CN109597390A - Motion control method, movement failure analysis methods and the Biochemical Analyzer of carrier - Google Patents
Motion control method, movement failure analysis methods and the Biochemical Analyzer of carrier Download PDFInfo
- Publication number
- CN109597390A CN109597390A CN201710923127.4A CN201710923127A CN109597390A CN 109597390 A CN109597390 A CN 109597390A CN 201710923127 A CN201710923127 A CN 201710923127A CN 109597390 A CN109597390 A CN 109597390A
- Authority
- CN
- China
- Prior art keywords
- carrier
- stepper motor
- control method
- speed
- motion control
- 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
- 230000033001 locomotion Effects 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004458 analytical method Methods 0.000 title claims abstract description 18
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 16
- 230000007423 decrease Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000012742 biochemical analysis Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The present invention relates to biochemical analysis technical fields, more particularly to a kind of Biochemical Analyzer and its motion control method and movement failure analysis methods of carrier.A kind of motion control method of carrier, the accommodating cavity for loaded reagent bottle or sample container is provided on the carrier, the carrier rotates under stepper motor driving, and the control method includes the following steps: to obtain the current revolving speed Y of the carrier when receiving carrier halt instruction；Every step speed of service X is determined according to the revolving speed Y that preset stepper motor stops step number N and current carrierM, wherein 0 < M≤N；According to every step speed of service XMThe stepper motor is controlled to stop.
Description
Technical field
The present invention relates to biochemical analysis technical fields, more particularly to the movement control of a kind of Biochemical Analyzer and its carrier
System and failure analysis methods.
Background technique
In the operation of automatic biochemistry analyzer complete machine, some special circumstances need emergent stopping, such as, 1) artificial point
Hit the emergent stopping of operation interface stop button；2) in automatic running, position or running state information are judged according to sensor,
Emergent stopping when automatic discovery operation troubles.
Usual automatic biochemistry analyzer is driven using stepper motor, the driver for stepper motor at present on the market
Two kinds of emergency stop modes are only provided: 1) cutting off potential energy, motor power-off freely stops；2) stop sending pulse, motor keeps electric current, tightly
Anxious locking stops.
Both modes have drawback to Biochemical Analyzer:
1) using when freely stopping, component biggish for inertia, such as rotation carrier, overshoot are slided farther out, position
Deviate uncontrollable, destroy position location relationship, larger interference is generated to subsequent accident analysis.
2) when being stopped using locking, impact noise is very big, for the component compared with large inertia, it is also possible to generate union piece
Blastic deformation or loosening.
Summary of the invention
Based on this, it is necessary to for current the problems of the two kinds of shutdown modes of Biochemical Analyzer, provide a kind of energy
Enough slow reductions of speed shut down the motion control method apart from controllable carrier, and the fortune realized based on above-mentioned motion control method
Dynamic failure analysis methods, and can be realized the motion control method of above-mentioned carrier and the biochemistry point of movement failure analysis methods
Analyzer.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of motion control method of carrier is provided on the carrier for loaded reagent bottle or sample container
Accommodating cavity, the carrier rotate under stepper motor driving, and the control method includes the following steps:
The current revolving speed Y of the carrier is obtained when receiving carrier halt instruction；
Every step speed of service X is determined according to the revolving speed Y that preset stepper motor stops step number N and current carrierM,
In 0 < M≤N；
According to every step speed of service XM；
The stepper motor is controlled to stop.
Every step speed of service X in one of the embodiments,MLinearly successively decrease.
It is described according to every step speed of service X in one of the embodiments,MIt controls the stepper motor and stops step
Specifically comprise the following steps:
According to every step speed of service XMGenerate the driving pulse frequency f for driving the every step operation of the stepper motorM。
It is described in one of the embodiments, to obtain the current revolving speed of the carrier when receiving carrier halt instruction
The step of Y, specifically includes step:
The stepper motor current driving pulse frequency f is read when carrier halt instruction receiving；
The current revolving speed Y of the carrier is calculated according to the current driving pulse frequency f of the stepper motor.
In one of the embodiments, as every step speed of service XMWhen for linear decrease, run according to every step
Speed XMGenerate the driving pulse frequency f that driving stepper motor runs every stepM=f* (N+1-M)/(N+1).
The carrier halt instruction includes that carrier failure is automatically stopped instruction and carrying in one of the embodiments,
The artificial halt instruction of disk.
It is used according to the rotation of the carrier to stop step number N for the preset stepper motor in one of the embodiments,
Amount, maximum (top) speed and the setting of stepper motor maximum moment.
