CN105958878B - A kind of digitlization thyristor dc motor speed control device and method - Google Patents
A kind of digitlization thyristor dc motor speed control device and method Download PDFInfo
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- CN105958878B CN105958878B CN201610474190.XA CN201610474190A CN105958878B CN 105958878 B CN105958878 B CN 105958878B CN 201610474190 A CN201610474190 A CN 201610474190A CN 105958878 B CN105958878 B CN 105958878B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the invention discloses a kind of digitlization thyristor dc motor speed control device and methods, are related to motor control technology field, realize and carry out fast verification to the algorithm under actual conditions, flexibility is high and saves time and the workload of personnel.The present invention includes: computer equipment (1), virtual protection circuit (2), motor drive controller (3), controllable rectifier module (4) and data acquisition module (5)；Wherein, computer equipment (1) is connected in series by controllable rectifier module (4) and motor drive controller (3); data acquisition module (5), computer equipment (1), virtual protection circuit (2), motor drive controller (3), direct current generator (17) are sequentially connected in series, and direct current generator (17) is connect with data acquisition module (5).The present invention is suitable for the Digital Control of direct current generator.
Description
Technical field
The present invention relates to motor control technology fields more particularly to a kind of digitlization thyristor dc motor speed adjusting to control
Device and control method.
Background technique
Direct current generator is the staple product developed in field of electromechanical integration, major scientific research institution and technology company's all needles
A large amount of research is carried out to DC MOTOR CONTROL scheme, research mode is nothing more than two kinds:
First is that the ontology model and Controlling model of building direct current generator are descended under dedicated simulation software environment, in the model
The middle realization for carrying out control algolithm, parameter optimization scheduling theory analog simulation.But it only can be from theoretical algorithm by simulation software
The feasibility of access control scheme, and be usually all analog simulation ideally, processing result can not be applied in real time
Into the control of true direct current generator.
Second is that corresponding controller is designed using special motor control chip, to realize the control to direct current generator.
This method is the control system based on special chip, can meet the experiment demand of true environment to a certain extent, but
Adjustment in experiment for modification and the load of algorithm and algorithm parameter needs to expend the huge time and efforts of researcher, and
Higher cost, flexibility is poor and is difficult to carry out fast verification to the algorithm under actual conditions.
Summary of the invention
The embodiment of the present invention provides a kind of digitlization thyristor dc speed regulation control device of motor and control method, real
Show and fast verification is carried out to the algorithm under actual conditions, flexibility is high and saves time and the workload of personnel.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
A kind of digitlization thyristor dc speed regulation control device of motor, comprising: computer equipment (1), virtual protection electricity
Road (2), motor drive controller (3), controllable rectifier module (4) and data acquisition module (5)；Wherein, computer equipment (1) is logical
It crosses controllable rectifier module (4) and motor drive controller (3) to be connected in series, data acquisition module (5), is patrolled at computer equipment (1)
Series protection protection circuit (2), motor drive controller (3), direct current generator (17) are sequentially connected in series, and direct current generator (17) is adopted with data
Collect module (5) connection；
Virtual protection circuit (2) is made of the peripheral circuit of logic chip and the connection logic chip, for backward
When the control signal that continuous IPM module is sent, one of conducting in the upper and lower bridge arm of same bridge arm is triggered；
Motor drive controller (3) is by photoelectric isolation module (7), power chip power supply module (8), power driver module
(9), protection circuit module (13) composition；Wherein, photoelectric isolation module (7), power chip power supply module (8) and protection circuit mould
Block (13) is connected with power driver module (9), and power driver module (9) is connected with direct current generator (17), computer equipment (1)
Photoelectric isolation module (7) are connected by logic protection module (2)；
Controllable rectifier module (4) is by high voltage supply module (6), single phase full bridge semi controlled rectifier (14) and trigger circuit
(15) it forms；
Data acquisition module (5) include coder module (10), current measurement module (11), voltage measurement module (12) and
Synchronous signal acquisition module (16), wherein coder module (10), current measurement module (11) and voltage measurement module (12) are equal
It is separately connected test direct current generator (17) and computer equipment (1), Synchronous signal acquisition module (16) connects high pressure confession simultaneously
Electric module (6) and computer equipment (1).
