CN110471413A - A kind of self-navigation is automobile-used to control integral control system - Google Patents
A kind of self-navigation is automobile-used to control integral control system Download PDFInfo
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- CN110471413A CN110471413A CN201910726934.6A CN201910726934A CN110471413A CN 110471413 A CN110471413 A CN 110471413A CN 201910726934 A CN201910726934 A CN 201910726934A CN 110471413 A CN110471413 A CN 110471413A
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- 238000005070 sampling Methods 0.000 claims abstract description 85
- 238000004891 communication Methods 0.000 claims abstract description 29
- 230000005611 electricity Effects 0.000 claims description 12
- 230000009184 walking Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000036039 immunity Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000280 densification Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The present invention relates to intelligent robot technology fields, integral control system is controled more particularly to a kind of self-navigation is automobile-used, it include: power supply power supply unit, main control unit, motor control unit, electric-motor drive unit, movable motor, jacking motor, rotating electric machine, electric current, temperature sampling circuit and external input/output interface and sensor communication interfaces；The motor control unit can control two groups of drivings, and the electric-motor drive unit can be one group or multiple groups, and the control mode of road pulse width modulating signal is used between the motor control unit and the electric-motor drive unit；The main control unit and the motor control unit are realized using controller local area network's communication/serial communication mode to be communicated.The present invention has many advantages, such as that control system integration degree is high, at low cost, space hold is small, and wiring is simple, strong interference immunity, applicability are wide.
Description
Technical field
Overall-in-one control schema system is controled the present invention relates to intelligent robot technology field more particularly to a kind of self-navigation are automobile-used
System.
Background technique
With the development of logistlcs technology and automatic technology, automatic navigation vehicle is more and more in the demand of factory, and heavy duty,
The car body demand of miniaturization is obvious.
Current self-navigation vehicle control most of on the market generally uses automatic navigation vehicle master controller, motor to drive
The combined modes such as dynamic device, motor, sensor, wherein the quantity of motor driver is depending on the quantity of motor used, generally
In the case of, there are four the self-navigation vehicle controls of motor will use 4 drivers, and driver on the one hand needs and motor
Between connect encoder line and power line, while being connected again on master controller by communication line, cabling can be answered quite
Miscellaneous, in addition the distributing position of motor and driver on automatic navigation vehicle is different, cabling can be more complicated, along with other sensings
Device and input/output interface in addition driver head is larger, therefore compares and account for so that electrical wiring and maintenance are also quite inconvenient
With space, spatially also it is difficult to save.
Summary of the invention
In order to solve the above technical problems, controling integral control system the present invention provides a kind of self-navigation is automobile-used.
Technical problem solved by the invention can be realized using following technical scheme:
A kind of self-navigation is automobile-used to control integral control system characterized by comprising
One power supply power supply unit, to provide power supply；
One main control unit, at least a motor control unit, it is each described with the main control unit two-way communication link
Motor control unit output multi-channel pulse width modulating signal；
Each motor control unit drives at least two motors by electric-motor drive unit, and each motor passes through
One electric-motor drive unit is connect with the motor control unit, the electric-motor drive unit input terminal and the motor control unit
Output end connection；
One motor, the input end of motor are connect with the electric-motor drive unit output end.
Preferably, the main control unit is equipped with a communication interface and an input/output interface, and is connect by the communication
Mouth and the input/output interface and external equipment carry out two-way communication link, the communication interface and the input/output interface
For multichannel interface.
Preferably, the motor control unit includes at least first motor control unit and the second motor control unit, institute
It is logical using controller local area network to state first motor control unit and second motor control unit and the main control unit
News/serial communication mode.
Preferably, the electric-motor drive unit includes driving chip, intelligent power module/MOS full-bridge circuit, the motor
Driving chip output end connects the intelligent power module/MOS full-bridge circuit input terminal, the intelligent power module/MOS full-bridge
Circuit output end connects the input end of motor.
Preferably, the electric-motor drive unit includes at least first motor driving unit, the second electric-motor drive unit, third
Electric-motor drive unit, the 4th electric-motor drive unit, the driving chip include at least the first driving chip, the second driving chip,
Third driving chip, the 4th driving chip, the intelligent power module/MOS full-bridge circuit include at least the first intelligent power mould
Block/MOS full-bridge circuit, the second intelligent power module/MOS full-bridge circuit, third intelligent power module/MOS full-bridge circuit, the 4th
Intelligent power module/MOS full-bridge circuit, it is complete that the first driving chip output end connects the first intelligent power module/MOS
Bridge circuit input terminal, the second driving chip output end connect second intelligent power module/MOS full-bridge circuit input
End, the third driving chip output end connection third intelligent power module/MOS full-bridge circuit input terminal, the described 4th
The output end of driving chip connects the four intelligent power module/MOS full-bridge circuit input terminal.
