CN110797843A - Intelligent motor control device and control method - Google Patents
Intelligent motor control device and control method Download PDFInfo
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- CN110797843A CN110797843A CN201910961081.4A CN201910961081A CN110797843A CN 110797843 A CN110797843 A CN 110797843A CN 201910961081 A CN201910961081 A CN 201910961081A CN 110797843 A CN110797843 A CN 110797843A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0822—Integrated protection, motor control centres
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/18—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a linear resistance, e.g. platinum resistance thermometer
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K2205/00—Application of thermometers in motors, e.g. of a vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K2219/00—Thermometers with dedicated analog to digital converters
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses an intelligent motor control device, which comprises a singlechip controller, a DSP controller, an acquisition unit, an input/output unit, a motor protection unit, a display unit, a communication unit and a power supply unit, wherein the singlechip controller is connected with the DSP controller; the single chip microcomputer controller is connected to the motor through the input and output unit, the DSP controller is connected with the voltage acquisition circuit and the current acquisition circuit, the acquisition unit acquires real-time operating parameters of voltage, current and temperature of the motor, the DSP controller calculates real-time voltage and current values, a protection instruction is sent out when the real-time parameters exceed set protection parameters, the single chip microcomputer controller controls the starting and stopping of the motor through the input and output unit, the self diagnosis, remote control and protection of the motor are realized, the data processing speed is high, multiple harmonic analysis, fault phase angle analysis, fault category identification and the like can be carried out, meanwhile, external information interaction is carried out, faults are diagnosed in time, the accident potential is eliminated, and the damage of motor equipment is avoided.
Description
Technical Field
The invention relates to an intelligent motor control device and a control method in the motor control technology.
Background
Electric energy is generally converted into mechanical energy by a motor in an electricity utilization place, the working environment and the working property of the motor are different, the motor is easy to damage in the place with higher environmental temperature or overhigh working temperature caused by high-speed operation, the stable performance of the continuous work of the motor can be influenced by unstable factors of voltage and current, and particularly in the place with higher precision required by the control of the motor, the motor is easy to be interfered by signals and cannot accurately control a motor operation system, so that the working efficiency of the whole working system is influenced, equipment is easy to damage, and even serious safety accidents such as personal harm and the like occur; therefore, the motor needs to be provided with integrated protection measures such as real-time monitoring, control and protection in the working process, the running state of the motor is controlled in real time through an anti-interference circuit, an alarm system, a protection circuit and the like, the phase voltage and the phase current are kept stable, the working environment is safe and reliable, the motor can immediately respond to protection when an accident happens, the stable and reliable running of the motor is ensured, and the service life of the motor is prolonged;
with the continuous progress of scientific technology and the continuous development of process control, particularly, the control and protection equipment of the motor needs to be perfected in the automatic production process so as to realize the functions of remote control, remote measurement, fault diagnosis, centralized control and the like; in the traditional technology, a thermal relay is generally adopted as an overload protection and control element of a motor, and is limited by element quality and process, so that the operation parameters of the motor cannot be monitored in real time, equipment faults cannot be diagnosed in real time, the motor equipment cannot work continuously, stably, safely and reliably, the fault frequency is high, the equipment is easy to damage, economic loss is caused, and the increasingly developed process automation requirements cannot be met.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent motor control device and a control method, which can monitor the operation parameters of a motor in real time, perform information interaction with an external control system, provide motor protection, have high accuracy, small volume and light weight and are convenient to operate.
