CN111005255A - Paper machine transmission control system - Google Patents
Paper machine transmission control system Download PDFInfo
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- CN111005255A CN111005255A CN201911102581.9A CN201911102581A CN111005255A CN 111005255 A CN111005255 A CN 111005255A CN 201911102581 A CN201911102581 A CN 201911102581A CN 111005255 A CN111005255 A CN 111005255A
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- paper machine
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- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21G—CALENDERS; ACCESSORIES FOR PAPER-MAKING MACHINES
- D21G9/00—Other accessories for paper-making machines
- D21G9/0009—Paper-making control systems
- D21G9/0054—Paper-making control systems details of algorithms or programs
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- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21F—PAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
- D21F7/00—Other details of machines for making continuous webs of paper
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Software Systems (AREA)
- Control Of Multiple Motors (AREA)
- Paper (AREA)
Abstract
The invention provides a paper machine transmission control system, which comprises an upper computer, a PLC (programmable logic controller), a plurality of frequency converters and a signal sensor, wherein: the upper computer is connected with the PLC, and monitors the PLC; the PLC controller is respectively connected with a plurality of frequency converters, the frequency converters are respectively connected with motors for controlling a transmission system of the paper machine, and the frequency converters drive the motors to operate; the PLC also obtains a field signal of the paper machine transmission system through signal sensing, calculates the speed of each transmission point of the paper machine transmission system in real time according to the field signal, and adjusts the speed of the motor through the frequency converter according to the speed of the motor. The invention adopts a frequency converter for frequency regulation control of each motor, analog quantity signals output by the PLC are used as control end input signals of the frequency converter, a bus is used as a signal transmission channel, and the whole paper machine and a pulp pump are respectively driven to transmit, thereby completing automatic control of the motor and improving the running speed and power of the paper machine.
Description
Technical Field
The invention relates to the field of automation, in particular to a transmission control system of a paper machine.
Background
Paper machines are generally composed of sections such as a wire section, a press section, a front dryer section, a size application section, a rear dryer section, a calender section, and a curl section. As each subsection of the paper machine conveys paper in the production process, the requirement of each subsection reaches the linear velocity ratio coordination (the linear velocity ratio between two adjacent subsections is kept constant) according to the requirement of the paper making process, the high-precision and reliable maintenance of the ratio coefficient is an important condition for ensuring the product quality and the normal production operation, and the ratio coordination is damaged by any reason, so that the product quality is reduced. At the same time, this speed proportional coordination of the paper machine should be maintained without readjustment when restarting after a change in speed or a stoppage. Secondly, the proportion coordination has a fine adjustment function to adjust the speed difference between two adjacent parts so as to avoid the phenomena of looseness and tightness of paper in the conveying process, the speed fine adjustment is sensitive and reliable, no obvious hysteresis phenomenon exists in the adjustment process, and the main performance requirement of a paper machine on an electric transmission system is the long-term stability of the linear speed; another point is the adjustability of speed and fast response.
The prior paper machine mostly adopts a mechanical main shaft transmission mode, namely, a motor is adopted for driving, and mechanical equipment such as a main shaft, a plurality of gear boxes and the like are utilized for carrying out speed and power distribution on a transmission point of the whole paper machine, so that the paper machine can run stably. This approach has several significant disadvantages:
(1) low transmission efficiency and high energy consumption.
(2) The transmission precision is low, and the speed is difficult to adjust.
(3) The method cannot adapt to a high-speed paper machine, and limits the speed of the paper machine and the yield of the paper machine.
Because the direct current motor has good starting and braking characteristics and wide and smooth excellent speed regulation performance, the principle of the direct current motor is relatively simple compared with that of the alternating current motor, and a mathematical model of the direct current motor is easier to establish, the direct current transmission is fast mastered by people and is widely applied to paper machines. However, the direct current motor has the disadvantages of high cost, difficult maintenance of the commutator and the brush, and the direct current motor has the defects in the occasions of explosion, corrosion, moisture and the like.
Disclosure of Invention
The invention provides a paper machine transmission control system, which improves the running speed and power of a paper machine.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a paper machine transmission control system, each motor speed of control paper machine transmission system, includes host computer, PLC controller, a plurality of converter and signal sensor, wherein:
the upper computer is connected with the PLC, and monitors the PLC;
the PLC controller is respectively connected with a plurality of frequency converters, the frequency converters are respectively connected with motors for controlling a transmission system of the paper machine, and the frequency converters drive the motors to operate;
the PLC also obtains a field signal of the paper machine transmission system through signal sensing, calculates the speed of each transmission point of the paper machine transmission system in real time according to the field signal, and adjusts the speed of the motor through the frequency converter according to the speed of the motor.
