CN109459064A - A kind of three-axle table control method and system based on PMAC - Google Patents
A kind of three-axle table control method and system based on PMAC Download PDFInfo
- Publication number
- CN109459064A CN109459064A CN201811538829.1A CN201811538829A CN109459064A CN 109459064 A CN109459064 A CN 109459064A CN 201811538829 A CN201811538829 A CN 201811538829A CN 109459064 A CN109459064 A CN 109459064A
- Authority
- CN
- China
- Prior art keywords
- pmac
- control card
- rate
- host computer
- driver
- 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.)
- Pending
Links
- XEBWQGVWTUSTLN-UHFFFAOYSA-M phenylmercury acetate Chemical compound CC(=O)O[Hg]C1=CC=CC=C1 XEBWQGVWTUSTLN-UHFFFAOYSA-M 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000015654 memory Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 10
- 238000004088 simulation Methods 0.000 abstract description 7
- 238000011056 performance test Methods 0.000 description 3
- 230000003362 replicative effect Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The embodiment of the present application shows a kind of three-axle table control method and system based on PMAC.Technical solution PMAC-PCI axis control card shown in the embodiment of the present application drives servo motor by control driver, realizes the Angle Position movement of the different waves such as designated position rate and sine wave, triangular wave, calibration and test for inertial navigation product.This system realizes higher data simulation frequency, it is good that data transmit accuracy by control instruction and emulation data separating.By calling PMAC motion control card to carry PEWIN32 PID debugging algorithm, the debugging to three-axle table control system bandwidth can be comparatively fast realized, feedforward arithmetic etc. can guarantee that system has higher bandwidth.
Description
Technical field
The invention relates to Computer Control Technology field more particularly to a kind of three-axle table controls based on PMAC
Method and system.
Background technique
High-performance Inertial Navigation Testing Device is one of the key technology for realizing half inertial navigation testing experiment in kind, is mainly used for inertia
The performance test of component (IMU) and inertial navigation system (INS) and attitude motion emulation (simulation) test of turntable are measured, is winged
Indispensable ground checkout equipment during row device and Weapon System Development, production and working service.The country is from the sixties
Step carries out the research and development of inertial navigation test and motion simulation turntable, and special project control and actuation techniques have obtained considerable in the eighties
Progress, also have breakthrough in terms of trying to explore and practicing the key technology of large complicated turntable in recent years.
During the attitude motion of performance test and turntable emulation (simulation) test, Testing Platform refers to control
Order is sent to turntable, and turntable completes corresponding movement according to the control instruction.
The accuracy for improving the data transmission between Testing Platform and turntable, is the research direction of researchers.
Summary of the invention
The embodiment of the present application shows a kind of three-axle table control method and system based on PMAC, flat to improve performance test
The accuracy of data transmission between platform and turntable.
The embodiment of the present application first aspect shows a kind of three-axle table control method based on PMAC, which comprises
Receive target position and the rate information of user's input；
According to motor characteristic to be processed and motion mode, the address of I, P, Q, M to user open to PMAC control card becomes
Amount is configured, and generation executes instruction；
It receiving replicating machine and sends actual feedback information, the actual feedback information is the real time rate of turntable, and, in real time
Position data；
It is executed instruction according to described, and, actual feedback information is configured pid parameter.
Selectable, the step foregoing description method of the target position for receiving user's input and rate information is also wrapped
It includes:
After device power starting, into upper computer software, system will read PMAC board each section status information automatically；
Such as encounter mistake automatic positioning and report barrier.
Selectable, described the step of receiving the target position and rate information that user inputs, includes:
Target position and the rate information for receiving user's input, initialize the parameter of PMAC control card.
Selectable, P, Q variable is as common variable, assignment and transmission information in operation；
M is for directly defining memory and I/O interface, by the read-write of M variable, to the actual bit of I/O interface and each axis
It sets, theoretical position is operated.
