CN106788107A - A kind of automotive motor controller - Google Patents
A kind of automotive motor controller Download PDFInfo
- Publication number
- CN106788107A CN106788107A CN201710054167.XA CN201710054167A CN106788107A CN 106788107 A CN106788107 A CN 106788107A CN 201710054167 A CN201710054167 A CN 201710054167A CN 106788107 A CN106788107 A CN 106788107A
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- Prior art keywords
- igbt
- voltage
- bridge arm
- bus
- microprocessor
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Classifications
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
- H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
- H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
- H02H7/1225—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to internal faults, e.g. shoot-through
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a kind of automotive motor controller,Including motor,Electric machine controller and supplying cell,Described electric machine controller includes inverter circuit and microprocessor,At least provided with a relay switch controlling the energization or power-off of supplying cell and inverter circuit on dc bus,Electric machine controller also includes an over-pressed clamped soft protection system started by relay switch exception tripping,The clamped soft protection system of the overvoltage includes DC bus-bar voltage quick detection circuit and microprocessor,Be stored with predicted voltage value inside microprocessor,Microprocessor comparison prediction magnitude of voltage and real-time voltage value,When real-time voltage value is more than predicted voltage value,Microprocessor output multi-channel control signal controls the upper bridge arm IGBT of each bridge arm to turn off,The IGBT conductings of lower bridge arm,The path of releasing of electric energy is provided,The voltage at clamped firmly IGBT two ends,Play a part of to protect IGBT,It plays the protective effect to IGBT,Improve the reliability of electric machine controller,Security.
Description
Technical field：
The present invention relates to a kind of automotive motor controller.
Background technology：
As shown in Figure 1 and Figure 2, the drive system of automobile includes entire car controller, electric machine controller and motor, motor control
Device includes microprocessor, inverter circuit, supplying cell and relay switch K2, K3, K4 for being arranged on dc bus, relay
The control end connection entire car controller of K2, K3, K4 is switched, relay switch K2, K4 are serially connected on dc bus, to control direct current
Energization or power-off on bus.
Early stage installs me and takes charge of the vehicle of automotive motor controller in the process of running, and when occurring, bus end relay is extremely disconnected
Open, as shown in Fig. 2 relay K2 or K4 disconnect extremely when driving, the IGBT inside electric machine controller occurs damage,
Influence the reliability of vehicle, security, while also bringing great loss to company.
Found by verifying, in vehicle in the process of running, when automotive motor controller normally runs, relay K2, K4
In attracting state；But in the process of running, relay K2, K4 occur because of low-voltage power supply, the external factor such as structural member connection
Cause relay exception tripping, now motor also has very big electric energy not discharge；But when the relay K2, K4 at bus end are different
After normal tripping, vehicle can provide instruction, close the enable of electric machine controller, make all IGBT drive signals of electric machine controller defeated
Go out low level, all of IGBT is closed, the energy of now motor internal storage is without bleed-off circuit；Cause bus end
Voltage can be steeply risen so as to cause IGBT over-voltage breakdowns.Whole automotive motor controller is set to fail, therefore reliability, security become
Difference.
The content of the invention：
It is an object of the invention to provide a kind of automotive motor controller, solve in the prior art vehicle in the process of running,
When automotive motor controller normally runs, cause after the relay K2, K4 at bus end exception tripping busbar voltage steeply rise and
Make the problem of IGBT over-voltage breakdowns.
The purpose of the present invention is achieved by following technical proposals.
A kind of automotive motor controller, including motor, electric machine controller and supplying cell, described electric machine controller include
Inverter circuit and microprocessor, described inverter circuit include several IGBT elements, two IGBT in several IGBT elements
Element is one group of bridge arm of formation one, and each bridge arm includes the IGBT of upper bridge arm IGBT and lower bridge arm, and each bridge arm is connected to directly
On stream bus, the lead-out wire between the IGBT of upper bridge arm IGBT and lower bridge arm is connected with the coil windings of motor, and microprocessor is defeated
Going out multi-way control signals controls the IGBT elements of each bridge arm to open or close, two terminals of dc bus respectively with power supply electricity
The both positive and negative polarity connection in pond, at least provided with a relay switch controlling the logical of supplying cell and inverter circuit on dc bus
Electricity or power-off, electric machine controller also include an over-pressed clamped soft protection system started by relay switch exception tripping,
The clamped soft protection system of the overvoltage includes DC bus-bar voltage quick detection circuit and microprocessor, and microprocessor the inside is stored with
Because relay switch exception tripping causes the rapid elevated predicted voltage value of busbar voltage, DC bus-bar voltage quick detection circuit
The real-time voltage value of the dc bus that will be detected is sent to microprocessor, microprocessor comparison prediction magnitude of voltage and real-time voltage
Value, when real-time voltage value is more than predicted voltage value, microprocessor output multi-channel control signal controls the upper bridge arm of each bridge arm
IGBT is turned off, the IGBT conductings of lower bridge arm, there is provided the path of releasing of electric energy, and the voltage at clamped firmly IGBT two ends plays protection
The effect of IGBT.
