CN110281773A - A kind of pure electric coach high-pressure system method for diagnosing faults - Google Patents
A kind of pure electric coach high-pressure system method for diagnosing faults Download PDFInfo
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- CN110281773A CN110281773A CN201910306768.4A CN201910306768A CN110281773A CN 110281773 A CN110281773 A CN 110281773A CN 201910306768 A CN201910306768 A CN 201910306768A CN 110281773 A CN110281773 A CN 110281773A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 11
- 238000004378 air conditioning Methods 0.000 claims abstract description 8
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of pure electric coach high-pressure system method for diagnosing faults, the pure electric coach high-pressure system is made of power battery, BMS high-voltage acquisition module, four-in-one electric machine controller and motor, air-conditioning, oil pump, air pump, DCDC and battery；Power battery model includes SOC, end voltage, internal resistance and Pack module；High-voltage board model be the negative contactor of simulated battery master and the contactor movement executing agency, complete to from entire car controller closure and open command the negative contactor of battery master is controlled；Four-in-one electric machine controller is simulation preliminary filling contactor, main motor contactor, auxiliary preliminary filling and auxiliary contactor, comprising above-described contactor movement executing agency, complete to from entire car controller closure and open command above-mentioned contactor is controlled.
Description
Technical field:
The present invention relates to a kind of pure electric coach high-pressure system method for diagnosing faults, and it is high to belong to new energy pure electric coach
Press system fault diagnosis field.
Background technique:
Pure electric coach have environmental protection, low noise, economy, the advantage easily maintained and be used widely, develop at present pure
Electric motor coach industry has been the vehicles favored in the common recognition and civilized city's construction of various regions government and automobile industry.
For traditional car, the power battery, high voltage connector, high pressure that pure electric coach uses large capacity are driven
The electrical systems such as dynamic motor, caused by the system failure be different from traditional car completely.And high-voltage board (high-tension battery power distribution cabinet)
And four-in-one (DCDC, DCAC oil pump, DCAC air pump, vehicle high voltage power distribution) is as portion important in pure electric coach high-pressure system
Part is the interface of power battery and electrical equipment, is the core of vehicle high voltage electric management.High-voltage board and four-in-one are according to vehicle
The power-on and power-off instruction that controller issues carries out closing or opening behaviour to high voltage connector with defined sequence and time limit value
Make.However high-tension circuit design is unreasonable or type selecting mismatches, it would be possible to contactor closing or opening moment be caused to generate
Voltage, current over pulse damage contactor and electrical equipment to influence the security performance of vehicle and cause personal safety when serious
With the loss of property, gently then increase the cost of replacement components.Therefore, before lectotype selection and real vehicle cloth circuits, to whole
It is particularly significant that a high-tension circuit and load circuit carry out fault diagnosis analog simulation.
Summary of the invention:
The prior art is being no more than 650V, and load in real vehicle operational process, in power battery output voltage grade
Work is not had started, theoretical current closure main negative contactor moment, can be generated close in the case where 0A in high-voltage board output end
The overshoot voltage of 1000V or more, and the overshoot current of dozens of Ann is generated, the duration is greater than 5us, connects to will lead to damage
Tentaculum and electrical equipment, to influence the security performance of vehicle.The present invention can reappear live voltage electricity on the basis of emulation
Overshooting problem is flowed, and proposes the method for solving the above technical problem.