A kind of control method based on above-mentioned digitlization thyristor dc speed regulation control device of motor, the method packet
It includes: by the synchronization signal U of data acquisition module (5) acquisition high voltage supply module (6), the actual measurement speed w of DC motor rotor
With direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronization signal U, and obtain positive/negative zero cross signal；Together
When error e=w is calculatedref- w, wherein wrefFor the reference velocity of DC motor rotor, and speed ring PI operation is carried out, obtained
To fixed phase shifting control amount
It is issued according to the phase shifting control amount θ of the positive/negative zero cross signal and the fixation to can by computer equipment (1)
It controls rectification module (4) and sends trigger signal, and the direct current supply voltage of direct current generator (17) is obtained by controllable rectifier module (4)；
The location information of direct current generator (17) is obtained further according to described hall signal d1, d2, d3, and is believed according to the position
Breath obtains the commutation signal of direct current generator (17), then by the commutation signal through logic protection module (2) to drive and control of electric machine
Device (3) is sent.
Further include: pass through synchronization signal U, the DC motor rotor of data acquisition module (5) acquisition high voltage supply module (6)
Actual measurement speed w and direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronization signal U, and obtain positive/negative
Zero cross signal；Error e=w is calculated simultaneouslyref- w, wherein wrefFor the reference velocity of DC motor rotor, scanning frequency of going forward side by side degree
Ring PI operation obtains control amount output
PWM control is obtained according to the commutation signal and the control output quantity u of direct current generator (17) by computer equipment (1)
Signal processed；And the pwm control signal is sent through logic protection module (2) to motor drive controller (3).
Digitlization thyristor dc speed regulation control device of motor provided in an embodiment of the present invention and control method, realize
Direct current generator quickly accesses, and establishes closed-loop simulation model, can realize real time execution parameter feedback to real-time controlling unit
Actual hardware in loop experiment, the control system relative to special DSP chip will be simple and save time and the workload of personnel.
And algorithm parameter can be modified with real-time control, the performance for parameter optimization, various algorithms compares, and realizes under actual conditions
Algorithm carries out fast verification and the parameter regulation of control algolithm provides convenience.And it can be adjusted the speed and can also be led to by pressure regulation
PWM (Pulse Width Modulation, pulse width modulation) is overregulated to realize that speed regulation, flexibility are high.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram for being device provided in an embodiment of the present invention；
Fig. 2 is the refinement structural schematic diagram for being device provided in an embodiment of the present invention；
Fig. 3 is the variable voltage control control flow schematic diagram for being direct current generator provided in an embodiment of the present invention；
Fig. 4 is the PWM speed regulating control flow diagram for being direct current generator provided in an embodiment of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.Embodiments of the present invention are described in more detail below, the embodiment is shown
Example is shown in the accompanying drawings, and in which the same or similar labels are throughly indicated same or similar element or has identical or class
Like the element of function.It is exemplary below with reference to the embodiment of attached drawing description, for explaining only the invention, and cannot
It is construed to limitation of the present invention.Those skilled in the art of the present technique are appreciated that unless expressly stated, odd number shape used herein
Formula " one ", "one", " described " and "the" may also comprise plural form.It is to be further understood that specification of the invention
Used in wording " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that
In the presence of or add other one or more features, integer, step, operation, element, component and/or their group.It should be understood that
When we say that an element is " connected " or " coupled " to another element, it can be directly connected or coupled to other elements, or
There may also be intermediary elements.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Here make
Wording "and/or" includes one or more associated any cells for listing item and all combinations.The art
Technical staff is appreciated that unless otherwise defined all terms (including technical terms and scientific terms) used herein have
Meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.It should also be understood that such as general
Those terms, which should be understood that, defined in dictionary has a meaning that is consistent with the meaning in the context of the prior art, and
Unless defined as here, it will not be explained in an idealized or overly formal meaning.
The embodiment of the present invention provides a kind of digitlization thyristor dc speed regulation control device of motor, as shown in Figure 1, packet
It includes: computer equipment (1), virtual protection circuit (2), motor drive controller (3), controllable rectifier module (4) and data acquisition
Module (5).Wherein, computer equipment (1) is connected in series by controllable rectifier module (4) and motor drive controller (3), data
Acquisition module (5), computer equipment (1), virtual protection circuit (2), motor drive controller (3), direct current generator (17) are successively
It is connected in series, direct current generator (17) is connect with data acquisition module (5).
