CN107592056A - Gyro machine Rotating speed measring circuit and compensation system for magnetic suspension direction finder - Google Patents
Gyro machine Rotating speed measring circuit and compensation system for magnetic suspension direction finder Download PDFInfo
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Abstract
The invention provides a kind of gyro machine Rotating speed measring circuit and compensation system for magnetic suspension direction finder, including dc source, SPWM control circuits, three-phase MOSFET Integrate Designs, current sample change-over circuit, rotating speed sampling processing circuit and digital phase-locked loop；The current input terminal of the output end connection SPWM control circuits of current sample change-over circuit；The input of the output end connection digital phase-locked loop of rotating speed sampling processing circuit, the rotating speed input of the output end connection SPWM control circuits of digital phase-locked loop, the control terminal of the output end connection three-phase MOSFET Integrate Designs of SPWM control circuits, the output end of the direct-flow input end connection dc source of three-phase MOSFET Integrate Designs.It can reduce gyroscopic drift using the present invention, reduce the acceleration time, improve steady speed precision, can preferably complete gyro machine acceleration and speed stabilizing control, while can also meet the needs of gyrocompassing instrument slewing.
Description
Technical field
The present invention relates to magnetic suspension direction finder technical field, more particularly to a kind of gyro electricity for magnetic suspension direction finder
Machine Rotating speed measring circuit and compensation system.
Background technology
Magnetic suspension direction finder is a kind of high-precision pendulum type gyroscope north searching instrument.Gyro machine is provided for magnetic suspension direction finder
The moment of momentum simultaneously directly affects gyro machine with the critical elements and sensing element of gyroscopic effect, the size variation of rotating speed
Northern orientation accuracy is sought in angular momentum, influence.
An important factor for control of motor speed is magnetic suspension direction finder precision.Several factors can cause brshless DC motor
Northern measurement error is sought in the fluctuation of speed, introducing, including cogging torque caused by motor self structure influences, control electric current it is non-ideal
Square-wave variations, the stability of power supply, can all cause the random fluctuation of electromagnetic torque, so as to cause the random fluctuation of rotating speed, therefore
The high rotating speed (speed stabilizing 23800RPM) of gyro machine and the superregulated property (+/- 0.5RPM) of rotating speed are to ensure north finding precision
Necessary condition.
The content of the invention
In order to overcome the urgent technical need of above-mentioned prior art, the invention provides a kind of for magnetic suspension direction finder
Gyro machine Rotating speed measring circuit and compensation system, reduce gyroscopic drift, reduce the acceleration time, improve steady speed precision, can be compared with
Gyro machine acceleration and speed stabilizing control are completed well, while can also meet the needs of gyrocompassing instrument slewing.
Gyro machine Rotating speed measring circuit and compensation system for magnetic suspension direction finder, it is characterised in that including direct current
Power supply, SPWM control circuits, three-phase MOSFET Integrate Designs, current sample change-over circuit, rotating speed sampling processing circuit and
Digital phase-locked loop；
Current sample change-over circuit input connection gyro machine current output terminal, current sample change-over circuit it is defeated
Go out the current input terminal of end connection SPWM control circuits；The input of rotating speed sampling processing circuit connects the defeated of gyro machine rotating speed
Go out end, the input of the output end connection digital phase-locked loop of rotating speed sampling processing circuit, the output end connection of digital phase-locked loop
The rotating speed input of SPWM control circuits, the control of the output end connection three-phase MOSFET Integrate Designs of SPWM control circuits
End, the output end of the direct-flow input end connection dc source of three-phase MOSFET Integrate Designs.
Further, the rotating speed sampling processing circuit includes being sequentially connected sensing drive circuit, photoelectric sensor, put
Big integer circuit, acceleration and stabilizing circuit and isolator；Sensing drive circuit is used to start photoelectric sensor work, photoelectric sensing
Device is used for the tach signal for gathering gyro machine, accelerates to be used for after being filtered processing to tach signal with stabilizing circuit, output
Useful signal to amplification integeral type circuit, amplification integeral type circuit be used to be amplified tach signal and integer after export and give SPWM controls
Circuit processed；The sensing drive circuit and amplification integeral type circuit are arranged in gyro machine performs device.