The embodiment of the present application second aspect shows a kind of three-axle table control system based on PMAC, the system comprises:
PMAC-PCI axis control card, driver, servo motor and, host computer；
PMAC-PCI axis control card drives servo motor to realize turntable designated position rate by control driver, and, just
The Angle Position movement of string wave, triangular wave different wave；
The target position and rate information that the host computer is used to above be conveyed into；
The target position for receiving user's input and rate information；
PMAC motion control card is used to receive target position and the rate information of host computer output in PMAC-PCI axis control card；
According to motor characteristic to be processed and motion mode, the ground of I, P, Q, M to user open to PMAC motion control card
Location variable is configured, and generation executes instruction；
It receiving driver and sends actual feedback information, the actual feedback information is the real time rate of turntable, and, in real time
Position data；
It is executed instruction according to described, and, actual feedback information is configured pid parameter.
It is selectable, the system also includes: display screen；
The display screen passes through pc control procedure energy for showing working condition, position and the rate information of turntable
It realizes and the control that turntable moves is operated.
It is selectable, when the display screen is also used to break down and alarm.
Code device signal selectable, that the driver analog signal and host computer that driver is sent in the system are sent
It is connect by Accessory-8A with PMAC-PCI axis control card.
Selectable, PMAC-PCI axis control card setting two-port RAM, which programs, realizes that emulation data high-speed reads and executees.
To sum up, the technical solution improvement shown in the embodiment of the present application is as follows:
The embodiment of the present application shows a kind of three-axle table control method and system based on PMAC.The embodiment of the present application is shown
Technical solution PMAC-PCI axis control card servo motor is driven by control driver, realize designated position rate, and sinusoidal
The Angle Position of the different waves such as wave, triangular wave moves, calibration and test for inertial navigation product.This system is referred to by control
Data separating is enabled and emulated, realizes higher data simulation frequency, it is good that data transmit accuracy.By calling PMAC motion control
Block included PEWIN32PID debugging algorithm, can comparatively fast realize the debugging to three-axle table control system bandwidth, feedforward arithmetic etc.
It can guarantee that system has higher bandwidth.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of flow chart of three-axle table control method based on PMAC shown in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of three-axle table control system based on PMAC shown in the embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment it is detailed
Thin description and attached drawing cannot be used to limit the scope of the invention for illustratively illustrating the principle of the present invention, i.e., of the invention
It is not limited to described embodiment, covers part-component and connection type under the premise of without departing from the spirit of the present invention
Any modification-replacement and improvement.
Referring to Fig. 1, the embodiment of the present application first aspect shows a kind of three-axle table control method based on PMAC, it is described
Method includes:
S101 receives target position and the rate information of user's input；
S102 is according to motor characteristic to be processed and motion mode, the ground of I, P, Q, M to user open to PMAC control card
Location variable is configured, and generation executes instruction；
Wherein, I variable is used to set the performance of PMAC card, Serve Motor Control and coder parameters；P, Q variable is as logical
With variable, assignment and transmission information, Q variable can also make other specific uses in a coordinate system in operation；M variable can be straight
It connects and defines memory and I/O interface, by the read-write of M variable, the physical location of I/O interface and each axis, theoretical position are carried out
Operation.
S103 receives replicating machine and sends actual feedback information, and the actual feedback information is the real time rate of turntable, and,
Real time position data；
S104 is executed instruction according to, and, actual feedback information is configured pid parameter.
It is executed instruction according to described, and, actual feedback information is configured pid parameter.Purpose is to guarantee automatically controlled system
The response and tracking united to instruction.
Wherein, the setting of pid parameter is the normal fortune of motor overall system control in order to guarantee from PMAC to driver
Row.
Selectable, the step foregoing description method of the target position for receiving user's input and rate information is also wrapped
It includes:
After device power starting, into upper computer software, system will read PMAC board each section status information automatically；
Specifically, status information refers to the variables such as I, P, Q, the M set in following PMAC motion control card memories, and
Whether hardware connected state information (connects, such as ACC-8A).
Such as encounter mistake automatic positioning and report barrier.
Convenient discovery mistake in time, the position of mistake is quickly found out according to positioning, and handled.
Selectable, described the step of receiving the target position and rate information that user inputs, includes:
Target position and the rate information for receiving user's input, initialize the parameter of PMAC control card.
Technical solution PMAC-PCI axis control card shown in the embodiment of the present application drives servo motor by control driver, real
The Angle Position movement of the existing different waves such as designated position rate and sine wave, triangular wave, the calibration for inertial navigation product
And test.This system realizes that higher data simulation frequency, data transmit accuracy by control instruction and emulation data separating
It is good.By calling PMAC motion control card to carry PEWIN32PID debugging algorithm, it can comparatively fast realize and system is controlled to three-axle table
Wide debugging is commanded, feedforward arithmetic etc. can guarantee that system has higher bandwidth.
