CN113839597B - Motor starting and synchronous operation method powered by different power supplies - Google Patents
Motor starting and synchronous operation method powered by different power supplies Download PDFInfo
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- CN113839597B CN113839597B CN202111049576.3A CN202111049576A CN113839597B CN 113839597 B CN113839597 B CN 113839597B CN 202111049576 A CN202111049576 A CN 202111049576A CN 113839597 B CN113839597 B CN 113839597B
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 24
- 230000004907 flux Effects 0.000 claims description 20
- 230000009466 transformation Effects 0.000 claims description 17
- 230000003068 static effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims description 2
- 230000001131 transforming effect Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/54—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors
- H02P1/58—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors sequentially
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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
- H02P27/06—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 using dc to ac converters or inverters
- H02P27/08—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 using dc to ac converters or inverters with pulse width modulation
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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
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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
Abstract
The invention belongs to a motor starting and running method, and aims to solve the technical problems that when two motors powered by different power supplies commonly drive the same load, the existing power supply unit main cannot meet the requirement of synchronous control, and the unit fails to normally run due to the fact that the voltage, the frequency and other power grid parameters of the two power supplies are different, and the unit fails to operate. The second motor is started through rotating speed closed-loop control and stator current closed-loop control, after the second motor reaches the synchronous rotating speed with the first motor, the synchronous clutch switches the second motor and the first motor to coaxially run, the rotating speed ring control started by the second motor is cut off, and a torque ring vector control mode is adopted.
Description
Technical Field
The invention belongs to a motor starting and running method, and particularly relates to a motor starting and synchronous running method powered by different power supplies.
Background
At present, the power supply unit mainly comprises an electric dragging system and a variable-frequency speed regulating system. The electric dragging system generally comprises a motor, a frequency converter, a switch cabinet and other devices, wherein the motor is a key device in the unit dragging system and provides power for the whole unit, and the motor is reliably started, safely and stably operated, is the root of normal operation of the whole system and is important for ensuring the safety and reliability of the unit. For some variable-working-condition running units, a variable-frequency speed regulation system consisting of a frequency converter and a switch cabinet can be adopted, and the change of technological parameter requirements is realized by changing the rotating speed.
When two motors powered by different power supplies are needed to jointly drive the same load, the current electric dragging system generally adopts one motor to drag one load, and the power supply of the motor is only one path, so that the control is convenient, but the synchronous control requirement of the two motors powered by different power supplies is not met. The current variable-frequency speed regulating system is generally a set of frequency converter for controlling one motor, so that the starting, the speed reducing, the speed increasing and the running stopping of the motor are controlled, and the synchronous control requirement of the two motors cannot be met.
Because of the difference of the power grid parameters such as the voltage, the frequency and the like of the two power supplies, the rotation speeds of the two motors are inconsistent, and when the same load is dragged, shaft torque is generated, so that the unit is in fault, and the unit cannot normally operate.
Disclosure of Invention
The invention provides a motor starting and synchronous operation method for different power supplies, which aims to solve the technical problems that when two motors which are powered by different power supplies commonly drive the same load, the current power supply unit main cannot meet the synchronous control requirement, and the unit fails to operate normally due to the fact that shaft torque is generated due to the power grid parameter difference of the voltage, the frequency and the like of the two power supplies.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the motor starting method is characterized by comprising the following steps of:
s1, carrying out two-phase stationary coordinate conversion on three-phase stator current of a motor to obtain corresponding current signals under a two-phase stationary conversion coordinate system, and then carrying out two-phase rotating coordinate conversion to obtain corresponding current signals under the two-phase rotating coordinate system; the corresponding current signals under the two-phase rotation coordinate system are respectively excitation current and torque current;
s2, comparing the exciting current and the torque current obtained in the step S1 with a preset exciting current and a preset torque current respectively, and outputting corresponding voltage signals after current adjustment;
s3, performing anti-rotation transformation on the corresponding voltage signals output in the step S2, and transforming the corresponding voltage signals into corresponding voltage signals under a two-phase static transformation coordinate system;
s4, inputting the corresponding voltage signals under the two-phase static transformation coordinate system and the corresponding current signals under the two-phase static transformation coordinate system obtained in the step S1 into a rotor flux linkage observation and speed observation model, and using the obtained magnetic field orientation angle for the two-phase rotation coordinate transformation in the step S1;
and meanwhile, the corresponding voltage signals under the two-phase static transformation coordinate system are used as the inverter input into the frequency converter to control, so that the motor is driven to start.
