CN106452194A - Method, device and system for heating motors - Google Patents
Method, device and system for heating motors Download PDFInfo
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- CN106452194A CN106452194A CN201610979027.9A CN201610979027A CN106452194A CN 106452194 A CN106452194 A CN 106452194A CN 201610979027 A CN201610979027 A CN 201610979027A CN 106452194 A CN106452194 A CN 106452194A
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- motor
- temperature
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- interval
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
Abstract
The invention discloses a method, a device and a system for heating motors. The method for heating the motors includes steps of acquiring first temperature measured values of the motors; judging whether the first temperature measured values are within preset temperature intervals or not; determining interval sections of the first temperature measured values in the preset temperature intervals if the first temperature measured values are within the preset temperature intervals; outputting heating signals to the motors to allow the motors to enter heating modes corresponding to the interval sections. The heating signals correspond to the interval sections. The method, the device and the system have the advantages that the heating signals corresponding to actual temperature values can be outputted according to the actual temperature values of the motors, and accordingly the motors can be in the corresponding heating modes at the different temperatures; the motors can be heated under the condition of low heat shock and can be safely started, bearings of the motors can be effectively prevented from being damaged, and the motors can be effectively prevented from being burnt out.
Description
Technical field
The present invention relates to motor control technology field is and in particular to arrive a kind of motor heating means, apparatus and system.
Background technology
Under the low temperature environment of northern bitter cold, if restarted, it is possible that lubricating fluid is sticky after the long-time shutdown of motor
Even freeze the situation that led to bearing lubrication is bad, damage accelerates, motor rotation load increases.Meanwhile due to bearing with
The difference of both bearing shell bearings heat conductivity, temperature by low rising, will cause the conjunction between bearing and bearing shell bearing and ball suddenly
Reason gap is abnormal, watt axle must be caused for a long time to burn or consequence that ball damages, increase the friction between rotor and stator
Resistance, will lead to motor rotation blockage to burn when serious.
In prior art, at normal temperatures, direct output current heating motor (especially when motor remains static),
Now, motor can produce torque output, and brake can produce braking torque, and the two mutually balances each other and offsets.And at low temperature, due to
Lubricating fluid is likely to be at and freezes curdled appearance, if motor bearings stress, will accelerate the rate of wear of bearing, leads to its life-span to contract
Short.In addition, brake is likely to cause moment of torsion to decline because freezing, now motor output torque, possible driving load occurs different
Often rotate, potential safety hazard occurs.And, it is all that same mode of heating directly adds at any temperature to motor in prior art
Heat, may cause larger thermal shock during heating to motor vitals.
Therefore, how motor is carried out being heated as problem demanding prompt solution with less thermal shock.
Content of the invention
The technical problem to be solved in the present invention is that the actual temperature according to motor carries out phase to the motor under resting state
Answer the heating of degree.
For this reason, according in a first aspect, present example provides a kind of motor heating means, comprising the steps：
Obtain the first measured temperature of motor；Judge the first measured temperature whether in preset temperature interval；If
Segment in preset temperature interval it is determined that during the first measured temperature is interval in preset temperature for first measured temperature；
Export heating signal corresponding with segment to motor, so that motor enters heating mode corresponding with segment, wherein, different
The corresponding heating mode of segment different.
Preferably, if the first measured temperature, not in preset temperature interval, exports to motor and starts for controlling
The enabling signal that motor rotates.
Preferably, exporting heating signal corresponding with segment to motor, so that motor entrance is corresponding with segment
After heating mode, also include：Obtain the second temperature measured value of motor；Judge second temperature measured value whether more than default temperature
Angle value；If second temperature measured value is more than preset temperature value, output stops heating signal, to stop motor being heated.
Preferably, if second temperature measured value is more than preset temperature value, export to motor and start motor for controlling
The enabling signal rotating.
According to second aspect, embodiments provide a kind of motor heater, including：
First acquisition unit, for obtaining the first measured temperature of motor；First judging unit, for judging the first temperature
Whether degree measured value is in preset temperature interval；Determining unit, for judging the first measured temperature when the first judging unit
Segment when in preset temperature interval it is determined that during the first measured temperature is interval in preset temperature；First output unit,
For exporting heating signal corresponding with segment to motor, so that motor enters heating mode corresponding with segment, wherein,
The corresponding heating mode of different segments is different.