Further, the photoelectric sensor includes infrarede emitting diode, phototriode and its drive circuit, coding
Figure, code pattern are marked on the runner assembly of motor；When motor rotates, the Infrared irradiation that light emitting diode is sent is in motor side
On face, when side is black, light is absorbed, and light is not reflexed on phototriode, and phototriode is in by state,
By microprocessor count to get the rotating speed of motor.
Further, the acceleration includes rotating speed Acquisition Circuit, three-phase current Acquisition Circuit, rotating speed and electricity with stabilizing circuit
Collection capacity processing module and velocity compensation module are flowed, rotating speed Acquisition Circuit connects with the output end of three-phase current Acquisition Circuit to be turned
The input of speed and current acquisition amount processing module, rotating speed and the output end connection speed compensation mould of current acquisition amount processing module
The input of block.
Further, the drive circuit module input leading portion is carried out whole using high-speed bidirectional buffer to pwm signal
Shape, then isolation processing is carried out through high-speed isolated device, make the pwm signal output end and gyro machine current supply circuit of SPWM control circuits
It is completely isolated.
Further, the drive circuit in the three-phase MOSFET Integrate Designs uses MSK4300 chips, driving electricity
Road meets claimed below in design：
(1) 48V dc sources are connected between V+ (16 and 15 pin) and RSENSE (12 and 13 pin)；
(2) six road SPWM control signals are added separately to six controlling switch of AH, AL, BH, BL, CH, CL；
(3) power supply provided to drive control protection circuit is 15V, and the voltage is connected to VBIAS and GND both ends；
(4) on request 48V voltages it is positive and negative between and 15V voltages it is positive and negative between access capacitor, and two-way voltage
It is that the i.e. RSENSE for being total to negative terminal connects with GND pin；
(5) Enable Pin that end is MSK4300 is deleted, when being set to " low ", module is worked；Then turned off when it is " height "
Module,Signal is provided by CPLD；
(5) three-phase alternating voltage exports from tri- pins of A, B and C.
Further, the SPWM control circuits include dsp chip and peripheral circuit；Hardware circuit needs three kinds of power supply electricity
Pressure：1.8V, 3.3V and 5V；Wherein 1.8V and 3.3V is respectively DSP core and IO voltages, from DC-DC conversion chips 5V electricity
Pressure is changed into 3.3V, and 3.3V voltages obtain 1.8V through electric resistance partial pressure again；DSP clock selects 30MHz crystal oscillators, by internal 5 times
Frequently, so as to obtaining internal stability clock.
The technical solution adopted in the present invention is：Dsp chip provides SPWM logic control signals according to certain algorithm, warp
Drive switching tube that DC voltage is converted to a series of high-frequency pulse square waves after overdrive circuit, by controlling square-wave pulse width
Reach analog sine voltage.To reach the precision required by system and the real-time of control, add feedback circuit, rotating speed, phase
Some parameter measurements of the care such as electric current are out sent into control core, are believed so as to reach by adjusting SPWM logic controls in real time
Number carry out the corresponding parameters for changing output AC voltage, be allowed to the change of adaptive system.Control section mainly passes through dsp chip
And respective peripheral circuit is completed, its main function is to be patrolled with reference to corresponding feedback quantity (phase current, rotating speed) to provide SPWM
Collect control signal.The effect of LC low-pass filter circuits is to filter each harmonic as far as possible, output waveform sine wave of good performance.
Its main task is according to the harmonic wave situation in the presence of system, designs suitable inductance value and capacitance.Feedback circuit
Effect be to measure the real-time rotating speed of gyro machine.Measure rotating speed and desired speed deviation in real time using phaselocked loop.In order to carry
The modularization of high design is horizontal, and conversion main circuit directly selects three-phase MOSFET bridge Integrate Design.By analysis and compare
That finally choose is the integrated device MSK4300 of MSK companies production so that inverter main circuit designs very succinct.SPWM is controlled
Signal processed is produced by DSP circuit, and after carrying out shaping driving, isolation processing to the control signal of DSP outputs, there is provided give
MSK4300.To meet the requirement accurately controlled motor speed, there is provided the sample circuit of motor three-phase current, sampling
Signal is supplied to DSP after A/D is changed.Additionally use phaselocked loop (realization of CPLD devices) and receive taking from gyro machine rotating speed
Sample signal, and the tach signal after computing, is produced into control letter compared with the reference value of tach signal all the way exported by DSP
Number give DSP circuit use.So under the control of SPWM control waveforms, inversion conversion is carried out to 48V voltages, with regard to it can export needed for
Three-phase alternating voltage driving gyro machine.Constitute a complete closed-loop feedback control system for testing the speed plus compensating.
