CN111106763A - Differential transmission system with double power sources - Google Patents
Differential transmission system with double power sources Download PDFInfo
- Publication number
- CN111106763A CN111106763A CN201811255863.8A CN201811255863A CN111106763A CN 111106763 A CN111106763 A CN 111106763A CN 201811255863 A CN201811255863 A CN 201811255863A CN 111106763 A CN111106763 A CN 111106763A
- Authority
- CN
- China
- Prior art keywords
- torque
- output
- transmission
- power source
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
- H02P5/69—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors mechanically coupled by gearing
- H02P5/695—Differential gearing
-
- 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
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
- H02P5/747—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors mechanically coupled by gearing
- H02P5/753—Differential gearing
Abstract
The invention discloses a differential transmission system with double power sources, which consists of a transmission mechanism, a power source and a controller. The transmission mechanism has two inputs respectively connected to two power sources, and the power sources are controlled by the controller to output torque. When the system works, the controller controls the first power source to output torque to a required direction to drive the whole transmission mechanism to output through the first transmission path, and the second power source outputs a small torque to the opposite direction to only keep the joint of all transmission parts of the second transmission path. When the output torque needs to be reversed, the second power source outputs torque, and the first power source outputs small torque to keep the fit of the transmission part.
Description
Technical Field
The invention relates to the technical field of transmission and control, in particular to a differential transmission system with double power sources.
Background
The existing transmission system usually comprises a power source and a set of transmission mechanism, the transmission mechanism usually has a clearance (gear transmission is obvious) due to the influence of machining precision, the high-precision gear transmission mechanism has a clearance due to abrasion even after being used for a period of time, and the cost is high. The clearance will bring back differences and collisions, thereby reducing the accuracy. The traditional solution to the backlash is to use software compensation, i.e. to make the motor rotate in reverse a little bit as long as the system rotates in reverse, to compensate for the play present in the mechanism, which requires regular calibration as the wear increases and does not solve the problem of inter-gear collisions.
The invention uses two power sources and two sets of transmission paths, and cancels the clearance in the transmission mechanism by utilizing the differential principle, thereby thoroughly solving the problem of return difference at the cost of increasing parts. Allowing the system design to be made with increased accuracy while reducing costs (the added components are generally much cheaper than high accuracy actuators). And noise and collision stress caused by return collision are eliminated, and the device has good precision retentivity and longer service life.
Disclosure of Invention
In order to solve the technical problem, the invention provides a differential transmission system with double power sources, which is characterized in that: including drive mechanism, power supply and controller, its characterized in that: the transmission mechanism is provided with two inputs which are respectively connected with two power sources, and the power sources are controlled by the controller to output torque; when the system works, the controller controls the first power source to output torque to a required direction to drive the whole transmission mechanism to output through the first transmission path, and the second power source outputs a small torque to the opposite direction to only keep the joint of all transmission parts of the second transmission path; when the output torque needs to be reversed, the torque is output by the second power source, the small torque output of the first power source keeps the fit of the transmission part, and the specific algorithm comprises the following steps:
the target output torque of the system is M; the transmission ratio of the two transmission paths is n, and the transmission efficiency is a; the output torque of the power source 1 is m 1; the output torque of the power source 2 is m 2; the two power sources keep the structures of the respective transmission paths fit with the torque required to be output, and the torque is m3,
wherein the directions of m1 and m2 are defined as follows: its output is such that M is positive;
if M is not negative: m1 = (M/n)/a + M3; m2 = -m 3;
if M is negative: m2 = (M/n)/a-M3; m1 = m 3;
for each control cycle, the controller calculates m1 and m2 as torque loop inputs for motor 1 and motor 2, respectively.
Preferably, the controller at least has the capacity of controlling the torque output of the two power sources, the current and the torque output by the motor are in a linear relation, and the torque can be controlled by controlling the magnitude of the current.
Preferably, the controller may incorporate other controls, including speed control, position control; in the feedback control, the speed and position feedback may be the encoder value of one of the motors, or may be the encoder value attached to the output shaft.
Preferably, the controller transforms the output of the two motors in real time according to the feedback, any one motor is used as the main torque output, and the other motor is used as the fitting torque output and can also be switched in real time.