Preferably, motor heater also includes：Second output unit, for judging the first temperature when the first judging unit
When degree measured value is not in preset temperature interval, then exports to motor and start, for controlling, the enabling signal that motor rotates.
Preferably, motor heater also includes：Second acquisition unit, for obtaining the second temperature measured value of motor；
Second judging unit, for judging whether second temperature measured value is more than preset temperature value；3rd output unit, for working as second
Judging unit judges that second temperature measured value is more than preset temperature value, then output stops heating signal, stopping to motor plus
Heat.
Preferably, motor heater also includes：4th output unit, for judging the second temperature when the second judging unit
When angle value is more than preset temperature value, then exports to motor and start, for controlling, the enabling signal that motor rotates.
According to the third aspect, embodiments provide a kind of motor heater, including：
At least one processor；And the memorizer being connected with least one processor communication；Wherein, memory storage has
Can be instructed by least one computing device by the instruction of at least one computing device, so that at least one computing device
The motor heating means of any one of first aspect.
According to fourth aspect, embodiments provide a kind of motor heating system, including：Motor；And, second party
The motor heater of any one of face.
The motor heating means that present example provides, by obtaining the first measured temperature of motor, judge the first temperature
Degree measured value whether in preset temperature is interval, if the first measured temperature in preset temperature interval it is determined that first is warm
Segment in preset temperature interval for the degree measured value, exports heating signal corresponding with segment to motor, so that motor enters
Enter heating mode corresponding with segment, wherein, the corresponding heating mode of different segments is different.Actual temperature according to motor
Angle value, exports heating signal corresponding with actual temperature value, thus realizing taking corresponding heating mode to different temperatures, enters
And, motor can be heated with less thermal shock, safer startup motor, to be prevented effectively from motor bearings damage
And burn-down of electric motor.
Brief description
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
In embodiment or description of the prior art the accompanying drawing of required use be briefly described it should be apparent that, below describe in
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not paying creative work
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of schematic flow sheet of motor heating means provided in an embodiment of the present invention；
Fig. 2 shows a kind of motor heating process schematic diagram provided in an embodiment of the present invention；
Fig. 3 shows a kind of current waveform figure for motor heating provided in an embodiment of the present invention；
Fig. 4 shows a kind of structural representation of motor heater provided in an embodiment of the present invention；
Fig. 5 shows a kind of structural representation of motor heater provided in an embodiment of the present invention；
Fig. 6 shows a kind of motor heating system schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described with the enforcement it is clear that described
Example is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of not making creative work, broadly falls into the scope of protection of the invention.
It should be noted that numerical value in following embodiments only for ease of skilled artisan understands that and the example lifted,
Rather than whole embodiments.
Embodiments provide a kind of motor heating means, as shown in figure 1, comprising the steps：
S10. obtain the first measured temperature of motor.
In the particular embodiment, the first measured temperature of motor can be the temperature value of the coil windings of motor, tool
Body, the first measured temperature of the motor of impedance collection by motor coil winding can be obtained.Optionally, the of motor
One measured temperature can also be obtained from the temperature value of the multiple parts by gathering motor, in motor all parts, especially
It is the vitals of motor, for example, bearing, bearing shell bearing etc., multiple temperature measuring equipments can be respectively provided with, such as temperature passes
Sensor, measures to the temperature of all parts of motor.Preferably, the measured temperature of multiple parts can be averaged
The first measured temperature as motor.Optionally, the first measured temperature of motor can be obtained in real time it is also possible to periodically
(at regular intervals) obtain the first measured temperature of motor, the embodiment of the present invention is not construed as limiting.
S20. judge the first measured temperature whether in preset temperature interval.
