CN114499295A - Control system of miniaturized direct current torque motor - Google Patents
Control system of miniaturized direct current torque motor Download PDFInfo
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- CN114499295A CN114499295A CN202210118155.XA CN202210118155A CN114499295A CN 114499295 A CN114499295 A CN 114499295A CN 202210118155 A CN202210118155 A CN 202210118155A CN 114499295 A CN114499295 A CN 114499295A
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- 238000004804 winding Methods 0.000 claims abstract description 16
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- 230000004907 flux Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 14
- 238000004590 computer program Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
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- 230000004048 modification Effects 0.000 description 3
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
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Abstract
The embodiment of the invention discloses a control system of a miniaturized direct-current torque motor, and belongs to the technical field of intelligent control. The system, comprising: the electronic controllable resistor is connected in series in the armature loop of the miniaturized direct current torque motor; the circular rope winding device is arranged at the rotating shaft end of the miniaturized direct current torque motor and comprises a shaft and a lifting rope wound on the shaft; the input end and the output end of the electronic tension sensor are respectively connected with the tail end of the lifting rope and the acquisition module; the acquisition module is used for acquiring the tension value measured by the electronic tension sensor; the moment calculation module is used for calculating a first moment required to be output by the miniaturized direct current moment motor according to the collected tension value; the resistance value reduction calculation module is used for calculating the resistance value of the electronic controllable resistor needing to be reduced according to the first moment; and the control module is used for adjusting the resistance value of the electronic controllable resistor according to the resistance value required to be reduced of the electronic controllable resistor. The invention can effectively improve the running efficiency of the motor.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and particularly relates to a control system of a miniaturized direct-current torque motor.
Background
The DC torque motor is one kind of torque motor and has DC power supply. It is a special motor with soft mechanical property and wide speed regulating range. The shaft of such a motor outputs power not at constant power but at constant torque. The direct current torque motor can be with less output torque, and has higher output speed, and rotational speed and output power are turned round and are independently adjusted, convenient to use, and easy operation has low-speed, big moment of torsion, overload capacity advantage such as strong, the response is fast, the characteristic linearity is good, moment fluctuation is little, has higher controllability than general alternating current torque motor.
In the practical application process of the direct current torque motor, the load of the direct current torque motor is constantly changed, but the direct current torque motor outputs power with constant torque, and when the output power of the direct current torque motor is far larger than the load, energy waste is caused; when the output power of the direct current torque motor is smaller than the load, the load cannot normally operate, and the generated heat is large due to high resistance and large loss of a motor rotor, so that the motor is more serious in low-speed operation and locked rotor, and the motor is easy to damage. However, at present, a control system of a miniaturized direct current torque motor is not available, the output power of the direct current torque motor can be balanced with the load in time, and the operation efficiency of the direct current torque motor is improved.
Disclosure of Invention
In view of this, embodiments of the present invention provide a control system for a miniaturized dc torque motor, so as to solve the problem that no control system for a miniaturized dc torque motor exists at present, which can balance the output power of the motor and the load in time. According to the control system of the miniaturized direct current torque motor, the first torque required to be output by the motor can be calculated according to the weight condition of a hoisted object, and then the motor is controlled to output power according to the first torque, so that the operation efficiency and the stability of the motor are effectively improved.
An embodiment of the present invention provides a control system for a miniaturized dc torque motor, including: the device comprises an electronic controllable resistor, a circular rope winding device, an electronic tension sensor, an acquisition module, a torque calculation module, a resistance reduction calculation module and a control module;
the electronic controllable resistor is connected in series in an armature loop of the miniaturized direct current torque motor, and the resistance value of the electronic controllable resistor is at the maximum resistance value at the beginning;
the circular rope winding device is arranged at the rotating shaft end of the miniaturized direct current torque motor, the circular rope winding device comprises a rotating shaft connected with the rotating shaft of the miniaturized direct current torque motor and a lifting rope wound on the rotating shaft, and the head end of the lifting rope is fixed on the rotating shaft;
the input end of the electronic tension sensor is connected with the tail end of the lifting rope, and the output end of the electronic tension sensor is connected with the acquisition module;
the acquisition module is used for acquiring a real-time tension value measured by the electronic tension sensor;
the moment calculation module is used for calculating a first moment required to be output by the miniaturized direct current moment motor according to the tension value acquired by the acquisition module;
the resistance value reduction amount calculation module is used for calculating the resistance value of the electronic controllable resistor needing to be reduced according to the first moment;
and the control module is used for adjusting and reducing the resistance value of the electronic controllable resistor according to the resistance value of the electronic controllable resistor needing to be reduced so that the miniaturized direct current torque motor outputs the first torque.
