CN109120187B - Controller of electromagnetic braking device - Google Patents
Controller of electromagnetic braking device Download PDFInfo
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- CN109120187B CN109120187B CN201810568044.2A CN201810568044A CN109120187B CN 109120187 B CN109120187 B CN 109120187B CN 201810568044 A CN201810568044 A CN 201810568044A CN 109120187 B CN109120187 B CN 109120187B
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/24—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by applying dc to the motor
Abstract
The invention discloses an electromagnetic braking device controller, which comprises an alternating current power supply, wherein the alternating current power supply outputs sine wave voltage to a rectifying circuit after passing through a filter, the rectifying circuit is respectively connected with a brake coil and a sampling circuit, a switch device is connected between the brake coil and the sampling circuit, a signal output by the sampling circuit is sent to a delay selection circuit, a signal output by the sampling circuit is amplified by an amplifying circuit and then sent to the delay selection circuit, the delay selection circuit outputs a signal to a PWM (pulse width modulation) switch modulation and driving circuit, and the PWM switch modulation and driving circuit outputs a signal to the switch device; the alternating current power supply outputs sine wave voltage to the auxiliary power supply after passing through the filter, and the auxiliary power supply respectively provides direct current for the delay selection circuit, the amplifying circuit and the PWM switch modulation and driving circuit. The exciting current of the invention can be controlled in time sharing, and can provide constant exciting current under the condition of power supply voltage fluctuation and coil impedance change.
Description
Technical Field
The present invention relates to an electromagnetic brake device controller.
Background
The electromagnetic brake is a special device for dragging motor electromagnetic braking widely used by industrial and mining enterprises, plays a braking role in an electric transmission system, and is widely applied to electric transmission systems of metallurgy, building, chemical industry and the like.
The electromagnetic brake has the advantages of simple structure, convenient control and installation and the like. The electromagnetic energy conversion device is a braking device which utilizes an electromagnetic brake coil to generate corresponding electromagnetic force after passing through rated exciting current according to the electromagnetic induction principle so as to drive a brake shoe of the brake to act.
The electromagnetic brake mainly changes the braking force of the brake by changing the current led to the electromagnet through a braking signal sent by a controller in the form of current passing through the electromagnet. The working process of the brake controller is divided into two stages: a start-up phase and a maintenance phase. In order to ensure the rapid action of the electromagnetic brake, a larger exciting current needs to be provided for a brake coil in a starting stage and lasts for a certain time, so that the reliable action of the brake is ensured; in the maintaining phase, the brake coil maintains the brake armature to provide enough electromagnetic force to maintain the opening and closing state of the brake shoes (brake non-braking state) by maintaining a small exciting current. The brake is in an open-close state under a non-braking state, and a brake coil is required to keep constant exciting current for a long time so as to drive a brake armature to provide sufficient electromagnetic force for a brake shoe and maintain a stable open-close state of the brake shoe, so that the magnitude of the exciting current determines the working energy consumption of the brake. Under actual conditions, the excitation current is unstable due to the fluctuation of the brake power supply voltage caused by the change of the power grid voltage and the reduction of the impedance caused by the heating of the brake coil, so that the stability of the electromagnetic force of the brake is influenced, and whether the brake shoe can be reliably in an opening and closing state is threatened.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an electromagnetic braking device controller, which can control the exciting current in a time-sharing way and can provide constant exciting current under the condition of power supply voltage fluctuation and coil impedance change.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to an electromagnetic braking device controller, which comprises an alternating current power supply, wherein the alternating current power supply outputs sine wave voltage to a rectifying circuit after passing through a filter, the rectifying circuit is respectively connected with a brake coil and a sampling circuit, a switch device is connected between the brake coil and the sampling circuit, a signal output by the sampling circuit is sent to a delay selection circuit, meanwhile, a signal output by the sampling circuit is also sent to the delay selection circuit after being amplified by an amplifying circuit, the delay selection circuit outputs a signal to a PWM (pulse width modulation) switch modulation and driving circuit, and the PWM switch modulation and driving circuit outputs a signal to the switch device; the alternating current power supply outputs sine wave voltage to the auxiliary power supply after passing through the filter, and the auxiliary power supply provides direct current for the delay selection circuit, the amplifying circuit and the PWM switch modulation and driving circuit respectively.