In the particular embodiment, one can be preset in motor according to the difference in local climate condition and season
The temperature range to motor heating is needed, this temperature range could be arranged to such as [t≤10 DEG C], when the motor obtaining before startup
Temperature be less than or equal to 10 DEG C when, for ensure motor startup safety, need before electric motor starting, motor is heated.As
Really the first measured temperature in preset temperature interval, then enters step S30.If the first measured temperature is not in preset temperature
In interval, then enter step S50, started with controlled motor.Multiple temperature ranges, example can also be preset according to the actual requirements simultaneously
As three temperature ranges can be preset it is assumed that the first preset temperature interval could be arranged to [t≤- 20 DEG C], the second preset temperature
Interval could be arranged to [- 20 DEG C of ＜ t≤0 DEG C], and the 3rd preset temperature interval could be arranged to [0 DEG C of ＜ t≤10 DEG C], is obtaining
To after the first measured temperature, the first measured temperature can be compared with three preset temperature intervals, judge to get
The first measured temperature whether in a preset temperature interval in three preset temperatures intervals, if get first
Measured temperature is -10 DEG C, then the first measured temperature is interval in the second preset temperature, if the first temperature survey getting
It is worth for -20 DEG C, then the first measured temperature is interval in the first preset temperature.Of course, it is possible to it is permissible according to local climate and season
It is interval that more or less of preset temperature is set.
S30. determine segment in preset temperature interval for first measured temperature.
In the particular embodiment, can relatively steadily effectively heat for ensureing motor, can be by a preset temperature area
Between be divided into multiple temperature range sections.For example, it is possible to a preset temperature interval is divided into three segments it is assumed that preset temperature area
Between be [t≤10 DEG C], first interval section could be arranged to [t≤- 20 DEG C], and second interval end could be arranged to [- 20 DEG C of ＜ t≤0
DEG C], 3rd interval section could be arranged to [0 DEG C of ＜ t≤10 DEG C], if the first measured temperature is in preset temperature interval,
The concrete segment being located of the first measured temperature need to be further determined that, if the first measured temperature getting is -10 DEG C,
Then the first measured temperature is in second interval section, if the first measured temperature getting is -20 DEG C, the first temperature survey
Value is in first interval section.Of course, it is possible to preset temperature interval can be divided into more or less of according to local climate and season
Segment.The object that the embodiment of the present invention is suitable for is in equipment that is under extraneous cold environment and having motor, is such as installed on
Outdoor air-conditioning.
S40. export heating signal corresponding with segment to motor, so that motor enters heated mould corresponding with segment
Formula.
In the present embodiment, the corresponding heating mode of different segments is different, when the first measured temperature is in the firstth area
Between section when, the such as first measured temperature be -30 DEG C when, export heating signal corresponding with first interval section, for example, it is possible to tune
With the first heating schedule prestoring, motor is made to enter the first heating mode.When the first measured temperature is in second interval section, example
As when measurement temperature is -15 DEG C, exported heating signal corresponding with second interval section, for example, it is possible to call prestore second to add
Hot program, so that motor enters the second heating mode.Specifically, by controlling the ON time of power tube, motor can be entered
Row heating, then different heating modes can be distinguished according to the length of power tube ON time.
S50. export to motor and start, for controlling, the enabling signal that motor rotates.
In the present embodiment, when motor temperature is not in preset temperature interval, that is, the temperature of motor is not needing heating
It is believed that motor temperature has reached the temperature that can normally start when in temperature range, at this point it is possible to output enabling signal,
Start motor to rotate with controlled motor startup.
For guarantee motor, during heating, rotor does not rotate, and prevents motor when being heated inequality, and rotor rotates
Damage motor vitals, in a preferred embodiment, if the first measured temperature is in preset temperature interval, in step
Can also comprise the following steps after S30：
Export the spacing wave static for characterization control motor to motor.
In the present embodiment, when heating signal acts on motor, rotor may be caused to rotate, exist for guarantee motor
Static during heating, it is to avoid motor rotates in the case that temperature is low potential safety hazard, during heating, permissible
Export certain frequency and constantly alternately inverted signal to motor, so that motor cannot be rotated, so that motor is static
Heating mode corresponding with segment is entered under state.
Prevent for economizing on resources to motor superheated simultaneously, be heated to being suitable for the temperature of electric motor starting in motor, permissible
Stop the heating to motor.In a preferred embodiment, can also comprise the following steps after the step s 40：
S60. obtain the second temperature measured value of motor.
S70. judge whether second temperature measured value is more than preset temperature value.
