CN107070014A - A kind of composite excitation servomotor - Google Patents
A kind of composite excitation servomotor Download PDFInfo
- Publication number
- CN107070014A CN107070014A CN201710315555.9A CN201710315555A CN107070014A CN 107070014 A CN107070014 A CN 107070014A CN 201710315555 A CN201710315555 A CN 201710315555A CN 107070014 A CN107070014 A CN 107070014A
- Authority
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- China
- Prior art keywords
- armature winding
- phases
- stator poles
- excitation
- winding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/17—Stator cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
The present invention proposes a kind of composite excitation servomotor, including stator core, rotor core, Exciting Windings for Transverse Differential Protection, armature winding, permanent magnet and axle, belongs to specific type of electric machine technical field.The rotor core is fixed on axle, there is 10 uniform male rotor poles in rotor core；Stator core has the stator poles of 12 convexs, and 12 stator poles can be divided into 6 pairs of parallel stator poles；Having between two stator poles per a pair of parallel stator poles between armature slot, adjacent two pairs of parallel stator poles has excitation groove；Exciting Windings for Transverse Differential Protection is wound with per a pair of parallel stator poles, the coiling of adjacent Exciting Windings for Transverse Differential Protection is in opposite direction；Exciting Windings for Transverse Differential Protection is located at the bottom of excitation groove；The armature winding of centralization is wound with each stator poles, armature winding is located at the notch of excitation groove and armature slot；The yoke portion of two stator poles per a pair of parallel stator poles is embedded with the permanent magnet of cutting orientation magnetizing, and the magnetizing direction of adjacent permanent magnet is opposite.The technology of the present invention not only possesses mixed excitation electric machine advantage, and Exciting Windings for Transverse Differential Protection is mutually isolated with armature winding, is not both interfere with each other on rotor without permanent magnet or without Exciting Windings for Transverse Differential Protection, and reliability is high.
Description
Technical field
The present invention relates to a kind of composite excitation servomotor, belong to specific type of electric machine technical field.
Background technology
Servomotor can make control speed, positional precision very accurate, voltage signal can be converted into torque and rotating speed
With drive control object, its being widely used in industrial production automation field.Develop early stage, direct current generator in servomotor
Main servomotor species is turned into its good controllability, widely applied in a variety of servo-drive systems such as lathe.But
With the development of science and technology the particularly appearance of rare earth permanent-magnetic material, permanent-magnet alternating current servo motor disclosure satisfy that modern high performance
Servo-drive system is good to high accuracy, wide speed regulating range, low speed high torque, stability, fast dynamic response requirement.Composite excitation is not
But all advantages with magneto, and the difficult defect of Magnetic Field for Permanent Magnet Electrical Machines control can be overcome.Therefore, composite excitation is watched
Take the excellent performance of motor to be combined with modern Drive Control Technique and high-precision sensor technology, constituting the modern times most excellent watches
Dress system, by main flow and developing direction as modern high performance servo-drive system.
At present, the research on servomotor is mainly based on its control method and performance test methods.For example apply
Number be 201610731573.0 patent application：A kind of control method of servo motor, discloses a kind of control method of servo motor,
It can solve the problem that existing servomotor is present due to setting the excessive mechanical part damage for causing driving of torque limit value, production cost
High the problem of.The also patent application of Application No. 201610968476.3：A kind of speed detection method of AC servo motor
And system, a kind of speed detection method of AC servo motor is disclosed, the inspection of system in motor low-speed running, can be improved
Precision is surveyed, preferable speed characteristics and servo performance is obtained.
In addition, also there is some Patents documents to be the design on servomotor body, such as Application No.
201610533985.3 patent application：A kind of rotor of servomotor and the servomotor, the invention enable to existing watch
Axial shortening, the compact overall structure of electric machine structure are taken, while so that the leader cable of connection subtracts to the moment of resistance of servo control mechanism
It is small, and improve the service life of leader cable.
On this basis, inventor conducts in-depth research to the number of poles and pole embrace of multiphase double salient-pole electric machine,
《Proceedings of the CSEE》Deliver 7th phase in 2015 that " multiphase Fielding-winding doubly salient generator number of poles is ground with pole embrace
Study carefully " scientific paper, it is indicated that the ratio between stator poles and rotor number of poles should be m/ (m+1) or m/ (m-1).