Preferably, the control system further includes a temperature sampling circuit and a current sampling circuit, and the temperature is adopted
Sample circuit input end and the current sampling circuit input terminal are connect with the motor output end, the temperature sampling circuit output
End connects the motor control unit input terminal with the current sampling circuit output end.
Preferably, the temperature sampling circuit includes at least the first temperature sampling circuit, second temperature sample circuit, third
Temperature sampling circuit and the 4th temperature sampling circuit, the current sampling circuit include at least the first current sampling circuit, the
Two current sampling circuits, third current sample electricity and the 4th current sampling circuit；First temperature sampling circuit, described
The output end connection described the of two temperature sampling circuits, first current sampling circuit and second current sampling circuit
One motor control unit input terminal, the third temperature sampling circuit, the 4th temperature sampling circuit, the third electric current are adopted
The output end of sample circuit and the 4th current sampling circuit connects the second motor control unit input terminal.
Preferably, the motor includes at least the first movable motor, the second movable motor, rotating electric machine, jacking motor；Institute
State the output end that the first movable motor input terminal connects the first intelligent power module/MOS full-bridge circuit, first walking
Motor output end connects the input terminal of first temperature sampling circuit and first current sampling circuit；Second walking
Input end of motor connects the output end of the second intelligent power module/MOS full-bridge circuit, the second movable motor output end
Connect the input terminal of the second temperature sample circuit and second current sampling circuit.
Preferably, the rotating electric machine input terminal connects the output of the third intelligent power module/MOS full-bridge circuit
End, the rotating electric machine output end connect the input terminal of the third temperature sampling circuit and the third current sampling circuit；
The jacking input end of motor connects the input terminal of the four intelligent power module/MOS full-bridge circuit, and the jacking motor is defeated
Outlet connects the input terminal of the 4th temperature sampling circuit and the 4th current sampling circuit.
Preferably, the motor is DC servo motor or DC brushless motor.
The beneficial effect is that: electric-motor drive unit of the present invention drags 2,2 to drag 4 schemes using 1, at low cost；Integrated level is high, can
Inner space is greatly saved, automatic Guided Vehicle can be made to tend to miniaturization, densification；Back panel wiring is few, and wiring is simple, internal
Structure is clean and tidy, electrical overhaul, easy to maintenance；External cabling is not needed between communication, reduces the cabling of communication, strong interference immunity；
Flexibility and changeability can be applicable on various logistic cars by extending or reducing the quantity of driving unit.
Detailed description of the invention
Fig. 1 is provided by the invention a kind of to control integral control system block diagram for automatic Guided Vehicle；
Detailed description of the invention:
IO (Input Output): input and output；
IPM ((Intelligent Power Module): intelligent power module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Referring to Fig.1 for it is provided by the invention it is a kind of control integral control system block diagram for automatic Guided Vehicle, packet
It includes:
One power supply power supply unit 1, to provide power supply；
One main control unit 4, at least a motor control unit, with 4 two-way communication link of main control unit, Mei Yisuo
State motor control unit output multi-channel pulse width modulating signal；
Each motor control unit drives at least two motors by electric-motor drive unit, and each motor passes through
One electric-motor drive unit is connect with the motor control unit, the electric-motor drive unit input terminal and the motor control unit
Output end connection；
One motor, input end of motor are connect with electric-motor drive unit output end.
Specifically, power supply power supply unit 1 provides power for entire control system, under normal circumstances, the power by leading automatically
The battery of boat trolley provides, and a part provides power directly to drive part, and another part is converted to control by conversion circuit
Part required voltage is used for control section；Main control unit and electric-motor drive unit, usually embedded scm or
Programmable logic controller (PLC), can using with it is a and also use different moneys.
Electric-motor drive unit includes driving chip, the three-phase of intelligent power module module or separate type MOS/IGBT composition
Bridge circuit, motor control unit can control two groups of drivings all the way, it can while controlling two-way motor, electric-motor drive unit
It can be one group or multiple groups, using the connection controlling party of pulse width modulation between motor control unit and electric-motor drive unit
Formula.
