CN110932578A - Energy feedback control circuit of four-quadrant frequency converter - Google Patents
Energy feedback control circuit of four-quadrant frequency converter Download PDFInfo
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- CN110932578A CN110932578A CN201911414351.6A CN201911414351A CN110932578A CN 110932578 A CN110932578 A CN 110932578A CN 201911414351 A CN201911414351 A CN 201911414351A CN 110932578 A CN110932578 A CN 110932578A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
- H02M1/084—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters using a control circuit common to several phases of a multi-phase system
- H02M1/0845—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters using a control circuit common to several phases of a multi-phase system digitally controlled (or with digital control)
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Abstract
The four-quadrant frequency converter energy feedback control circuit comprises a detection circuit, a logic processing circuit, a drive control circuit and a drive circuit, wherein the detection circuit detects phase signals of three-phase voltage, and the logic processing circuit performs logic operation on the phase signals of the three-phase voltage to obtain IGBT drive signals; the drive control circuit carries out redundancy processing on the IGBT drive signals output by the logic processing circuit, and controls the conduction time sequence of each IGBT device to be consistent with the conduction time sequence of the rectifier diode connected in parallel with the IGBT device so as to enable energy between the load and the power grid to flow. According to the four-quadrant frequency converter energy feedback control circuit, the driving signal of the IGBT can be obtained through a simple digital circuit; the control system is simplified, the CPU does not need to be controlled to analyze and process signals, the cost of a control circuit is reduced, the bidirectional flow of energy can be realized, and the cost of a frequency converter system is further reduced.
Description
Technical Field
The invention relates to a four-quadrant frequency converter energy feedback control circuit, in particular to a four-quadrant frequency converter energy feedback control circuit.
Background
The four-quadrant frequency converter is more and more widely applied, and is different from a common frequency converter in that the four-quadrant frequency converter can feed back energy generated when a load motor is braked or a heavy object is put down into a power grid, so that the aim of saving energy is fulfilled; the function is realized based on the rectification of an IGBT module adopted by the input of the frequency converter, the IGBT module comprises an IGBT and a diode connected in parallel, and the bidirectional flow of energy can be realized, so that the four-quadrant operation of the frequency converter is met.
For the frequency converter input rectification IGBT module, the traditional drive signal obtaining mode is that a control CPU carries out phase-locked loop processing on a three-phase input voltage signal to obtain input voltage phase information, and when the input voltage phase information is judged to be larger than a set value according to the collected bus voltage, a drive signal of the rectification IGBT is output to realize an energy feedback function; in the method, a CPU is required to carry out data analysis and calculation, so that the design of a circuit and a control mode is complicated, and the cost control is not facilitated; and the feedback control is executed when the bus of the frequency converter is larger than the input voltage within a certain range, so that a larger input inductor is needed to inhibit the feedback large current caused by the overhigh voltage difference between the input voltage and the bus voltage of the frequency converter, and the cost control and the structural design are unfavorable.
Disclosure of Invention
In order to overcome the defects of the technical problems, the invention provides an energy feedback control circuit of a four-quadrant frequency converter.
The invention discloses a four-quadrant frequency converter energy feedback control circuit, which is characterized in that: the detection circuit detects phase signals of three-phase voltages UA, UB and UC at the input end of the frequency converter to obtain the phase relation of the three-phase voltages; the logic processing circuit carries out logic operation on the three-phase voltage phase signals output by the detection circuit to obtain IGBT driving signals; the drive control circuit carries out redundancy processing on the IGBT drive signal output by the logic processing circuit and then outputs the IGBT drive signal to the drive circuit; the drive circuit controls the on-off state of an IGBT device in the frequency converter according to the received IGBT drive signal;
the frequency converter consists of three rectifier bridge arms A, B and C, each of the rectifier bridge arms A, B and C consists of 2 IGBT devices connected in series, and each IGBT device is connected with a rectifier diode in parallel; and after the IGBT driving signal output by the logic processing circuit is subjected to redundancy processing of the driving control circuit and output of the driving circuit, the conduction time sequence of each IGBT device is controlled to be consistent with the conduction time sequence of the rectifier diode connected in parallel with the IGBT device, so that energy between a load and a power grid flows.