The present invention also provides a kind of movement failure analysis methods of carrier, the failure analysis methods include following step
It is rapid:
When movement failure occurs for carrier, run the carrier to stopping according to above-mentioned motion control method；
After carrier stopping, control stepper motor drives the carrier to turn to predeterminated position；
Record stepper motor drives the carrier to turn to the reset step number P that predeterminated position is run；
Stop step number N according to the reset step number P and preset stepper motor, determines that movement failure occurs for the carrier
When more specific location information.
The predeterminated position is the initial position of the stepper motor in one of the embodiments,.
The present invention also provides a kind of Biochemical Analyzers, comprising:
With the carrier of stepper motor transmission connection, the carrier rotates under stepper motor driving；
Memory, for storing computer program；
Processor realizes the motion control method or failure point of above-mentioned carrier for executing the computer program
The step of analysis method.
The beneficial effects of the present invention are:
The motion control method of carrier of the present invention stops step number by default stepper motor, when control system is being stopped
According to the slow reduction of speed of preset stopping step number to stopping after only instructing, keep the range ability in stopping process controllable, brake force is small,
It is small to driving and transmission component impact, noise is reduced, safety and service life all increase.
Meanwhile it can be combined with reset process using above-mentioned motion control method and fast and accurately searching out generation event
The movement node of barrier or position, convenient for analyzing the reason of generating failure.
Detailed description of the invention
Fig. 1 is the control flow chart of the motion control method of carrier of the present invention；
Fig. 2 is a kind of flow chart of embodiment of motion control method of carrier of the present invention；
Fig. 3 is the structural schematic diagram of Biochemical Analyzer of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, by the following examples, it and combines attached
Figure, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, it is not intended to limit the present invention.
The motion control method of rotation carrier provided by the invention is directed to the biochemical analysis with rotation carrier
Instrument is provided with the accommodating cavity for loaded reagent bottle or sample container on carrier, and carrier rotates under stepper motor driving,
The reagent bottle placed in accommodating cavity or sample container are transported at corresponding position by the rotation by controlling carrier, make biochemistry
Reagent needle or sampling needle on analyzer can draw reagent or sample from reagent bottle or sample container, and reagent or sample are turned
Shifting, which is injected into reaction cup, carries out response analysis.
As shown in Figure 1, the motion control method of carrier of the present invention includes the method for controlling stopping to carrier, for pair
The stopped process of carrier is controlled, and method for controlling stopping includes the following steps:
S100: the current revolving speed Y of carrier is obtained when receiving carrier halt instruction；
S200: every step speed of service is determined according to the revolving speed Y that preset stepper motor stops step number N and current carrier
XM, wherein 0 < M≤N；
S300: according to every step speed of service XMStepper motor is controlled to stop.
Stop step number N dependent on preset stepper motor in the implementation of motion control method of the invention, it is possible to understand that
It is that N is greater than 0 (the case where as locking stops as N=0).No matter current rotating speed Y of the carrier when obtaining halt instruction is
How much, stepper motor all can control carrier according to preset stopping step number N and gradually be decelerated to stopping, being decelerated to and stop in carrier
During only, stepper motor is moved under the instruction of driving control signal always, is being decelerated to stopping as stepper motor
Every step needs the speed for driving carrier to run is how many in the process, works as forward when needing to receive halt instruction according to carrier
Fast Y and preset stepper motor stop step number N and combine determination.The speed of service of every step can be to be also possible to by calculating
The value of the experience setting of technical staff.
Wherein, the speed of service X that stepper motor stops every step in step number N is reasonably distributedM, carrier can be enable to compare
More stable reduction of speed is to stopping, as a preferred embodiment, every step speed of service XMFor linear decrease, i.e., adjacent two
Walk speed of service XMDifference be it is identical.
As another optional embodiment, the speed of service of each step, every step speed of service X can be presetMIt can also
Think that decreases in non-linear, such as the difference of adjacent two steps speed of service X are gradually increased.
Since the drive control to stepper motor is realized by applying the pulse signal of certain frequency, for step
S300 is according to every step speed of service XMThe stepper motor stopping is controlled to specifically refer to:
According to every step speed of service XMGenerate the driving pulse frequency f of the every step operation of driving stepper motorM。
That is, when obtaining every step speed of service X by calculatingMAfterwards, so that it may generate the every step fortune of driving stepper motor
Capable driving pulse frequency fM, the drive control device of stepper motor according to generation driving pulse frequency control stepper motor fortune
It is dynamic.