Different from the prior art, because the two power sources are in a torque output mode under the control of the controller and always keep opposite directions, the two transmission paths always keep a fit state, and no matter the load changes or the reciprocating motion is carried out in the running process of the system, no return difference can occur. The precise servo control can be realized by combining the position feedback on the power source or the position feedback on the output part, the return difference caused by the clearance of the transmission mechanism is completely eliminated, and the abrasion of the transmission mechanism is accelerated due to collision caused by the return difference.
Drawings
FIG. 1 is a schematic diagram of the gear assembly of the present invention.
Fig. 2 is a control circuit configuration for an embodiment of the present invention using two independent motor drivers.
Fig. 3 is a circuit configuration diagram of a driver having a differential control function according to an embodiment of the present invention.
Fig. 4 is an example of a three-phase PMSM electrode driver algorithm according to an embodiment of the present invention.
Fig. 5 is an application example of the rack gear of the invention.
Fig. 6 shows an example of the screw drive mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A differential transmission system with double power sources comprises a transmission mechanism, a power source and a controller, and is characterized in that: the transmission mechanism is provided with two inputs which are respectively connected with two power sources, and the power sources are controlled by the controller to output torque; when the system works, the controller controls the first power source to output torque to a required direction to drive the whole transmission mechanism to output through the first transmission path, and the second power source outputs a small torque to the opposite direction to only keep the joint of all transmission parts of the second transmission path; when the output torque needs to be reversed, the torque is output by the second power source, the small torque output of the first power source keeps the fit of the transmission part, and the specific algorithm comprises the following steps:
the target output torque of the system is M; the transmission ratio of the two transmission paths is n, and the transmission efficiency is a; the output torque of the power source 1 is m 1; the output torque of the power source 2 is m 2; the two power sources keep the structures of the respective transmission paths fit with the torque required to be output, and the torque is m3,
wherein the directions of m1 and m2 are defined as follows: its output is such that M is positive;
if M is not negative: m1 = (M/n)/a + M3; m2 = -m 3;
if M is negative: m2 = (M/n)/a-M3; m1 = m 3;
for each control cycle, the controller calculates m1 and m2 as torque loop inputs for motor 1 and motor 2, respectively.
Furthermore, the controller at least has the capacity of controlling the torque output of the two power sources, the current and the torque output by the motor have a linear relation, and the torque can be controlled by controlling the current.
Further, the controller can be added with other controls, including speed control and position control; in the feedback control, the speed and position feedback may be the encoder value of one of the motors, or may be the encoder value attached to the output shaft.
Further, the controller transforms the output of the two motors in real time according to the feedback, any one motor is used as main torque output, and the other motor is used as joint torque output and can also be switched in real time.
Taking the practical design principle as an example:
as shown in FIG. 1, the gear is used as a transmission mechanism, the motor is used as a power source, and the motor controller is used as a controller to illustrate the working principle of the system. In the figure, an input shaft gear 1 is driven by a motor 1 to output torque anticlockwise, and an input shaft gear 2 is driven by a motor 2 to output torque clockwise; the input shaft gear 1 and the output shaft gear form a transmission path 1, and the input shaft gear 2 and the output shaft gear form a transmission path 2; the controller controls the torque of the two motors at the same time, the output torque of the motor only needs to act on the torque ring of the corresponding motor according to the direction of the target torque, and the other motor keeps small torque output. The target torque may come from user settings or control outputs of the speed loop, position loop.
As shown in fig. 2: the differential transmission can be controlled by using the existing motor driver, utilizing the torque control function of the existing motor driver and adding a controller (including an MCU and a circuit board with the functions of communicating with an upper layer and communicating with the driver) to carry out outer ring control on the speed and the position. The control principle is that the controller receives an upper layer command (speed or position) and then performs feedback control calculation to obtain output torque data, and the torque is distributed to the two motor drivers according to the method in the second point of the control principle of the controller. And the motor drivers control respective motor output torque after receiving the torque instruction, and finally, return difference-free transmission is realized.