The intelligent motor control device of the invention is characterized in that: the device comprises a single chip microcomputer controller, a DSP controller, an acquisition unit, an input/output unit, a motor protection unit, a display unit, a communication unit and a power supply unit; the single chip microcomputer controller is connected to the motor through the input and output unit and can control the motor to start and stop through the input and output unit; the input end of the DSP controller is connected with a collecting unit capable of collecting motor parameters, the collecting unit is arranged on a motor, the output end of the DSP controller is connected with a motor protection unit capable of performing shutdown protection according to set protection parameters, the DSP controller is simultaneously connected to the single chip microcomputer controller through a communication unit, the single chip microcomputer controller is also connected with a display unit capable of displaying various running state parameter information of the motor in real time and performing initial setting and modification of alarm parameters, and a power supply unit; the communication unit comprises an internal communication unit which is connected with the DSP controller and the singlechip controller and used for controlling information instruction transmission, and an external communication unit which can be used for carrying out real-time acquisition data information transmission with an upper computer or a superior communication module;
the acquisition unit comprises a voltage acquisition circuit capable of acquiring a real-time voltage value in the motor operation process and a current acquisition circuit capable of acquiring a real-time current value in the motor operation process; the voltage acquisition circuit is formed by connecting a voltage transformer through a primary operational amplification circuit and a signal lifting processing following circuit, and is provided with a high-precision resistor capable of adjusting parameters; the current acquisition circuit is formed by connecting a current transformer through a primary reverse amplification circuit, a primary filtering operation amplification circuit and a primary reference voltage lifting following circuit, and is provided with a high-precision resistor capable of adjusting parameters;
the DSP controller is also provided with a temperature measuring module, and the temperature measuring module is connected to the motor through a temperature acquisition circuit;
the temperature measuring module is a PT100 temperature measuring module; the model of an operational amplifier of the acquisition unit is LM 358; the model of the DSP controller is TMS320F28335, the model of the singlechip controller is stm32F107, the power supply unit is DC +/-12V, and the display unit is a touch screen display unit;
the communication unit comprises CAN bus communication and RS485 communication, wherein the CAN bus communication is used for an internal communication unit, and the RS485 communication is used for an external communication unit;
the motor starting mode is one of direct starting, forward and reverse rotation starting and star-delta starting;
the invention also relates to an intelligent motor control method, which is characterized in that: the method comprises the following steps: setting initial alarm protection parameters through a display unit, calculating real-time voltage and current values by a DSP controller according to data acquired by an acquisition unit by using a plurality of composite calculation methods such as an FFT algorithm and the like, transmitting information such as voltage, current and the like of the running state of the motor to the display unit for real-time display, transmitting the information to an upper computer through a communication unit, sending a protection instruction when the real-time parameters exceed the set protection parameters, performing power failure protection on the motor, and controlling the start and stop of the motor by an input and output unit controlled by a single chip microcomputer;
the DSP controller also comprehensively analyzes the current motor according to the real-time temperature value, and once the temperature exceeds the set initial protection parameter, the DSP controller sends a protection instruction to perform power failure protection on the motor;
the single chip microcomputer controller exchanges data with the DSP controller through internal communication, the single chip microcomputer controller transmits real-time running state information of the motor to the DSP controller, and the DSP controller transmits a protection instruction to the single chip microcomputer controller, so that information interaction and control protection integration are achieved.
And the DSP controller performs multiple harmonic analysis, fault phase angle analysis and fault category identification operation on the data acquired by the acquisition unit.
The invention relates to an intelligent motor control device and a control method, which collect the voltage, current and temperature real-time operation parameters of a motor through a collection unit, calculate the real-time voltage and current values through a DSP controller, transmit the information of the voltage, current and the like of the motor operation state to a display unit for real-time display, transmit the information to an upper computer through a communication unit, send a protection instruction when the real-time parameters exceed the set protection parameters for power failure protection of the motor, control the start and stop of the motor through a singlechip control input and output unit, realize the self-diagnosis, remote control and protection of the motor, diagnose the fault in time, eliminate the accident hidden danger, avoid the damage of motor equipment, have high precision and accuracy of collected information data, have simple circuit structure, set a voltage regulation circuit for compensating the voltage value, adopt the DSP for data collection analysis, have high data processing speed, and can carry out multiple harmonic analysis, The intelligent motor control device has the advantages that the intelligent motor control device is small in size, light in weight, flexible to install, convenient to maintain and reliable in operation.
Drawings
FIG. 1 is a schematic diagram of an intelligent motor control apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of a current collecting unit of the intelligent motor control device according to the embodiment of the invention;
fig. 3 is a schematic circuit diagram of a voltage acquisition unit of the intelligent motor control device according to the embodiment of the invention.
Detailed Description
As shown in the figure, the intelligent motor control device is an intelligent motor controller for controlling the starting and stopping processes of an electric motor, collecting real-time running parameters of the motor and carrying out self-diagnosis protection.