Preferably, the upper computer is a main monitoring station IPC.
Preferably, the frequency converters are all connected with the PLC through a bus PROFIBUS-DP.
Preferably, the rated capacity of each of the dry frequency converters satisfies:
PCN≥kIM
in the formula, PMThe shaft output power of the motor required for the load, η the efficiency of the motor,
is the power factor, U, of the motorMIs the voltage of the motor, IMK is the current of the motor when driven by the mains frequency power supply, and P is the correction coefficient of the current waveformCNIs rated capacity of frequency converter, ICNIs the rated current of the frequency converter.
Preferably, the PLC controller is connected to an isolation transformer and an LC filter circuit with a shielding layer and a transformation ratio of 1:1 in sequence at the power input end.
Preferably, the power input end of the frequency converter is connected with the power supply through an isolation transformer, and the frequency converter is connected with the motor through an output reactor.
Preferably, the control flow of the paper machine transmission control system is as follows:
s1: initializing;
s2: sampling the field signal, filtering and sending to a PLC controller;
s3: the PLC controller is used for sequential logic control;
s4: the PLC judges whether tension control is needed or not, the frequency converter is needed to be controlled to adjust the speed of the motor to control the tension, the step S5 is carried out, and the step S5 is directly carried out if the tension control is not needed;
s5: calling a speed chain program;
s6: the PLC controller judges whether the distribution is required to be met or not, the frequency converter is required to be controlled to adjust the speed distribution load of the motor, the step S7 is carried out, and the step S7 is directly carried out if the distribution is not required;
s7: and uploading the calling result to the upper computer through a communication channel, and returning to the step S2.
Preferably, the load allocation in step S6 is specifically:
the slave torque is K multiplied by the actual torque of the master.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention adopts a frequency converter to regulate and control the frequency of each motor, takes an analog quantity signal output by a PLC as a control end input signal of the frequency converter, takes a bus as a transmission channel of the signal, and respectively drives the whole paper machine and the pulp pump to drive, thereby completing the automatic control of the motor. The frequency converter has perfect self-protection and motor protection functions for the motor. The motor speed is controlled by receiving signals of the PLC, self working state signals are fed back to the PLC, and when a fault occurs, an alarm signal can be sent to the PLC and an upper computer.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a main flow chart of the system in the embodiment.
Fig. 3 is a flow chart illustrating a speed chain program structure in an embodiment.
FIG. 4 is a flowchart of the tension control process in the embodiment.
FIG. 5 is a flowchart of a load distribution procedure in the embodiment.
Fig. 6 is a schematic view of a paper machine configuration.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
This embodiment provides a paper machine transmission control system, each motor speed of control paper machine transmission system, as fig. 1, including host computer, PLC controller, a plurality of converter and signal sensor, wherein:
the upper computer is connected with the PLC, and monitors the PLC;
the PLC controller is respectively connected with a plurality of frequency converters, the frequency converters are respectively connected with motors for controlling a transmission system of the paper machine, and the frequency converters drive the motors to operate;
the PLC also obtains a field signal of the paper machine transmission system through signal sensing, calculates the speed of each transmission point of the paper machine transmission system in real time according to the field signal, and adjusts the speed of the motor through the frequency converter according to the speed of the motor.
At present, SIEMENS company, Mitsubishi, ohm dragon and AB company in Japan are the good service performance of the PLC, and the PLC is based on the I/0 point number of the controlled object and the consideration of the aspects of the process requirement, the scanning speed and the self-diagnosis function. In order to ensure the reliability of the system, the system adopts the S7-400 series PLC of high-performance SIMATIC, 416CPU is used as the central control unit of the system, and the CP443-1 is adopted for the communication with the upper computer; communication with OP27 employs CP 443-5.
The system has 46 motors, 3 tension sensors, 77 interlocking signals and 80I/O points, which form a controlled object, and the motors are started to operate on an operation panel on site
The upper computer is a main monitoring station IPC.
The frequency converters are all connected with the PLC through a bus PROFIBUS-DP.
The rated capacity of each frequency converter in the dry frequency converter meets the following requirements:
PCN≥kIM
in the formula, PMThe shaft output power of the motor required for the load, η the efficiency of the motor,
is the power factor, U, of the motorMIs the voltage of the motor, IMK is the current of the motor when driven by the mains frequency power supply, and P is the correction coefficient of the current waveformCNIs rated capacity of frequency converter, ICNIs the rated current of the frequency converter.