Further, the switching device comprises an IGBT tube T1The PWM switch modulation and drive circuit outputs signals to the IGBT tube T1Of the gate, IGBT tube T1The collector of the IGBT is connected with the brake coil, and the IGBT tube T1The emitter of (2) is connected with the sampling circuit.
Further, the sampling circuit comprises a resistor R3Resistance R3One end of which is connected to the switching device, resistor R3One terminal of and a capacitor C3An adjustable resistor R is arranged between one ends of the two4Capacitor C3The other end of the resistor is respectively connected with a rectifying circuit and a resistor R3And the other end of the same.
Further, the delay selection circuit comprises a voltage comparator U3Voltage comparator U3The non-inverting input ends of the resistors are respectively connected with the resistors R8One terminal of and a capacitor C4One terminal of (1), a voltage comparator U3Respectively connected with resistors R9And a resistor R10One terminal of (1), resistance R9The other ends of the two resistors are respectively connected with a resistor R8Another terminal of (1), a voltage comparator U3Power supply terminal, resistor R11One-end, two-channel analog multiplexer U4Power supply terminal and auxiliary power supply, capacitor C4Another terminal of (1), a resistor R10Another terminal of (1), a voltage comparator U3The ground ends of the resistors R are all grounded11The other ends of the two are respectively connected with a voltage comparator U3And a two-channel analog multiplexer U4The signal output by the sampling circuit is input into a two-channel analog multiplexer U4The signal output by the sampling circuit is amplified by the amplifying circuit and then input into the two-channel analog multiplexer U4A two-channel analog multiplexer U4The output end of the PWM switching circuit outputs signals to the PWM switching modulation and driving circuit.
Further, the amplifying circuit comprises an operational amplifier U2Operational amplifier U2The power supply end of the sampling circuit is connected with an auxiliary power supply, and the signal output by the sampling circuit is sent to an operational amplifier U2Non-inverting input terminal of operational amplifier U2Is connected to the inverting input terminal through a resistor R6Grounded, operational amplifier U2The inverting input end of the voltage regulator is also connected with the input end of the voltage regulator through an adjustable resistor R7Connecting operational amplifier U2Of an operational amplifier U2The output end of the delay selection circuit is connected with the delay selection circuit.
Further, the PWM switching modulation and driving circuit comprises a current mode PWM controller chip U5Current mode PWM controller chip U5The current detection input end of the circuit is connected with a time delay selection circuit and a current mode PWM controller chip U5The output ends of the middle error amplifiers are respectively connected with resistors R12One terminal of and a capacitor C5One terminal of (1), a current mode PWM controller chip U5The reference voltage output ends are respectively connected with a capacitor C6And a resistor R13One terminal of (1), resistance R13The other ends of the two capacitors are respectively connected with a capacitor C7And a current mode PWM controller chip U5Timing terminal of (3), resistor R12Another terminal of (1), a capacitor C5Another terminal of (1), a capacitor C6Another terminal of (1) and a capacitor C7The other end of the current mode PWM controller chip U is grounded5The power supply end of the PWM controller is connected with an auxiliary power supply in a current mode5The power supply end is also connected with an NPN type triode Q1Collector of (2), NPN type triode Q1The emitting electrode of the PNP type triode Q is connected2Emitter of (2), PNP type triode Q2The collector of the PNP type triode Q is grounded2The base electrodes of the three-phase current mirror are respectively connected with an NPN type triode Q1Base and current mode PWM controller chip U5The output terminal of the NPN type triode Q1Is also connected to the switching device.
Further, the device also comprises a resistor R5And a diode D6The PWM switch modulation and drive circuit is respectively connected with a resistor R5And a diode D6One terminal of (1), resistance R5Another terminal of (1) and a diode D6And the other ends of the first and second electrodes are connected to the switching devices, respectively.
