CN114512961A - Self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit condition - Google Patents
Self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit condition Download PDFInfo
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- 239000003990 capacitor Substances 0.000 claims description 12
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- 238000001514 detection method Methods 0.000 claims description 7
- 238000005527 soil sampling Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 4
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- 230000001681 protective effect Effects 0.000 claims description 4
- 230000003750 conditioning effect Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 6
- 238000005553 drilling Methods 0.000 description 7
- 239000002689 soil Substances 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0811—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for dc motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
- H02H9/02—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess current
- H02H9/025—Current limitation using field effect transistors
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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Abstract
A self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit condition aims at a deep space extreme environment sampling task, on one hand, in order to guarantee the continuity of a sampling process to the maximum extent, and on the other hand, the reliability and the safety of a high-power direct current motor driving circuit and a direct current motor in working under the limit condition are guaranteed; in addition, the invention reduces the voltage and current impact on power devices in the inverter circuit, thereby facilitating the type selection of power components, reducing the cost of a protection circuit, realizing the overcurrent protection function of a driving circuit, simultaneously providing the conditions of longest reliable working time and locked rotor rotating speed value judgment, realizing the locked rotor protection function of a motor, ensuring the reliability and safety of a high-power direct current motor driving circuit and a direct current motor body while ensuring the continuity of the sampling process to the maximum extent, and having good application value.
Description
Technical Field
The invention belongs to the technical field of motor drive control, and particularly relates to a self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit working conditions.
Background
The lunar soil drilling and sampling device is one of important tools for lunar exploration, plays a key role in achieving lunar soil sampling, and is one of the problems with the highest technical difficulty in the drilling field, wherein lunar soil drilling belongs to the drilling problem under extreme conditions. The sampling device adopts a high-power three-phase permanent magnet brushless direct current motor to drive a drill rod to drill to realize the collection of lunar soil, and because of the extreme environments of lunar low gravity, no water, no air and the like and the special mechanical properties of high internal friction angle and low cohesion of lunar soil, the phase current peak value can reach dozens of amperes when the direct current motor is started and the phase is changed in the drilling process, thereby providing great challenge for the design of motor drive control. In the lunar soil drilling and sampling process, in order to ensure the continuity of the lunar soil sampling process to the maximum extent and ensure the reliability and the safety of a high-power direct-current motor driving circuit and a direct-current motor in working under the limit working condition, a driving controller is required to be light in weight and small in size by a space task, and therefore high requirements are provided for the protection function of the motor during overcurrent and locked rotor in the drilling process.
The locked rotor is a process that when the rotating speed of the motor is 0, the motor controller controls the motor to output a larger torque. Generally, a motor cannot maintain a locked-rotor torque for a long time, because when a driving motor is in a locked-rotor state, because the rotating speed is 0, the counter electromotive force of the motor is almost 0, all the voltage applied to the motor acts on the motor, the three-phase current generated when the motor is locked-rotor is very large, the heat generated instantaneously is also very large, and the rotor magnetic field may even be demagnetized. The locked rotor detection method generally determines whether the rotational speed is continuously less than the locked rotor protection rotational speed threshold and the current is continuously greater than the locked rotor protection current threshold during the expected period.
Practical fault protection circuits generally need to have: whether the working state of the system is normal or not can be conveniently and quickly detected, and once the abnormal working state is detected, the system can be forced to automatically enter a self-protection state; the response speed of the protection circuit is fast enough to ensure that protection is implemented before the abnormal working state causes substantial damage to the system device and the chip; after entering the protection state, the smaller and better the power consumption of the driver chip is required to be, and an ideal state is that the entire system enters the shutdown state. The turn-off state is to force the power tube in the inverter circuit to be cut off and the drive circuit to be turned off, so that the direct current brushless motor is not damaged even if the chip is in the protection state for a long time; the protection circuit is required to have a self-release function, namely after the abnormal state signal is released, the protection circuit can be automatically awakened from a turn-off state to enter a normal working state; the simpler and better the construction of the protection circuit is required. The smaller the power consumption of the protection circuit itself, the better, thereby ensuring an improvement in the overall efficiency. The commonly used protection circuit mainly comprises undervoltage protection, overcurrent protection, overheat protection and other fault protection circuits, and each protection circuit at least comprises three parts: one is a detection circuit, the other is a comparison circuit, and the other is a reference voltage source. The detection circuit converts the states of voltage, current, heat and the like in the driving chip into voltage signals, transmits the voltage signals to the comparison circuit to be compared with an internal reference, transmits the compared result to the control circuit, and directly controls the switch of a power tube in the inverter after logic conversion.
The existing technology can not be directly applied to a deep space sampling task, the main reason is that extraterrestrial celestial body sampling extreme environment and deep space detection impose multiple constraint conditions on volume, weight, power consumption and the like, and extremely high requirements are put forward on technical indexes of space-navigation-level power components, such as driving capability, overcurrent protection, integration level, derating and the like, the technology is limited by factors such as foreign forbidden transport, high cost and the like, the components meeting the use requirements are very few, risks such as voltage and current impact on power devices in an inverter circuit exist in degraded use, and the cost is high. Therefore, the overcurrent protection method of the driving circuit, which is simple and reliable in design and low in cost, is very necessary by utilizing the existing power component for type selection.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit working condition, and adopts a protection method of hardware priority and software cooperation to reduce the voltage and current impact on power devices in an inverter circuit, thereby facilitating the type selection of power components and reducing the cost of the protection circuit.