Motor control unit can control two groups of drivings, it can while controlling two-way motor；The software of main control unit 4
On can be with system, can also be without system.
Further, main control unit 4 is equipped with communication interface 3 and I/O interface 2, and by communication interface 3 and I/O interface 2 with
External equipment carries out two-way communication link, and it is according to external equipment and sensor that communication interface 3 and I/O interface 2, which are multichannel interface,
Flexible design.
Further, motor control unit includes at least first motor control unit 5 and the second motor control unit 6, the
One motor control unit 5 and the second motor control unit 6 and main control unit 4 are logical using controller local area network's communication/serial ports
Letter mode.
Specifically, the communication modes between main control unit 4 and motor control unit use controller local area network's communication/string
Port communications mode or other desired mode, which are all made of the mode of back panel wiring, do not need additional cabling, application
After the program, it is obvious that the wiring between control system and motor is exactly encoder line and power line, because of communication line
In inside it is achieved that therefore not needing additional cabling, by good position of arranging, each motor can be significantly told
Position, will not wrong position.
Further, electric-motor drive unit includes driving chip, intelligent power module/MOS full-bridge circuit, motor driven core
Piece output end connects intelligent power module/MOS full-bridge circuit input terminal, intelligent power module/MOS full-bridge circuit output end connection
Input end of motor.
Further, electric-motor drive unit includes at least first motor driving unit 7, the second electric-motor drive unit 8, third
Electric-motor drive unit 9, the 4th electric-motor drive unit 10, driving chip include at least the first driving chip 11, the second driving chip
13, third driving chip 15, the 4th driving chip 17, the intelligent power module/MOS full-bridge circuit include at least the first intelligence
Power module/MOS full-bridge circuit 12, the second intelligent power module/MOS full-bridge circuit 14, third intelligent power module/MOS are complete
Bridge circuit 16, four intelligent power module/MOS full-bridge circuit 18,11 output end of the first driving chip connect the first intelligent power
Module/12 input terminal of MOS full-bridge circuit, 13 output end of the second driving chip connect the second intelligent power module/MOS full-bridge circuit
14 input terminals, 15 output end of third driving chip connect third intelligent power module/16 input terminal of MOS full-bridge circuit, 4 wheel driven
Dynamic 17 output end of chip connects four intelligent power module/18 input terminal of MOS full-bridge circuit.
Further, control system further includes a temperature sampling circuit and a current sampling circuit, temperature sampling circuit
Input terminal and current sampling circuit input terminal are connect with motor output end, and temperature sampling circuit output end and current sampling circuit are defeated
Outlet connects motor control unit input terminal.
Further, temperature sampling circuit includes at least the first temperature sampling circuit 24, second temperature sample circuit 26, the
Three temperature sampling circuits 28 and the 4th temperature sampling circuit 30, current sampling circuit include at least the first current sampling circuit
23, the second current sampling circuit 25, third current sample electricity 27 and the 4th current sampling circuit 29；First temperature sampling circuit
24, the output end connection the of second temperature sample circuit 26, the first current sampling circuit 23 and the second current sampling circuit 25
One motor control unit, 5 input terminal, third temperature sampling circuit 28, the 4th temperature sampling circuit 30, third current sampling circuit
27 and the 4th current sampling circuit 29 output end connect 6 input terminal of the second motor control unit.
Further, motor includes at least the first movable motor 19, the second movable motor 20, rotating electric machine 21, jacking electricity
Machine 22；First movable motor, 19 input terminal connects the first intelligent power module/MOS full-bridge circuit 12 output end, the first walking
The input terminal of 19 output end of motor connection the first temperature sampling circuit 24 and the first current sampling circuit 23；Second movable motor 20
Input terminal connects the second intelligent power module/MOS full-bridge circuit 14 output end, 20 output end of the second movable motor connection second
The input terminal of temperature sampling circuit 26 and the second current sampling circuit 25.
Further, 21 input terminal of rotating electric machine connects third intelligent power module/MOS full-bridge circuit 16 output end,
The input terminal of 21 output end of rotating electric machine connection third temperature sampling circuit 28 and third current sampling circuit 27；Jack motor 22
Input terminal connects four intelligent power module/MOS full-bridge circuit 18 input terminal, and jacking 22 output end of motor connects the 4th temperature
The input terminal of sample circuit 30 and the 4th current sampling circuit 29.