Has the advantages that: the invention discloses an electromagnetic braking device controller, which has the following beneficial effects compared with the prior art:
1) the brake exciting current is controlled in a time-sharing mode, large current is generated in a starting stage, small current is maintained in the stage, the power consumption of a brake coil is reduced, and energy conservation is realized;
2) the constant excitation current can be provided by automatic adjustment under the conditions of power supply voltage fluctuation and coil impedance change;
3) the starting current and the maintaining current are both adjustable, and the brake can adapt to brakes with different specifications.
Drawings
FIG. 1 is a block diagram of an electromagnetic brake controller in accordance with an embodiment of the present invention;
FIG. 2 is a main circuit diagram of a controller of an electromagnetic braking device according to an embodiment of the present invention;
FIG. 3 is a circuit diagram of an amplifying circuit according to an embodiment of the present invention;
FIG. 4 is a circuit diagram of a delay selection circuit according to an embodiment of the present invention;
fig. 5 is a circuit diagram of a PWM switch modulation and driving circuit according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further described with reference to the following detailed description and accompanying drawings.
The specific embodiment discloses an electromagnetic braking device controller, as shown in fig. 1, which comprises an alternating current power supply 1, wherein the alternating current power supply 1 outputs sine wave voltage to a rectifying circuit 3 after passing through a filter 2, the rectifying circuit 3 is respectively connected with a brake coil 4 and a sampling circuit 6, a switch device 5 is connected between the brake coil 4 and the sampling circuit 6, a signal output by the sampling circuit 6 is sent to a delay selection circuit 8, a signal output by the sampling circuit 6 is amplified by an amplifying circuit 9 and then sent to the delay selection circuit 8, the delay selection circuit 8 outputs a signal to a PWM switch modulation and drive circuit 10, and the PWM switch modulation and drive circuit 10 outputs a signal to the switch device 5; the alternating current power supply 1 outputs sine wave voltage to the auxiliary power supply 7 after passing through the filter 2, and the auxiliary power supply 7 respectively supplies direct current to the delay selection circuit 8, the amplifying circuit 9 and the PWM switching modulation and driving circuit 10. FIG. 2 shows the main circuit, limited by page space, not being able to place the entire circuit in, and therefore, other portions of the circuit are represented by FIGS. 3-5.
As shown in fig. 2, the rectifier circuit 3 includes a diode D1Diode D1Anode of (2) connected to the diode D2Cathode of (2), diode D2Anode of (2) connected to the diode D4Anode of (2), diode D4Cathode of (D) is connected with a diode3Anode of (2), diode D3Cathode of (D) is connected with a diode1The cathode of (1).
As shown in fig. 2, a diode D is connected in parallel across the brake coil 47. The controller of the electromagnetic braking device alsoComprising a capacitor C1Capacitor C1Are respectively connected with a diode D3Cathode, resistance R1And a diode D7Cathode of (2), capacitor C1The other end of the capacitor C is connected with a capacitor C2One terminal of (1), resistance R1Another end of the resistor R is connected with a resistor R2One terminal of (1), resistance R2Another terminal of (1), a capacitor C2And the other end of the sampling circuit 6 and the resistor R in the sampling circuit 63The other ends of the two are all grounded.
As shown in fig. 2, the switching device 5 includes an IGBT tube T1NPN type triode Q in PWM switch modulation and drive circuit 101Output a signal to the resistor R5One terminal of (1), resistance R5The other end of the IGBT tube T is connected with an IGBT tube T1And a resistance R of5Both ends are connected with a diode D in parallel6IGBT tube T1Is connected with the brake coil 4 and the IGBT tube T1Is connected with the resistor R in the sampling circuit 63To one end of (a).
As shown in fig. 2, the sampling circuit 6 includes a resistor R3Resistance R3One end of which is connected with an IGBT tube T in the switch device 51Emitter electrode of (3), resistor R3One terminal of and a capacitor C3An adjustable resistor R is arranged between one ends of the two4Capacitor C3The other end of which is grounded, a capacitor C3The other end of the resistor is also connected with a resistor R3And the other end of the same.
As shown in FIG. 2, a diode D is connected to a first AC input port of the auxiliary power supply 71And a second AC input port of the auxiliary power supply 7 is connected with a diode D4The DC output ports of the auxiliary power supply 7 are respectively connected with the resistors R in the delay selection circuit 89The other end of (1), an operational amplifier U in the amplifying circuit 92And a current mode PWM controller chip U in the PWM on-off modulation and driving circuit 105The power supply terminal of (1).