The PLC is sequentially connected with an isolation transformer with a shielding layer and a variable ratio of 1:1 and an LC filter circuit at the power input end.
Anti-interference measures of the PLC:
(1) reasonable processing of power supply and suppression of interference introduced by power grid
For the power grid interference introduced by the power supply, an isolation transformer with a shielding layer and a transformation ratio of 1:1 can be installed to reduce the interference between equipment and the ground, and an LC filter circuit can be connected in series at the input end of the power supply.
(2) Accurately selecting grounding point and perfecting grounding system
Good grounding is an important condition for ensuring reliable work of the PLC, and accidental voltage impact damage can be avoided. Grounding is usually done for two purposes, one for safety and the other for interference suppression. The perfect grounding system is one of the important measures for the anti-electromagnetic interference of the PLC control system.
The ground wires of the PLC control system comprise a system ground, a shielding ground, an alternating current ground, a protective ground and the like. The disturbance of the chaos of the grounding system to the PLC system is mainly that the potential distribution of each grounding point is uneven, and the ground potential difference exists between different grounding points, which causes the current of a ground loop and influences the normal work of the system. For example, the cable shield must be grounded at one point, if both ends A, B of the cable shield are grounded, there is a ground potential difference, current flows through the shield, and when an abnormal condition such as a lightning strike occurs, the ground current will be greater.
In addition, the shielding layer, the grounding wire and the ground may form a closed loop, and under the action of the changing magnetic field, induced current may occur in the shielding layer, and the coupling between the shielding layer and the core wire may disturb a signal loop. If the system ground is confused with other ground, the generated ground circulation current can generate unequal potential distribution on the ground wire, and the normal work of a logic circuit and an analog circuit in the PLC is influenced.
The interference tolerance of logic voltage of PLC work is lower, and the distribution interference of logic ground potential easily influences the logic operation and data storage of PLC, causes data confusion, program run-off or crash. The distribution of the analog ground potential will cause the measurement precision to be reduced, and cause serious distortion and misoperation to the signal measurement and control.
Safety ground or power ground: the grounding end of the power line is connected with the cabinet body and grounded safely. If the power supply leaks electricity or the cabinet body is electrified, the power supply can be led into the ground from the safe ground without causing damage to people.
And (3) grounding a system: the PLC is grounded for the same potential as each controlled device, and is called system ground. The grounding resistance value is not larger than 4 omega, and the PLC equipment system ground and the negative terminal of the switch power supply in the control cabinet are generally required to be connected together to be used as the control system ground.
Signal and shield grounding: the signal line must have a unique reference ground, and the shielded cable is uniquely grounded in the field or control room to prevent the formation of a ground loop when the shielded cable is subjected to a potential for conductive interference. When the signal source is grounded, the shielding layer is grounded at the signal side; when not grounded, the PLC side is grounded; when a joint is arranged in the middle of the signal wire, the shielding layers are firmly connected and insulated, and multipoint grounding is avoided certainly; when the shielded twisted-pair cables of the signals of a plurality of measuring points are connected with the multi-core twisted-pair main shielded cable, all shielding layers are well connected with each other, and a proper single-point contact at the grounding position is selected through insulation treatment.
And (3) suppression of frequency converter interference: the interference processing of the frequency converter generally has the following modes:
the isolation transformer is added, mainly aiming at the conducted interference from the power supply, and the most of the conducted interference can be blocked before the isolation transformer. The filter has strong anti-interference capability, prevents the interference of the equipment from being conducted to a power supply, and has a peak voltage absorption function.
An output reactor is used, and an alternating current reactor is added between a frequency converter and a motor, so that electromagnetic radiation generated by a circuit in the process of energy transmission output by the frequency converter is mainly reduced, and the normal work of other equipment is influenced.
The power input end of the frequency converter is connected with a power supply through an isolation transformer, and the frequency converter is connected with the motor through an output reactor.
The control flow of the paper machine transmission control system is as follows:
s1: initializing;
s2: sampling the field signal, filtering and sending to a PLC controller;
s3: the PLC controller is used for sequential logic control;
s4: the PLC judges whether tension control is needed or not, the frequency converter is needed to be controlled to adjust the speed of the motor to control the tension, the step S5 is carried out, and the step S5 is directly carried out if the tension control is not needed;
s5: calling a speed chain program;
s6: the PLC controller judges whether the distribution is required to be met or not, the frequency converter is required to be controlled to adjust the speed distribution load of the motor, the step S7 is carried out, and the step S7 is directly carried out if the distribution is not required;
s7: and uploading the calling result to the upper computer through a communication channel, and returning to the step S2.
The load allocation in step S6 specifically includes:
the slave torque is K multiplied by the actual torque of the master.