The technical solution adopted in the present invention has: a kind of pure electric coach high-pressure system method for diagnosing faults, the pure electricity
Car high-pressure system is moved by power battery, BMS high-voltage acquisition module, four-in-one electric machine controller and motor, air-conditioning, oil pump, gas
Pump, DCDC and battery composition；Power battery model includes SOC, end voltage, internal resistance and Pack module；High-voltage board model is mould
The executing agency of the quasi- negative contactor of battery master and contactor movement, completion refer to the closure from entire car controller with disconnection
Order controls the negative contactor of battery master；Four-in-one electric machine controller is simulation preliminary filling contactor, main motor contactor, auxiliary
Preliminary filling and auxiliary contactor, the executing agency comprising the movement of above-described contactor, completion are closed to from entire car controller
It closes and open command controls above-mentioned contactor；Steps are as follows:
(1) powers on process, and each contactor that simulation entire car controller issues powers on instruction；
(2) electric current journey under simulates electricity instruction under each contactor that entire car controller issues；
(3) is analyzed in upward and downward electric process, each contactor closing or opening moment power battery output end voltage electric current, height
Press cabinet output end voltage electric current, motor preliminary filling contactor and motor contactor rear end voltage and current, auxiliary preliminary filling and auxiliary contact
Device rear end voltage and current situation of change；
(4) simulates electricity instruction under each contactor that entire car controller issues, and observes observation point voltage and current same as above
Situation of change；
(5) is powered on and lower electric current journey in the mode of the negative contactor both ends parallel connection preliminary filling resistance of battery master according to above-mentioned, weight
Each contactor open and close moment is newly observed, the upper observation point voltage and current situation of change.
Further, pure electric coach high-pressure system circuit equivalent is two-port network, wherein R, L are respectively route etc.
Resistance, reactance are imitated, C is the equivalent capacity of Y capacitance, direct-to-ground capacitance etc., and R, L, C are positive value, and Ui is input voltage, is closed main negative
Ui becomes battery terminal voltage from zero when contactor, and i is line current, and Uo is output voltage；
By basic principle of circuit it is found that there is following corresponding relationship:
Output voltage Uo, which can be obtained, by formula (1) following transmission function form:
Formula (3) is the second-order system form of standard, damping ratio ξ, the natural frequency ω of the systemn:
By (1) formula it can be concluded that the transmission function of current-responsive is as follows:
The invention has the following beneficial effects: the present invention by way of increasing main negative contactor both ends preliminary filling resistance, both
Voltage overshoot can be reduced, while reducing current overshoot, improves pure electric coach high-voltage circuit system security reliability；In addition,
Mode of the program based on emulation has built pure electric coach high-pressure system circuit diagram, is accurately reappearing voltage in real vehicle, electricity
Under the premise of flowing overshooting problem, the optimization and emulation experiment on artificial circuit are carried out, for specification supplier products electric property
Theoretical foundation is provided, also provides functional verification early period for the replacement of equipment.
Detailed description of the invention:
Fig. 1 is pure electric coach high-pressure system structure chart of the present invention.
Fig. 2 is the pure electric coach high-pressure system circuit diagram built based on simulation software.
Fig. 3 is pure electric coach high-pressure system equivalent two port figure.
Fig. 4 is the four-in-one detailed circuit diagram built based on simulation software.
Fig. 5 is to power on control flow chart.
Fig. 6 is lower electric control flow chart.
Fig. 7 is high-voltage board circuit optimization circuit diagram.
Fig. 8 is four-in-one input terminal voltage, current waveform before optimizing.
Fig. 9 is excellent rear preceding four-in-one input terminal voltage, current waveform.
Specific embodiment:
The present invention will be further described below with reference to the drawings.
In pure electric coach, high-voltage board and four-in-one receive the power-on and power-off instruction that entire car controller is sent, to high pressure
Contactor in system carries out closing or opening operation with defined sequence and time limit value, to meet electric machine controller, electricity
Machine, the power supply of auxiliary equipment and power-off demand, therefore the reliability of its power supply circuit is directly related to vehicle security energy.
Fig. 1 is pure electric coach high-pressure system structure chart.The system is closed by power battery, BMS high-voltage acquisition module, four
One, electric machine controller and motor, air-conditioning, oil pump, air pump, DCDC and battery, other load compositions.Fig. 2 is soft based on emulating
The pure electric coach high-pressure system circuit diagram corresponding with Fig. 1 that part is put up, power battery model include SOC, end voltage, internal resistance
And Pack module, it being capable of the quasi stationary cell voltage of mould；High-voltage board model is the negative contactor of simulated battery master and the contactor
The executing agency of movement, complete to from entire car controller closure and open command the negative contactor of battery master is controlled；
Four-in-one model is simulation preliminary filling contactor, main motor contactor, auxiliary preliminary filling and auxiliary contactor, is connect comprising above-described
Tentaculum movement executing agency, complete to from entire car controller closure and open command above-mentioned contactor is controlled；
MCU+ motor, air-conditioning, oil pump, air pump, DCDC+ battery, other loads are required for electric loading.