The energy feedback control circuit of the four-quadrant frequency converter comprises a detection circuit, a feedback circuit and a feedback circuit, wherein the detection circuit consists of 6 isolation optocouplers IC1, IC2, IC3, IC4, IC5 and IC6, two ends of the input ends of IC1 and IC2 which are connected in series, two ends of the input ends of IC3 and IC4 which are connected in series and two ends of the input ends of IC5 and IC6 which are connected in series are connected together, two ends of the output ends of IC1 and IC2 which are connected in series, two ends of the output ends of IC3 and IC4 which are connected in series and two ends of the output ends of IC5 and IC6 which are connected in series are respectively connected to a; the connection point of the IC1 and the output end of the IC2, the connection point of the IC3 and the output end of the IC4, and the connection point of the IC5 and the output end of the IC6 respectively output phase signals Ta, Tb and Tc of three-phase voltages UA, UB and UC.
The invention relates to an energy feedback control circuit of a four-quadrant frequency converter, wherein a logic processing circuit comprises a first delay circuit, a NOT gate and an AND gate, and the first delay circuit is an RC delay circuit consisting of a resistor and a capacitor; the phase signals Ta, Tb and Tc of the three-phase voltage form signals Xa, Xb and Xc respectively after being delayed by the delay circuit;
the signal Xa is subjected to NOT gate operation and then subjected to AND gate operation with the Xb to form a control signal Dri _ A1 of the upper bridge IGBT of the rectifier bridge arm A, and the signal Xb is subjected to NOT gate operation and then subjected to AND gate operation with the Xa to form a control signal Dri _ A2 of the lower bridge IGBT of the rectifier bridge arm A;
the signal Xb is subjected to NOT gate operation and then subjected to AND gate operation with Xc to form a control signal Dri _ B1 of the upper bridge IGBT of the rectifier bridge arm B, and the signal Xc is subjected to NOT gate operation and then subjected to AND gate operation with Xb to form a control signal Dri _ B2 of the lower bridge IGBT of the rectifier bridge arm B;
and the signal Xa is subjected to not gate operation and then subjected to AND gate operation with the Xa to form a control signal Dri _ C1 of the upper bridge IGBT of the rectifier bridge arm C, and the signal Xa is subjected to not gate operation and then subjected to AND gate operation with the Xc to form a control signal Dri _ C2 of the lower bridge IGBT of the rectifier bridge arm B.
The four-quadrant frequency converter energy feedback control circuit comprises a second delay circuit and an AND gate, wherein control signals Dri _ A1, Dri _ A2, Dri _ B1, Dri _ B2, Dri _ C1 and Dri _ C2 output by a logic processing circuit are delayed by the second delay circuit and then subjected to AND operation with the control signals Dri _ A1_ IGBT, Dri _ A2_ IGBT, Dri _ B1_ IGBT, Dri _ B2_ IGBT, Dri _ C1_ IGBT and Dri _ C2_ IGBT respectively.
The invention has the beneficial effects that: according to the four-quadrant frequency converter energy feedback control circuit, a detection circuit acquires three-phase input voltage signals to obtain the phase relation of three-phase voltages; the logic processing circuit carries out logic synthesis on the three-phase input voltage phase signals to obtain driving signals input into the IGBT; the drive control circuit carries out redundancy processing on the drive signal output by the logic processing circuit and then outputs the drive signal to the drive circuit of the input IGBT; according to the invention, the driving signal fed back to the IGBT can be obtained through a simple digital circuit; the control system is simplified, the CPU does not need to be controlled to analyze and process signals, and the cost of a control circuit is reduced; the control circuit of the invention ensures that the conduction time sequence of the feedback IGBT is consistent with the conduction time sequence of the rectifier diode, the magnitude of feedback energy is controlled without detecting the bus voltage of the frequency converter, the feedback IGBT and the rectifier diode work in real time, and the bidirectional flow of energy can be realized, so that larger differential pressure between input voltage and the bus of the frequency converter can not be generated, the impact of feedback current is further reduced, a very small current-limiting reactance is used for the input of the frequency converter, the feedback current can be well inhibited, and the cost of a frequency converter system is further reduced.