The motor is used as a device for converting electric energy into mechanical energy, is widely applied in various industries, and is especially important for integrated measures of measuring, controlling and protecting the actual running state information of the motor in order to ensure that the motor can stably and safely work for a long time, improve the maintenance efficiency and avoid dangerous accidents, but the working environment of the motor is different, the working property is different, the environment temperature of the motor in certain special occasions is higher or is higher due to high-speed running friction, the motor is damaged, in addition, due to unstable factors of voltage and current, the voltage and current are too large and too small, the motor can work unstably, the stable and safe running of the motor can not be ensured, major dangerous accidents such as equipment damage, personal harm and the like can be caused, particularly in places with higher control precision of the motor, the motor control system has the advantages that an anti-interference circuit is not arranged, so that when certain signal interference exists, the accurate control of the motor control system is influenced, the working efficiency of the whole working system is further influenced, the requirement cannot be met, and the influence is large. Therefore, at present, a system device capable of protecting motor control is needed, which realizes integration of real-time monitoring, control and protection of a motor, and has an anti-interference circuit, an alarm system and a protection circuit, so as to ensure safe and reliable working environment of the motor, stable phase voltage phase current, and if an accident occurs, immediately implement protection of the motor, ensure that the motor works in a safe range, and have great practical value.
With the continuous progress of science and technology and the continuous development of process control, especially the requirement of automatic production, the control and protection equipment of the motor is urgently needed to be perfected, so that the functions of remote control, remote measurement, fault diagnosis, centralized control and the like of the motor in the production process are realized. While thermal relays were originally used as overload protection and control elements for motors, due to limitations in component quality and process, increasingly developed process automation requirements have become increasingly unfulfilled. The intelligent motor protector has been widely used to replace the thermal relay. The intelligent motor control device is utilized to monitor the real-time parameters of the motor, has the functions of remotely controlling the motor and protecting the motor, ensures that motor equipment can work continuously, safely and reliably, avoids damage and accident hazard of the motor equipment, reduces economic loss, and can provide auxiliary decision for equipment fault diagnosis as soon as possible. As a protection element of the motor, the intelligent motor protector not only can effectively guarantee the safe operation of the motor, but also can utilize the advanced communication technology to realize the automation and informatization of the motor control, and has remarkable economic benefit.
Aiming at the defects in the prior art, the invention provides the intelligent motor protection device, which realizes the self-diagnosis protection of the motor and the remote control of the starting and stopping modes of the motor by acquiring the voltage, the current and the temperature information of the motor in real time, and has complete functions and strong practicability.
The purpose of the invention is realized by the following technical scheme:
the intelligent motor control device comprises a single chip microcomputer controller, a DSP controller, a collection unit, an input/output unit, a protection unit, a touch screen unit, a communication unit and a power supply unit. The single chip microcomputer controls the input and output of the control motor to start and stop, the DSP controller performs acquisition, processing and analysis through the acquisition unit, motor parameter values are displayed on the display unit and can be transmitted through the communication unit, and when the set protection parameters are met, motor shutdown protection is performed; the display unit can display parameter information of various running states of the motor in real time, initial parameter setting and modification can be carried out through the touch screen unit, and the single chip microcomputer controller and the DSP controller exchange data through internal communication.
The object of the invention can be further achieved by the following technical measures:
aforementioned intelligent motor control device, communication unit include that CAN bus communication and RS485 communication CAN be respectively in inside single chip microcomputer controller, DSP controller carry out control information instruction transmission, host computer or higher level communication module carry out the transmission of real-time acquisition data information, 485 communication bus longest CAN reach 1200m, CAN communication bus distance reaches 200m and CAN carry out the switching through the repeater and promote communication distance.
The intelligent motor control device, the single chip microcomputer controller and the DSP controller exchange data through internal communication. The single chip microcomputer controller transmits the real-time state of the motor to the DSP controller, and the DSP controller is responsible for transmitting a protection instruction to the single chip microcomputer controller.
According to the intelligent motor control device, the single-chip microcomputer controller controls the starting and stopping of the motor through the input and output unit, the starting type of the motor has various choices, and the intelligent motor control device mainly comprises direct starting, forward and reverse rotation starting, star-delta starting and the like.
According to the intelligent motor control device, the acquisition unit acquires the real-time voltage and current values in the motor operation process through the voltage transformer and the current transformer respectively. The current collection of the collection unit is formed by a primary reverse amplification circuit, a primary filtering operational amplification circuit and a primary reference voltage lifting following circuit, and the voltage collection of the collection unit is formed by a primary operational amplification circuit and a signal lifting processing following circuit. And the high-precision resistance parameter adjustment is matched, so that the functions of effective filtering and effective signal extraction are realized, the signal interference is avoided, and the detection precision is improved.