In the particular embodiment, second temperature measured value is the temperature of the motor of collection after motor heating a period of time
Value.Preset temperature value can be configured according to the interval scope of preset temperature, and for example preset temperature interval maximum temperature is 10
DEG C, preset temperature value could be arranged to the temperature more than or equal to 10 DEG C.If second temperature measured value is more than preset temperature value,
Then enter step S80；If second temperature measured value is less than preset temperature value, return to step S40.
In the present embodiment, step S70 judge that second temperature measured value whether can be by step more than preset temperature value
Judge in rapid S20 whether the first measured temperature draws in the judgement conclusion in preset temperature interval；Equally, step S70
During the heating of step S40 motor, motor temperature measured value can be judged, for example, it is possible to according to initial temperature
Measured value, to motor heating required time timing, it is believed that the temperature of motor reaches preset temperature after the scheduled time
Value, enters step S80.Can also be by measuring to the temperature of motor in real time, the second temperature measured value getting is more than
Step S80 is entered during preset temperature value.
S80. output stops heating signal.
In the particular embodiment, when the second temperature measured value of motor reaches preset temperature value, represent motor temperature
Have arrived at the temperature being suitable for startup, can stop exporting heating signal, and then heating is stopped to motor.
In a preferred embodiment, if second temperature measured value is more than preset temperature value, after step S80, also
Can include：
Export to motor and start, for controlling, the enabling signal that motor rotates.
Wherein, when motor temperature reaches the temperature that can start, after stopping to the heating of motor, startup letter can be exported
Number, start motor and rotate.
Describe in detail below in conjunction with the process row that Fig. 2 and Fig. 3 heats to motor, wherein, Fig. 2 show a kind of motor and adds
The procedure chart of heat, Fig. 3 show a kind of oscillogram of electric current of output in motor heating process.Survey in the temperature getting motor
It can be determined that measured temperature is whether in one of preset temperature interval segment after value, that is, judge the temperature obtaining
According to measured temperature, measured value, whether in preset temperature interval, if in preset temperature interval, determines that this temperature is surveyed
The segment that value is located, taking three segments as a example, when measured temperature belongs to first interval section, can export corresponding the
First heating signal of one segment, calls the first heating schedule that motor is heated, and makes the temperature of motor enter the secondth area
Between section.When the temperature of motor enters second interval section, now, the motor temperature measured value obtaining again belongs to second interval
Section, the second heating signal of the corresponding second interval section of output, can call the second heating schedule that motor is heated, make motor
Temperature enters 3rd interval section.When the temperature of motor enters 3rd interval section, now, continue the motor temperature measured value obtaining
Belong to 3rd interval section, the 3rd heating signal of corresponding 3rd interval section can be exported, the 3rd heating schedule can be called to electricity
Machine is heated, and makes motor temperature exceed preset temperature value.When motor temperature is more than preset temperature value, output stops heating letter
Number, control and heating is stopped to motor, export enabling signal simultaneously, make motor normal rotation；Otherwise, continue to judge motor temperature institute
The segment at place.
By obtaining the first measured temperature of motor, judge the first measured temperature whether in preset temperature interval,
If interval in preset temperature interval it is determined that during the first measured temperature is interval in preset temperature for first measured temperature
Section, exports heating signal corresponding with segment to motor, so that motor enters heating mode corresponding with segment.According to electricity
The actual temperature value of machine, exports heating signal corresponding with actual temperature value, thus realizing different temperatures is taken with corresponding adding
Heat pattern, and then, motor can be heated with less thermal shock, safer startup motor, to be prevented effectively from electricity
Machine bearing damages and burn-down of electric motor.
The embodiment of the present invention additionally provides a kind of motor heater, as shown in figure 4, this device includes：
First acquisition unit 100, for obtaining the first measured temperature of motor；First judging unit 200, for judging
Whether the first measured temperature is in preset temperature interval；Determining unit 300, for judging the when the first judging unit 200
Segment when in preset temperature interval it is determined that during the first measured temperature is interval in preset temperature for one measured temperature；
First output unit 400, for exporting heating signal corresponding with segment to motor, so that motor entrance is corresponding with segment
Heating mode, wherein, the corresponding heating mode of different segments is different.
In a preferred embodiment, motor heater can also include：Second output unit, for when the first judgement list
When unit 200 judges that the first measured temperature is not in preset temperature interval, then export for controlling startup motor to turn to motor
Dynamic enabling signal.