Further, in step S2, the preset exciting current is obtained by the following method:
comparing the difference value between the preset rotor flux and the actual rotor flux obtained by the rotor flux observation and the speed observation model, and outputting exciting current after flux adjustment, namely the preset exciting current;
in step S2, the preset torque current is obtained by the following method:
and comparing the difference value between the preset rotor rotating speed and the actual rotor rotating speed, and outputting a torque current after speed adjustment, namely the preset torque current.
Further, in step S2, between the current adjusted voltage signal and the output corresponding voltage signal, the method further includes:
and respectively performing feedforward compensation on the preset exciting current and the preset torque current, and then performing addition operation on the difference comparison results corresponding to the preset exciting current and the preset torque current.
The invention also provides a motor starting method powered by different power supplies, wherein the motors powered by different power supplies comprise a first motor powered by a first power grid and a second motor powered by a second power grid; the first motor and the second motor are connected through a synchronous clutch and jointly drive a load, wherein the first motor operates at power frequency, the second motor operates at variable frequency, and a frequency converter is arranged between the second power grid and the second motor; the method is characterized by comprising the following steps of:
s1, starting a first motor;
s2, starting a second motor by adopting the motor starting method until the rotating speed of the second motor reaches the rotating speed of the first motor;
s3, enabling the first motor and the second motor to coaxially operate through the synchronous clutch.
Further, the input of the frequency converter adopts a phase-shifting transformer, the secondary side is in a step-down and side-extending triangle type.
In addition, the invention also provides a synchronous operation method of the motor powered by different power supplies, which is characterized by comprising the following steps:
s1, coaxially operating a first motor and a second motor by adopting the motor starting method for supplying power by different power supplies; the second motor (2) is switched to torque loop control; s2, in the operation process of coaxially operating the first motor and the second motor to jointly drive a load, controlling the first motor and the second motor to synchronously operate according to the following method:
if the output power of the second motor changes:
when the frequency converter controls the second motor according to the active power increasing instruction of the second power grid to increase the electromagnetic torque of the second motor, the slip of the first motor is reduced;
when the frequency converter controls the second motor according to the instruction of reducing the active power of the second power grid to reduce the electromagnetic torque of the second motor, the slip of the first motor is increased;
if the output power of the first motor changes:
the rotating speeds of the first motor and the second motor are adjusted along with the power of the second motor, so that the first motor and the second motor run at the same rotating speed.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the second motor decomposes the current to the dq axis through vector control to realize decoupling control on the motor current, so that the control effect similar to that of a direct current motor is achieved, real-time instruction tracking of the current torque component iq and the flux linkage component id is realized, and accurate control of electromagnetic torque is realized. After the first motor is started, the second motor achieves synchronous rotation speed with the first motor through vector control, and then the two motors coaxially run through the synchronous clutch, so that the problem of synchronous control when the two motors powered by different power supplies drag the same load is successfully solved, and a simulation experiment proves that the method is effective.
2. The method solves the problem that the motors powered by different power supplies have different influences on the motors due to different voltages, frequencies and power factors.
3. The method solves the problems of different rotating speeds and motor power distribution among motors powered by different power supplies.
4. The method solves the problem of shaft torsional vibration caused by different motor rotation speeds between motors powered by different power supplies.
Drawings
FIG. 1 is a schematic diagram of the connection of a first motor and a second motor in a motor starting method powered by different power sources according to the present invention;
fig. 2 is a schematic block diagram of an embodiment of a motor starting method according to the present invention.
The system comprises a 1-first motor, a 2-second motor, a 3-first power grid, a 4-second power grid, a 5-load, a 6-synchronous clutch, a 7-frequency converter and an 8-gear box.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is apparent that the described embodiments do not limit the present invention.