The technical scheme of the invention is as follows: a hardware overcurrent protection circuit comprises comparators A1 and A2, resistors R1-R6, a capacitor C1 and a diode D1; the current sampling input signal Vihall is connected with the non-inverting input end of a comparator A1 through a voltage division circuit consisting of resistors R1 and R2, the inverting input end of the comparator A1 is connected with a reference voltage Vref and used as the comparison level of the non-inverting input signal, and the output end of a comparator A1 is connected with the non-inverting input end through a feedback resistor R3; the output end of the comparator A1 is connected in series with a protective resistor R4 and then is pulled up to a power supply Vcc through a resistor R5 for output; the output voltage passes through a parallel circuit consisting of a diode D1 and a resistor R6 and then is connected with a reverse input end Vp of a comparator A2, and the Vp is grounded through a filter capacitor C1 and is used for filtering high-frequency interference signals at the reverse input end; the non-inverting input end of the comparator A2 is connected with the motor driving control signal VIComparator A2 output VOAnd the control end of the motor winding driving power bridge arm circuit is connected.
The working process of the hardware overcurrent protection circuit is as follows: the protection current-limiting threshold value of the hardware overcurrent protection circuit is determined by adjusting the reference voltage Vref, a current sampling input signal Vihall is compared with the reference voltage Vref after being subjected to resistance voltage division, when the bus current acquired by the hardware overcurrent protection circuit is greater than the protection threshold value Vref, namely, the bus current is in an overcurrent state, and according to the working principle of a comparator, the bus current is set as V +>V-time, the output of comparator A1 is pulled up by resistor R5 and then output high level, the inverting input end V of comparator A2PAt high level, the hardware will VPAnd a drive control signal VIMaking a comparison of VP＞VIIs toComparator A2 output level VOWhen the motor is equal to 0, the motor stops working; at this time, the bus current will rapidly decrease to 0, the output of the comparator A1 is 0, the capacitor C1 discharges through the resistor R6, and the voltage signal VPGradually decreases to 0 when V is satisfiedP＜VIIf the condition is met, the motor is restarted to work; on the contrary, in normal operation, the inverting input Vp of the comparator A2 is at low level, VP＜VIComparator A2 outputs level VO＝VIThe requirements of the motor winding on the drive level of the MOSFET of the power bridge arm are met, and the motor works normally.
A self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit working condition comprises the following steps:
(1) collecting the bus current of the direct current motor through a hardware overcurrent protection circuit;
(2) determining a hardware overcurrent protection line protection current-limiting threshold Vref；
(3) And determining the longest reliable working time of the software driving circuit and the motor locked-rotor rotating speed threshold parameter according to the design constraint of the reliable working of the driving circuit in the overcurrent protection state.
In the step (1), the detection of the motor bus current is realized by adopting a method of measuring the voltage drop of a sampling resistor, and the sampling resistor is arranged at the negative end of a bus and is connected with a motor load in series; the sampling voltage is output to a hardware overcurrent protection circuit Vihall and an analog quantity acquisition circuit respectively after signal conditioning to carry out A/D acquisition to obtain Vsample。
In the step (2), I is setoverloadIs an overcurrent protection threshold value, then
Rs is a motor bus current sampling resistor.
The specific process of the step (3) is as follows: software real-time acquisition direct current motor bus current signal VsampleAnd a hardware overcurrent protection line protection current limiting threshold VrefComparing, and in normal operation Vsample＜VrefDrive line output level VO＝VIThe motor works normally; when the voltage signal V is collected by softwaresample＞VrefSetting the overcurrent protection flag to True by software and starting timing, and if the motor rotating speed value in continuous t time is less than omegadSoftware stops sending drive signal VIThe motor drive is completely closed, and the reliability and safety of the drive circuit and the motor work are ensured; otherwise, the software normally sends a driving signal VIAnd clearing the overcurrent protection mark, so that the driving circuit and the motor can normally and continuously work, and the lunar soil sampling function can be normally carried out.
And t is the maximum time for the reliable work of the driving circuit in the overcurrent protection state, and the determination principle of the time is as follows: when the driving circuit is under the working condition of the highest working temperature and is in an overcurrent protection state, the shortest reliable working time of the circuit components and the direct current motor body is ensured; reliable operation means that the actual operating temperature of the components or the direct current motor does not exceed the maximum range allowed by a manual.
The omegadThe determination principle of the parameter is that the rotation speed value of the motor during locked rotor is as follows:
wherein, ω ismaxIs the maximum speed of the DC motor, tcIs a mechanical time constant, IoverloadFor motor protection current threshold, LphaseIs a single-phase inductance of the motor, VdriveIs the motor winding drive voltage.