As shown in FIG. 4, the delay selection circuit 8 includes a voltage comparator U3Voltage comparator U3The non-inverting input ends of the resistors are respectively connected with the resistors R8One terminal of and a capacitor C4One terminal of (1), a voltage comparator U3Is transmitted in reverse phaseThe input ends are respectively connected with a resistor R9And a resistor R10One terminal of (1), resistance R9The other ends of the two resistors are respectively connected with a resistor R8Another terminal of (1), a voltage comparator U3Power supply terminal, resistor R11One-end, two-channel analog multiplexer U4Power supply terminal and auxiliary power supply 7, capacitor C4Another terminal of (1), a resistor R10Another terminal of (1), a voltage comparator U3The ground ends of the resistors R are all grounded11The other ends of the two are respectively connected with a voltage comparator U3And a two-channel analog multiplexer U4Control terminal of (2), capacitor C in sampling circuit 63One end of the output signal is input into a two-channel analog multiplexer U4While sampling the capacitance C of the circuit 63A signal outputted from one end of the analog multiplexer is amplified by an amplifying circuit 9 and inputted into a two-channel analog multiplexer U4A two-channel analog multiplexer U4Outputs signals to a current mode PWM controller chip U in the PWM switch modulation and driving circuit 105The current detection input terminal.
As shown in FIG. 3, the amplifying circuit 9 includes an operational amplifier U2Operational amplifier U2The power supply end of the sampling circuit 6 is connected with the DC output port of the auxiliary power supply 7, and the signal output by the sampling circuit 6 is sent to the operational amplifier U2Non-inverting input terminal of operational amplifier U2Is connected to the inverting input terminal through a resistor R6Grounded, operational amplifier U2The inverting input end of the voltage regulator is also connected with the input end of the voltage regulator through an adjustable resistor R7Connecting operational amplifier U2Of an operational amplifier U2The output end of the delay selection circuit 8 is connected with a two-channel analog multiplexer U in the delay selection circuit4To the second input terminal.
As shown in fig. 5, the PWM switching modulation and driving circuit 10 includes a current mode PWM controller chip U5Current mode PWM controller chip U5The current detection input end of the delay selection circuit 8 is connected with a two-channel analog multiplexer U4Output terminal of (1), current mode PWM controller chip U5The output ends of the middle error amplifiers are respectively connected with resistors R12One terminal of and a capacitor C5One terminal of (1), a current mode PWM controller chip U5The reference voltage output ends are respectively connected with a capacitor C6And a resistor R13One terminal of (1), resistance R13The other ends of the two capacitors are respectively connected with a capacitor C7And a current mode PWM controller chip U5Timing terminal of (3), resistor R12Another terminal of (1), a capacitor C5Another terminal of (1), a capacitor C6Another terminal of (1) and a capacitor C7The other end of the current mode PWM controller chip U is grounded5Is connected with the direct current output end of the auxiliary power supply 7, and a current mode PWM controller chip U5The power supply end is also connected with an NPN type triode Q1Collector of (2), NPN type triode Q1The emitting electrode of the PNP type triode Q is connected2Emitter of (2), PNP type triode Q2The collector of the PNP type triode Q is grounded2The base electrodes of the three-phase current mirror are respectively connected with an NPN type triode Q1Base and current mode PWM controller chip U5The output terminal of the NPN type triode Q1The emitter of (2) is also connected with a resistor R5To one end of (a).
The following is an analysis of how the controller of the present invention controls the actuation and maintenance state of the electromagnetic braking device, and the stabilization of the brake coil 4 current.