DC bus-bar voltage quick detection circuit described above detects circuit using high pressure light-coupled isolation.
The response time of DC bus-bar voltage quick detection circuit detection DC bus-bar voltage described above is in 300 microseconds
Within.
The predicted voltage value of microprocessor the inside storage described above is a threshold voltage.
Electric machine controller described above also include one because relay switch JK exception tripping start it is over-pressed clamped
Hardware protection system, described over-pressed clamped hardware protection system includes voltage comparator circuit and CPLD logic controllers, CPLD
Logic controller output multi-channel control signal controls opening or closing for the IGBT elements of each bridge arm, and of voltage comparator circuit is defeated
Enter end and one la tension de reference Uref est is set, another input of voltage comparator circuit is connected to DC bus-bar voltage, works as direct current
The real-time voltage value of busbar voltage is more than la tension de reference Uref est, and voltage comparator circuit outputs signals to CPLD logic controllers,
CPLD logic controller output multi-channel control signals control the upper bridge arm IGBT of each bridge arm to turn off, the IGBT conductings of lower bridge arm,
The path of releasing of electric energy is provided, the voltage at clamped firmly IGBT two ends plays a part of to protect IGBT.
La tension de reference Uref est described above is differed with predicted voltage value.
The present invention compared with prior art, has the effect that：
1) present invention includes dc bus electricity by setting the clamped soft protection system of overvoltage, the clamped soft protection system of the overvoltage
Pressure quick detection circuit and microprocessor, the real-time voltage of the dc bus that DC bus-bar voltage quick detection circuit will be detected
Value is sent to microprocessor, microprocessor comparison prediction magnitude of voltage and real-time voltage value, when real-time voltage value is more than predicted voltage value
When, microprocessor output multi-channel control signal controls the upper bridge arm IGBT of each bridge arm to turn off, the IGBT conductings of lower bridge arm, there is provided
The path of releasing of electric energy, the voltage at clamped firmly IGBT two ends plays a part of ground floor protection IGBT, improves electric machine controller
Reliability, security；
2) present invention is by by setting over-pressed clamped hardware protection system, described over-pressed clamped hardware protection system bag
Voltage comparator circuit and CPLD logic controllers are included, CPLD logic controller output multi-channel control signals control each bridge arm
IGBT elements are opened or closed, and an input of voltage comparator circuit sets la tension de reference Uref est, voltage comparator circuit
Another input is connected to DC bus-bar voltage, when the real-time voltage value of DC bus-bar voltage is more than la tension de reference Uref est, electricity
Pressure ratio controls each bridge arm compared with circuit output signal to CPLD logic controllers, CPLD logic controller output multi-channel control signals
Upper bridge arm IGBT shut-off, lower bridge arm IGBT conducting, there is provided the path of releasing of electric energy, it is clamped live IGBT two ends voltage, rise
The effect of IGBT is protected to the second layer, firmly the voltage at IGBT two ends, play a part of second layer protection IGBT, improve motor control
The reliability of device, security；
3) present invention makes over-pressed clamped hardware protection system by setting different la tension de reference Uref ests and predicted voltage value
Stagger startup with the clamped soft protection system of overvoltage, protecting effect is more preferable.
4) present invention detects circuit, busbar voltage by DC bus-bar voltage quick detection circuit using high pressure light-coupled isolation
The response time of quick detection circuit detection DC bus-bar voltage within 300 microseconds, meets automotive motor controller and quickly rings
The requirement answered.
Brief description of the drawings：
Fig. 1 is the circuit block diagram of orthodox car；
Fig. 2 is the circuit interconnect pattern of orthodox car electric machine controller；
Fig. 3 is a part of circuit block diagram of the invention；
Fig. 4 is another part circuit block diagram of the invention；
Fig. 5 is the test data figure that present invention simulation vehicle relay disconnects experiment；
Fig. 6 is the circuit diagram that high pressure light-coupled isolation of the invention detects circuit；
Fig. 7 is the circuit diagram of voltage comparator circuit of the invention.