In an optional embodiment, the control module includes:
the judgment submodule is used for judging whether the resistance value of the electronic controllable resistor needing to be reduced is smaller than a preset resistance value or not;
a control submodule, configured to, when the determination result of the determination submodule is negative, decrease the resistance value of the electronic controllable resistor by a resistance value that needs to be decreased of the electronic controllable resistor, so that the miniaturized dc torque motor outputs the first torque; or, when the judgment result of the judgment sub-module is yes, the electronic controllable resistor is adjusted to 0, and the voltage across the two ends of the miniaturized dc torque motor is increased according to the first torque, so that the miniaturized dc torque motor outputs the first torque.
In an optional embodiment, the control sub-module includes:
the resistance value adjusting unit is used for adjusting the resistance value of the electronic controllable resistor to be smaller than the resistance value of the electronic controllable resistor which needs to be controlled to be smaller when the judgment result of the judgment submodule is negative; or, when the judgment result of the judgment submodule is yes, the resistance value of the electronic controllable resistor is adjusted to 0;
the voltage value calculating unit is used for calculating voltage values which need to be controlled and increased at two ends of the miniaturized direct current torque motor according to the first torque after the resistance value of the electronic controllable resistor is adjusted to be 0 by the resistance value adjusting unit;
and the voltage adjusting unit is used for adjusting and increasing the voltage at the two ends of the miniaturized direct current torque motor according to the voltage value which needs to be controlled and increased at the two ends of the miniaturized direct current torque motor.
In an alternative embodiment, the voltage value calculating unit is specifically configured to calculate the voltage value required to be controlled and increased across the miniaturized dc torque motor according to the following first formula:
wherein Δ U (t) is a voltage value at which control increase is required at time t at both ends of the miniaturized dc torque motor, U is a voltage at both ends of the miniaturized dc torque motor at time t, I represents an armature current of the miniaturized dc torque motor at time t,
denotes the field magnetic flux, k denotes the induced electromotive force constant, R0And t (t) represents a first torque that the miniaturized dc torque motor needs to output at time t.
In an optional embodiment, the preset resistance value is 0.
In an optional embodiment, the torque calculation module is specifically configured to calculate a first torque that needs to be output by the miniaturized dc torque motor according to the following second formula:
T(t)＝1.5×F(t)×[m(t)×d+r]
in a second formula, t (t) represents a first moment which needs to be output by the miniaturized direct current torque motor at the time t, and f (t) represents a real-time tension value measured by the electronic tension sensor at the time t; m (t) represents the number of turns of the hoisting rope in the circular rope winding device at time t, d represents the cross-sectional diameter of the hoisting rope, and r represents the radius of the winding shaft.
In an alternative embodiment, the resistance reduction amount calculation module is specifically configured to calculate the required reduction resistance value of the electronically controllable resistor according to the following third formula:
in a third formula, Δ R (t) is the resistance value of the electronically controllable resistor that needs to be reduced at time t, RmaxIs the maximum resistance value of the electronically controllable resistor.
The invention provides a novel control system of a miniaturized direct current torque motor, which comprises the steps of firstly collecting a real-time tension value measured by an electronic tension sensor connected with the tail end of a lifting rope, then calculating a first torque required to be output by the miniaturized direct current torque motor according to the tension value collected by a collecting module, then calculating a resistance value required to be reduced of an electronic controllable resistor according to the first torque, and finally adjusting and reducing the resistance value of the electronic controllable resistor connected in series in an armature loop of the miniaturized direct current torque motor according to the resistance value required to be reduced of the electronic controllable resistor so as to enable the miniaturized direct current torque motor to output the first torque. The invention can effectively improve the operation efficiency and stability of the motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a first embodiment of a control system of a miniaturized dc torque motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second embodiment of a control system of a miniaturized dc torque motor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third embodiment of a control system of a miniaturized dc torque motor according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all 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.
Fig. 1 is a schematic structural diagram of a first embodiment of a control system of a miniaturized dc torque motor according to an embodiment of the present invention. Referring to fig. 1, the system includes: the device comprises an electronic controllable resistor 1, a circular rope winding device 2, an electronic tension sensor 4, an acquisition module 5, a moment calculation module 6, a resistance reduction calculation module 7 and a control module 8; wherein,
the electronically controllable resistor 1 is connected in series in the armature circuit of the miniaturized direct current torque motor 9, and the resistance value of the electronically controllable resistor 1 is initially at a maximum resistance value.