Specifically, on the other hand current sampling circuit may be used as overcurrent on the one hand as the input signal of motor control
Protection；Temperature sampling circuit is used to acquire the temperature of motor, overtemperature prote；Because the movement relation between movable motor is close,
And jack between motor 22 and rotating electric machine 21 that there are coupled motions, therefore be normally applied, using two movable motors as one
Group, rotating electric machine 21 or jacking motor 22 are more convenient in control as one group.It in practical applications, can be according to reality
Use demand does different applications, such as has two groups of walkings, without rotating electric machine 21 and jacking motor 22, can flexibly answer
With.
The intelligent power module module that the drive module of motor-drive circuit can use integrated level high, can also be used separation
Metal-oxide-semiconductor composition full-bridge circuit；Between motor control unit and driving chip, using the scheme of one drag two, i.e. chip all the way
Two-way motor can be driven simultaneously.
Further, motor is DC servo motor or DC brushless motor.
Specifically, the present invention have control system integration degree is high, at low cost, space hold is small, wiring simply, anti-interference
By force, the advantages that applicability is wide.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of self-navigation is automobile-used to control integral control system characterized by comprising
One power supply power supply unit, to provide power supply；
One main control unit, at least a motor control unit, with the main control unit two-way communication link, each motor
Control unit output multi-channel pulse width modulating signal；
Each motor control unit drives at least two motors by electric-motor drive unit, and each motor passes through an electricity
Machine driving unit is connect with the motor control unit, and the electric-motor drive unit input terminal and the motor control unit export
End connection；
One motor, the input end of motor are connect with the electric-motor drive unit output end.
2. a kind of self-navigation according to claim 1 is automobile-used to control integral control system, which is characterized in that the master
Control unit is equipped with communication interface and input/output interface, and passes through the communication interface and the input/output interface and outside
Equipment carries out two-way communication link, and the communication interface and the input/output interface are multichannel interface.
3. a kind of self-navigation according to claim 1 is automobile-used to control integral control system, which is characterized in that the electricity
Machine control unit includes at least first motor control unit and the second motor control unit, the first motor control unit and institute
The second motor control unit and the main control unit are stated using controller local area network's communication/serial communication mode.
4. a kind of self-navigation according to claim 3 is automobile-used to control integral control system, which is characterized in that the electricity
Machine driving unit includes driving chip, intelligent power module/MOS full-bridge circuit, and the motor drive ic output end connects institute
Intelligent power module/MOS full-bridge circuit input terminal is stated, the intelligent power module/MOS full-bridge circuit output end connects the electricity
Machine input terminal.
5. a kind of self-navigation according to claim 4 is automobile-used to control integral control system, which is characterized in that the electricity
Machine driving unit includes at least first motor driving unit, the second electric-motor drive unit, third electric-motor drive unit, the 4th motor
Driving unit, the driving chip include at least the first driving chip, the second driving chip, third driving chip, the 4th driving
Chip, the intelligent power module/MOS full-bridge circuit include at least the first intelligent power module/MOS full-bridge circuit, the second intelligence
It can power module/MOS full-bridge circuit, third intelligent power module/MOS full-bridge circuit, four intelligent power module/MOS full-bridge
Circuit, the first driving chip output end connect the first intelligent power module/MOS full-bridge circuit input terminal, and described the
Two driving chip output ends connect the second intelligent power module/MOS full-bridge circuit input terminal, and the third driving chip is defeated
Outlet connects the third intelligent power module/MOS full-bridge circuit input terminal, and the output end of the 4th driving chip connects institute
State four intelligent power module/MOS full-bridge circuit input terminal.
6. a kind of self-navigation according to claim 5 is automobile-used to control integral control system, which is characterized in that the control
System processed further includes a temperature sampling circuit and a current sampling circuit, the temperature sampling circuit input terminal and the electric current
Sample circuit input terminal is connect with the motor output end, and the temperature sampling circuit output end and the current sampling circuit are defeated
Outlet connects the motor control unit input terminal.