Specific embodiment：
Below by specific embodiment and with reference to accompanying drawing, the present invention is described in further detail.
Embodiment one：
As shown in figure 3, electric machine controller includes that microprocessor, inverter circuit and the relay being arranged on dc bus are opened
K2, k3, K4 are closed, the control end of relay switch K2, k3, K4 connects entire car controller, and relay switch K2, K4 are serially connected in direct current
On bus, to control the energization or power-off on dc bus.
As shown in Figure 3 to Figure 4, the present embodiment provides a kind of automotive motor controller, including motor, electric machine controller
And supplying cell, described electric machine controller includes inverter circuit and microprocessor, and described inverter circuit includes several
IGBT elements, two IGBT elements are one group of bridge arm of formation one in several IGBT elements, and each bridge arm includes upper bridge arm IGBT
With the IGBT of lower bridge arm, each bridge arm is connected on dc bus, the extraction between the IGBT of upper bridge arm IGBT and lower bridge arm
Line is connected with the coil windings of motor, microprocessor output multi-channel control signal control the IGBT elements of each bridge arm open or
Close, two terminals of dc bus are connected with the both positive and negative polarity of supplying cell respectively, on dc bus at least provided with one after
Electric switch is controlling the energization or power-off of supplying cell and inverter circuit, it is characterised in that：Electric machine controller also includes one
The over-pressed clamped soft protection system started by relay switch exception tripping, the clamped soft protection system of the overvoltage includes that direct current is female
Line voltage quick detection circuit and microprocessor, microprocessor the inside are stored with because relay switch exception tripping causes bus electricity
The rapid elevated predicted voltage value UK of pressure, the real-time voltage of the dc bus that DC bus-bar voltage quick detection circuit will be detected
Value U0 is sent to microprocessor, microprocessor comparison prediction magnitude of voltage UK and real-time voltage value U0, when real-time voltage value U0 is more than pre-
When surveying magnitude of voltage UK, microprocessor output multi-channel control signal controls the upper bridge arm IGBT of each bridge arm to turn off, lower bridge arm
IGBT is turned on, there is provided the path of releasing of electric energy, the voltage at clamped firmly IGBT two ends, plays a part of to protect IGBT.
Inverter circuit is made up of 6 IGBT such as G1, G2, G3, G4, G5, G6,3 bridge arms 3 phase motors of control of formation, G1,
6 tunnels that 6 control ends P1, P2 of IGBT, P3, P4, P5, the P6 such as G2, G3, G4, G5, G6 are exported with microprocessor respectively export letter
Number (P1A, P2A, P3A, P4A, P5A, P6A) connection.
As shown in figure 5, the experiment disconnected by simulated experiment, simulation vehicle relay K2 or relay K4, in motor
500rpm when operating in rotating speed, electric current is 20A-dc, disconnects relay K2 or relay K4, dc bus on dc bus
Voltage reaches 1KV within the time of 99ms；Apart the time 99ms, the change that DC bus-bar voltage rises to of 2 points of a, b in figure
Value 732,1KV is reached in b points, and we can cause busbar voltage to raise rapidly 1KV as because of relay switch exception tripping
Predicted voltage value UK store inside microprocessor, so as to the direct current that will be detected with DC bus-bar voltage quick detection circuit
The real-time voltage value U0 of bus is compared, and control is realized by writing software program by microprocessor, and microprocessor can be with
Selection digital signal processor DSP or single-chip microprocessor MCU.
DC bus-bar voltage quick detection circuit described above detects circuit using high pressure light-coupled isolation, as shown in fig. 6,
High pressure light-coupled isolation detection circuit includes opto-coupler chip U8 and its peripheral circuit, operational amplifier chip U6A and its peripheral circuit,
Opto-coupler chip U8 and its peripheral circuit play high-low pressure buffer action；Operational amplifier chip U6A and its peripheral circuit are mainly
Calculate the size of detection voltage.When DC bus-bar voltage quick detection circuit described above detects the response of DC bus-bar voltage
Between within 300 microseconds, by detection the present invention use high pressure light-coupled isolation detection circuit the three-phase shortcircuit response time it is comprehensive
Conjunction is 184 microseconds, meets technical requirements.
The predicted voltage value of microprocessor the inside storage described above is a threshold voltage.