The embodiment of the present application second aspect shows a kind of three-axle table control system based on PMAC, the system comprises:
PMAC-PCI axis control card, driver, servo motor and, host computer；
Specifically, PMAC-PCI axis control card, inside uses 40MHzDSP56303 digital signal processing chip, speed, resolution
Rate, band merit are superior to normal controller, and SERVO CONTROL includes PID and low pass, notch filter, before Velocity-acceleration
The links such as feedback correction.
PMAC-PCI axis control card drives servo motor to realize turntable designated position rate by control driver, and, just
The Angle Position movement of string wave, triangular wave different wave；
The target position and rate information that the host computer is used to above be conveyed into；
The target position for receiving user's input and rate information；
PMAC motion control card is used to receive target position and the rate information of host computer output in PMAC-PCI axis control card；
According to motor characteristic to be processed and motion mode, the ground of I, P, Q, M to user open to PMAC motion control card
Location variable is configured, and generation executes instruction；
It receiving driver and sends actual feedback information, the actual feedback information is the real time rate of turntable, and, in real time
Position data；
It is executed instruction according to described, and, actual feedback information is configured pid parameter.
It is selectable, the system also includes: display screen；
The display screen passes through pc control procedure energy for showing working condition, position and the rate information of turntable
It realizes and the control that turntable moves is operated.
It is selectable, when the display screen is also used to break down and alarm.
Code device signal selectable, that the driver analog signal and host computer that driver is sent in the system are sent
It is connect by Accessory-8A with PMAC-PCI axis control card.
Selectable, PMAC-PCI axis control card setting two-port RAM, which programs, realizes that emulation data high-speed reads and executees.
Referring to Fig. 2, into upper computer software, system will read PMAC board each section automatically after turntable electrifying startup
Status information；
The PMAC board is PMAC-PCI axis control card.Wherein status information refers to following PMAC motion control card memories
In variables and the hardware connected state information (whether connecting, such as ACC-8A) such as I, P, Q, M for setting.Such as encounter mistake
Automatic positioning and report barrier.And it is shown by display screen.
System reads Hardware I/O signal that the requirement that user inputs powers on, driver is closed by host computer, and by one piece
Advantech I/O signal interface board is responded.
The user that system is read feeds the target position inputted by host computer and rate information, is sent out with serial port
PMAC motion control card is given, the host computer debugging routine PEWIN32 of PMAC board includes complete motion control and monitoring function
Energy；It is open to PMAC control card to be set to address variables such as I, P, Q, M of user according to each motor characteristic and motion mode
It sets, generation executes instruction；
It receiving driver and sends actual feedback information, the actual feedback information is the real time rate of turntable, and, in real time
Position data；
It is executed instruction according to described, and, actual feedback information is configured pid parameter.Guarantee turntable registration
Property and operation stability.
Copying passes through the reading realization in plate two-port RAM.Under RTX real time environment, external replicating machine sends high
Fast real time rate, position data；PMAC motion control card two-port RAM realizes reading to data and sound in servo period
It answers, and with instruction type, turntable is made to realize rate simulating or position simulating sports.
From the above technical scheme, the embodiment of the present application shows a kind of three-axle table control method based on PMAC and is
System.Technical solution PMAC-PCI axis control card shown in the embodiment of the present application drives servo motor by control driver, and realization refers to
The Angle Position movement of the different waves such as rate and sine wave, triangular wave, calibration and survey for inertial navigation product are set in positioning
Examination.This system realizes higher data simulation frequency, it is good that data transmit accuracy by control instruction and emulation data separating.
By calling PMAC motion control card to carry PEWIN32PID debugging algorithm, can comparatively fast realize to three-axle table control system band
Wide debugging, feedforward arithmetic etc. can guarantee that system has higher bandwidth.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to accompanying drawings and in conjunction with the embodiments.