If the driver has a differential control function, as shown in fig. 3, a Microcontroller (MCU) completes the upper layer command reception, feedback control calculation, and torque distribution; the motor driving circuit drives two motor torque outputs to realize non-return-difference transmission, wherein an MCU (microcontroller) is a communication and operation unit and is responsible for receiving user instructions, and the driving circuit is controlled by feedback control output PWM (pulse width modulation signal), so that target output (torque output or speed output or position output of the whole system) is infinitely close to user input;
the drive circuit is an H-bridge circuit for a brushed direct current motor, and is a 3-phase bridge circuit for a 3-phase synchronous motor;
the current feedback is a motor coil current detection circuit, the position feedback device is usually an encoder, and after the position is obtained, the speed can be calculated through the position difference and used as the speed feedback.
Taking a power device as a 3-phase PMSM motor as an example, as shown in fig. 4, the difference from a general motor control algorithm is that torque distribution is performed on the output quantity of a speed loop after the speed loop, and a method is performed according to the positive and negative of output data as described in the second point of the control principle of the controller. Then, the conventional vector control algorithm controls the output torque of the two motors. The dotted line frame part in the figure is a conventional vector control algorithm, if the direct current brush motor does not need coordinate transformation, the content in the dotted line frame is torque control (current loop) of the conventional motor control algorithm, and the implementation methods for different types of motors are different; the torque control calculates the error between the torque (i.e. current) distributed to the motor and the current of the motor, obtains torque (current) output through a feedback control algorithm (such as PID), and the output is finally converted into a 3-phase PWM value through coordinate transformation and is output to a drive circuit (taking a 3-phase PMSM motor as an example).
The position control shown is position control (position loop) in a conventional motor control algorithm, the position feedback usually comes from an encoder, the position control obtains position control output through calculating the error between the target position and the current motor position through a feedback control algorithm (such as PID), and the output is used as the input of speed control;
the illustrated speed control is the speed control (speed loop) in a conventional motor control algorithm, and if the controller is operating in speed control mode, no position control is required, and the speed loop input is the target speed command for the motor. If the controller is operating in position mode, the input to the speed loop is the output of the position loop. Speed control by calculating the error between the target speed and the current speed (speed feedback, usually the difference from the encoder), a feedback control algorithm (e.g., PID) is used to obtain a speed control output, which is used as the input to the torque control (and the target torque or target current); the calculation of the speed loop will be the input to the "torque distribution" calculation unit, which is the target torque command (or target current command) given by the user if the drive is operating in torque mode.
The illustration of "torque distribution" is the key to achieving a non-return-difference transmission, and the implementation principle is as described in the second section of "control principle of controller", and the normalization parameters are usually used in actual operation: setting the target current (target torque) of the torque distribution unit as I _ ref (range [ 1,1 ] 1 represents the reverse maximum torque, 1 represents the forward maximum torque), setting the minimum torque required for maintaining the transmission mechanism to be attached as I _ min (always positive and less than 1), setting the current loop input of the motor 1 (i.e., the target torque of the motor 1) as I1, and setting the target torque of the motor 2 as I2, includes:
when I _ ref is non-negative, I1 = I _ ref + I _ min; i2 = -I _ min;
when I _ ref is less than 0, I1 = I _ min; i2 = I _ ref-I _ min;
the scheme can also be expanded to other application scenarios, such as a rack transmission mode, a screw transmission mode and a belt or chain transmission mode, if the rack transmission mode is adopted, as shown in fig. 5, two power sources (usually motors) respectively pass through two groups of transmission paths or directly act on two gears shown in the figure, and the relative positions of the power sources, the transmission paths and the two gears shown in the figure are fixed, so that the differential transmission described herein can be realized, and the rack is driven to generate the movement without return difference.
If a screw rod transmission mode is adopted, as shown in fig. 6, two power sources, generally motors, respectively pass through two sets of transmission paths or directly act on the two screw rods shown in the figure, and the power sources, the transmission paths and the two screw rods shown in the figure are fixed in relative positions, so that the differential transmission described herein can be realized, and the sliding table is driven to move without return difference.