As prior art, traditional double salient-pole electric machine has larger torque pulsation, what its Commutation Torque Ripple was produced
Principle is visible《Proceedings of the CSEE》27th phase paper " the electric excitation biconvex electrode electric machine angle based on half-bridge converter in 2011
Spend Optimal Control Strategy ".With going deep into for research, inventor has found that the technology that early stage is proposed still has larger commutation torque
Pulsation, therefore it is badly in need of a kind of less high reliability servomotor of Commutation Torque Ripple of research.
Based on this, the present invention proposes that a kind of motor of back-emf for sine wave, to reduce Commutation Torque Ripple, is provided simultaneously with
Polyphase windings are to improve the reliability of system.The ratio between original double salient-pole electric machine number of poles of technological break-through of the present invention should be m/ (m+
1) it is or the technical prejudice that m/ (m-1), therefore creative.
The content of the invention
Technical problem to be solved：There is provided that a kind of magnetic field is easily controlled, the less mixing of reliable operation, torque pulsation is encouraged
Magnetic servomotor.
In order to realize function above, the present invention is adopted the technical scheme that：
A kind of composite excitation servomotor, is inner rotor core, including stator core, rotor core, Exciting Windings for Transverse Differential Protection, armature around
Group, permanent magnet and axle, it is characterised in that：
The rotor core is fixed on axle, there is 10 uniform male rotor poles in rotor core；
The stator core has the stator poles of 12 convexs, and 12 stator poles are divided into 6 pairs of parallel stator poles, a pair of parallel stator poles
On two stator poles center line it is parallel to each other；
Having between two stator poles per a pair of parallel stator poles between armature slot, adjacent two pairs of parallel stator poles has excitation groove；
The excitation groove deep is more than armature slot, and excitation groove has circumferentially recessed depression in the bottom of groove, makes excitation trench bottom
Width is more than width of rebate；
Exciting Windings for Transverse Differential Protection is wound with per a pair of parallel stator poles, the coiling of adjacent Exciting Windings for Transverse Differential Protection is in opposite direction；Exciting Windings for Transverse Differential Protection, which is located at, encourages
The bottom of magnetic groove；
The armature winding of centralization is wound with each stator poles, the coiling of adjacent armatures winding is in opposite direction；Armature winding position
In excitation groove and the notch of armature slot；
The yoke portion of two stator poles per a pair of parallel stator poles is embedded with the permanent magnet of cutting orientation magnetizing, the side of magnetizing of adjacent permanent magnet
To opposite；The permanent magnet is less than the thickness of a pair of parallel stator poles stator yoke in the length of radial direction.
A kind of composite excitation servomotor as described above, it is characterised in that：Armature winding and excitation in excitation groove around
Insulating barrier is provided between group.
A kind of composite excitation servomotor as described above, it is characterised in that：The extremely oblique pole structure of rotor.
A kind of composite excitation servomotor as described above, it is characterised in that：Armature winding along the circumferential direction is followed successively by A
Phase armature winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding, Z phases armature winding, A phases electricity
Pivot winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding and Z phase armature winding, armature winding
It is divided into six phases according to phase difference；Six phase armature winding are divided into the three-phase windings of two triangle connections.
A kind of composite excitation servomotor as described above, it is characterised in that：Armature winding along the circumferential direction is followed successively by A
Phase armature winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding, Z phases armature winding, A phases electricity
Pivot winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding and Z phase armature winding；Wherein X phases are electric
Pivot winding, Y phases armature winding and Z phases armature winding are reverse with A phases armature winding, B phases armature winding and C phase armature winding respectively
Series connection, the three-phase windings of composition 120 ° of electrical angles of difference.
The beneficial effects of the invention are as follows：
1 motor of the present invention is composite excitation, and in the case where there is electrical excitation failure, permanent magnetism can be with continuous output, in permanent magnetism loss of excitation
When, electrical excitation can continue to work；
2 Exciting Windings for Transverse Differential Protection of the present invention are mutually isolated with armature winding, are not interfere with each other, and reliability is high；
Both without permanent magnet or without Exciting Windings for Transverse Differential Protection on 3 rotors, it can rotate at a high speed；
4 total magnetic linkages are shorter, and magnetic resistance is small, and iron loss is few；
5 windings are all centralized winding, and internal resistance is small, efficiency high.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is a kind of structural representation of composite excitation servomotor of the invention.Wherein, 1, stator core, 2, rotor core, 3,
Exciting Windings for Transverse Differential Protection, 4, axle, 5, permanent magnet, 6, armature winding, 7, insulating barrier.