Carrier current revolving speed Y is obtained when specifically, receiving carrier halt instruction in step s 200 to specifically refer to:
The current driving pulse frequency f of stepper motor is read when receiving carrier halt instruction；
The current revolving speed Y of carrier is calculated according to the current driving pulse frequency f of stepper motor.
Since the driving speed of stepper motor and the driving pulse frequency of acquisition are related, then when need to obtain carrier and
When the velocity of rotation Y of stepper motor, current revolving speed Y can be conversed by the current driving pulse frequency f of stepper motor.Tool
Body, current rotating speed Y is positively correlated with current PRF frequency f.For determining stepper motor, current rotating speed Y and current
The corresponding relationship of pulse frequency f is certain.
As shown in Fig. 2, with every step speed of service XMFor linear decrease, to carrier motion control side of the invention
Method is described in detail.When carrier receives halt instruction, the driving pulse frequency f of current stepper motor is read；The step
It sets operation N into motor to walk to stopping, current step number M=1, every step speed of service is XM；It is run according to every step of linear decrease
Speed XMThe driving pulse frequency f that driving stepper motor runs every step is generated with preset stopping step number NM=f* (N+1-M)/(N+
1).Since stepper motor walk receiving halt instruction to the complete operation N altogether that stops, and the driving pulse frequency of the first step of operation is
f1=f*N/ (N+1), the driving pulse frequency of second step are f2The drive of=f* (N-1)/(N+1) ... ... N step (final step)
Moving pulse frequency is fN=f*1/ (N+1).As can be seen that per the driving pulse frequency difference between adjacent two step be it is identical,
It is all f*1/ (N+1) that the generation comparison for calculation methods of driving frequency is simple.
Specifically, carrier halt instruction includes that carrier failure is automatically stopped instruction and the artificial halt instruction of carrier.
The generation that wherein failure is automatically stopped instruction is potentially based on but is not limited to following fault condition: 1) reagent needle is in reagent carrier
Collision caused by deviations；2) reagent needle caused by reagent carrier self poisoning deviation collides；3) reagent bottle is not put into position,
Scratch clamping stagnation step-out or collision；4) passage when putting reagent bottle, caused step-out or collision；5) reagent carrier disk cover is not put well,
Scratch clamping stagnation step-out or collision；6) step-out caused by driving belt loosens；7) step-out caused by the loosening of drive pulley；8) motor
Wire rod loosens, the failures such as corrosion, caused alarm step-out；9) sensor wire loosens, corrosion, the failures such as dust, caused report
Alert step-out；10) matte collision displacement, collision displacement of sensor etc., caused position deviation, collision；11) pine of transmission shaft
It is dynamic, abrasion, corrosion etc., caused clamping stagnation step-out.
Specifically, after Biochemical Analyzer monitors artificial halt instruction preset trigger event, then the instruction is executed.
Wherein, artificial halt instruction can be with are as follows: operation that default physical button is clicked, default entity button is rotated to it is specified
Position, the operation that virtual key on default interface is clicked, it is not limited here.
For the carrier in the different bearer disk in same Biochemical Analyzer, or Biochemical Analyzer not of the same race, use
It may also be different in the preset stopping step number N of stepper motor of driving carrier, specifically, can be turned according to carrier
Dynamic inertia, maximum (top) speed and stepper motor maximum moment are set.Or according to the rotary inertia of carrier, maximum (top) speed and
Stepper motor maximum moment obtains big probable value after COMPREHENSIVE CALCULATING, using actual test, verifies noise and overshoot step-out feelings
Condition, then it is modified determination.
Based on above motion control method, the present invention also provides a kind of movement failure analysis methods for rotating carrier,
Include the following steps:
When carrier occur movement failure when, make carrier according to the motion control method in above embodiment run to
Stop；
After carrier stopping, control stepper motor driving carrier turns to predeterminated position；
Record stepper motor driving carrier turns to the reset step number P that predeterminated position is run；
Compare and resets step number P and preset stepper motor and stop step number N, it is specific when movement failure occurs for analysis carrier
Location information.
Since the stopping step number N of stepper motor is default step number, that is to say, that position when carrier breaks down with stop
The distance that position difference when only is run by stepper motor operation N step carrier, then default by turning to carrier
Position simultaneously records the reset step number P of stepper motor operation, so that it may the anti-position released when carrier stops, and then counter push away
Position when carrier breaks down out.Location information when being broken down by analyzing carrier, to the investigation of failure and
Very big help is played in maintenance.