Compared with prior art, beneficial effects of the present invention are embodied in：It is that can complete gyro machine acceleration and speed stabilizing control
System, moreover it is possible to meet the needs of gyrocompassing instrument slewing.Designed gyro machine power supply simultaneously, gyro is stablized and send out
Its superperformance is waved, reduces drift, the acceleration time is reduced, improves precision and the flexibility of control.
Brief description of the drawings
Fig. 1 is the structure chart of the present invention；
Fig. 2 is MSK4300 drive module equivalent circuit structure figures；
Fig. 3 is photosensor structure figure
Fig. 4 is acceleration and stabilizing circuit structure chart
Fig. 5 is DSP clocks and emulator interface circuit structure diagram；
Fig. 6 is to extend out SRAM memory interface circuit structure figure；
Fig. 7 is shaping, isolation circuit structure chart；
Fig. 8 is digital phase-locked loop schematic diagram；
Fig. 9 is current sample block diagram；
Figure 10 is current sampling circuit structure chart；
Figure 11 is DSP and AD7864 interface circuit structure figures；
Figure 12 is DSP control method flow charts.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
Fig. 1 is the phase asynchronous gyro machine Rotating speed measring of the present invention and the structure chart of compensation system, including dc source,
SPWM control circuits, three-phase MOSFET Integrate Designs, current sample change-over circuit, rotating speed sampling processing circuit and digital phase-locking
Xiang Huan.
The current input terminal of the output end connection SPWM control circuits of current sample change-over circuit, rotating speed sampling processing circuit
Output end connection digital phase-locked loop input, digital phase-locked loop output end connection SPWM control circuits rotating speed input
End, the control terminal of the output end connection three-phase MOSFET Integrate Designs of SPWM control circuits, three-phase MOSFET integrated drivings
The output end of the direct-flow input end connection dc source of module.
Current sample change-over circuit gathers the electric current of phase asynchronous gyro machine, and the collection three of rotating speed sampling processing circuit is different
The rotating speed of gyro machine is walked, the tach signal of collection is adjusted to export after given frequency signal and controlled to SPWM by digital phase-locked loop
Circuit.SPWM control circuits carry out speed closed loop control according to the current of electric and rotating speed of feedback, export SPWM control signals,
The lower three-phase MOSFET Integrate Designs of SPWM control signals control are implemented to control the variable-frequency variable-voltage of motor supply and AC voltage.
Fig. 2 gives rotating speed sampling processing circuit structure chart of the present invention, and rotating speed sampling processing circuit includes what is be sequentially connected
Sense drive circuit, photoelectric sensor and amplification integeral type circuit, acceleration and stabilizing circuit and isolator.Drive circuit is sensed to start
Photoelectric sensor works, and photoelectric sensor collection tach signal, accelerates after being filtered processing to tach signal with stabilizing circuit,
Export useful signal to amplification integeral type circuit, amplification integeral type circuit tach signal is amplified and integer after export give SPWM control
Circuit processed.It is disturbed to reduce photoelectric sensor induced signal, signal shaping is amplified in the position closest to sensor,
Sensing drive circuit and amplification integeral type circuit are arranged in gyro machine performs device.
Fig. 3 gives a kind of better embodiment of photoelectric sensor of the present invention, is contactless optical electric-type revolution speed sensing
Device, including infrarede emitting diode, phototriode and its drive circuit, code pattern, code pattern mark the rotating group in motor
On part, its operation principle is to use infrared detecting method, has different reflections in the physical surface of different colours using infrared ray
The characteristics of property, carries out tachometric survey.When motor rotates, the Infrared irradiation that light emitting diode is sent works as side on motor side
When face is black, light is absorbed, and light is not reflexed on phototriode, and phototriode is in by state, passes through micro- place
Reason device is counted by specific algorithm, draws the constantly rotating speed of motor.Rotation of the code pattern marking of the sensor in motor
In mechanism, the stationarity of motor is not disturbed, and drive circuit is simply reliable, is greatly saved the volume of rotating speed Acquisition Circuit.