Fig. 2 is a kind of magnetizing direction schematic diagram of composite excitation servomotor of the invention.
Fig. 3 is a kind of winding schematic diagram of composite excitation servomotor of the invention.
Fig. 4 is a kind of each coil vector star graph of composite excitation servomotor of the invention.
Fig. 5 is each phase winding vector star graph of a kind of composite excitation servomotor of the invention.
Fig. 6 is the opposite potential figure of a kind of composite excitation servomotor six of the invention.
Embodiment
The present invention provides a kind of composite excitation servomotor, to make technical scheme and effect clearer, bright
Really, and referring to the drawings and give an actual example that the present invention is described in more detail.It should be appreciated that specific implementation described herein is only
To explain the present invention, it is not intended to limit the present invention.
Fig. 1 is a kind of structural representation of composite excitation servomotor of the invention.As illustrated, a kind of composite excitation
Servomotor is inner rotor core, including stator core (1), rotor core (2), Exciting Windings for Transverse Differential Protection (3), armature winding (6), permanent magnetism
Body (5) and axle (4).The rotor core (2) is fixed on axle (4), there is 10 uniform male rotors in rotor core (2)
Pole.
The stator core (1) has the stator poles of 12 convexs, and 12 stator poles can be divided into 6 pairs of parallel stator poles, a pair
The center line of two stator poles in parallel stator poles is parallel to each other.There is electricity between two stator poles per a pair of parallel stator poles
There is excitation groove between pivot groove, adjacent two pairs of parallel stator poles.The excitation groove deep is more than armature slot, and excitation groove is in the bottom of groove
There is circumferentially recessed depression, excitation groove bottom width is more than width of rebate.Per be wound with a pair of parallel stator poles excitation around
Group (3), the coiling of adjacent Exciting Windings for Transverse Differential Protection (3) is in opposite direction；Exciting Windings for Transverse Differential Protection (3) is located at the bottom of excitation groove.In each stator poles
The armature winding (6) of centralization is all wound with, the coiling of adjacent armatures winding (6) is in opposite direction；Armature winding (6) is located at excitation groove
With the notch of armature slot.Insulating barrier (7) is provided between armature winding (6) and Exciting Windings for Transverse Differential Protection (3) in excitation groove.Every a pair
The yoke portion of two stator poles of parallel stator poles is embedded with the permanent magnet (5) of cutting orientation magnetizing, the magnetizing direction phase of adjacent permanent magnet (5)
Instead；The permanent magnet (5) is less than the thickness of a pair of parallel stator poles stator yoke in the length of radial direction.
The extremely oblique pole structure of rotor.
Fig. 2 is a kind of magnetizing direction schematic diagram of composite excitation servomotor of the invention.Two per a pair of parallel stator poles
The yoke portion of individual stator poles is embedded with the permanent magnet (5) of cutting orientation magnetizing, and the magnetizing direction of adjacent permanent magnet (5) is opposite；Permanent magnet (5) exists
The length of radial direction is less than the thickness of a pair of parallel stator poles stator yoke.
Fig. 3 is a kind of winding schematic diagram of composite excitation servomotor of the invention.Armature coil along the circumferential direction is successively
For A phases armature coil, X phases armature coil, B phases armature coil, Y phases armature coil, C phases armature coil, Z phases armature coil, A phases
Armature coil, X phases armature coil, B phases armature coil, Y phases armature coil, C phases armature coil and Z phase armature coils.
Fig. 4 is a kind of each coil vector star graph of composite excitation servomotor of the invention.As illustrated, along the circumferential direction
Armature coil be followed successively by A phases armature coil, X phases armature coil, B phases armature coil, Y phases armature coil, C phases armature coil, Z
Phase armature coil, A phases armature coil, X phases armature coil, B phases armature coil, Y phases armature coil, C phases armature coil and Z phases electricity
Pivot coil, adjacent windings differ 60 ° of electrical angles.
Fig. 5 is each phase winding vector star graph of a kind of composite excitation servomotor of the invention.60 ° are differed between each phase winding
Electrical angle.
Fig. 6 is the opposite potential figure of a kind of composite excitation servomotor six of the invention.60 ° of electric angles are differed between each phase winding
Degree.
A kind of composite excitation servomotor operation principle that the present invention is provided is given below.