Drawings
FIG. 1 is a schematic diagram of an energy feedback control circuit of a four-quadrant frequency converter according to the present invention;
FIG. 2 is a circuit diagram of a detection circuit of the present invention;
FIG. 3 is a diagram illustrating the relationship between the input voltage and the output phase signal of the detection circuit;
FIG. 4 is a circuit diagram of a logic processing circuit of the present invention;
FIG. 5 is a circuit diagram of a driving control circuit according to the present invention;
fig. 6 is a diagram illustrating the effect of processing the driving signal.
In the figure: 1 detection circuit, 2 logic processing circuit, 3 drive control circuit, 4 drive circuit.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1, a schematic diagram of an energy feedback control circuit of a four-quadrant frequency converter of the present invention is provided, which is composed of a detection circuit 1, a logic processing circuit 2, a driving control circuit 3 and a driving circuit 4, three-phase power at an input end of the four-quadrant frequency converter is UA, UB and UC, the frequency converter is composed of three rectifier bridge arms A, B and C, each of the rectifier bridge arms A, B and C is composed of 2 series-connected IGBT devices, each IGBT device is connected in parallel with a rectifier diode, control ends of IGBTs of an upper bridge and a lower bridge of the rectifier bridge arm a are VG1 and VG2, control ends of IGBTs of an upper bridge and a lower bridge of the rectifier bridge arm B are VG3 and VG4, and control ends of IGBTs of an upper bridge and a lower bridge of the rectifier bridge arm C are VG5 and VG 6.
The detection circuit 1 detects phase signals of three-phase voltages UA, UB and UC at the input end of the frequency converter to obtain the phase relation of the three-phase voltages; the logic processing circuit 2 carries out logic operation on the three-phase voltage phase signals output by the detection circuit to obtain IGBT driving signals; the drive control circuit 3 performs redundancy processing on the IGBT drive signal output by the logic processing circuit 2 and then outputs the IGBT drive signal to the drive circuit 4; and the driving circuit controls the on-off state of an IGBT device in the frequency converter according to the received IGBT driving signal. After the IGBT driving signal output by the logic processing circuit 2 is subjected to redundancy processing of the driving control circuit 3 and output of the driving circuit 4, the conduction time sequence of each IGBT device is controlled to be consistent with the conduction time sequence of the rectifier diode connected in parallel with the IGBT device, and therefore energy between a load and a power grid flows.
As shown in fig. 2, a circuit diagram of the detection circuit of the present invention is shown, the detection circuit 1 shown is composed of 6 isolation optocouplers IC1, IC2, IC3, IC4, IC5 and IC6, two ends of the series connection of the input ends of IC1 and IC2, two ends of the series connection of the input ends of IC3 and IC4 and two ends of the series connection of the input ends of IC5 and IC6 are connected together, two ends of the series connection of the output ends of IC1 and IC2, two ends of the series connection of IC3 and IC4 and two ends of the series connection of the output ends of IC5 and IC6 are respectively connected to the positive and negative electrodes of the dc power supply; the connection point of the IC1 and the output end of the IC2, the connection point of the IC3 and the output end of the IC4, and the connection point of the IC5 and the output end of the IC6 respectively output phase signals Ta, Tb and Tc of three-phase voltages UA, UB and UC.