After the control device supplies power, the circuit works normally, and the current mode PWM controller chip U5The output terminal COMP of the internal error amplifier is stabilized at a fixed value and passes through a current mode PWM controller chip U5After the voltage reduction and the resistance voltage division of the two internal diodes, a current mode PWM controller chip U is provided5The reference voltage of the internal voltage comparator is started at the same time of a switching period when the oscillation period is started, and the current mode PWM controller chip U5The signal I of the current detection input end is sent to the inside to be compared with the reference voltage, and the generated error signal is sent to a current mode PWM controller chip U5And an internal pulse width modulation circuit completes the modulation of the output pulse width. At start-up state, current sampling signal IsenseSmaller, the pulse width modulation circuit can make the output pulse width wider, then IGBT tube T in switch device 51Is compared withLong, the effective value of the current flowing through the brake coil 4 in the main circuit is large; in the holding state, the amplified current sampling signal EIsenseIf the output pulse width is narrowed by the pulse width modulation circuit, the IGBT tube T in the switching device 5 is larger1The on time of the brake coil 4 is shortened, and the effective value of the current flowing through the brake coil 4 in the main circuit is reduced. In addition, the current of the brake coil 4 in the starting state can be changed by changing the resistor R in FIG. 24Can be adjusted by changing the resistance R in fig. 3, the current of the brake coil 4 in the hold state7Is adjusted.
If the alternating supply voltage causes the current of the brake coil 4 to rise due to a rise in the mains voltage or a decrease in the impedance due to the coil heating on energization for a long time, the current-mode PWM controller chip U5The current sampling value of the current detection input end of the switching device 5 is increased, the pulse width modulation circuit can narrow the width of the output pulse, and the IGBT tube T in the switching device 51Becomes shorter and the effective value of the current of the brake coil 4 becomes lower, thereby keeping the current of the brake coil 4 constant and vice versa.
Claims (7)
1. An electromagnetic brake apparatus controller, characterized in that: the pulse width modulation control circuit comprises an alternating current power supply (1), wherein the alternating current power supply (1) outputs sine wave voltage to a rectifying circuit (3) after passing through a filter (2), the rectifying circuit (3) is respectively connected with a brake coil (4) and a sampling circuit (6), a switching device (5) is connected between the brake coil (4) and the sampling circuit (6), the sampling circuit (6) samples pulse excitation current flowing in the brake coil, a sampling signal is sent to a current mode PWM controller chip U5, and then the sampling signal is compared with a control reference voltage signal generated after two diodes in the chip are subjected to voltage reduction and resistance voltage division, so that the formed error signal completes modulation of the output pulse width through a pulse width modulation circuit in the chip U5, and the output switching pulse controls the conduction time of an IGBT (insulated gate bipolar transistor) T1 in the power switching device (5); the brake is set to be in two states of starting and maintaining by using a delay selection circuit (8), namely, a pulse with a wider pulse width is output to a switching device (5) in the starting state, a pulse exciting current with a larger effective value flows through a brake coil (4), a pulse with a narrower pulse width is output to the switching device (5) in the brake maintaining state, and a pulse exciting current with a smaller effective value flows through the brake coil (4); the controller further comprises an auxiliary power supply (7), the alternating current power supply (1) outputs sine wave voltage to the auxiliary power supply (7) after passing through the filter (2), and the auxiliary power supply (7) respectively provides direct current for the delay selection circuit (8), the amplification circuit (9) and the PWM switch modulation and driving circuit (10).
2. The electromagnetic brake device controller according to claim 1, characterized in that: the switching device (5) comprises an IGBT tube T1The PWM switching modulation and driving circuit (10) outputs signals to the IGBT tube T1Of the gate, IGBT tube T1The collector of the IGBT is connected with a brake coil (4), and the IGBT tube T1Is connected with a sampling circuit (6).
3. The electromagnetic brake device controller according to claim 1, characterized in that: the sampling circuit (6) comprises a resistor R3Resistance R3One end of which is connected to the switching device (5), the resistor R3One terminal of and a capacitor C3An adjustable resistor R is arranged between one ends of the two4Capacitor C3The other end of the resistor is respectively connected with a rectifying circuit (3) and a resistor R3And the other end of the same.