Alived on a kind of composite excitation servomotor Exciting Windings for Transverse Differential Protection (3) of the invention or when permanent magnet (5) magnetizes, this
When can set up magnetizing field in motor internal, the magnetic flux of generation is by the stator yoke Jing Guo each phase, stator teeth, air-gap, rotor
Teeth portion, rotor yoke formation closed-loop path.Motor rotor position is detected by position sensor, position signalling is conveyed to control
After device, controller controls the respective switch pipe of power inverter, and the winding risen to inductance passes to forward current, declines to inductance
Winding pass to negative current, motor is that external output torque can be achieved.
It is understood that for those of ordinary skills, can be with technique according to the invention scheme and its hair
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect scope.
Claims (5)
- Be inner rotor core 1. a kind of composite excitation servomotor, including stator core, rotor core, Exciting Windings for Transverse Differential Protection, armature around Group, permanent magnet and axle, it is characterised in that：The rotor core is fixed on axle, there is 10 uniform male rotor poles in rotor core；The stator core has the stator poles of 12 convexs, and 12 stator poles are divided into 6 pairs of parallel stator poles, a pair of parallel stator poles On two stator poles center line it is parallel to each other；Having between two stator poles per a pair of parallel stator poles between armature slot, adjacent two pairs of parallel stator poles has excitation groove；The excitation groove deep is more than armature slot, and excitation groove has circumferentially recessed depression in the bottom of groove, makes excitation trench bottom Width is more than width of rebate；Exciting Windings for Transverse Differential Protection is wound with per a pair of parallel stator poles, the coiling of adjacent Exciting Windings for Transverse Differential Protection is in opposite direction；Exciting Windings for Transverse Differential Protection, which is located at, encourages The bottom of magnetic groove；The armature winding of centralization is wound with each stator poles, the coiling of adjacent armatures winding is in opposite direction；Armature winding position In excitation groove and the notch of armature slot；The yoke portion of two stator poles per a pair of parallel stator poles is embedded with the permanent magnet of cutting orientation magnetizing, the side of magnetizing of adjacent permanent magnet To opposite；The permanent magnet is less than the thickness of a pair of parallel stator poles stator yoke in the length of radial direction.
- 2. a kind of composite excitation servomotor as claimed in claim 1, it is characterised in that：Armature winding in excitation groove and encourage Insulating barrier is provided between magnetic winding.
- 3. a kind of composite excitation servomotor as claimed in claim 1, it is characterised in that：The extremely oblique pole structure of rotor.
- 4. a kind of composite excitation servomotor as claimed in claim 1, it is characterised in that：Armature winding along the circumferential direction according to Secondary is A phases armature winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding, Z phases armature winding, A Phase armature winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding and Z phase armature winding, armature Winding is divided into six phases according to phase difference；Six phase armature winding are divided into the three-phase windings of two triangle connections.
- 5. a kind of composite excitation servomotor as claimed in claim 1, it is characterised in that：Armature winding along the circumferential direction according to Secondary is A phases armature winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding, Z phases armature winding, A Phase armature winding, X phases armature winding, B phases armature winding, Y phases armature winding, C phases armature winding and Z phase armature winding；Wherein X Phase armature winding, Y phases armature winding and Z phases armature winding respectively with A phases armature winding, B phases armature winding and C phase armature winding Differential concatenation, the three-phase windings of composition 120 ° of electrical angles of difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710315555.9A CN107070014A (en) | 2017-05-08 | 2017-05-08 | A kind of composite excitation servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710315555.9A CN107070014A (en) | 2017-05-08 | 2017-05-08 | A kind of composite excitation servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107070014A true CN107070014A (en) | 2017-08-18 |