The above description is only an example of the present application, and the invention is not limited to described above and be shown in figure
Particular step and structure.Also, the detailed description to known method technology for brevity, is omitted here.It is not departing from
In the case where the scope of the present invention to those skilled in the art, various changes and changes are possible in this application.It is all this
Made any modification-equivalent replacement-improvement etc., should be included in claims hereof within the spirit and principle of application
In range.
Claims (9)
1. a kind of three-axle table control method based on PMAC, which is characterized in that the described method includes:
Receive target position and the rate information of host computer output；
According to motor characteristic to be processed and motion mode, the address of I, P, Q, M to user open to PMAC motion control card becomes
Amount is configured, and generation executes instruction；
It receiving driver and sends actual feedback information, the actual feedback information is the real time rate of turntable, and, real time position
Data；
It is executed instruction according to described, and, actual feedback information is configured pid parameter.
2. the method according to claim 1, wherein the target position for receiving host computer output and rate are believed
The step foregoing description method of breath further include:
After device power starting, into upper computer software, system will read PMAC board each section status information automatically；
Such as encounter mistake automatic positioning and report barrier.
3. the method according to claim 1, wherein the target position for receiving host computer output and rate are believed
The step of breath includes:
Target position and the rate information for receiving host computer output, initialize the parameter of PMAC control card.
4. the method according to claim 1, wherein P, Q variable is as common variable, the assignment in operation
With transmission information；
Physical location, reason of the M for directly defining memory and I/O interface, by the read-write of M variable, to I/O interface and each axis
It is operated by position.
5. a kind of three-axle table control system based on PMAC, which is characterized in that the system comprises:
PMAC-PCI axis control card, driver, servo motor and, host computer；
PMAC-PCI axis control card drives servo motor to realize turntable designated position rate by control driver, and, sine wave,
The Angle Position of triangular wave different wave moves；
The target position and rate information that the host computer is used to above be conveyed into；
PMAC motion control card is used to receive target position and the rate information of host computer output in PMAC-PCI axis control card；
According to motor characteristic to be processed and motion mode, the address of I, P, Q, M to user open to PMAC motion control card becomes
Amount is configured, and generation executes instruction；
It receiving driver and sends actual feedback information, the actual feedback information is the real time rate of turntable, and, real time position
Data；
It is executed instruction according to described, and, actual feedback information is configured pid parameter.
6. system according to claim 5, which is characterized in that the system also includes: display screen；
The display screen is able to achieve for showing working condition, position and the rate information of turntable by pc control procedure
Control operation to turntable movement.
7. system according to claim 5, which is characterized in that when the display screen is also used to break down and alarm.
8. system according to claim 5, which is characterized in that the driver analog signal that driver is sent in the system
Pass through Accessory-8A with the code device signal that host computer is sent (to connect with PMAC-PCI axis control card.
9. system according to claim 5, which is characterized in that PMAC-PCI axis control card is arranged two-port RAM and programs realization
Emulation data high-speed reads and executees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811538829.1A CN109459064A (en) | 2018-12-17 | 2018-12-17 | A kind of three-axle table control method and system based on PMAC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811538829.1A CN109459064A (en) | 2018-12-17 | 2018-12-17 | A kind of three-axle table control method and system based on PMAC |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109459064A true CN109459064A (en) | 2019-03-12 |
Family
ID=65613410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811538829.1A Pending CN109459064A (en) | 2018-12-17 | 2018-12-17 | A kind of three-axle table control method and system based on PMAC |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109459064A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426678A (en) * | 2019-07-20 | 2019-11-08 | 中国船舶重工集团公司第七二四研究所 | The expansible servo-control system of two axis based on Q03UDECPU module |
| CN111399417A (en) * | 2020-03-27 | 2020-07-10 | 天津航天机电设备研究所 | Control device and control method of inertial navigation calibration equipment |