Fig. 4 gives present invention acceleration and a kind of better embodiment of stabilizing circuit, including rotating speed Acquisition Circuit, three-phase
Current collection circuit, rotating speed and current acquisition amount processing module and velocity compensation module, it is anti-to employ current feedback, voltage
Feedback, speed feedback control.The motor acceleration time is shortened, reduces motor and accelerates consumed power and temperature rise, improves and turn
Fast stability.According to the Orientation Formula of magnetic suspension direction finder, the relational expression of orientation accuracy and gyro machine rotating speed is derived, according to
Detected actual speed value carries out angular momentum compensation, improves seek northern orientation accuracy whereby.
Fig. 5 gives SPWM controling circuit structures figure of the present invention.SPWM control circuits include dsp chip and peripheral circuit.
Peripheral circuit includes DC-DC conversion chips, 30MHz crystal oscillators, reset circuit and manual reset circuit, TAG emulation interfaces, extended out
SRAM memory interface, DC/DC conversion chips provide effective all kinds of power supplys for control circuit, and crystal oscillator works for DSP Processor
The stable clock of offer, reset circuit provides resets DSP functions at any time, extends out SRAM and is provided additionally for DSP Processor work
Running space.
Three-phase MOSFET Integrate Designs include drive circuit, on-off circuit and LC low-pass filter circuits.Drive circuit
The control signal that DSP is sent is operated according to the speed control motor of setting, LC low-pass filter circuits are done tentatively to control signal
Processing, removes useless interference signal.
In a kind of better embodiment of the present invention, the drive circuit in three-phase MOSFET Integrate Designs uses
MSK4300 chips.With reference to Fig. 7 and Fig. 8, drive circuit pays attention to following several respects in design：
(1) 48V dc sources are connected between V+ (16 and 15 pin) and RSENSE (12 and 13 pin)；
(6) six road SPWM control signals are added separately to (8) six AH (4), AL (3), BH (1), BL (2), CH (9), CL controls
Pin processed；
(7) power supply provided to " drive control protection circuit " is 15V, and the voltage is connected to VBIAS (6) and GND (10) two
End；
(4) on request 48V voltages it is positive and negative between and 15V voltages it is positive and negative between access certain capacity capacitor,
And two-way voltage is common negative terminal (i.e. RSENSE connects with GND pin)；
(5) Enable Pin that end is MSK4300 is deleted, when being set to " low ", module is worked；Then turned off when it is " height "
Module.In the design,Signal is provided by CPLD；
(6) three-phase alternating voltage exports from tri- pins of A, B and C.
Dsp chip uses TMS320LF2407A chips, DC-DC conversion cores in a kind of better embodiment of the present invention
Piece uses TPS75733 chips.Dsp chip could complete certain control function after must adding necessary peripheral auxiliary circuits,
System hardware circuit needs three kinds of supply voltages：1.8V, 3.3V and 5V.Wherein 1.8V and 3.3V is respectively DSP core and IO electricity
5V voltages, are changed into 3.3V, 3.3V voltages obtain through electric resistance partial pressure again by pressure from model TPS75733 DC-DC conversion chips
To 1.8V.DSP clock selects 30MHz crystal oscillators, by internal 5 frequencys multiplication, so as to obtain highly stable internal clocking.In DSP
In system simultaneously design electrification reset circuit and manual reset circuit, in order to when in system operation break down when can be easily
Realize manual reset.For reset circuit, on the one hand it is ensured that resetting low level time long enough, ensure DSP reliable resets；Separately
On the one hand it should ensure that and have good stability, prevent DSP from resetting by mistake.
Drive circuit module input leading portion carries out shaping using high-speed bidirectional buffer SN54LVTH245A to pwm signal,
Isolation processing is carried out through high-speed isolated device HCPL0630 again, makes DSP pwm signal output end and gyro machine current supply circuit complete
Isolation, avoids motor to the issuable interference of control signal.In addition, 4300 enabled control terminals(the 7th pin) receives
Signal is from CPLD devices, is also taken and the shaping of SPWM control signal identicals, isolation processing.