Family
ID=59596024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710315555.9A Withdrawn CN107070014A (en) | 2017-05-08 | 2017-05-08 | A kind of composite excitation servomotor |
Country Status (1)
| Country | Link |
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| CN (1) | CN107070014A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108336837A (en) * | 2018-02-26 | 2018-07-27 | 江苏大学 | A kind of composite excitation direct driving motor |
| CN109067030A (en) * | 2018-09-20 | 2018-12-21 | 山东理工大学 | Electric car stator permanent magnet electric machine stator iron |
| CN109302034A (en) * | 2018-10-31 | 2019-02-01 | 山东理工大学 | Hybrid Vehicle motor generator |
| CN109412282A (en) * | 2018-10-31 | 2019-03-01 | 山东理工大学 | A kind of multiphase fault-tolerant magneto |
| CN110912303A (en) * | 2019-12-12 | 2020-03-24 | 山东理工大学 | Starting generator of range extender of electric automobile |
| CN112636490A (en) * | 2020-11-20 | 2021-04-09 | 上海电力大学 | Three-phase 24/14-pole distributed electro-magnetic doubly-salient wind driven generator |
| CN112910144A (en) * | 2021-01-26 | 2021-06-04 | 华中科技大学 | Multiphase winding series phase sequence with minimum bridge arm current stress and modulation method |
| CN113178962A (en) * | 2021-05-20 | 2021-07-27 | 河北工业大学 | Modularized rotor hybrid excitation magnetic flux reverse motor |
| WO2023151110A1 (en) * | 2022-02-14 | 2023-08-17 | 江苏大学 | Variable operating condition stator permanent magnetic field enhanced hybrid excitation motor and driving control method therefor |
| GB2619580A (en) * | 2022-02-14 | 2023-12-13 | Univ Jiangsu | Variable operating condition stator permanent magnetic field enhanced hybrid excitation motor and driving control method therefor |
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| CN104218763A (en) * | 2014-07-08 | 2014-12-17 | 哈尔滨工业大学 | Multi-phase reluctance machine |
| CN104600881A (en) * | 2015-01-09 | 2015-05-06 | 南京航空航天大学 | Motor for directly driving electric drum |
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| CN2731815Y (en) * | 2004-10-10 | 2005-10-05 | 东南大学 | Wide speed regulating, double salient pole mixed exciting brushless dynamo |
| CN101291095A (en) * | 2008-06-12 | 2008-10-22 | 哈尔滨工业大学 | Hybrid switch reluctance motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108336837A (en) * | 2018-02-26 | 2018-07-27 | 江苏大学 | A kind of composite excitation direct driving motor |
| CN109067030A (en) * | 2018-09-20 | 2018-12-21 | 山东理工大学 | Electric car stator permanent magnet electric machine stator iron |
| CN109067030B (en) * | 2018-09-20 | 2021-01-05 | 山东理工大学 | Stator iron core of permanent magnet motor of electric automobile stator |
| CN109412282A (en) * | 2018-10-31 | 2019-03-01 | 山东理工大学 | A kind of multiphase fault-tolerant magneto |
| CN109302034B (en) * | 2018-10-31 | 2020-11-03 | 山东理工大学 | Motor generator for hybrid electric vehicle |
| CN109302034A (en) * | 2018-10-31 | 2019-02-01 | 山东理工大学 | Hybrid Vehicle motor generator |
| CN110912303A (en) * | 2019-12-12 | 2020-03-24 | 山东理工大学 | Starting generator of range extender of electric automobile |
| CN112636490A (en) * | 2020-11-20 | 2021-04-09 | 上海电力大学 | Three-phase 24/14-pole distributed electro-magnetic doubly-salient wind driven generator |
| CN112910144A (en) * | 2021-01-26 | 2021-06-04 | 华中科技大学 | Multiphase winding series phase sequence with minimum bridge arm current stress and modulation method |
| CN112910144B (en) * | 2021-01-26 | 2022-02-15 | 华中科技大学 | Multiphase winding series phase sequence with minimum bridge arm current stress and modulation method |
| CN113178962A (en) * | 2021-05-20 | 2021-07-27 | 河北工业大学 | Modularized rotor hybrid excitation magnetic flux reverse motor |
| CN113178962B (en) * | 2021-05-20 | 2023-02-24 | 河北工业大学 | Modularized rotor hybrid excitation magnetic flux reverse motor |
| WO2023151110A1 (en) * | 2022-02-14 | 2023-08-17 | 江苏大学 | Variable operating condition stator permanent magnetic field enhanced hybrid excitation motor and driving control method therefor |
| GB2619580A (en) * | 2022-02-14 | 2023-12-13 | Univ Jiangsu | Variable operating condition stator permanent magnetic field enhanced hybrid excitation motor and driving control method therefor |
| US11909281B2 (en) | 2022-02-14 | 2024-02-20 | Jiangsu University | Stator-based permanent magnet field-enhanced hybrid-excitation motor capable of operating under multiple working conditions and drive control method thereof |
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Application publication date: 20170818 |