As shown in fig. 3, a corresponding relation diagram of an input voltage and a phase signal output by a detection circuit is given, and fig. 4 is a circuit diagram of a logic processing circuit in the invention, so that for a phase a of a rectifier bridge arm of a frequency converter corresponding to an input voltage UA, the turn-on time of an upper bridge IGBT-VG1 and a diode is 30-150 degrees; the method comprises the steps that phase signals of three-phase input voltage can be obtained, an A-phase voltage signal Ta is delayed by 30 degrees to obtain a signal Xa, a B-phase voltage signal Tb is delayed by 30 degrees to obtain a signal Xb, then the signal Xa is inverted and the signal Xb is subjected to phase comparison, and the inverted signal Xa and the inverted signal Xb are the bridge arm A-phase bridge IGBT-VG1 and the switching-on time Dri _ A1 of a diode; the frequency of the power frequency power grid is 50Hz, and the delay of 30 degrees can be expressed as 1.667 ms.
The switching-on time of a rectifier bridge arm A phase of the frequency converter and a lower bridge IGBT-VG2 and a diode thereof is 210-330 degrees; the method comprises the steps of obtaining a phase signal of three-phase input voltage, delaying an A-phase voltage signal TA by 30 degrees to obtain a signal Xa, delaying a B-phase voltage signal Tb by 30 degrees to obtain a signal Xb, and performing phase inversion on the signal Xb and the signal Xa to obtain the phase inverted signal Xb, namely the bridge arm A-phase underbridge IGBT-VG2 and the turn-on time Dri _ A2 of a diode of the bridge arm A-phase underbridge IGBT-VG 2. Similarly, the driving signal of each path of rectifying IGBT input by the frequency converter can be obtained, and the signal relationship is expressed as follows:
Dri_A1=！Xa&Xb；
Dri_A2= Xa&！Xb；
Dri_B1=！Xb&Xc；
Dri_B2= Xb&！Xc；
Dri_C1=！Xc&Xa；
Dri_C2= Xc&Xa；
"! "denotes a not operation and" & "denotes an and operation.
The driving method comprises the following steps that Dri _ A1 is a variable-frequency input rectification bridge arm A-phase upper bridge IGBT driving signal;
dri _ A2 is a variable-frequency input rectification bridge arm A-phase lower bridge IGBT driving signal;
dri _ B1 is a variable frequency input rectification bridge arm B phase upper bridge IGBT driving signal;
dri _ B2 is a variable-frequency input rectification bridge arm B-phase lower bridge IGBT driving signal;
dri _ C1 is a variable-frequency input rectification bridge arm C-phase upper bridge IGBT driving signal;
dri _ C2 is a variable frequency input rectification bridge arm C-phase lower bridge IGBT drive signal.
In a logic processing circuit, an input voltage signal is filtered by a resistor capacitor so as to achieve the purpose of delaying 1.667 ms; however, in practical applications, due to errors of the first delay circuit (the resistor R1, the capacitors C1, R3, C3, and R4, C4 in fig. 4), a signal Xa obtained by delaying the input voltage phase signal TA by 1.667ms will have a certain timing error, and the error will cause an error in the turn-on timing of the IGBT, resulting in a short-circuit fault.
In order to solve the problems, the error of the resistor and the capacitor is taken into consideration, the signal delay time is specified, and when the maximum negative error range of the resistor and the capacitor is within the range, the delay time is less than 1.667ms, so that all signal delays can be ensured to be less than 30 degrees; meanwhile, the minimum delay time T1 of the circuit is calculated; at this time, the driving signals Dri _ a1, Dri _ a2, Dri _ B1, Dri _ B2, Dri _ C1 and Dri _ C2 output by the logic processing circuit are all earlier than the theoretical conduction timing; therefore, the drive signal timing needs to be corrected by the drive control circuit 3.