With reference to Fig. 9, digital phase-locked loop is realized using CPLD, according to a kind of better embodiment of the present invention, CPLD devices
Same with DSPI/0 to use 3.3V logic levels from EPM1270T14415, CPLD is used for realizing digital phase-locked loop and DSPI/O
Extension.Photoelectric tachometric transducer senses tach signal, after carrying out integer to rotating speed, is sent into what digital phase-locked loop was sent out with DSP
Given speed frequency is compared, and phaselocked loop is exported and is sent into DSP, magnetic flux is kept approximately constant according to motor speed stabilizing
It is required that produce the frequency and voltage controlled motor rotating speed of SPWM signal control motor power supplys.
With reference to Figure 10 and 11, current sensor, isolation circuit and A/D that current sample change-over circuit includes being sequentially connected turn
Change circuit.By taking the A phases of three-phase alternating voltage as an example, by current sensor obtain reflect A phase currents voltage signal, by every
A/D change-over circuits are delivered to from after, analog-to-digital conversion is carried out, is available to DSP circuit, dsp software is handled three-phase signal, can
To realize excessively stream, short-circuit protection etc..Wherein, isolation circuit uses AD620 isolators, and A/D change-over circuits are using AD companies
AD7864。
Completed with reference to the specific logic control relation of Figure 12, DSP and AD7864 by CPLD, by CPLD programming realizations pair
The set of AD7864 control terminal level states.The corresponding relation of logic control is shown in Table.
| AD7864 control signals | Corresponding DSP signals or state are set |
| CS | A13、A14、A15、IS |
| RD | STRB、R/W |
| WR | STRB、R/W |
| CONVST | IOPA3 |
| SL1 | Set |
| SL2 | Set |
| SL3 | Set |
| SL4 | Set |
DSP general purpose I/O pins IOPA3 controls AD7864's by being used for after CPLD logical conversionsPin, realize
Start AD7864 analog-to-digital conversion by software control.DSP input/output space selection signal pin and address wire A13, A14, A15
Chip selection signal of the logical combination as AD7864.WhenEffectively, as low level when, if address wire A13, A14, A15 are equal
To be low, then AD7864 is selected by piece.Operation can be now written and read to AD7864, AD7864 address is #7FFF.DSP reads and writes
Signal R/W andRead signal of the combination as AD7864, its write signal also by R/W withCombination control.When
AD7864 is selected by piece, and R/w for it is high when, it is possible to from AD7864 read data, now AD7864 enable signal, control respectively
The data/address bus E that DSP external programs and A/D change datas are sent to DSP from caching goes write signal to be necessary for high level.DSP's
The enable signal of memory strobe signals and read signal after logical AND as caching, controls DSP external programs and A/D respectively
Change data is sent to DSP data/address bus up from caching.
Figure 12 gives the closed loop control method flow of dsp chip of the present invention, comprises the following steps：
DSP Processor receives speed feedback amount and current feedback amount, carries out the closed-loop control of speed ring and electric current loop, constantly
The margin of error is assessed and corrected, motor is reached setting speed in a short time and stably in setting speed.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
1. gyro machine Rotating speed measring circuit and compensation system for magnetic suspension direction finder, it is characterised in that including direct current
Source, SPWM control circuits, three-phase MOSFET Integrate Designs, current sample change-over circuit, rotating speed sampling processing circuit sum
Word phaselocked loop；
The current output terminal of the input connection gyro machine of current sample change-over circuit, the output end of current sample change-over circuit
Connect the current input terminal of SPWM control circuits；The output of the input connection gyro machine rotating speed of rotating speed sampling processing circuit
End, the input of the output end connection digital phase-locked loop of rotating speed sampling processing circuit, the output end connection SPWM of digital phase-locked loop
The rotating speed input of control circuit, the control terminal of the output end connection three-phase MOSFET Integrate Designs of SPWM control circuits,
The output end of the direct-flow input end connection dc source of three-phase MOSFET Integrate Designs.