4. The electromagnetic brake device controller according to claim 1, characterized in that: the delay selection circuit (8) comprises a voltage comparator U3Voltage comparator U3The non-inverting input ends of the resistors are respectively connected with the resistors R8One terminal of and a capacitor C4One terminal of (1), a voltage comparator U3Respectively connected with resistors R9And a resistor R10One terminal of (1), resistance R9The other ends of the two resistors are respectively connected with a resistor R8Another terminal of (1), a voltage comparator U3Power supply terminal, resistor R11One-end, two-channel analog multiplexer U4And an auxiliary power supply (7), a capacitor C4Another terminal of (1), a resistor R10Another terminal of (1), a voltage comparator U3The ground ends of the resistors R are all grounded11The other ends of the two are respectively connected with a voltage comparator U3And a two-channel analog multiplexer U4The signal output by the sampling circuit (6) is input into a two-channel analog multiplexer U4The signal output by the sampling circuit (6) is amplified by the amplifying circuit (9) and then input into the two-channel analog multiplexer U4A two-channel analog multiplexer U4Outputs the signal to a PWM switching modulation and driving circuit (10).
5. The electromagnetic brake device controller according to claim 1, characterized in that: the amplifying circuit (9) comprises an operational amplifier U2Operational amplifier U2The power end of the sampling circuit (6) is connected with an auxiliary power supply (7), and the signal output by the sampling circuit is sent to an operational amplifier U2Non-inverting input terminal of operational amplifier U2Is connected to the inverting input terminal through a resistor R6Grounded, operational amplifier U2The inverting input end of the voltage regulator is also connected with the input end of the voltage regulator through an adjustable resistor R7Connecting operational amplifier U2Of an operational amplifier U2The output end of the delay circuit is connected with a delay selection circuit (8).
6. The electromagnetic brake device controller according to claim 1, characterized in that: the PWM switching modulation and driving circuit (10) comprises a current mode PWM controller chip U5Current mode PWM controller chip U5The current detection input end of the current detection circuit is connected with a time delay selection circuit (8), and a current mode PWM controller chip U5The output ends of the middle error amplifiers are respectively connected with resistors R12One terminal of and a capacitor C5One terminal of (1), a current mode PWM controller chip U5The reference voltage output ends are respectively connected with a capacitor C6And a resistor R13One terminal of (1), resistance R13The other ends of the two capacitors are respectively connected with a capacitor C7And a current mode PWM controller chip U5Timing terminal of (3), resistor R12Another terminal of (1), a capacitor C5To another one ofTerminal, capacitor C6Another terminal of (1) and a capacitor C7The other end of the current mode PWM controller chip U is grounded5The power supply end of the PWM controller is connected with an auxiliary power supply (7), and a current mode PWM controller chip U5The power supply end is also connected with an NPN type triode Q1Collector of (2), NPN type triode Q1The emitting electrode of the PNP type triode Q is connected2Emitter of (2), PNP type triode Q2The collector of the PNP type triode Q is grounded2The base electrodes of the three-phase current mirror are respectively connected with an NPN type triode Q1Base and current mode PWM controller chip U5The output terminal of the NPN type triode Q1Is also connected to the switching device (5).
7. The electromagnetic brake device controller according to claim 1, characterized in that: also includes a resistor R5And a diode D6The PWM switching modulation and driving circuit (10) is respectively connected with a resistor R5And a diode D6One terminal of (1), resistance R5Another terminal of (1) and a diode D6And the other ends thereof are respectively connected with a switching device (5).
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| CN201810568044.2A CN109120187B (en) | 2018-06-05 | 2018-06-05 | Controller of electromagnetic braking device |
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| CN201810568044.2A CN109120187B (en) | 2018-06-05 | 2018-06-05 | Controller of electromagnetic braking device |
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| CN109120187B true CN109120187B (en) | 2021-04-27 |
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| CN109592597A (en) * | 2019-01-11 | 2019-04-09 | 李国利 | A kind of crane electromagnetic brake DC chopped-wave control device |
| CN110071664B (en) * | 2019-04-17 | 2020-09-22 | 辽宁石油化工大学 | Braking device and method for direct current motor with constant current and controllable falling speed |
| CN113431947B (en) * | 2021-06-10 | 2023-08-04 | 西北机电工程研究所 | MOSFET-based energy-saving drive circuit for electromagnetic reversing valve |
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| JPH0496675A (en) * | 1990-08-13 | 1992-03-30 | Nippon Otis Elevator Co | Brake control system for elevator controller |
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