For the same load 5 driven by the first motor 1 and the second motor 2 supplied by different power supplies of the power grid, for reliable and stable operation of the system, the two motors must have identical rotation speeds in operation, and the total power output reaches the power required by the load 5 to drive. The first motor 1 and the second motor 2 need to coaxially run, under the condition of ensuring the consistent rotating speed, the torque output of the two motors needs to be controlled, the power control is well carried out, and if the two motors are not synchronous, the output of the motors, shafting torsional vibration and the like can be influenced, and even mechanical faults are caused.
The invention provides a method for synchronously controlling and distributing power when two motors powered by different power supplies jointly drive the same load, and solves the problem that the rotation speeds of the two motors powered by different power supplies are inconsistent.
As shown in fig. 1, a simplified system is shown, a first motor 1 powered by a first power grid 3 and a second motor 2 powered by a second power grid 4, the first motor 1 and the second motor 2 are connected through a synchronous clutch 6 and jointly drive a load 5, wherein the first motor 1 operates at power frequency, the second motor 2 operates at variable frequency, a frequency converter 7 is arranged between the second power grid 4 and the second motor 2, and an output shaft of the first motor 1 is connected with the load 5 through a gear box 8, so that the first motor 1 and the second motor 2 jointly drive the load 5 to operate. The input of the frequency converter 7 adopts a phase-shifting transformer, the secondary side is a step-down, and a triangle type with a prolonged side is adopted. The three-phase input of each power unit is rectified by a rectifier bridge and filtered by a capacitor to become stable direct current, then the stable direct current is inverted into a single-phase SPWM waveform by an H bridge formed by IGBT, each phase is formed by connecting a plurality of power units in series, and the output is connected to form a high-voltage system to directly drive the second motor 2. When two motors powered by different power supplies drag the same load 5 coaxially, the instantaneous voltage and frequency of the power supplies of the two motors may be different, so that the rotation speeds of the two motors are asynchronous, torsional vibration occurs in a shafting, overload of the motors occurs and the like. In order to avoid this, the present invention proposes a synchronization control method as follows:
when the motor is started, the first motor 1 running at power frequency is started firstly, then the second motor 2 running under the control of the variable frequency torque ring is started, and when the second motor 2 is started, the problem of coaxial driving of the two motors is considered, so that the motor can be started in a tracking way through rotating speed, and the second motor 2 is dragged. Before the second motor 2 runs coaxially through the synchronous clutch 6 and the first motor 1, the second motor 2 needs to be started through the frequency converter 7, so that the rotation speed of the second motor 2 is basically consistent with that of the first motor 1, and the frequency converter 7 controls the second motor 2 to run by adopting the speed sensorless vector control strategy shown in fig. 2 at the stage. The vector control principle of the asynchronous motor is to decompose current to the dq axis to control the current of the asynchronous motor in a decoupling way, so that a control effect similar to that of a direct current motor is achieved, real-time instruction tracking of a current torque component iq and a flux linkage component id is achieved, and accurate control of electromagnetic torque is achieved.
The vector control of the second motor 2 start-up includes a rotational speed closed-loop control and a stator current closed-loop control.
Presetting the rotor speedAnd the actual rotor rotational speed omega obtained by identification r Difference comparison is carried out, and the torque current is output after the PI speed regulator is adopted>Namely, the preset torque current is obtained, the preset rotor flux is compared with the actual rotor flux obtained by a rotor flux observation and speed observation model, and the exciting current is output through a flux linkage regulator>The preset exciting current is obtained.The stator current of the second electric machine 2 can be measured by a current transformer, the voltage is obtained by a voltage reconstruction technique, the obtained current signal (i A 、i B 、i C ) After three-phase stationary-to-two-phase stationary coordinate transformation (3 s/2s transformation), a corresponding current signal i under a two-phase stationary transformation coordinate system is obtained sα 、i sβ The current signal is used as the current input for calculating the rotor flux linkage observation and the speed observation of the rotor flux linkage and the magnetic field orientation angle theta, and simultaneously, the current signal is subjected to PARK transformation (two-phase stationary to two-phase rotating coordinate transformation) to obtain the corresponding current signal under the two-phase rotating coordinate system>Exciting current on two-phase rotation coordinate system dq +.>Torque current->Respectively is +.>Preset torque current +.>After difference operation, the current regulator is input, and then the preset exciting current and the preset torque current are respectively subjected to feedforward compensation, and then the sum operation is carried out on the comparison result of the difference value and the corresponding difference value, and a voltage signal on a dq axis system is output>Then transformed into the voltage on the two-phase stationary coordinate system alpha beta by the inverse PARK>The voltage is used as input for calculating a rotor flux linkage observation and speed observation model, and meanwhile, the inverter VSI is controlled, so that the second motor 2 is driven to operate.