Specifically, computer equipment (1), which generates 2 road Trig control signals, is connected to single-phase bridge half by trigger circuit (15)
The direct current that control rectifying circuit (14) is powered to control to direct current generator, completion are adjusted the speed by pressure regulation.
Further, computer equipment (1) generates 6 road PWM (Pulse Width Modulation, pulse width modulation)
Signal is sent to motor drive controller (3) after connecing virtual protection circuit (2) by 6 road interfaces, motor drive controller (3) and straight
Galvanic electricity machine (17) is connected by three-phase power line, hall signal line, controls the operation of motor, coder module (10) is tested
It is fed back with the position and speed information of direct current generator (17) to computer equipment (1)；Computer equipment (1) and data acquisition module
(5) and between virtual protection circuit (2) it is connected by the hardware of real-time control software, by what is be arranged on computer equipment (1)
Each control parameter is transferred to motor drive controller, and data acquisition module (5) is simultaneously by collected test direct current generator
Real time data sends real-time controlling unit to, forms closed-loop control.Virtual protection circuit (2) is patrolled as described in logic chip and connection
The peripheral circuit composition of volume chip, for subsequent IPM module (Intelligent Power Module, intelligent power mould
Block) send control signal when, trigger one of conducting in the upper and lower bridge arm of same bridge arm.
In the present embodiment, computer equipment (1) by run Matlab/Simulink or Labview software environment PC machine
It is formed with Quanser or NI platform.Such as: the QuaRC real-time software and Matlab software that installation Quanser company produces,
Matlab and QuaRC software include the realization of motor control algorithms, parameter setting part and dynamic performance parameter display portion；Electricity
The realization of machine control algolithm and parameter setting part are used for modulation control signal PWM waveform, and are conveyed by real-time control software
Into motor drive controller；Dynamic performance parameter display portion is for showing the motor that data acquisition module (5) is sent
Operation state data, for observing the operation conditions of whole system.
Specifically, as shown in Figure 2, motor drive controller (3) is by photoelectric isolation module (7), power chip power supply mould
Block (8), power driver module (9), protection circuit module (13) composition.Wherein, photoelectric isolation module (7), power chip power supply
Module (8) and protection circuit module (13) are connected with power driver module (9), power driver module (9) and direct current generator
(17) it is connected, computer equipment (1) passes through logic protection module (2) connection photoelectric isolation module (7).
Data acquisition module (5) include coder module (10), current measurement module (11), voltage measurement module (12) and
Synchronous signal acquisition module (16), wherein coder module (10), current measurement module (11) and voltage measurement module (12) are equal
It is separately connected test direct current generator (17) and computer equipment (1), Synchronous signal acquisition module (16) connects high pressure confession simultaneously
Electric module (6) and computer equipment (1).
Specifically, as shown in Figure 3, controllable rectifier module (4) is rectified by high voltage supply module (6), single-phase bridge half control
Circuit (14) and trigger circuit (15) composition.
It is provided in an embodiment of the present invention to be used for a kind of digitlization thyristor dc speed regulation control device of motor, it realizes straight
Galvanic electricity machine quickly accesses, and establishes closed-loop simulation model, can realize real time execution parameter feedback to real-time controlling unit real
The hardware in loop on border is tested, and the control system relative to special DSP chip will be simple and saves time and the workload of personnel.And
Algorithm parameter can be modified with real-time control, the performance for parameter optimization, various algorithms compares, and realizes to the calculation under actual conditions
Method carries out fast verification and the parameter regulation of control algolithm provides convenience.And it can be adjusted the speed and can also be passed through by pressure regulation
PWM is adjusted to realize that speed regulation, flexibility are high.
In the present embodiment, a kind of digitlization thyristor dc motor speed adjusting control method is also provided, this method is specific
For above-mentioned control device, this method comprises:
Pass through the actual measurement of the synchronization signal U, DC motor rotor of data acquisition module (5) acquisition high voltage supply module (6)
Speed w and direct current generator hall signal d1, d2, d3.And zero passage detection is carried out according to synchronization signal U, and obtain positive/negative zero passage letter
Number.Error e=w is calculated simultaneouslyref- w, wherein wrefFor the reference velocity of DC motor rotor, and carry out speed ring PI fortune
It calculates, obtains fixed phase shifting control amountWherein KPFor proportionality coefficient, KIFor integral coefficient
It is issued according to the phase shifting control amount θ of the positive/negative zero cross signal and the fixation to can by computer equipment (1)
It controls rectification module (4) and sends trigger signal, and the direct current supply voltage of direct current generator (17) is obtained by controllable rectifier module (4).