| CN112874810A (en) * | 2021-01-05 | 2021-06-01 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Triaxial revolving stage test system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101093392A (en) * | 2006-06-20 | 2007-12-26 | 大连创亿科技发展有限公司 | Digital control system controlled based on computer online or off line method, and operation method |
| CN101493700A (en) * | 2008-01-23 | 2009-07-29 | 唐军军 | Real time rotating platform control system |
| CN106873401A (en) * | 2015-12-13 | 2017-06-20 | 申久祝 | A kind of paint-spray robot control system based on PMAC |
| CN106918463A (en) * | 2015-12-28 | 2017-07-04 | 哈尔滨米米米业科技有限公司 | A kind of three axle sea wave simulation tilters based on PMAC |
| CN107976915A (en) * | 2017-11-24 | 2018-05-01 | 长光卫星技术有限公司 | A kind of small-sized unmanned plane semi-physical system and emulation mode |
| CN108614470A (en) * | 2016-12-10 | 2018-10-02 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of three-axle table control system based on PMAC |
-
2018
- 2018-12-17 CN CN201811538829.1A patent/CN109459064A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101093392A (en) * | 2006-06-20 | 2007-12-26 | 大连创亿科技发展有限公司 | Digital control system controlled based on computer online or off line method, and operation method |
| CN101493700A (en) * | 2008-01-23 | 2009-07-29 | 唐军军 | Real time rotating platform control system |
| CN106873401A (en) * | 2015-12-13 | 2017-06-20 | 申久祝 | A kind of paint-spray robot control system based on PMAC |
| CN106918463A (en) * | 2015-12-28 | 2017-07-04 | 哈尔滨米米米业科技有限公司 | A kind of three axle sea wave simulation tilters based on PMAC |
| CN108614470A (en) * | 2016-12-10 | 2018-10-02 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of three-axle table control system based on PMAC |
| CN107976915A (en) * | 2017-11-24 | 2018-05-01 | 长光卫星技术有限公司 | A kind of small-sized unmanned plane semi-physical system and emulation mode |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426678A (en) * | 2019-07-20 | 2019-11-08 | 中国船舶重工集团公司第七二四研究所 | The expansible servo-control system of two axis based on Q03UDECPU module |
| CN111399417A (en) * | 2020-03-27 | 2020-07-10 | 天津航天机电设备研究所 | Control device and control method of inertial navigation calibration equipment |
| CN112874810A (en) * | 2021-01-05 | 2021-06-01 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Triaxial revolving stage test system |
| CN112874810B (en) * | 2021-01-05 | 2023-12-26 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Triaxial revolving stage test system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5752008A (en) | Real-time process control simulation method and apparatus | |
| CN109459064A (en) | A kind of three-axle table control method and system based on PMAC | |
| CN105477854B (en) | Applied to the handle control method of intelligent terminal, apparatus and system | |
| CN103235518B (en) | Testing method and platform for photoelectric tracking stable system | |
| CN109729072A (en) | Communication protocol information processing method, device and electronic equipment | |
| JP2008170998A (en) | System and method for turbine control simulation | |
| US7957951B2 (en) | Address translation system for use in a simulation environment | |
| CN104133379A (en) | Simulation method for four-rotor aircraft | |
| CN109239481A (en) | Portable electric steering engine automated test device and method | |
| CN104598373A (en) | Embedded software testing method capable of realizing multi-technology fusion | |
| CN111814354B (en) | Simulation test method, system, medium and electronic device for instrument performance | |
| CN113454607A (en) | Debugging method and device and system on chip | |
| CN110377475A (en) | A kind of large scale memory read-write verification platform and its method based on UVM | |
| CN109189099B (en) | Graphical control configuration method of quad-rotor unmanned aerial vehicle | |
| CN112985867B (en) | Steering engine testing method, device, equipment and storage medium | |
| CN105958864A (en) | Ultrasonic motor control system and control method thereof | |
| CN111381513A (en) | Ultra-high-speed electromagnetic propulsion control semi-physical simulation system and simulation method | |
| CN113641381A (en) | DSP firmware remote upgrading device and method and industrial robot | |
| CN107943625A (en) | A kind of MCU test methods for simulating various communication interfaces | |
| CN106909762A (en) | A kind of method for designing of the visualization system for simulating aircraft | |
| CN116996429A (en) | Automatic test method, system, device, equipment and medium for communication instrument | |
| CN111695194A (en) | Embedded hardware-based unmanned helicopter flight control improved PSO algorithm verification method | |
| CN112416115A (en) | Method and equipment for man-machine interaction in control interaction interface | |
| CN102314185A (en) | Control method for advanced scannable two-dimensional rail observation (ASTRO) system | |
| CN112799965B (en) | Virtual debugging system and method for automation equipment software |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190312 |
|
| RJ01 | Rejection of invention patent application after publication |