In this embodiment, when the compact dc torque motor is unloaded or ready to hoist an article, that is, when the compact dc torque motor is powered on but does not start to hoist an article, the resistance value of the electronically controllable resistor is controlled to be the maximum, so that the current in the armature circuit of the compact dc torque motor is minimized, thereby ensuring the service life of the compact dc torque motor.
The round rope winding device 2 is arranged at the rotating shaft end of the miniaturized direct current torque motor 9, the round rope winding device 2 comprises a shaft connected with the rotating shaft of the miniaturized direct current torque motor and a lifting rope 3 wound on the shaft, and the head end of the lifting rope 3 is fixed on the shaft.
The input end of the electronic tension sensor 4 is connected with the tail end of the lifting rope 3, and the output end of the electronic tension sensor 4 is connected with the acquisition module 5.
And the acquisition module 5 is used for acquiring the real-time tension value measured by the electronic tension sensor 4.
In the embodiment, the moment to be output by the miniaturized direct-current torque motor can be conveniently calculated later through the real-time numerical value returned by the electronic tension sensor 4, and then real-time control can be accurately and timely carried out according to the force change during article hoisting.
The moment calculation module 6 is used for calculating a first moment required to be output by the miniaturized direct current moment motor 9 according to the tension value acquired by the acquisition module 5; preferably, the torque calculating module 6 is specifically configured to calculate a first torque that needs to be output by the miniaturized dc torque motor according to the following first formula:
T(t)＝1.5×F(t)×[m(t)×d+r] (1)
in a first formula, t (t) represents a first moment which needs to be output by the miniaturized direct current torque motor at the time t and is expressed in newton-meter (N · m), and f (t) represents a real-time tension value measured by the electronic tension sensor at the time t and is expressed in newton N; m (t) represents the number of turns of the hoisting rope in the circular rope winding device at time t, d represents the cross-sectional diameter of the hoisting rope, and r represents the radius of the winding shaft.
In this embodiment, the real-time value returned by the electronic tension sensor 4 is increased by a margin of 0.5 times, that is, the first torque required to be output by the miniaturized dc torque motor is increased by 1.5 times, thereby ensuring the safety of the system.
A resistance reduction amount calculation module 7, configured to calculate, according to the first torque, a resistance value that needs to be reduced of the electronically controllable resistor 1; preferably, the resistance reduction calculation module 7 is specifically configured to calculate the resistance value of the electronically controllable resistor that needs to be reduced according to the following second formula:
in a second formula, Δ r (t) is the resistance value of the electronically controllable resistor that needs to be reduced at time t, in Ω; rmaxIs the maximum resistance value of the electronically controllable resistor, in Ω; u is the voltage at two ends of the miniaturized direct current torque motor at the moment t, and the unit is V; i represents the armature current of the miniaturized direct current torque motor at the time t, and the unit is A;
represents the excitation flux in Wb; k represents an induced electromotive force constant, R0And the protection resistance value of the miniaturized direct current torque motor is expressed by the unit of omega.
In this embodiment, the resistance value that the electronically controllable resistor needs to be controlled to reduce is calculated according to the first torque that the miniaturized dc torque motor needs to output, and then the motor outputs the required torque by automatically adjusting the resistance value.
And the control module 8 is used for adjusting and reducing the resistance value of the electronic controllable resistor 1 according to the resistance value of the electronic controllable resistor 1 required to be reduced so that the miniaturized direct current torque motor 9 outputs the first torque.
Preferably, in the embodiment shown in fig. 1, the acquisition module 5, the moment calculation module 6, the resistance reduction amount calculation module 7, and the control module 8 may be integrated into a single chip.
Fig. 2 is a schematic structural diagram of a second embodiment of a control system of a miniaturized dc torque motor according to an embodiment of the present invention. Referring to fig. 2, the present embodiment is based on the structure of the first embodiment of the control system of the miniaturized dc torque motor, and further, the control module 8 includes:
a judgment submodule 81 for judging whether the resistance value of the electronically controllable resistor 1 that needs to be decreased is smaller than a preset resistance value; wherein, the preset resistance value is 0.