The location information of direct current generator (17) is obtained further according to described hall signal d1, d2, d3, and is believed according to the position
Breath obtains the commutation signal of direct current generator (17), then by the commutation signal through logic protection module (2) to drive and control of electric machine
Device (3) is sent.
Such as: based on process structure as shown in Figure 3, data acquisition module (5) acquires the synchronous letter of high voltage supply module
Number U, DC motor rotor survey speed w, direct current generator hall signal d1, d2, d3, wherein electric machine phase current etc. can also be added
Signal, so that electric current loop can be added in control ring forms double-closed-loop control；Software zero passage detection is carried out according to synchronization signal U,
Issue positive/negative zero cross signal；Calculate error e=wref-w；(wrefFor DC motor rotor reference velocity)；Carry out speed ring PI fortune
It calculates, obtains the output of phase shifting control amountComputer equipment (1) is according to positive/negative zero cross signal and phase shift control
Amount θ processed issues trigger signal and obtains the direct current supply voltage of direct current generator to controllable rectifier module；Computer equipment (1) is according to suddenly
You are signal d1, and d2, d3 obtain the location information of direct current generator, to obtain the commutation signal of direct current generator；Commutation signal is by counting
It calculates machine equipment (1) to issue, the operating for controlling direct current generator is sent to motor drive controller (3) through logic protection module (2).
Further, a kind of PWM control process is also provided in the present embodiment, is specifically included:
Pass through the actual measurement of the synchronization signal U, DC motor rotor of data acquisition module (5) acquisition high voltage supply module (6)
Speed w and direct current generator hall signal d1, d2, d3.And zero passage detection is carried out according to synchronization signal U, and obtain positive/negative zero passage letter
Number.Error e=w is calculated simultaneouslyref- w, wherein wrefFor the reference velocity of DC motor rotor, and carry out speed ring PI fortune
It calculates, obtains control amount outputBelieved again by computer equipment (1) according to the commutation of direct current generator (17)
Number and the control output quantity u obtain pwm control signal.And by the pwm control signal through logic protection module (2) to motor
Drive control device (3) is sent.
Such as: as shown in figure 4, synchronization signal U, the direct current generator of data acquisition module (5) acquisition high voltage supply module turn
Son actual measurement speed w, direct current generator hall signal d1, d2, d3；Software zero passage detection is carried out according to synchronization signal U, is issued positive/negative
Zero cross signal；Calculate error e=wref-w；(wrefFor DC motor rotor reference velocity)；Speed ring PI operation is carried out, is controlled
Amount output processedComputer equipment (1) is sent out according to positive/negative zero cross signal and fixed phase shifting control amount θ
Trigger signal obtains the direct current supply voltage of fixed direct current generator to controllable rectifier module out；Computer equipment (1) is according to suddenly
You are signal d1, and d2, d3 obtain the location information of direct current generator, to obtain the commutation signal of direct current generator；Computer equipment (1)
Pwm control signal is obtained according to the commutation signal of direct current generator and control output quantity u；Pwm control signal is through logic protection module
(2) it send to motor drive controller (3) and controls the operating of direct current generator.
Further, in computer equipment (1) operational process, the state of direct current generator (17) is exported and shown to screen
Information, the status information include at least: the actual measurement speed and electric machine phase current of direct current generator (17).Due to PC machine and real-time control
The operation interface of software processed is all visually that motor control algorithms and motor dynamics parameter are shown with image conversion, are convenient for
Observation and analysis.
A kind of digitlization thyristor dc motor speed adjusting control method provided in an embodiment of the present invention, realizes direct current
Machine quickly accesses, and establishes closed-loop simulation model, can realize real time execution parameter feedback to real-time controlling unit actual
Hardware in loop experiment, the control system relative to special DSP chip will be simple and save time and the workload of personnel.And it can be with
Real-time control modify algorithm parameter, for parameter optimization, various algorithms performance compare, realize to the algorithm under actual conditions into
The parameter regulation of row fast verification and control algolithm provides convenience.And it can be adjusted the speed by pressure regulation and can also pass through adjusting
PWM is high to realize speed regulation, flexibility.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for equipment reality
For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method
Part explanation.The above description is merely a specific embodiment, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Subject to enclosing.