In a preferred embodiment, motor heater can also include：Second acquisition unit, for obtaining the of motor
Two measured temperatures；Second judging unit, for judging whether second temperature measured value is more than preset temperature value；3rd output is single
Unit, for judging that second temperature measured value is more than preset temperature value when the second judging unit, then output stops heating signal, with
Stop motor being heated.
In a preferred embodiment, motor heater can also include：4th output unit, for when the second judgement list
When unit judges that temperature value is more than preset temperature value, then export to motor and start, for controlling, the enabling signal that motor rotates.
The embodiment of the present invention additionally provides a kind of motor heater, as shown in figure 5, this device can include：At least one
Individual processor 510；And the memorizer 520 with the communication connection of at least one processor 510；Wherein, be stored with can for memorizer 520
The instruction being executed by least one processor 510, instruction is executed by least one processor 510, so that at least one processor
The motor heating means of any one of 510 execution above-described embodiments.In Fig. 5 with a processor 510 and a memorizer 520 it is
Example illustrates.
Motor heater can also include：Input equipment 530 and output device 540.Processor 510, memorizer 520,
Input equipment 530 and output device 540 can be connected by bus or other modes, in Fig. 5 taking connected by bus as a example.
The embodiment of the present invention additionally provides a kind of motor heating system, as shown in fig. 6, this system can include：
Motor 1000；And the motor heater 2000 of above-described embodiment description.
Wherein, motor heater 2000 is used for being heated to motor 1000, and the operation of controlled motor 1000.Motor
The function and structure of heater 2000 may be referred to all or part of content described in previous embodiment, and can be used for
Motor heating means disclosed in the execution embodiment of the present invention, its specific implementation process may be referred to above-mentioned motor heating means and implements
All or part of content described in example, will not be described in great detail here.
In one embodiment, this motor heating system can also include temperature sensor, for gathering the temperature of motor 1000
Angle value, and feed back to motor heater 2000.
By implementing this motor heating system, motor heater is according to the actual temperature value of motor, output and reality temperature
The corresponding heating signal of angle value, thus realizing taking corresponding heating mode to motor, and then, can be to motor with less heat
Impact is heated, safer startup motor, is damaged and burn-down of electric motor with being prevented effectively from motor bearings.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can be without departing from this
In the case of bright spirit and scope, various modification can be adapted and modification, and such modification and modification each fall within by claims
Within limited range.
Claims (10)
1. a kind of motor heating means are it is characterised in that comprise the steps：
Obtain the first measured temperature of motor；
Judge described first measured temperature whether in preset temperature interval；
If described first measured temperature is in described preset temperature interval it is determined that described first measured temperature is described
Segment in preset temperature interval；
Export heating signal corresponding with described segment to described motor, so that the entrance of described motor is corresponding with described segment
Heating mode, wherein, the corresponding heating mode of different segments is different.
2. motor heating means according to claim 1 are it is characterised in that also include：
If described first measured temperature, not in described preset temperature interval, exports to described motor and starts for controlling
The enabling signal that described motor rotates.
3. motor heating means according to claim 1 are it is characterised in that export and described area to described motor described
Between the corresponding heating signal of section so that described motor enter heating mode corresponding with described segment after, also include：
Obtain the second temperature measured value of described motor；
Judge whether described second temperature measured value is more than preset temperature value；
If described second temperature measured value is more than described preset temperature value, output stops heating signal, to stop to described
Motor heats.
4. motor heating means according to claim 3 are it is characterised in that also include,
Export to described motor and start, for controlling, the enabling signal that described motor rotates.
5. a kind of motor heater is it is characterised in that include：
First acquisition unit, for obtaining the first measured temperature of motor；
Whether the first judging unit, for judging described first measured temperature in preset temperature interval；
When described first judging unit, determining unit, for judging that described first measured temperature is interval in described preset temperature
When interior it is determined that described first measured temperature described preset temperature interval in segment；
First output unit, for exporting heating signal corresponding with described segment to described motor, so that described motor enters
Enter heating mode corresponding with described segment, wherein, the corresponding heating mode of different segments is different.
6. motor heater according to claim 5 is it is characterised in that also include：
Second output unit, for judging described first measured temperature not in described default temperature when described first judging unit
When in degree interval, then export to described motor and start, for controlling, the enabling signal that described motor rotates.