Electric machine controller described above also include one because relay switch exception tripping start it is over-pressed clamped firmly
Part protection system, described over-pressed clamped hardware protection system includes voltage comparator circuit and CPLD logic controllers, and CPLD is patrolled
Volume controller output multi-channel control signal controls opening or closing for the IGBT elements of each bridge arm, an input of voltage comparator circuit
End sets a la tension de reference Uref est, and another input of voltage comparator circuit is connected to DC bus-bar voltage, such as Fig. 7 institutes
Show, when the real-time voltage value U0 of DC bus-bar voltage is more than la tension de reference Uref est, voltage comparator circuit outputs signals to CPLD and patrols
Controller is collected, CPLD logic controller output multi-channel control signals control the upper bridge arm IGBT of each bridge arm to turn off, lower bridge arm
IGBT is turned on, there is provided the path of releasing of electric energy, the voltage at clamped firmly IGBT two ends, plays a part of to protect IGBT.Such as Fig. 7 institutes
Show, voltage comparator circuit is mainly a voltage comparator circuit being made up of operational amplifier chip U5 and its peripheral circuit.It is inverse
6 IGBT compositions of power transformation route G1, G2, G3, G4, G5, G6 etc., form 3 bridge arms and control 3 phase motors, G1, G2, G3, G4, G5,
The 6 tunnel output signals that 6 control ends P1, P2 of IGBT, P3, P4, P5, the P6 such as G6 are exported with CPLD logic controllers respectively
(P1B, P2B, P3B, P4B, P5B, P6B) is connected.
La tension de reference Uref est described above is differed with predicted voltage value UK, if la tension de reference Uref est is more than prediction
Magnitude of voltage UK, then start the clamped soft protection system of overvoltage first because of relay switch exception tripping, if the clamped soft protection of overvoltage
System hinder for some reason fail start, DC bus-bar voltage continue rising reach la tension de reference Uref est, then start over-pressed clamped hardware package
Protecting system, plays double protection.
If la tension de reference Uref est is less than predicted voltage value UK, started first press-fitted because of relay switch exception tripping
Position hardware protection system, if over-pressed clamped hardware protection system hinders for some reason to fail to start, DC bus-bar voltage continues rising and reaches
Predicted voltage value UK, then start the clamped soft protection system of overvoltage, plays double protection.
Above example is better embodiment of the invention, but embodiments of the present invention not limited to this, and other are any
Without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplify, be equivalent displacement side
Formula, is included within protection scope of the present invention.
Claims (6)
1. a kind of automotive motor controller, including motor, electric machine controller and supplying cell, described electric machine controller include inverse
Become circuit and microprocessor, described inverter circuit includes several IGBT elements, two IGBT units in several IGBT elements
Part is one group of bridge arm of formation one, and each bridge arm includes the IGBT of upper bridge arm IGBT and lower bridge arm, and each bridge arm is connected to direct current
On bus, the lead-out wire between the IGBT of upper bridge arm IGBT and lower bridge arm is connected with the coil windings of motor, microprocessor output
Multi-way control signals control opening or closing for the IGBT elements of each bridge arm, two terminals of dc bus respectively with supplying cell
Both positive and negative polarity connection, at least provided with a relay switch controlling the energization of supplying cell and inverter circuit on dc bus
Or power-off, it is characterised in that：Electric machine controller also include one because relay switch exception tripping start it is over-pressed clamped soft
Protection system, the clamped soft protection system of the overvoltage includes DC bus-bar voltage quick detection circuit and microprocessor, microprocessor
The inside is stored with because relay switch JK exception trippings cause the rapid elevated predicted voltage value of busbar voltage, DC bus-bar voltage
The real-time voltage value of the dc bus that quick detection circuit will be detected is sent to microprocessor, microprocessor comparison prediction magnitude of voltage
With real-time voltage value, when real-time voltage value is more than predicted voltage value, microprocessor output multi-channel control signal controls each bridge
The upper bridge arm IGBT shut-offs of arm, the IGBT conductings of lower bridge arm, there is provided the path of releasing of electric energy, the voltage at clamped firmly IGBT two ends,
Play a part of to protect IGBT.
2. a kind of automotive motor controller according to claim 1, it is characterised in that：DC bus-bar voltage quick detection electricity
Road circuit is detected using high pressure light-coupled isolation.
3. a kind of automotive motor controller according to claim 2, it is characterised in that：DC bus-bar voltage quick detection electricity
The response time of road detection DC bus-bar voltage is within 300 microseconds.
4. a kind of automotive motor controller according to claim 3, it is characterised in that：The prediction of microprocessor the inside storage
Magnitude of voltage is a threshold voltage.