7. a kind of self-navigation according to claim 6 is automobile-used to control integral control system, which is characterized in that the temperature
It spends sample circuit and includes at least the first temperature sampling circuit, second temperature sample circuit, third temperature sampling circuit and the 4th
Temperature sampling circuit, the current sampling circuit include at least the first current sampling circuit, the second current sampling circuit, third electricity
Stream sampling electricity and the 4th current sampling circuit；First temperature sampling circuit, the second temperature sample circuit, described
The output end of one current sampling circuit and second current sampling circuit connects the first motor control unit input terminal,
The third temperature sampling circuit, the 4th temperature sampling circuit, the third current sampling circuit and the 4th electricity
The output end for flowing sample circuit connects the second motor control unit input terminal.
8. a kind of self-navigation according to claim 7 is automobile-used to control integral control system, which is characterized in that the electricity
Machine includes at least the first movable motor, the second movable motor, rotating electric machine, jacking motor；The first movable motor input terminal
Connect first intelligent power module/MOS full-bridge circuit output end, the first movable motor output end connection described the
The input terminal of one temperature sampling circuit and first current sampling circuit；Second movable motor input terminal connection described the
Two intelligent power module/MOS full-bridge circuit output end, the second walking elevator output end connect the second temperature sampling
The input terminal of circuit and second current sampling circuit.
9. a kind of self-navigation according to claim 8 is automobile-used to control integral control system, which is characterized in that the rotation
Rotating motor input terminal connects the output end of the third intelligent power module/MOS full-bridge circuit, and the rotating electric machine output end connects
Connect the input terminal of the third temperature sampling circuit and the third current sampling circuit；The jacking input end of motor connects institute
Four intelligent power module/MOS full-bridge circuit input terminal is stated, the jacking motor output end connects the 4th temperature sampling
The input terminal of circuit and the 4th current sampling circuit.
10. a kind of self-navigation according to claim 1 is automobile-used to control integral control system, which is characterized in that described
Motor is DC servo motor or DC brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910726934.6A CN110471413A (en) | 2019-08-07 | 2019-08-07 | A kind of self-navigation is automobile-used to control integral control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910726934.6A CN110471413A (en) | 2019-08-07 | 2019-08-07 | A kind of self-navigation is automobile-used to control integral control system |
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| Publication Number | Publication Date |
|---|---|
| CN110471413A true CN110471413A (en) | 2019-11-19 |
Family
ID=68510411
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910726934.6A Pending CN110471413A (en) | 2019-08-07 | 2019-08-07 | A kind of self-navigation is automobile-used to control integral control system |
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| US20100327796A1 (en) * | 2009-06-24 | 2010-12-30 | Denso Corporation | Servomotor control system and servomotor unit |
| CN103701369A (en) * | 2013-12-16 | 2014-04-02 | 北京自动化控制设备研究所 | Novel high power density DC brushless motor driver circuit |
| CN203596773U (en) * | 2012-12-04 | 2014-05-14 | 北京特种机械研究所 | Multi-unit integrated driver for brushless direct-current motor |
| CN207200605U (en) * | 2018-01-29 | 2018-04-06 | 太仓永瑞检测装备科技有限公司 | The more motor real-time control platforms of modularization based on DSP and FPGA |
| CN108263186A (en) * | 2018-03-16 | 2018-07-10 | 南京工程学院 | The method that the electric vehicle and electric vehicle of multi-motor driving carry out multi-motor driving |
| CN108306555A (en) * | 2017-01-12 | 2018-07-20 | 大族激光科技产业集团股份有限公司 | A kind of two axis servo drive system |
-
2019
- 2019-08-07 CN CN201910726934.6A patent/CN110471413A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100327796A1 (en) * | 2009-06-24 | 2010-12-30 | Denso Corporation | Servomotor control system and servomotor unit |
| CN203596773U (en) * | 2012-12-04 | 2014-05-14 | 北京特种机械研究所 | Multi-unit integrated driver for brushless direct-current motor |
| CN103701369A (en) * | 2013-12-16 | 2014-04-02 | 北京自动化控制设备研究所 | Novel high power density DC brushless motor driver circuit |
| CN108306555A (en) * | 2017-01-12 | 2018-07-20 | 大族激光科技产业集团股份有限公司 | A kind of two axis servo drive system |
| CN207200605U (en) * | 2018-01-29 | 2018-04-06 | 太仓永瑞检测装备科技有限公司 | The more motor real-time control platforms of modularization based on DSP and FPGA |
| CN108263186A (en) * | 2018-03-16 | 2018-07-10 | 南京工程学院 | The method that the electric vehicle and electric vehicle of multi-motor driving carry out multi-motor driving |
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Application publication date: 20191119 |