A control submodule 82 configured to, when the determination result of the determination submodule 81 is negative, decrease the resistance value of the electronically controllable resistor 1 by a resistance value that needs to be decreased, so that the miniaturized dc torque motor outputs the first torque; or, when the determination result of the determination submodule 81 is yes, the electronic controllable resistor is adjusted to 0, and the voltage 10 across the miniaturized dc torque motor is increased according to the first torque, so that the miniaturized dc torque motor outputs the first torque.
In this embodiment, when Δ r (t) <0, it indicates that the required torque is not achieved regardless of how the electronically controllable resistor is adjusted. But the resistance value of the electronic controllable resistor can be adjusted to 0, so that the resistance value in an armature loop of the motor is reduced as much as possible, and more electric energy is ensured to be used for outputting torque. Meanwhile, the voltage value at two ends of the miniaturized direct current torque motor can be controlled to be increased until the output torque meets the required torque.
Fig. 3 is a schematic structural diagram of a third embodiment of a control system of a miniaturized dc torque motor according to an embodiment of the present invention. Referring to fig. 3, in the present embodiment, based on the structure of the second embodiment of the control system of the miniaturized dc torque motor, the control submodule 82 further includes:
a resistance value adjusting unit 821 for adjusting the resistance value of the electronically controllable resistor 1 to be smaller than the resistance value of the electronically controllable resistor 1 to be controlled to be smaller when the judgment result of the judgment submodule 81 is negative; or, when the judgment result of the judgment submodule 81 is yes, the resistance value of the electronically controllable resistor 1 is adjusted to 0.
A voltage value calculation unit 822, configured to calculate a voltage value that needs to be controlled and increased at two ends of the miniaturized dc torque motor according to the first torque after the resistance value of the electronically controllable resistor 1 is adjusted to 0 by the resistance value adjustment unit 821; preferably, the voltage value calculating unit 822 is specifically configured to calculate the voltage value required to be controlled and increased at two ends of the miniaturized dc torque motor according to the following third formula:
Δ u (t) is a voltage value at which control and increase are required at two ends of the miniaturized direct current torque motor at time t, and t (t) represents a first torque which needs to be output by the miniaturized direct current torque motor at time t.
And a voltage adjusting unit 823, configured to adjust and increase the voltage 10 across the miniaturized dc torque motor according to the voltage value that needs to be controlled and increased across the miniaturized dc torque motor.
In the embodiment, the voltage value which needs to be controlled and increased at the two ends of the miniaturized direct current torque motor is calculated, so that the voltages at the two ends of the motor are controlled under the condition that the control electronic controllable resistor cannot meet the requirement, and then the double-insurance control hoisting is carried out, and the reliability and the stability of the system are ensured. And after the article is hoisted, the singlechip controls the resistance value of the electronic controllable resistor to be adjusted to the maximum value again and waits for hoisting next time, thereby ensuring the service life of the motor.
The control system of the miniaturized dc torque motor provided by this embodiment collects a real-time tension value measured by an electronic tension sensor connected to a tail end of a lifting rope, calculates a first torque that the miniaturized dc torque motor needs to output according to the tension value collected by the collection module, calculates a resistance value that the electronic controllable resistor needs to reduce according to the first torque, and reduces the resistance value of the electronic controllable resistor connected in series in an armature loop of the miniaturized dc torque motor according to the resistance value that the electronic controllable resistor needs to reduce, so that the miniaturized dc torque motor outputs the first torque. And the voltage at two ends of the motor is controlled under the condition that the resistance of the control electronic controllable resistor cannot meet the requirement, so that double-insurance control hoisting is realized. The invention can effectively improve the operation efficiency and stability of the motor.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A control system for a miniaturized dc torque motor, comprising: the device comprises an electronic controllable resistor, a circular rope winding device, an electronic tension sensor, an acquisition module, a torque calculation module, a resistance reduction calculation module and a control module;
the electronic controllable resistor is connected in series in an armature loop of the miniaturized direct current torque motor, and the resistance value of the electronic controllable resistor is at the maximum resistance value at the beginning;
the circular rope winding device is arranged at the rotating shaft end of the miniaturized direct current torque motor, the circular rope winding device comprises a rotating shaft connected with the rotating shaft of the miniaturized direct current torque motor and a lifting rope wound on the rotating shaft, and the head end of the lifting rope is fixed on the rotating shaft;
the input end of the electronic tension sensor is connected with the tail end of the lifting rope, and the output end of the electronic tension sensor is connected with the acquisition module;
the acquisition module is used for acquiring a real-time tension value measured by the electronic tension sensor;
the moment calculation module is used for calculating a first moment required to be output by the miniaturized direct current moment motor according to the tension value acquired by the acquisition module;
the resistance value reduction amount calculation module is used for calculating the resistance value of the electronic controllable resistor needing to be reduced according to the first moment;
and the control module is used for adjusting and reducing the resistance value of the electronic controllable resistor according to the resistance value of the electronic controllable resistor needing to be reduced so that the miniaturized direct current torque motor outputs the first torque.