5. a kind of automotive motor controller according to claim 1 or 2 or 3 or 4, it is characterised in that：Electric machine controller is also
Including an over-pressed clamped hardware protection system started by relay switch JK exception trippings, described over-pressed clamped hardware
Protection system includes voltage comparator circuit and CPLD logic controllers, and the control of CPLD logic controller output multi-channels control signal is each
The IGBT elements of individual bridge arm are opened or closed, and an input of voltage comparator circuit sets la tension de reference Uref est, voltage ratio
Another input compared with circuit is connected to DC bus-bar voltage, when the real-time voltage value of DC bus-bar voltage is more than reference voltage
Uref, voltage comparator circuit outputs signals to CPLD logic controllers, the control of CPLD logic controller output multi-channels control signal
The upper bridge arm IGBT shut-offs of each bridge arm, the IGBT conductings of lower bridge arm, there is provided the path of releasing of electric energy, clamped firmly IGBT two ends
Voltage, plays a part of to protect IGBT.
6. a kind of automotive motor controller according to claim 5, it is characterised in that：La tension de reference Uref est and predicted voltage
Value is differed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054167.XA CN106788107B (en) | 2017-01-22 | 2017-01-22 | Automobile motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054167.XA CN106788107B (en) | 2017-01-22 | 2017-01-22 | Automobile motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106788107A true CN106788107A (en) | 2017-05-31 |
| CN106788107B CN106788107B (en) | 2020-09-18 |
Family
ID=58942711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710054167.XA Active CN106788107B (en) | 2017-01-22 | 2017-01-22 | Automobile motor controller |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019227873A1 (en) * | 2018-05-29 | 2019-12-05 | 广东威灵电机制造有限公司 | Power failure protection control method and device, and permanent magnet synchronous motor control system |
| CN112019129A (en) * | 2019-05-31 | 2020-12-01 | 蜂巢电驱动科技河北有限公司 | Drive protection method, bridge type drive system and motor controller |
| CN112737473A (en) * | 2021-03-29 | 2021-04-30 | 中汽创智科技有限公司 | Motor abnormity protection circuit |
| CN112737299A (en) * | 2020-12-29 | 2021-04-30 | 联合汽车电子有限公司 | Method, device and system for protecting high voltage on inverter of electric automobile |
| CN117353248A (en) * | 2023-12-06 | 2024-01-05 | 无锡梵克罗电气设计有限公司 | Counter electromotive force voltage bleeder circuit of permanent magnet synchronous motor |
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| CN201327999Y (en) * | 2008-11-20 | 2009-10-14 | 宁波力达物流设备有限公司 | Over-current protective device of direct current brush motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019227873A1 (en) * | 2018-05-29 | 2019-12-05 | 广东威灵电机制造有限公司 | Power failure protection control method and device, and permanent magnet synchronous motor control system |
| CN112019129A (en) * | 2019-05-31 | 2020-12-01 | 蜂巢电驱动科技河北有限公司 | Drive protection method, bridge type drive system and motor controller |
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| CN112737299A (en) * | 2020-12-29 | 2021-04-30 | 联合汽车电子有限公司 | Method, device and system for protecting high voltage on inverter of electric automobile |
| CN112737299B (en) * | 2020-12-29 | 2022-04-05 | 联合汽车电子有限公司 | Method, device and system for protecting high voltage on inverter of electric automobile |
| CN112737473A (en) * | 2021-03-29 | 2021-04-30 | 中汽创智科技有限公司 | Motor abnormity protection circuit |
| CN112737473B (en) * | 2021-03-29 | 2021-06-29 | 中汽创智科技有限公司 | Motor abnormity protection circuit |
| CN117353248A (en) * | 2023-12-06 | 2024-01-05 | 无锡梵克罗电气设计有限公司 | Counter electromotive force voltage bleeder circuit of permanent magnet synchronous motor |
| CN117353248B (en) * | 2023-12-06 | 2024-04-19 | 无锡梵克罗电气设计有限公司 | Counter electromotive force voltage bleeder circuit of permanent magnet synchronous motor |
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| Publication number | Publication date |
|---|---|
| CN106788107B (en) | 2020-09-18 |
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Effective date of registration: 20230410 Address after: 201800 No. 300, Hengyu Road, Jiading District, Shanghai Patentee after: SHANGHAI AUTOMOBILE ELECTRIC DRIVE Co.,Ltd. Patentee after: SHANGHAI EDRIVE Co.,Ltd. Address before: 528400 Guangdong province Zhongshan City West sirlon third industrial zone Patentee before: ZHONGSHAN BROAD-OCEAN MOTOR Co.,Ltd. Patentee before: BROAD-OCEAN MOTOR EV Co.,Ltd. |