In the specific implementation process, due to the transmission particularity of the paper machine, each branch has the requirements of starting, stopping, fine speed adjustment, tightening, crawling/running and the like, and the control objects are control words and speed instructions of each frequency converter. Firstly, collecting logic instructions on site, and sending the logic instructions to each frequency converter for control in a communication mode by using the logic processing of the PLC.
The flow chart of the main program of the system is shown in a figure 2, in the transmission control of the paper machine branch, the speed ratio coordination control is a basic loop of the whole transmission control, and the requirement is that when the speed of a certain branch is adjusted, the speed of the front branch cannot be influenced, but the speed of the rear branch can be influenced. Thus the speed of each branch drive point needs to be adjusted on the basis of the speed of the previous branch and transmits a speed signal to the next branch to form a speed chain.
Firstly, digit abstraction is carried out on each transmission point, the number of each transmission point in a speed chain is determined, the number is consistent with the internal address of the frequency converter, and then a father node of each transmission point, namely a reference node of each node speed, is determined. The node with the lowest paper machine number is used as the main node of the speed chain, namely the speed of the node is the working speed of the whole paper machine, and the speed of the whole paper machine is adjusted by adjusting the speed of the node. When the PLC detects the adjusting signal of the vehicle speed, the vehicle speed is changed. The speed of the lowest point is also the set value of the running speed of the first frequency converter, the speed is sent to the first frequency converter for execution, then the speed of the second point is calculated, the second point searches for the father node of the second point to obtain the speed of the second point, the speed of the transmission point is calculated according to the speed difference relation, and the speed of the transmission point is sent to the second frequency converter for execution. The calculation is carried out in sequence according to the method until the end. If the speed of a certain subsection does not meet the operation requirement, the subsection speed difference does not meet the requirement, the subsection speed difference can be realized by operating an acceleration button and a deceleration button of the subsection, and the PLC adjusts the speed difference after detecting a button signal so as to enable the speed difference between transmission points to adapt to the requirement of transmission control. If the transformation ratio is proper in normal production and the paper tightening and loosening operation is needed, the paper tightening and loosening button of the branch is pressed, and the PLC adds a positive or negative offset to the corresponding speed to realize the paper tightening and loosening functions. The speed chain control system is formed by the operations of speed adjustment at the previous stage, followed by adjustment, and non-response at the previous stage of the adjustment at the later stage. The flow of the program structure of the speed chain is shown in fig. 3.
As shown in fig. 6, the moisture content of the sheet in the sizing section, the drying section, the calendering section, and the reeling section of the paper machine has been close to that of the finished paper so that the reeling can be performed smoothly. The sheet stretch of such dryness is very small, i.e., the property of the wet paper sheet having a large elasticity is lost. In this case, the speed ratio between the sections of the size application section, the drying section, the calender section and the web section needs to be adjusted very finely, which may cause a large change in web tension and thus a web break.
Before the tension control software module is put into operation, whether the current tension actual value is between the maximum value and the minimum value which can be put into operation needs to be detected and judged, then a manual operation button is pressed or an automatic operation signal is set to be 1, the tension control software module can be put into operation, if the actual tension value is large, the PLC speed regulation output is reduced until the actual tension value is proper, and similarly, the actual tension value is small, the speed regulation output is increased until the actual tension value is proper. The condition of the tension control module for quitting is that the relevant part detects a paper breaking signal or a manual quitting button is pressed. The tension control program flow is shown in fig. 4.
The condition that a plurality of motors drag the same branch at the same time exists in an electric transmission control system of the paper machine, and for the multi-motor transmission system, the motor speed is synchronous and cannot meet the working requirement of an actual system, at the moment, the motor load rates of all transmission points are also required to be the same, otherwise, the phenomenon that the normal paper making is influenced and even the paper breaking is possible due to the large load of a certain motor and the small load of a certain motor occurs. In addition, unbalanced load distribution may cause overload operation of one or more motors, and sometimes a motor with a higher speed drags a motor with a lower speed, thereby increasing the load of the motor and affecting the service life of the motor. It is necessary to implement an automatic load distribution control function between the individual drive stations in each subsection.
In designing software for load distribution, the following problems are considered:
(1) the load distribution control is based on a reasonable speed chain structure. The structure that the main chain is combined with the sub-chain is adopted, so that the states of the transmission motors of other subsections are not influenced when the load is dynamically adjusted on the sub-chain structure by the plurality of transmission motors of the same subsection.
(2) The load distribution is provided with speed clipping protection. The device is prevented from being damaged by too large speed difference in the starting process, some transmission points can slip, and the speed limiting protection can be effectively inhibited.