Claims (3)
1. a kind of digitlization thyristor dc motor speed adjusting control method, which is characterized in that the method is used for a kind of control
Device, the control device includes: computer equipment (1), virtual protection circuit (2), motor drive controller (3), controllable whole
Flow module (4) and data acquisition module (5)；Wherein, computer equipment (1) passes through controllable rectifier module (4) and motor driven control
Device (3) processed is connected in series, data acquisition module (5), computer equipment (1), virtual protection circuit (2), motor drive controller
(3), direct current generator (17) is sequentially connected in series, and direct current generator (17) is connect with data acquisition module (5)；
The described method includes:
Pass through the synchronization signal U of data acquisition module (5) acquisition high voltage supply module (6), the actual measurement speed w of DC motor rotor
With direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronization signal U, and obtain positive/negative zero cross signal；Together
When error e=w is calculatedref- w, wherein wrefFor the reference velocity of DC motor rotor, and speed ring PI operation is carried out, obtained
To fixed phase shifting control amountWherein KPFor proportionality coefficient, KIFor integral coefficient；
It is issued according to the phase shifting control amount θ of the positive/negative zero cross signal and the fixation to controllable whole by computer equipment (1)
Flow module (4) sends trigger signal, and obtains the direct current supply voltage of direct current generator (17) by controllable rectifier module (4)；
The location information of direct current generator (17) is obtained further according to described hall signal d1, d2, d3, and according to the positional information
To the commutation signal of direct current generator (17), then by the commutation signal through logic protection module (2) to motor drive controller (3)
It sends；Computer equipment (1) is put down by the PC machine and Quanser or NI for running Matlab/Simulink or Labview software environment
Platform composition；
Virtual protection circuit (2) is by logic chip and connects the peripheral circuit of the logic chip and forms, for subsequent intelligence
When the control signal that energy power module is sent, one of conducting in the upper and lower bridge arm of same bridge arm is triggered；
Motor drive controller (3) is by photoelectric isolation module (7), power chip power supply module (8), power driver module (9), guarantor
Protection circuit module (13) composition, wherein photoelectric isolation module (7), power chip power supply module (8) and protection circuit module (13)
It is connected with power driver module (9), power driver module (9) is connected with direct current generator (17), and computer equipment (1) is by patrolling
Collect protective module (2) connection photoelectric isolation module (7)；
Controllable rectifier module (4) is by high voltage supply module (6), single phase full bridge semi controlled rectifier (14) and trigger circuit (15) group
At；
Data acquisition module (5) include coder module (10), current measurement module (11), voltage measurement module (12) with it is synchronous
Signal acquisition module (16), wherein coder module (10), current measurement module (11) and voltage measurement module (12) are distinguished
Joint test direct current generator (17) and computer equipment (1), Synchronous signal acquisition module (16) connect high voltage supply mould simultaneously
Block (6) and computer equipment (1).
2. digitlization thyristor dc motor speed adjusting control method according to claim 1, it is characterised in that:
Pass through the synchronization signal U of data acquisition module (5) acquisition high voltage supply module (6), the actual measurement speed w of DC motor rotor
With direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronization signal U, and obtain positive/negative zero cross signal；Together
When error e=w is calculatedref- w, wherein wrefFor the reference velocity of DC motor rotor, and speed ring PI operation is carried out, obtained
It is exported to control amount
Pulse width is obtained according to the commutation signal and the control output quantity u of direct current generator (17) by computer equipment (1)
Modulation (PWM) controls signal；And the pwm control signal is sent through logic protection module (2) to motor drive controller (3).
3. digitlization thyristor dc motor speed adjusting control method according to claim 1 or 2, which is characterized in that
In computer equipment (1) operational process, the status information of direct current generator (17) is exported and shown to screen, the status information is extremely
It less include: the actual measurement speed and electric machine phase current of direct current generator (17).
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| CN108616232B (en) * | 2018-07-04 | 2024-01-09 | 青岛海信网络能源股份有限公司 | Asynchronous motor rotating speed controller and asynchronous motor rotating speed control method |
| CN112994541A (en) * | 2021-02-04 | 2021-06-18 | 胡晓莉 | SCR power expansion control system for direct current motor |
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