The vector control is based on real-time instruction tracking for realizing the current torque component iq and the flux linkage component id, so that accurate control of electromagnetic torque is realized.
After the second motor 2 reaches the synchronous rotation speed with the first motor 1, the synchronous clutch 6 switches the second motor 2 and the first motor 1 to coaxially run, so that the rotation speed ring control started by the second motor 2 can be cut off, a torque ring vector control mode is adopted, and the control method after switching is as follows:
when the second motor 2 and the first motor 1 coaxially operate, the second motor 2 adopts a maximum power operation vector control mode, the second motor 2 outputs according to a power command of the second power grid 4, and the first motor 1 coaxially drives the load 5, in the process, the second motor 2 and the first motor 1 need to operate at the same rotation speed and the same frequency, and a power equation and a torque equation of the system are respectively as follows:
P first motor +P Second motor ＝P Load(s)
Wherein P is First motor For the output power of the first motor, P Second motor For the output power of the second motor, P Load(s) For the power of the load, T First motor For the output torque of the first motor, T Second motor For the output torque of the second motor, T Load(s) The torque of the load, J is the moment of inertia of the system,is the system acceleration.
The difference between the output torque of the first motor 1 and the output torque of the second motor 2 controlled by the frequency converter 7 and the torque of the load 5 determines the rotational speed variation and the synchronicity control of the system. When the frequency converter 7 changes according to the available energy of the second power network 4, the output power also changes. When the frequency converter 7 controls the second motor 2 to output larger electromagnetic torque according to the increased active power command, the acceleration of the system is positive, the system is accelerated to run, the slip of the first motor 1 is reduced, the output electromagnetic torque is also reduced, and the torque equation of the system is rebalanced; when the frequency converter 7 controls the electromagnetic torque output by the second motor 2 to be reduced according to the instruction of reducing the active power, the adjustment process of the electromagnetic torque equation of the system is exactly opposite to the above process, so that the system reaches a new balance.
When the output power of the first motor 1 changes to cause the slip of the first motor 1 to change, the rotation speed is consistent to change along with the fluctuation of the power output of the second motor 2, so that the first motor 1 and the second motor 2 are coaxial and run at the same rotation speed, and the running rotation speed of the system is changed between the rated load rotation speed and the idle rotation speed of the first motor 1.
The method of the invention can be split according to actual use requirements, for example, the second motor 2 can be started by directly adopting corresponding vector control, and for example, when two motors are started, the second motor can be controlled by adopting a corresponding starting method.
The method provided by the invention is proved to be feasible through simulation and actual verification, and can ensure the stable operation of the two motors.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present invention.