As shown in fig. 5, a circuit diagram of the driving control circuit of the present invention is shown, which is composed of a second delay circuit and an and gate, the second delay circuit is composed of a capacitor C2 of a resistor R2, the driving control circuit continuously performs an and operation with the driving signal output by the logic processing circuit after the delay of the second delay circuit, and the problem of the signal timing advance can be eliminated; that is, the control signals Dri _ a1, Dri _ a2, Dri _ B1, Dri _ B2, Dri _ C1 and Dri _ C2 are delayed by the second delay circuit and then are and-operated with themselves via the and gate to form the control signals Dri _ a1_ IGBT, Dri _ a2_ IGBT, Dri _ B1_ IGBT, Dri _ B2_ IGBT, Dri _ C1_ IGBT and Dri _ C2_ IGBT, respectively. The signal delay time in the drive control circuit is specified to meet the requirement that the delay time is greater than T1 when the maximum negative error of the resistor and the capacitor exists, and the finally obtained drive signal can be ensured to be within the theoretical requirement range. As shown in fig. 6, a driving signal processing effect diagram is given, and the driving signal output by the logic processing circuit is delayed by the second delay circuit and then is continuously subjected to an and operation with the signal, so that the problem of early conduction timing sequence can be solved, and the occurrence of short-circuit fault can be avoided.
The circuit works in real time in the feedback control function of the frequency converter, and when the input voltage is greater than the voltage in the frequency converter, the energy flows from a power grid to the frequency converter; when the input voltage is less than the voltage in the frequency converter, the energy flows to the power grid from the frequency converter; the circuit of the invention can realize the energy feedback function of the four-quadrant frequency converter without detecting the height of the bus of the frequency converter and controlling the calculation and analysis of CPU data; under the control of the circuit, the feedback circuit works in real time, and the voltage of the power grid and the voltage in the frequency converter cannot generate larger voltage difference, namely, the input of the frequency converter adopts smaller current-limiting inductance, so that the effect of inhibiting the feedback current can be achieved.
Claims (4)
1. The utility model provides a four-quadrant converter energy repayment control circuit which characterized in that: the device comprises a detection circuit (1), a logic processing circuit (2), a drive control circuit (3) and a drive circuit (4), wherein the detection circuit detects phase signals of three-phase voltages UA, UB and UC at the input end of a frequency converter to obtain the phase relation of the three-phase voltages; the logic processing circuit carries out logic operation on the three-phase voltage phase signals output by the detection circuit to obtain IGBT driving signals; the drive control circuit (3) performs redundancy processing on the IGBT drive signal output by the logic processing circuit and then outputs the IGBT drive signal to the drive circuit (4); the drive circuit controls the on-off state of an IGBT device in the frequency converter according to the received IGBT drive signal;
the frequency converter consists of three rectifier bridge arms A, B and C, each of the rectifier bridge arms A, B and C consists of 2 IGBT devices connected in series, and each IGBT device is connected with a rectifier diode in parallel; after the IGBT driving signal output by the logic processing circuit (2) is subjected to redundancy processing of the driving control circuit (3) and output by the driving circuit (4), the conduction time sequence of each IGBT device is controlled to be consistent with the conduction time sequence of the rectifier diode connected in parallel with the IGBT device, and therefore energy between a load and a power grid flows.
2. The four-quadrant inverter energy feedback control circuit of claim 1, wherein: the detection circuit (1) consists of 6 isolation optocouplers IC1, IC2, IC3, IC4, IC5 and IC6, two ends of the input ends of IC1 and IC2, two ends of the input ends of IC3 and IC4 and two ends of the input ends of IC5 and IC6 are connected together after being connected in series, two ends of the output ends of IC1 and IC2, IC3 and IC4 and IC5 and two ends of the output ends of IC5 and IC6 are respectively connected to the positive electrode and the negative electrode of a direct-current power supply after being connected in series; the connection point of the IC1 and the output end of the IC2, the connection point of the IC3 and the output end of the IC4, and the connection point of the IC5 and the output end of the IC6 respectively output phase signals Ta, Tb and Tc of three-phase voltages UA, UB and UC.