If adopt belt or chain transmission, when belt or chain installation tight or long-time use produce tensile deformation inadequately, then can appear transmitting return difference, use two power supplies to drive two belts or chains and carry power output wheel, use this paper description's control mode to control and also can realize not having return difference transmission.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. A differential transmission system with double power sources comprises a transmission mechanism, a power source and a controller, and is characterized in that: the transmission mechanism is provided with two inputs which are respectively connected with two power sources, and the power sources are controlled by the controller to output torque; when the system works, the controller controls the first power source to output torque to a required direction to drive the whole transmission mechanism to output through the first transmission path, and the second power source outputs a small torque to the opposite direction to only keep the joint of all transmission parts of the second transmission path; when the output torque needs to be reversed, the torque is output by the second power source, the small torque output of the first power source keeps the fit of the transmission part, and the specific algorithm comprises the following steps:
the target output torque of the system is M; the transmission ratio of the two transmission paths is n, and the transmission efficiency is a; the output torque of the power source 1 is m 1; the output torque of the power source 2 is m 2; the two power sources keep the structures of the respective transmission paths fit with the torque required to be output, and the torque is m3,
wherein the directions of m1 and m2 are defined as follows: its output is such that M is positive;
if M is not negative: m1 = (M/n)/a + M3; m2 = -m 3;
if M is negative: m2 = (M/n)/a-M3; m1 = m 3;
for each control cycle, the controller calculates m1 and m2 as torque loop inputs for motor 1 and motor 2, respectively.
2. The differential transmission system of a dual power source as defined in claim 1, wherein: the controller at least has the capacity of controlling the torque output of the two power sources, the current and the torque output by the motor have a linear relation, and the torque can be controlled by controlling the current.
3. The differential transmission system of a dual power source as defined in claim 1, wherein: the controller can be added with other controls, including speed control and position control; in the feedback control, the speed and position feedback may be the encoder value of one of the motors, or may be the encoder value attached to the output shaft.
4. The differential transmission system of a dual power source as defined in claim 1, wherein: the controller transforms the output of the two motors in real time according to the feedback, any one motor is used as main torque output, and the other motor is used as joint torque output and can be switched in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255863.8A CN111106763A (en) | 2018-10-26 | 2018-10-26 | Differential transmission system with double power sources |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255863.8A CN111106763A (en) | 2018-10-26 | 2018-10-26 | Differential transmission system with double power sources |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111106763A true CN111106763A (en) | 2020-05-05 |
Family
ID=70419101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811255863.8A Pending CN111106763A (en) | 2018-10-26 | 2018-10-26 | Differential transmission system with double power sources |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111106763A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450164A (en) * | 2018-12-21 | 2019-03-08 | 攀枝花市三圣机械制造有限责任公司 | A kind of dual power source difference transmission system |
| CN114915223A (en) * | 2022-07-13 | 2022-08-16 | 佛山市华道超精科技有限公司 | Servo control device, method and servo motion system |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201185401Y (en) * | 2008-03-19 | 2009-01-21 | 齐齐哈尔二机床(集团)有限责任公司 | Gap-removing apparatus with double electric machines |
| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN102904494A (en) * | 2012-11-12 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Multi-motor synchronous anti-backlash method |
| DE102012205531A1 (en) * | 2012-04-04 | 2013-10-10 | Siemens Aktiengesellschaft | Control device for compensating gearwheel clearance of gear wheels of e.g. single stage gear box in electric car, has drive shaft driven by motor, where rotation torque is controlled based on output signal and delivered from motor to shaft |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103997259A (en) * | 2014-04-24 | 2014-08-20 | 南京工程学院 | Dual-motor coaxial drive anti-backlash control system and anti-backlash control method thereof |