Claims (5)
1. A method of starting a motor powered by different power sources, the motor powered by different power sources comprising a first motor (1) powered by a first power grid (3) and a second motor (2) powered by a second power grid (4); the first motor (1) and the second motor (2) are connected through a synchronous clutch (6) and jointly drive a load (5), wherein the first motor (1) operates at power frequency, the second motor (2) operates at variable frequency, and a frequency converter (7) is arranged between the second power grid (4) and the second motor (2); the method is characterized by comprising the following steps of:
s1, starting a first motor (1);
s2, starting the second motor (2) until the rotating speed of the second motor (2) reaches the rotating speed of the first motor (1);
s2.1, carrying out two-phase stationary coordinate conversion on the three-phase stator current of the second motor (2) to obtain a corresponding current signal under a two-phase stationary conversion coordinate system, and then carrying out two-phase rotating coordinate conversion to obtain a corresponding current signal under the two-phase rotating coordinate system; the corresponding current signals under the two-phase rotation coordinate system are respectively excitation current and torque current;
s2.2, comparing the exciting current and the torque current obtained in the step S2.1 with a preset exciting current and a preset torque current respectively, and outputting corresponding voltage signals after current regulation;
s2.3, performing anti-rotation transformation on the corresponding voltage signals output in the step S2.2, and transforming the corresponding voltage signals into corresponding voltage signals under a two-phase stationary transformation coordinate system;
s2.4, inputting the corresponding voltage signals under the two-phase static transformation coordinate system and the corresponding current signals under the two-phase static transformation coordinate system obtained in the step S2.1 into a rotor flux linkage observation and speed observation model, and using the obtained magnetic field orientation angle for the two-phase rotation coordinate transformation in the step S2.1;
meanwhile, inputting corresponding voltage signals under the two-phase static transformation coordinate system to an inverter in a frequency converter for control, and further driving a second motor (2) to start;
s3, enabling the first motor (1) and the second motor (2) to coaxially operate through the synchronous clutch (6).
2. A method of starting a motor powered by a different power source as claimed in claim 1, wherein:
the input of the frequency converter (7) adopts a phase-shifting transformer, the secondary side is in a step-down and side-extending triangle type.
3. A method of starting a motor powered by a different power source as claimed in claim 2, wherein:
in step S2.2, the preset exciting current is obtained by the following method:
comparing the difference value between the preset rotor flux and the actual rotor flux obtained by the rotor flux observation and the speed observation model, and outputting exciting current after flux adjustment, namely the preset exciting current;
in step S2.2, the preset torque current is obtained by the following method:
and comparing the difference value between the preset rotor rotating speed and the actual rotor rotating speed, and outputting a torque current after speed adjustment, namely the preset torque current.
4. A method of starting a motor powered by a different power source as claimed in claim 3, wherein:
in step S2.2, between the current regulated voltage signal and the output corresponding voltage signal, further includes:
and respectively performing feedforward compensation on the preset exciting current and the preset torque current, and then performing addition operation on the difference comparison results corresponding to the preset exciting current and the preset torque current.
5. The synchronous operation method of the motor powered by different power supplies is characterized by comprising the following steps of:
s1, coaxially operating a first motor (1) and a second motor (2) by adopting the motor starting method powered by different power supplies according to any one of claims 1-4; the second motor (2) is switched to torque loop control;
s2, in the operation process of coaxially operating the first motor (1) and the second motor (2) and jointly driving the load (5), controlling the first motor (1) and the second motor (2) to synchronously operate according to the following method:
if the output power of the second motor (2) changes:
when the frequency converter (7) controls the second motor (2) according to the increased active power instruction of the second power grid (4) so as to increase the electromagnetic torque of the second motor (2), the slip of the first motor (1) is reduced;
when the frequency converter (7) controls the second motor (2) according to the active power reducing instruction of the second power grid (4) to reduce the electromagnetic torque of the second motor (2), the slip of the first motor (1) is increased;
if the output power of the first motor (1) changes:
the rotating speeds of the first motor (1) and the second motor (2) are adjusted along with the power of the second motor (2), so that the first motor (1) and the second motor (2) run at the same rotating speed.
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| CN107888122A (en) * | 2017-10-31 | 2018-04-06 | 广东明阳龙源电力电子有限公司 | A kind of vector control system and its strategy process for high voltage converter |
| CN110034716A (en) * | 2019-03-07 | 2019-07-19 | 成都运达科技股份有限公司 | A kind of low switching frequency linear motor control method |
| CN112039377A (en) * | 2019-06-04 | 2020-12-04 | 西安许继电力电子技术有限公司 | Self-starting and braking method and device for variable-speed pumped storage unit |
| CN111585498A (en) * | 2020-06-03 | 2020-08-25 | 能科科技股份有限公司 | Variable-frequency speed regulation control system with load observer and frequency converter |
| CN112054720A (en) * | 2020-08-13 | 2020-12-08 | 宁波欧尼克科技有限公司 | Double-motor control system and method for automatic door |
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