2. the gyro machine Rotating speed measring circuit and compensation system of magnetic suspension direction finder according to claim 1, its feature
Be, the rotating speed sampling processing circuit include be sequentially connected sensing drive circuit, photoelectric sensor, amplification integeral type circuit,
Accelerate and stabilizing circuit and isolator；Sensing drive circuit is used to start photoelectric sensor work, and photoelectric sensor is used to gather
The tach signal of gyro machine, accelerate to be used for after being filtered processing to tach signal with stabilizing circuit, output useful signal is extremely
Amplification integeral type circuit, amplification integeral type circuit be used to be amplified tach signal and integer after export and give SPWM control circuits；Institute
State sensing drive circuit and amplification integeral type circuit is arranged in gyro machine performs device.
3. the gyro machine Rotating speed measring circuit and compensation system of magnetic suspension direction finder according to claim 1 or 2, it is special
Sign is that the photoelectric sensor includes infrarede emitting diode, phototriode and its drive circuit, code pattern, code pattern
Marking is on the runner assembly of motor；When motor rotates, the Infrared irradiation that light emitting diode is sent works as side on motor side
When face is black, light is absorbed, and light is not reflexed on phototriode, and phototriode is in by state, passes through micro- place
Reason device count to get the rotating speed of motor.
4. the gyro machine Rotating speed measring circuit and compensation system of magnetic suspension direction finder according to claim 1 or 2, it is special
Sign is that the acceleration includes at rotating speed Acquisition Circuit, three-phase current Acquisition Circuit, rotating speed and current acquisition amount with stabilizing circuit
The output end connection rotating speed of reason module and velocity compensation module, rotating speed Acquisition Circuit and three-phase current Acquisition Circuit is adopted with electric current
The input of collection amount processing module, the input of rotating speed and the output end connection speed compensating module of current acquisition amount processing module
End.
5. the gyro machine Rotating speed measring circuit and compensation system of magnetic suspension direction finder according to claim 1 or 2, it is special
Sign is, the drive circuit module input leading portion carries out shaping to pwm signal using high-speed bidirectional buffer, then through high speed every
Isolation processing is carried out from device, makes the pwm signal output end of SPWM control circuits and gyro machine current supply circuit completely isolated.
6. the gyro machine Rotating speed measring circuit and compensation system of magnetic suspension direction finder according to claim 1 or 2, it is special
Sign is that the drive circuit in the three-phase MOSFET Integrate Designs uses MSK4300 chips, and drive circuit is in design
Meet claimed below：
(1) 48V dc sources are connected between V+ (16 and 15 pin) and RSENSE (12 and 13 pin)；
(2) six road SPWM control signals are added separately to six controlling switch of AH, AL, BH, BL, CH, CL；
(3) power supply provided to drive control protection circuit is 15V, and the voltage is connected to VBIAS and GND both ends；
(4) on request 48V voltages it is positive and negative between and 15V voltages it is positive and negative between access capacitor, and two-way voltage is altogether
The i.e. RSENSE of negative terminal connects with GND pin；
(5) Enable Pin that end is MSK4300 is deleted, when being set to " low ", module is worked；Mould is then turned off when it is " height "
Block,Signal is provided by CPLD；
(5) three-phase alternating voltage exports from tri- pins of A, B and C.
7. the gyro machine Rotating speed measring circuit and compensation system of magnetic suspension direction finder according to claim 1 or 2, it is special
Sign is that the SPWM control circuits include dsp chip and peripheral circuit；Hardware circuit needs three kinds of supply voltages：1.8V、
3.3V and 5V；Wherein 1.8V and 3.3V is respectively DSP core and IO voltages, and 5V voltages are changed into from DC-DC conversion chips
3.3V, 3.3V voltage obtain 1.8V through electric resistance partial pressure again；DSP clock selects 30MHz crystal oscillators, by internal 5 frequencys multiplication, so as to obtain
To internal stability clock.
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| CN109217773A (en) * | 2018-10-16 | 2019-01-15 | 株洲易力达机电有限公司 | A kind of electric machine control system applied to 48V vehicle power supply |
| CN109217773B (en) * | 2018-10-16 | 2022-08-16 | 株洲易力达机电有限公司 | Motor control system applied to 48V vehicle-mounted power supply |
| CN114244219A (en) * | 2021-12-27 | 2022-03-25 | 苏州感测通信息科技有限公司 | Micro motor control system and method for gyro north finder |
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