3. The four-quadrant inverter energy feedback control circuit of claim 2, wherein: the logic processing circuit (2) comprises a first delay circuit, a NOT gate and an AND gate, wherein the first delay circuit is an RC delay circuit formed by a resistor and a capacitor; the phase signals Ta, Tb and Tc of the three-phase voltage form signals Xa, Xb and Xc respectively after being delayed by the delay circuit;
the signal Xa is subjected to NOT gate operation and then subjected to AND gate operation with the Xb to form a control signal Dri _ A1 of the upper bridge IGBT of the rectifier bridge arm A, and the signal Xb is subjected to NOT gate operation and then subjected to AND gate operation with the Xa to form a control signal Dri _ A2 of the lower bridge IGBT of the rectifier bridge arm A;
the signal Xb is subjected to NOT gate operation and then subjected to AND gate operation with Xc to form a control signal Dri _ B1 of the upper bridge IGBT of the rectifier bridge arm B, and the signal Xc is subjected to NOT gate operation and then subjected to AND gate operation with Xb to form a control signal Dri _ B2 of the lower bridge IGBT of the rectifier bridge arm B;
and the signal Xa is subjected to not gate operation and then subjected to AND gate operation with the Xa to form a control signal Dri _ C1 of the upper bridge IGBT of the rectifier bridge arm C, and the signal Xa is subjected to not gate operation and then subjected to AND gate operation with the Xc to form a control signal Dri _ C2 of the lower bridge IGBT of the rectifier bridge arm B.
4. The four-quadrant inverter energy feedback control circuit of claim 3, wherein: the drive control circuit (3) is composed of a second delay circuit and an AND gate, control signals Dri _ A1, Dri _ A2, Dri _ B1, Dri _ B2, Dri _ C1 and Dri _ C2 output by the logic processing circuit (2) are delayed by the second delay circuit and then subjected to AND operation with the control signals Dri _ A1_ IGBT, Dri _ A2_ IGBT, Dri _ B1_ IGBT, Dri _ B2_ IGBT, Dri _ C1_ IGBT and Dri _ C2_ IGBT respectively.
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| CN201911414351.6A CN110932578B (en) | 2019-12-31 | 2019-12-31 | Energy feedback control circuit of four-quadrant frequency converter |
| PCT/CN2020/098318 WO2021135097A1 (en) | 2019-12-31 | 2020-06-26 | Four-quadrant frequency converter energy feedback control circuit |
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| CN201911414351.6A CN110932578B (en) | 2019-12-31 | 2019-12-31 | Energy feedback control circuit of four-quadrant frequency converter |
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| CN111969871A (en) * | 2020-07-27 | 2020-11-20 | 深圳市汇川技术股份有限公司 | Rectification control method, system, equipment and computer readable storage medium |
| WO2021135097A1 (en) * | 2019-12-31 | 2021-07-08 | 新风光电子科技股份有限公司 | Four-quadrant frequency converter energy feedback control circuit |
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| CN116298561B (en) * | 2023-02-10 | 2024-01-09 | 常熟天地煤机装备有限公司 | Voltage phase sequence detection system for four-quadrant frequency converter |
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| CN109412425A (en) * | 2018-11-07 | 2019-03-01 | 北京星航机电装备有限公司 | A kind of band inhibits the three level-four-quadrant frequency converter and control method of vertical compression fluctuation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135097A1 (en) * | 2019-12-31 | 2021-07-08 | 新风光电子科技股份有限公司 | Four-quadrant frequency converter energy feedback control circuit |
| CN111969871A (en) * | 2020-07-27 | 2020-11-20 | 深圳市汇川技术股份有限公司 | Rectification control method, system, equipment and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110932578B (en) | 2023-01-10 |
| WO2021135097A1 (en) | 2021-07-08 |
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