For convenience of theory analysis, Fig. 3 is two-port network pure electric coach high-pressure system circuit equivalent represented by Fig. 2
(second-order system).Wherein, R, L are respectively line equivalent resistance, reactance, and C is the equivalent capacity of Y capacitance, direct-to-ground capacitance etc., R, L,
C is positive value.Ui is input voltage, and Ui becomes battery terminal voltage from zero when being closed main negative contactor, and i is line current, and Uo is
Output voltage.
By basic principle of circuit it is found that there is following corresponding relationship:
Output voltage Uo, which can be obtained, by formula (1) following transmission function form:
Formula (3) is the second-order system form of standard, damping ratio ξ, the natural frequency ω of the systemn:
By (1) formula it can be concluded that the transmission function of current-responsive is as follows:
According to formula (1)~(6) theory analysis, parameter R, L, C is explained in detail to the two-port network voltage, electricity in table 1
The influence of stream peak value.By table 1, it can be seen that, voltage overshoot can be effectively reduced by increasing capacitor C, but current overshoot amount can become larger；
Increasing inductance L can be effectively reduced current overshoot, but voltage overshoot can be got higher；Only increase resistance R in a certain range, both may be used
To reduce voltage overshoot, while reducing current overshoot.Therefore, the method for increasing preliminary filling resistance can be used, realizing reduces voltage/electricity
Flow the purpose of overshoot.
1 voltage/current peak value of table and R, L, C value relationship
Process is powered on according to shown in fig. 5, each contactor that simulation entire car controller issues powers on instruction, observes in Fig. 2
The situation of change of 2~label of label 9 in label 1, Fig. 4；According to lower electric current journey shown in fig. 6, simulate what entire car controller issued
Electricity instruction under each contactor, observe label 1 in Fig. 2, in Fig. 4 2~label of label 9 situation of change.Analyze upward and downward electric process
In, each contactor closing or opening moment power battery output end voltage electric current, high-voltage board output end (i.e. four-in-one input terminal)
Voltage and current, motor preliminary filling contactor and motor contactor rear end voltage and current, auxiliary preliminary filling and auxiliary contactor rear end voltage
Curent change situation.
According to lower electric current journey shown in fig. 6, electricity instruction under each contactor that entire car controller issues is simulated, observation is same as above institute
The observation point voltage and current situation of change stated.
According to optimization method shown in Fig. 7, in the mode of the negative contactor both ends parallel connection preliminary filling resistance of battery master, according to above-mentioned
It powers on and lower electric current journey, observes each contactor open and close moment again, the upper observation point voltage and current situation of change.
Optimization method shown in Fig. 7, the negative contactor both ends parallel connection preliminary filling resistance sizes of battery master can the progress of contrast simulation effect
Value, until being optimal state.
By comparing each contactor closing or opening transient voltage curent change situation in optimization front and back, reasonable circuit is found
Topology and parameter value, prevent equipment damage caused by voltage, current over pulse, it is ensured that the security reliability of circuit.
Build power battery model, the model can simulated battery amount of monomer, SOC, have stable 579.6V voltage
Output；Build BMS high-voltage acquisition modular model, this part be respectively 1K Ω resistance of the battery just between ground and 10pF capacitor simultaneously
It is composed in series again with 4M Ω resistance after connection.The negative circuit ground between of battery is identical, battery just with it is negative between be 1K Ω resistance and
The circuit being composed in series again with 6M Ω resistance after 10pF capacitor is in parallel.