Wherein, when the rotation direction of carrier to predeterminated position is identical as the rotation direction when stopping of carrier, from
It is exactly the position for issuing halt instruction that the coordinate position of predeterminated position, which subtracts reset step number P and stops the coordinate position of step number N,；When
When the rotation direction of carrier to predeterminated position is opposite with the rotation direction when stopping of carrier, from the coordinate bit of predeterminated position
It sets after subtracting reset step number P along with the coordinate position for stopping step number N is exactly the position for issuing halt instruction.
Step number is resetted for the ease of record, it can be using the initial position of stepper motor as predeterminated position.
The present invention also provides a kind of Biochemical Analyzer, the Biochemical Analyzer referring to provided by Fig. 3 embodiment of the present invention
Structural block diagram, the Biochemical Analyzer specifically include:
Memory 1, for storing computer program；
Processor 2 realizes the motion control method or failure point of above-mentioned carrier for executing the computer program
The step of analysis method.
It is understood that the Biochemical Analyzer can also include: that display 3 and above-mentioned be driven with stepper motor 4 connect
The rotation carrier 5 connect, display 3 are used to show the human-computer interaction interface for receiving input instruction.
It is understood that the function of each functional module of the Biochemical Analyzer of the present embodiment can be implemented according to the above method
Method specific implementation in example, specific implementation process are referred to the associated description of above method embodiment, no longer superfluous herein
It states.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only
Memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or skill
In any other form of storage medium well known in art field.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of motion control method of carrier, the appearance for loaded reagent bottle or sample container is provided on the carrier
Chamber is set, the carrier rotates under stepper motor driving, which is characterized in that described method includes following steps:
The current revolving speed Y of the carrier is obtained when receiving carrier halt instruction；
Every step speed of service X is determined according to the revolving speed Y that preset stepper motor stops step number N and current carrierM, wherein 0 < M
≤N；
According to every step speed of service XMThe stepper motor is controlled to stop.
2. motion control method according to claim 1, which is characterized in that every step speed of service XMLinearly successively decrease.
3. motion control method according to claim 1, which is characterized in that described according to every step speed of service XMControl
The stepper motor stopping step being made to specifically comprise the following steps:
According to every step speed of service XMGenerate the driving pulse frequency f for driving the every step operation of the stepper motorM。
4. motion control method according to claim 1-3, which is characterized in that described to receive carrier stopping
The step of carrier current revolving speed Y is obtained when instruction specifically includes step:
The stepper motor current driving pulse frequency f is read when carrier halt instruction receiving；
The current revolving speed Y of the carrier is calculated according to the current driving pulse frequency f of the stepper motor.
5. motion control method according to claim 4, which is characterized in that as every step speed of service XMLinearly to pass
When subtracting, according to every step speed of service XMGenerate the driving pulse frequency f that driving stepper motor runs every stepM=f* (N+1-
M)/(N+1)。
6. motion control method according to claim 1, which is characterized in that the carrier halt instruction includes carrier
Failure is automatically stopped instruction and the artificial halt instruction of carrier.
7. motion control method according to claim 1, which is characterized in that the preset stepper motor stops step number N
It is set according to the rotary inertia of the carrier, maximum (top) speed and stepper motor maximum moment.
8. a kind of movement failure analysis methods of carrier, which is characterized in that the failure analysis methods include the following steps:
When movement failure occurs for carrier, make the carrier according to any one of claim 1 to 7 motion control method
Operation extremely stops；
After carrier stopping, control stepper motor drives the carrier to turn to predeterminated position；
Record stepper motor drives the carrier to turn to the reset step number P that predeterminated position is run；
Stop step number N according to the reset step number P and preset stepper motor, determines when movement failure occurs for the carrier
More specific location information.
9. movement failure analysis methods according to claim 8, which is characterized in that the predeterminated position is the stepping electricity
The initial position of machine.