2. A control system for a miniaturized dc torque motor, as claimed in claim 1, wherein said control module comprises:
the judgment submodule is used for judging whether the resistance value of the electronic controllable resistor needing to be reduced is smaller than a preset resistance value or not;
a control submodule, configured to, when the determination result of the determination submodule is negative, decrease the resistance value of the electronic controllable resistor by a resistance value that needs to be decreased of the electronic controllable resistor, so that the miniaturized dc torque motor outputs the first torque; or, when the judgment result of the judgment sub-module is yes, the electronic controllable resistor is adjusted to 0, and the voltage across the two ends of the miniaturized dc torque motor is increased according to the first torque, so that the miniaturized dc torque motor outputs the first torque.
3. A control system for a miniaturized dc torque motor, as claimed in claim 2, wherein said control submodule comprises:
the resistance value adjusting unit is used for adjusting the resistance value of the electronic controllable resistor to be smaller than the resistance value of the electronic controllable resistor which needs to be controlled to be smaller when the judgment result of the judgment submodule is negative; or, when the judgment result of the judgment submodule is yes, the resistance value of the electronic controllable resistor is adjusted to 0;
the voltage value calculating unit is used for calculating voltage values which need to be controlled and increased at two ends of the miniaturized direct current torque motor according to the first torque after the resistance value of the electronic controllable resistor is adjusted to be 0 by the resistance value adjusting unit;
and the voltage adjusting unit is used for adjusting and increasing the voltage at the two ends of the miniaturized direct current torque motor according to the voltage value which needs to be controlled and increased at the two ends of the miniaturized direct current torque motor.
4. A control system of a miniaturized dc torque motor according to claim 3, wherein said voltage value calculating unit is specifically configured to calculate the voltage value required to be controlled and increased across the miniaturized dc torque motor according to the following first formula:
wherein Δ U (t) is a voltage value at which control increase is required at time t at both ends of the miniaturized dc torque motor, U is a voltage at both ends of the miniaturized dc torque motor at time t, I represents an armature current of the miniaturized dc torque motor at time t,
denotes the field magnetic flux, k denotes the induced electromotive force constant, R0And t (t) represents a first torque that the miniaturized dc torque motor needs to output at time t.
5. A control system of a miniaturized dc torque motor according to claim 2, wherein the predetermined resistance value is 0.
6. A control system for a miniaturized DC torque motor according to any one of claims 1 to 5, characterized in that said torque calculation module is specifically adapted to calculate a first torque to be output by the miniaturized DC torque motor according to the following second formula:
T(t)＝1.5×F(t)×[m(t)×d+r]
in a second formula, t (t) represents a first moment which needs to be output by the miniaturized direct current torque motor at the time t, and f (t) represents a real-time tension value measured by the electronic tension sensor at the time t; m (t) represents the number of turns of the hoisting rope in the circular rope winding device at time t, d represents the cross-sectional diameter of the hoisting rope, and r represents the radius of the winding shaft.
7. A control system of a miniaturized DC torque motor according to claim 6, characterized in that said resistance reduction calculation module is specifically adapted to calculate the required reduction of the resistance of said electronically controllable resistor according to the following third formula:
in a third formula, Δ R (t) is the resistance value of the electronically controllable resistor that needs to be reduced at time t, RmaxIs the maximum resistance value of the electronically controllable resistor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210118155.XA CN114499295A (en) | 2022-02-08 | 2022-02-08 | Control system of miniaturized direct current torque motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210118155.XA CN114499295A (en) | 2022-02-08 | 2022-02-08 | Control system of miniaturized direct current torque motor |
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| Publication Number | Publication Date |
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| CN114499295A true CN114499295A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210118155.XA Withdrawn CN114499295A (en) | 2022-02-08 | 2022-02-08 | Control system of miniaturized direct current torque motor |
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- 2022-02-08 CN CN202210118155.XA patent/CN114499295A/en not_active Withdrawn
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Application publication date: 20220513 |