Build quadruple circuit, this part include Y capacitance branch, electric machine controller branch, air-conditioning branch, oil pump branch,
The composition such as air pump branch, DC/DC branch: the capacitance of the Y capacitance of Y capacitance branch is 100nF；Electric machine controller branch routes main motor
Contactor, preliminary filling contactor and preliminary filling resistance, DC/AC circuit composition, 100 Ω of preliminary filling resistance；Air-conditioning, oil pump branch, air pump branch
Road electric topology is identical, is made of auxiliary contactor, preliminary filling contactor and preliminary filling resistance, DC/AC circuit；The routing of DC/DC branch is auxiliary
The composition such as part contactor, DC/DC circuit.
Motor load indicated using three-phase RLC load, work exchange line voltage 380V, working frequency 50Hz, power
200Kw；Air conditioner load is using three-phase RLC load expression, work exchange line voltage 380V, working frequency 50Hz, power 11Kw；Oil
Pump, air pump indicate that power is 3Kw using three-phase RLC load；Battery voltage rating 24V, rated capacity 100Ah.
About 0.1 Ω of conducting wire equivalent resistance between power battery and four-in-one input terminal, reactance about 3.2uF；Main motor contact
Conducting wire equivalent resistance about 0.067 Ω, reactance about 0.5uF between device and MCU load；Conducting wire between air conditioning contact and air conditioner load
Equivalent resistance about 0.067 Ω, reactance about 0.5uF.Simulation step length 0.1us.
Based on model above, it is as shown in Figure 2 to build pure electric coach high-pressure system circuit diagram.
Process or lower electric current journey shown in fig. 6 are powered on according to shown in fig. 5, builds each contactor control signal model.
Label 1, the setting of 2~label of label 9 observation oscillograph in Fig. 4 in Fig. 2.
Moving model observes each observation point voltage, current waveform.With power up Fig. 8 four-in-one input terminal voltage electric current
For waveform, negative contactor closure moment is led as the result is shown, four-in-one input terminal voltage current over pulse is serious, and voltage peak reaches
1100V, electric current fluctuation range above or below 0A is -60A~70A；Preliminary filling contactor is closed moment, and four-in-one input terminal voltage is steady
Definite value 579.6V nearby has the fluctuation of upper and lower 30V or so, current fluctuation range 0A~20A；Closure moment, voltage fluctuation are connect main
Range is smaller, and current fluctuation range is -2A~8A；It is closed moment in auxiliary, scope range of the fluctuation of voltage is 564V~591V, current wave
Dynamic range is -4A~16A.
According to optimization circuit shown in Fig. 7, in the negative contactor both ends parallel connection preliminary filling resistance of master, 100 Ω of preliminary filling resistance value.
Moving model observes each observation point voltage, current waveform.With power up Fig. 9 four-in-one input terminal voltage electric current
For waveform, negative contactor closure moment is led as the result is shown, four-in-one input terminal voltage is by original fluctuation range 0V~1100V
(a reference value 579.6Vdc) drops to 500V~640V, and current fluctuation range is dropped near 0A by original -60A~70A,
Other contactor respective closed moments, four-in-one input terminal voltage current over pulse are also effectively suppressed.