10. a kind of Biochemical Analyzer characterized by comprising
With the carrier of stepper motor transmission connection, the carrier rotates under stepper motor driving；
Memory, for storing computer program；
Processor, for executing the computer program to realize the movement of carrier as described in any one of claim 1 to 9
The step of control method or failure analysis methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710923127.4A CN109597390A (en) | 2017-09-30 | 2017-09-30 | Motion control method, movement failure analysis methods and the Biochemical Analyzer of carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710923127.4A CN109597390A (en) | 2017-09-30 | 2017-09-30 | Motion control method, movement failure analysis methods and the Biochemical Analyzer of carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109597390A true CN109597390A (en) | 2019-04-09 |
Family
ID=65956681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710923127.4A Pending CN109597390A (en) | 2017-09-30 | 2017-09-30 | Motion control method, movement failure analysis methods and the Biochemical Analyzer of carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109597390A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1485977A (en) * | 2002-09-24 | 2004-03-31 | 力捷电脑股份有限公司 | Method and apparatus for controlling linear acceleration and deceleration of step motor |
| CN1900855A (en) * | 2005-07-22 | 2007-01-24 | 上海瑞华(集团)有限公司 | Numerical value processing method of self adaption brake controller |
| CN102164288A (en) * | 2011-02-25 | 2011-08-24 | 杭州海康威视数字技术股份有限公司 | Camera and method for switching color mode of camera |
| CN102314115A (en) * | 2010-07-02 | 2012-01-11 | 佳能株式会社 | Image forming apparatus that performs image formation using different types of driving forces in combination |
| CN202710575U (en) * | 2012-07-31 | 2013-01-30 | 江苏雷奥生物科技有限公司 | Biomedical detection device |
| CN105509762A (en) * | 2014-09-30 | 2016-04-20 | 深圳市冠旭电子有限公司 | Step counting method and device based on three axis accelerometer |
| CN107070327A (en) * | 2017-03-29 | 2017-08-18 | 深圳怡化电脑股份有限公司 | A kind of method for controlling stepping motor and device |
-
2017
- 2017-09-30 CN CN201710923127.4A patent/CN109597390A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1485977A (en) * | 2002-09-24 | 2004-03-31 | 力捷电脑股份有限公司 | Method and apparatus for controlling linear acceleration and deceleration of step motor |
| CN1900855A (en) * | 2005-07-22 | 2007-01-24 | 上海瑞华(集团)有限公司 | Numerical value processing method of self adaption brake controller |
| CN102314115A (en) * | 2010-07-02 | 2012-01-11 | 佳能株式会社 | Image forming apparatus that performs image formation using different types of driving forces in combination |
| CN102164288A (en) * | 2011-02-25 | 2011-08-24 | 杭州海康威视数字技术股份有限公司 | Camera and method for switching color mode of camera |
| CN202710575U (en) * | 2012-07-31 | 2013-01-30 | 江苏雷奥生物科技有限公司 | Biomedical detection device |
| CN105509762A (en) * | 2014-09-30 | 2016-04-20 | 深圳市冠旭电子有限公司 | Step counting method and device based on three axis accelerometer |
| CN107070327A (en) * | 2017-03-29 | 2017-08-18 | 深圳怡化电脑股份有限公司 | A kind of method for controlling stepping motor and device |
Non-Patent Citations (1)
| Title |
|---|
| 黄凯征: "全自动生化分析仪电机控制系统的研究与设计", 《万方数据库》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3779184B1 (en) | Yaw control method, device and system for wind turbine | |
| CN104458503B (en) | A kind of Hemostasis examination instrument | |
| US9274516B2 (en) | Collision detection method for a drive unit | |
| US10409261B2 (en) | Method for monitoring a machine tool | |
| CN109687782B (en) | Control device and control system of stepping motor | |
| JPH02282970A (en) | Mechanical detection of contact in control system | |
| CN101721937B (en) | Stirring system and working method thereof | |
| CN109597390A (en) | Motion control method, movement failure analysis methods and the Biochemical Analyzer of carrier | |
| CN113942394B (en) | Range extender abnormality monitoring method and device and electronic equipment | |
| JP2019070553A (en) | Autoanalyzer and operation amount correction method | |
| US5504571A (en) | Run-out velocity acceleration tester with direct velocity measurement | |
| CN106066408B (en) | The three level wheel speed sensors based on brake process test System and method for | |
| CN117169798A (en) | Device and method for detecting potentiometer performance of electric actuating mechanism | |
| JP6245848B2 (en) | Automatic analyzer | |
| US11835420B2 (en) | Method and device for diagnosing a robot | |
| CN111858305B (en) | Instrument fault online diagnosis method and device | |
| JP2012121553A (en) | Control effect health capability determination reasoning system and method | |
| CN206369742U (en) | Full-automatic chemiluminescence immunoassay analysis meter changes reagent control system online | |
| JP2001004635A (en) | Automatic analyzer | |
| CN117393342B (en) | Smooth anti-shake rotation operating mechanism, electric power inspection machine and control method | |
| CN112099473B (en) | Test method, device, equipment and storage medium | |
| JP6069935B2 (en) | Failure diagnosis support apparatus, failure diagnosis support method, and failure diagnosis support program | |
| JP2948830B2 (en) | Spindle motor control method | |
| CN113125506B (en) | Grating scale, diagnosis method and system of magnetic grating scale and storage medium | |
| US20240126240A1 (en) | Numerical controller and computer readable storage medium |
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: 20190409 |
|
| RJ01 | Rejection of invention patent application after publication |