In the intelligent motor control device, the DSP controller calculates real-time voltage and current values according to data acquired by the acquisition unit by using a plurality of composite calculation methods such as an FFT algorithm and the like. The DSP controller also carries out comprehensive analysis on the current motor according to the real-time voltage current value and the real-time temperature value, and once the current motor exceeds the set protection parameters, the DSP controller can send out a protection instruction to protect the safety of motor equipment in time.
Aforementioned intelligent motor control device, temperature acquisition circuit use PT100 high accuracy, high sensitivity temperature measurement module, greatly reduced use heat and continue the cost, reduce installation space and be favorable to maintaining the maintenance.
In the intelligent motor control device, the model of the operational amplifier used by the acquisition unit is LM358, and the power supply voltage is DC +/-12V provided by the power supply unit.
The intelligent motor control device can select the switching of working modes, including a local control mode and a remote control mode.
Compared with the prior art, the invention has the beneficial effects that: the voltage transformer and the current transformer are respectively arranged to collect voltage data and current data of the motor, the voltage conditioning circuit is arranged to compensate the voltage value, the precision of collected information data is high, the accuracy is high, and the circuit is simple. The DSP is adopted for data acquisition and analysis, the data processing speed is high, and multiple harmonic analysis, fault phase angle analysis, fault category identification and the like can be performed.
The invention is further described with reference to the following figures and specific examples.
The invention provides an intelligent motor control device which realizes self-diagnosis protection of a motor and remote control of a motor start-stop mode by acquiring voltage, current and temperature information of the motor, and has complete functions and strong practicability.
As shown in fig. 1, the intelligent motor protection device of the present invention includes a single chip controller, a DSP controller, an acquisition unit, an input/output unit, a communication unit, a protection unit, a touch screen display unit, and a power supply unit. The single chip microcomputer controls the input and output of the control motor to start and stop, the DSP controller performs acquisition, processing and analysis through the acquisition unit, motor parameter values are displayed on the display unit and can be transmitted through the communication unit, and when the set protection parameters are met, the motor power failure protection is performed; the display unit can not only display various parameter values of the motor in real time, but also set and modify the parameters. The singlechip controller and the DSP controller exchange data through internal communication.
As shown in fig. 2-3, voltage passes through a voltage transformer, current passes through the current transformer to generate a sampling signal, and the sampling signal passes through a sampling follower circuit, and the sampling follower circuit has the characteristic that the voltage amplification factor is constantly smaller than and close to 1, so that the output voltage is the same as the input voltage, and the sampling follower circuit has the characteristics of high input impedance and low output impedance, thereby playing the roles of buffering, isolating and improving the carrying capacity. And amplifying the weak signal of the output signal of the voltage following circuit through an operational amplifier circuit, finally lifting the amplified signal and sending the amplified signal to a DSP controller, and programming a software algorithm by the DSP controller to finally calculate a voltage value and a current value.
The intelligent motor control device provided by the invention realizes online accurate monitoring of real-time parameters of the motor, not only can provide a protection function of the motor, but also can provide intelligent application functions such as abundant parameter setting, bus communication, human-computer interface and the like, and can perform information interaction with the outside. In addition, the intelligent motor control device has the advantages of small size, light weight, flexible installation, convenient maintenance and reliable operation.
In addition to the above embodiments, the present invention may have other embodiments, and any technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of the claims of the present invention.
The invention discloses an intelligent motor control device and a control method. The single chip microcomputer controls the input and output of the control motor to start and stop, the DSP controller performs acquisition, processing and analysis through the acquisition unit, motor parameter values are displayed on the display unit and can be transmitted through the communication unit, and when the set protection parameters are met, motor shutdown protection is performed; the display unit can not only display the parameter information of various running states of the motor in real time, but also can carry out initial setting and modification of parameters through the touch screen unit. The singlechip controller and the DSP controller exchange data through internal communication. The intelligent motor control device is utilized to monitor the real-time parameters of the motor, has the functions of remotely controlling the motor and protecting the motor, ensures that motor equipment can work continuously, safely and reliably, avoids damage and accident hazard of the motor equipment, reduces economic loss, and can provide auxiliary decision for equipment fault diagnosis as soon as possible.