| US20150053031A1 (en) * | 2013-08-21 | 2015-02-26 | Pinnacle Engines, Inc. | Scissor gear with hydraulic backlash removal and hydraulic torsional damping |
| CN104601054A (en) * | 2015-01-12 | 2015-05-06 | 南京工程学院 | AC driving based digital anti-backlash control system and method |
| CN105610350A (en) * | 2016-01-14 | 2016-05-25 | 北京理工大学 | Anti-backlash and synchronization control method for dual-motor servo system |
| CN107919821A (en) * | 2017-12-21 | 2018-04-17 | 中国电子科技集团公司第五十四研究所 | A kind of antenna tracking double-motor anti-backlash system |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
-
2018
- 2018-10-26 CN CN201811255863.8A patent/CN111106763A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201185401Y (en) * | 2008-03-19 | 2009-01-21 | 齐齐哈尔二机床(集团)有限责任公司 | Gap-removing apparatus with double electric machines |
| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| DE102012205531A1 (en) * | 2012-04-04 | 2013-10-10 | Siemens Aktiengesellschaft | Control device for compensating gearwheel clearance of gear wheels of e.g. single stage gear box in electric car, has drive shaft driven by motor, where rotation torque is controlled based on output signal and delivered from motor to shaft |
| CN102904494A (en) * | 2012-11-12 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Multi-motor synchronous anti-backlash method |
| US20150053031A1 (en) * | 2013-08-21 | 2015-02-26 | Pinnacle Engines, Inc. | Scissor gear with hydraulic backlash removal and hydraulic torsional damping |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103997259A (en) * | 2014-04-24 | 2014-08-20 | 南京工程学院 | Dual-motor coaxial drive anti-backlash control system and anti-backlash control method thereof |
| CN104601054A (en) * | 2015-01-12 | 2015-05-06 | 南京工程学院 | AC driving based digital anti-backlash control system and method |
| CN105610350A (en) * | 2016-01-14 | 2016-05-25 | 北京理工大学 | Anti-backlash and synchronization control method for dual-motor servo system |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
| CN107919821A (en) * | 2017-12-21 | 2018-04-17 | 中国电子科技集团公司第五十四研究所 | A kind of antenna tracking double-motor anti-backlash system |
Non-Patent Citations (3)
| Title |
|---|
| 李纪仁: "《机械设计》", 31 December 1998 * |
| 王书锋，谭建豪: "《计算机控制技术》", 30 September 2011 * |
| 黄磊: "基于双电机驱动系统的间隙消除技术研究", 《中国优秀硕士学位论文全文数据库-工程科技I辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450164A (en) * | 2018-12-21 | 2019-03-08 | 攀枝花市三圣机械制造有限责任公司 | A kind of dual power source difference transmission system |
| CN114915223A (en) * | 2022-07-13 | 2022-08-16 | 佛山市华道超精科技有限公司 | Servo control device, method and servo motion system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11059516B2 (en) | Steering control apparatus | |
| CN103079962B (en) | Electric power steering system | |
| CN106797193A (en) | For the method for the noise modulation and lower noise of electro-motor | |
| CN111106763A (en) | Differential transmission system with double power sources | |
| US10700623B2 (en) | Positioning drive and method for positioning an output element | |
| CN103676779A (en) | Motor control system which corrects backlash | |
| CN111953240B (en) | Double-motor backlash eliminating method and system based on optimal control | |
| CN108448965B (en) | Heavy-load closed-loop driving system and method of two-phase hybrid stepping motor | |
| CN108345269B (en) | Control device, control system, and recording medium | |
| CN102467131A (en) | Servo controller | |
| CN114928285A (en) | Double-shaft drive electric automobile double-switch reluctance motor rotating speed synchronous control technology | |
| CN107264276A (en) | Two wheel guide robot controls stepless balance scaling method | |
| CN104638993A (en) | Commutation control circuit and method for direct current motor | |
| CN105680734A (en) | Dual-motor synchronous driving system and algorithm | |
| CN102269971A (en) | Self-adapting servo controller based on model tracking | |
| CN116317748B (en) | Double closed loop BLDC controller based on neuron proportional integral-fuzzy integral algorithm | |
| CN102730054A (en) | Electric power steering device control method | |
| IL198737A (en) | Method for the adapting controller parameters of a drive to different operating states | |
| CN106338911A (en) | Expert PID control method applied to rotary electromechanical actuator servo system | |
| CN109450164A (en) | A kind of dual power source difference transmission system | |
| JP7113195B2 (en) | motor drive | |
| JP2004086434A (en) | Speed command type synchronization controller | |
| RU80254U1 (en) | AUTOMATIC CONTROL SYSTEM OF NEXT ELECTRIC DRIVES OF EQUIPMENT WITH CNC | |
| CN112841964B (en) | Control method and system based on electric rocking chair | |
| CN115195494A (en) | Method and system for synchronously controlling walking of double-crawler chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200505 |