(3) The load distribution control point should be provided with a single action/linkage function. In the debugging and overhauling process, 1 motor may need to be started independently, and in the normal operation, the motors need to be started and stopped simultaneously, so that each load distribution control point can be independently regulated and operated independently in the single-action state, and can be simultaneously started and stopped in the linkage state for linkage speed regulation.
(4) The control scheme and algorithm may be changed. In the actual production process, the load distribution relation of the transmission points may change at any time, if two rollers are pressurized, the load distribution control state is realized, and if the pressure is relieved, the speed control state is realized, so that the control mode and algorithm of the load distribution can be changed at any time along with the load condition, namely the load distribution software design can meet the requirement of process control change. The program flow is shown in FIG. 5, where K is a constant.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. The utility model provides a paper machine transmission control system, each motor speed of control paper machine transmission system which characterized in that, includes host computer, PLC controller, a plurality of converter and signal sensor, wherein:
the upper computer is connected with the PLC, and monitors the PLC;
the PLC controller is respectively connected with a plurality of frequency converters, the frequency converters are respectively connected with motors for controlling a transmission system of the paper machine, and the frequency converters drive the motors to operate;
the PLC also obtains a field signal of the paper machine transmission system through signal sensing, calculates the speed of each transmission point of the paper machine transmission system in real time according to the field signal, and adjusts the speed of the motor through the frequency converter according to the speed of the motor.
2. The paper machine drive control system of claim 1, characterized in that the upper computer is a master monitoring station IPC.
3. The paper machine drive control system of claim 1, wherein the plurality of frequency converters are each connected to the PLC controller via a bus PROFIBUS-DP.
4. The paper machine drive control system according to any one of claims 1 to 3, characterized in that the rated capacity of each of the dry frequency converters satisfies:
PCN≥kIM
in the formula, PMThe shaft output power of the motor required for the load, η the efficiency of the motor,
is the power factor, U, of the motorMIs the voltage of the motor, IMK is the current of the motor when driven by the mains frequency power supply, and P is the correction coefficient of the current waveformCNIs rated capacity of frequency converter, ICNIs the rated current of the frequency converter.
5. The paper machine drive control system of claim 1, wherein the PLC controller is connected in series with a 1:1 ratio-to-1 isolation transformer with a shielding layer and an LC filter circuit at the power input.
6. The paper machine drive control system of claim 1, characterized in that the power input of the frequency converter is connected to the power supply via an isolation transformer, and the frequency converter is connected to the motor via an output reactor.
7. The paper machine drive control system according to claim 1, characterized in that the control flow of the paper machine drive control system is as follows:
s1: initializing;
s2: sampling the field signal, filtering and sending to a PLC controller;
s3: the PLC controller is used for sequential logic control;
s4: the PLC judges whether tension control is needed or not, the frequency converter is needed to be controlled to adjust the speed of the motor to control the tension, the step S5 is carried out, and the step S5 is directly carried out if the tension control is not needed;
s5: calling a speed chain program;
s6: the PLC controller judges whether the distribution is required to be met or not, the frequency converter is required to be controlled to adjust the speed distribution load of the motor, the step S7 is carried out, and the step S7 is directly carried out if the distribution is not required;
s7: and uploading the calling result to the upper computer through a communication channel, and returning to the step S2.
8. The paper machine drive control system of claim 7, characterized in that the load distribution in step S6 is specifically:
the slave torque is K multiplied by the actual torque of the master.
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| CN201911102581.9A CN111005255A (en) | 2019-11-12 | 2019-11-12 | Paper machine transmission control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112941951A (en) * | 2021-04-13 | 2021-06-11 | 福建省青山纸业股份有限公司 | Method for detecting and adjusting first pressing speed of paper machine pressing part |
| CN113161874A (en) * | 2021-03-01 | 2021-07-23 | 攀钢集团西昌钢钒有限公司 | Grounding system of motor transmission system |
| CN114625060A (en) * | 2022-03-16 | 2022-06-14 | 浙江华章科技有限公司 | Novel transmission control system |
| CN116742995A (en) * | 2023-06-08 | 2023-09-12 | 海南行者新材料科技有限公司 | Intelligent control system of circular high-power excitation motor |
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| CN116742995A (en) * | 2023-06-08 | 2023-09-12 | 海南行者新材料科技有限公司 | Intelligent control system of circular high-power excitation motor |
| CN116742995B (en) * | 2023-06-08 | 2024-03-08 | 海南行者新材料科技有限公司 | Intelligent control system of circular high-power excitation motor |
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