Based on the program, can also analyze in upward and downward electric process, each contactor in addition to four-in-one input terminal closure or
It is pre- to disconnect moment power battery output end voltage electric current, motor preliminary filling contactor and motor contactor rear end voltage and current, auxiliary
It fills and auxiliary contactor rear end voltage and current situation of change.Simulation result shows that observation point voltage and current overshoot all obtains effectively
Inhibit.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (2)
1. a kind of pure electric coach high-pressure system method for diagnosing faults, the pure electric coach high-pressure system is by power battery, BMS
High-voltage acquisition module, four-in-one electric machine controller and motor, air-conditioning, oil pump, air pump, DCDC and battery composition；Power battery
Model includes SOC, end voltage, internal resistance and Pack module；High-voltage board model is the negative contactor of simulated battery master and the contactor
The executing agency of movement, complete to from entire car controller closure and open command the negative contactor of battery master is controlled；
Four-in-one electric machine controller is simulation preliminary filling contactor, main motor contactor, auxiliary preliminary filling and auxiliary contactor, includes the above institute
State contactor movement executing agency, complete to from entire car controller closure and open command to above-mentioned contactor carry out
Control；It is characterized by: steps are as follows:
(1) powers on process, and each contactor that simulation entire car controller issues powers on instruction；
(2) electric current journey under simulates electricity instruction under each contactor that entire car controller issues；
(3) is analyzed in upward and downward electric process, each contactor closing or opening moment power battery output end voltage electric current, high-voltage board
After output end voltage electric current, motor preliminary filling contactor and motor contactor rear end voltage and current, auxiliary preliminary filling and auxiliary contactor
Hold voltage and current situation of change；
(4) simulates electricity instruction under each contactor that entire car controller issues, and observes observation point voltage and current variation same as above
Situation；
(5) is powered on and lower electric current journey according to above-mentioned, is seen again in the mode of the negative contactor both ends parallel connection preliminary filling resistance of battery master
It surveys each contactor open and close moment, the upper observation point voltage and current situation of change.
2. pure electric coach high-pressure system method for diagnosing faults as described in claim 1, it is characterised in that: pure electric coach is high
Pressure circuit system is equivalent to two-port network, wherein R, L are respectively line equivalent resistance, reactance, and C is Y capacitance, direct-to-ground capacitance
Deng equivalent capacity, R, L, C are positive value, and Ui is input voltage, and Ui becomes battery terminal voltage from zero when being closed main negative contactor,
I is line current, and Uo is output voltage；
By basic principle of circuit it is found that there is following corresponding relationship:
Output voltage Uo, which can be obtained, by formula (1) following transmission function form:
Formula (3) is the second-order system form of standard, damping ratio ξ, the natural frequency ω of the systemn:
By (1) formula it can be concluded that the transmission function of current-responsive is as follows:
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| CN201910306768.4A CN110281773A (en) | 2019-04-17 | 2019-04-17 | A kind of pure electric coach high-pressure system method for diagnosing faults |
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|---|---|---|---|
| CN201910306768.4A CN110281773A (en) | 2019-04-17 | 2019-04-17 | A kind of pure electric coach high-pressure system method for diagnosing faults |
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| CN110281773A true CN110281773A (en) | 2019-09-27 |
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| CN201910306768.4A Pending CN110281773A (en) | 2019-04-17 | 2019-04-17 | A kind of pure electric coach high-pressure system method for diagnosing faults |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112455235A (en) * | 2020-11-30 | 2021-03-09 | 珠海格力电器股份有限公司 | Power-on control device and method for automobile and automobile |
| CN112693500A (en) * | 2021-01-26 | 2021-04-23 | 赵路平 | Portable railway fault diagnosis device and diagnosis method thereof |
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| CN105128678A (en) * | 2015-10-13 | 2015-12-09 | 东风汽车股份有限公司 | High-voltage power-on and power-off control system and control method for pure electric vehicle |
| CN105172608A (en) * | 2015-08-03 | 2015-12-23 | 中通客车控股股份有限公司 | Control circuit and method for power on and power off of electric automobile high-pressure system |
| CN105774557A (en) * | 2016-03-01 | 2016-07-20 | 武汉理工大学 | Intelligent high-voltage management system of electric car |
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2019
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| CN104709091A (en) * | 2013-12-13 | 2015-06-17 | 北汽福田汽车股份有限公司 | Power-on method and power-off method of full electric vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112455235A (en) * | 2020-11-30 | 2021-03-09 | 珠海格力电器股份有限公司 | Power-on control device and method for automobile and automobile |
| CN112693500A (en) * | 2021-01-26 | 2021-04-23 | 赵路平 | Portable railway fault diagnosis device and diagnosis method thereof |
| CN112693500B (en) * | 2021-01-26 | 2022-12-20 | 赵路平 | Portable railway fault diagnosis device and diagnosis method thereof |
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Application publication date: 20190927 |