) * | 1992-11-16 | 1996-03-20 | Wirkbau Textilmasch Gmbh | Electronic control device for machines with synchronised motion sequences through high-dynamic actuators. |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20151202 |
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| RJ01 | Rejection of invention patent application after publication |