7. motor heater according to claim 5 is it is characterised in that also include：
Second acquisition unit, for obtaining the second temperature measured value of described motor；
Second judging unit, for judging whether described second temperature measured value is more than preset temperature value；
When described second judging unit, 3rd output unit, for judging that described second temperature measured value is more than described default temperature
Angle value, then output stops heating signal, to stop described motor is heated.
8. motor heater according to claim 7 is it is characterised in that also include：
4th output unit, starts, for controlling, the enabling signal that described motor rotates for exporting to described motor.
9. a kind of motor heater is it is characterised in that include：
At least one processor；And the memorizer being connected with least one processor communication described；Wherein, described memorizer is deposited
Containing can be by the instruction of at least one computing device described, and described instruction is by least one computing device described, so that institute
State motor heating means as any one of claim 1-4 at least one computing device.
10. a kind of motor heating system is it is characterised in that include：
Motor；
Motor heater as described in claim 5-8 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979027.9A CN106452194A (en) | 2016-11-04 | 2016-11-04 | Method, device and system for heating motors |
| PCT/CN2017/108998 WO2018082579A1 (en) | 2016-11-04 | 2017-11-01 | Motor heating method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979027.9A CN106452194A (en) | 2016-11-04 | 2016-11-04 | Method, device and system for heating motors |
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| CN106452194A true CN106452194A (en) | 2017-02-22 |
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| CN201610979027.9A Pending CN106452194A (en) | 2016-11-04 | 2016-11-04 | Method, device and system for heating motors |
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| CN (1) | CN106452194A (en) |
| WO (1) | WO2018082579A1 (en) |
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| CN107331923A (en) * | 2017-06-27 | 2017-11-07 | 北京新能源汽车股份有限公司 | Temperature control method and device for power battery of electric vehicle |
| WO2018082579A1 (en) * | 2016-11-04 | 2018-05-11 | 深圳市道通智能航空技术有限公司 | Motor heating method, device and system |
| CN109873575A (en) * | 2019-02-27 | 2019-06-11 | 深圳英驱新能源有限公司 | The starting method and device of electric system under automobile, ultra-low temperature surroundings |
| WO2020142958A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Motor control method, range sensor, and movable platform |
| CN111446696A (en) * | 2020-04-29 | 2020-07-24 | 安徽江淮汽车集团股份有限公司 | Automobile motor protection method, device, equipment and storage medium |
| CN111684712A (en) * | 2019-01-09 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Motor control method and controller, distance measuring sensor and mobile platform thereof |
| CN113044223A (en) * | 2017-12-20 | 2021-06-29 | 深圳市道通智能航空技术股份有限公司 | Temperature control method and device and unmanned aerial vehicle |
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| WO2018082579A1 (en) * | 2016-11-04 | 2018-05-11 | 深圳市道通智能航空技术有限公司 | Motor heating method, device and system |
| CN107331923A (en) * | 2017-06-27 | 2017-11-07 | 北京新能源汽车股份有限公司 | Temperature control method and device for power battery of electric vehicle |
| CN113044223A (en) * | 2017-12-20 | 2021-06-29 | 深圳市道通智能航空技术股份有限公司 | Temperature control method and device and unmanned aerial vehicle |
| CN113044223B (en) * | 2017-12-20 | 2023-01-31 | 深圳市道通智能航空技术股份有限公司 | Temperature control method and device and unmanned aerial vehicle |
| WO2020142958A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Motor control method, range sensor, and movable platform |
| CN111684712A (en) * | 2019-01-09 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Motor control method and controller, distance measuring sensor and mobile platform thereof |
| CN112106291A (en) * | 2019-01-09 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Motor control method, distance sensor and mobile platform |
| CN109873575A (en) * | 2019-02-27 | 2019-06-11 | 深圳英驱新能源有限公司 | The starting method and device of electric system under automobile, ultra-low temperature surroundings |
| CN111446696A (en) * | 2020-04-29 | 2020-07-24 | 安徽江淮汽车集团股份有限公司 | Automobile motor protection method, device, equipment and storage medium |
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| WO2018082579A1 (en) | 2018-05-11 |
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