Claims (10)
1. An intelligent motor control device, its characterized in that: the device comprises a single chip microcomputer controller, a DSP controller, an acquisition unit, an input/output unit, a motor protection unit, a display unit, a communication unit and a power supply unit; the single chip microcomputer controller is connected to the motor through the input and output unit and can control the motor to start and stop through the input and output unit; the input end of the DSP controller is connected with a collecting unit capable of collecting motor parameters, the collecting unit is arranged on a motor, the output end of the DSP controller is connected with a motor protection unit capable of performing shutdown protection according to set protection parameters, the DSP controller is simultaneously connected to the single chip microcomputer controller through a communication unit, the single chip microcomputer controller is also connected with a display unit capable of displaying various running state parameter information of the motor in real time and performing initial setting and modification of alarm parameters, and a power supply unit; the communication unit comprises an internal communication unit which is connected with the DSP controller and the single chip microcomputer controller and used for controlling information instruction transmission, and an external communication unit which can be used for carrying out real-time acquisition data information transmission with an upper computer or a superior communication module.
2. The intelligent motor control device according to claim 1, wherein: the acquisition unit comprises a voltage acquisition circuit capable of acquiring a real-time voltage value in the motor operation process and a current acquisition circuit capable of acquiring a real-time current value in the motor operation process; the voltage acquisition circuit is formed by connecting a voltage transformer through a primary operational amplification circuit and a signal lifting processing following circuit, and is provided with a high-precision resistor capable of adjusting parameters; the current acquisition circuit is formed by connecting a current transformer through a primary reverse amplification circuit, a primary filtering operation amplification circuit and a primary reference voltage lifting following circuit, and is provided with a high-precision resistor capable of adjusting parameters.
3. The intelligent motor control device according to claim 1, wherein: the DSP controller is also provided with a temperature measuring module, and the temperature measuring module is connected to the motor through a temperature acquisition circuit.
4. The intelligent motor control device according to claim 1, wherein: the temperature measuring module is a PT100 temperature measuring module; the model of an operational amplifier of the acquisition unit is LM 358; the model of the DSP controller is TMS320F28335, the model of the singlechip controller is stm32F107, the power supply unit is DC +/-12V, and the display unit is a touch screen display unit.
5. The intelligent motor control device according to claim 1, wherein: the communication unit comprises CAN bus communication and RS485 communication, wherein the CAN bus communication is used for an internal communication unit, and the RS485 communication is used for an external communication unit.
6. The intelligent motor control device according to claim 1, wherein: the motor starting mode is one of direct starting, forward and reverse rotation starting and star-delta starting.
7. A control method of an intelligent motor control apparatus according to any one of claims 1-6, characterized in that: the method comprises the following steps: the initial alarm protection parameters are set through the display unit, the DSP controller calculates real-time voltage and current values according to data collected by the collection unit by using a plurality of composite calculation methods such as an FFT algorithm and the like, transmits information such as voltage, current and the like of the running state of the motor to the display unit for real-time display, transmits the information to the upper computer through the communication unit, sends out a protection instruction when the real-time parameters exceed the set protection parameters, performs power failure protection on the motor, and controls the starting and stopping of the motor through the input and output unit controlled by the single chip microcomputer.
8. The intelligent motor control method according to claim 7, characterized in that: the DSP controller also comprehensively analyzes the current motor according to the real-time temperature value, and once the temperature exceeds the set initial protection parameter, the DSP controller sends a protection instruction to perform power failure protection on the motor.
9. The intelligent motor control method according to claim 7, characterized in that: the single chip microcomputer controller exchanges data with the DSP controller through internal communication, the single chip microcomputer controller transmits real-time running state information of the motor to the DSP controller, and the DSP controller transmits a protection instruction to the single chip microcomputer controller, so that information interaction and control protection integration are achieved.
10. The intelligent motor control method according to claim 7, characterized in that: and the DSP controller performs multiple harmonic analysis, fault phase angle analysis and fault category identification operation on the data acquired by the acquisition unit.
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| CN201910961081.4A CN110797843A (en) | 2019-10-11 | 2019-10-11 | Intelligent motor control device and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113202843A (en) * | 2021-06-11 | 2021-08-03 | 张向东 | Hydraulic power generation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113202843A (en) * | 2021-06-11 | 2021-08-03 | 张向东 | Hydraulic power generation system |
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