The hardware overcurrent protection circuit comprises comparators A1 and A2, resistors R1-R6, a capacitor C1 and a diode D1; the current sampling input signal Vihall is connected with the non-inverting input end of a comparator A1 through a voltage division circuit consisting of resistors R1 and R2, the inverting input end of the comparator A1 is connected with a reference voltage Vref and used as the comparison level of the non-inverting input signal, and the output end of a comparator A1 is connected with the non-inverting input end through a feedback resistor R3; the output end of the comparator A1 is connected in series with a protective resistor R4 and then is pulled up to a power supply Vcc through a resistor R5 for output; the output voltage passes through a parallel circuit consisting of a diode D1 and a resistor R6 and then is connected with a reverse input end Vp of a comparator A2, and the Vp is grounded through a filter capacitor C1 and is used for filtering high-frequency interference signals at the reverse input end; the non-inverting input end of the comparator A2 is connected with the motor drive control signalNumber VIComparator A2 output VOAnd the control end of the motor winding driving power bridge arm circuit is connected.
Compared with the prior art, the invention has the advantages that:
the protection circuit is limited by constraint conditions such as component type selection of aerospace products, and the like, and is simple and reliable in structure so as to meet the design requirements of deep space models on light and small products on the device. The hardware overcurrent protection circuit consists of a comparator, a resistor, a capacitor and a diode, all of which are aerospace mature application components, can realize overcurrent protection threshold values and motor restart recovery time by adjusting parameters of the resistor and the capacitor, is convenient and flexible, and can be popularized to application in other models.
By adopting a software and hardware cooperative protection method, the maximum time for reliable work of the driving circuit in an overcurrent protection state and the rotating speed of the motor in a locked-rotor state are limited by software, and the continuity of the lunar soil sampling process and the reliability and safety of the motor and the driving circuit under the limit working condition can be considered.
Drawings
FIG. 1 is a schematic diagram of a topology circuit structure of the over-current protection circuit applied to software and hardware cooperating with hardware according to the present invention;
FIG. 2 is a flow chart of the present invention applied to software and hardware cooperative protection software protection.
Detailed Description
The invention provides a software and hardware cooperative protection method for a high-power direct-current motor under the limit condition.
The topological circuit of software and hardware cooperative protection is shown in figure 1.
The software and hardware cooperative protection control process comprises the following specific control methods:
step 1: and collecting the bus current of the direct current motor. The detection of the motor bus current is usually realized by measuring the voltage drop of a sampling resistor, and the sampling resistor is generally arranged at the negative end of a bus and is connected with a motor load in series.
Step 2: the topology of the hardware protection circuit is shown in fig. 1, one path of sampling voltage is output to Vihall in fig. 1 after signal conditioning, and the other path of sampling voltage is output to the control board for A/D collection. The Vihall signal is compared with a reference voltage Vref after being subjected to resistance voltage division, according to the working principle of the comparator, when V < + > V < - >, the output of the comparator A1 is pulled up by a resistor R5 and then outputs a high level, Vp is the high level, and the output Vo of the comparator A2 is 0; when V + < V-, the comparator a1 outputs low, Vp is low, Vo is Vi, and the comparator outputs a control drive signal to normally control the MOSFET switch. D1 and C1 in the circuit low pass filter Vp input to the comparator a2 to ensure that the protection level signal is quickly established and protected from glitches when conducting in the forward direction. Resistor R6 provides a bleed path for C1 when the output of comparator a1 is low.
And step 3: the control board collects Vihall signals once every fixed control period (tick), as shown in FIG. 2, when the Vsample signal is collected<When Vref is set, the software normally outputs the motor control output, otherwise, when Vsample is collected>And when the voltage is Vref, the software clears the control output of the period and sets the over-current protection flag to True. Each fixed control period (tick) of the motor control software is used for simultaneously measuring a motor rotating speed signal, and when the software judges that the overcurrent protection mark is True and the measured rotating speed of the motor is lower than the set rotating speed omegadThen, the counter Timer +1 is started. When the continuous accumulated time t is within, the measured rotating speed of the motor is lower than the set rotating speed omegadAnd the motor stops controlling output and exits from the main control mode. Otherwise, when the software judges that the over-current protection mark is True, the motor measures that the rotating speed of the motor is higher than the set rotating speed omega within t timedAnd when the current is over, the counter Timer is cleared, and the overcurrent protection mark is cleared.
Determining t according to the service environment of the system and the parameters of components, wherein t is the longest time for reliable work of a driving circuit in an overcurrent protection state, and the determination principle of the time is as follows: when the driving circuit is under the working condition of the highest working temperature and is in an overcurrent protection state, the shortest reliable working time of the circuit components and the direct current motor body is ensured; reliable operation means that the actual operating temperature of the components or the direct current motor does not exceed the maximum range allowed by a manual.
Determining omega according to system use environment and component parametersd。ωdThe determination principle of the parameter is that the rotation speed value of the motor during locked rotor is as follows:
wherein, ω ismaxIs the maximum speed of the DC motor, tcIs a mechanical time constant, IoverloadFor motor protection current threshold, LphaseIs a single-phase inductance of the motor, VdriveIs the motor winding drive voltage.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (9)
1. A hardware overcurrent protection circuit is characterized in that: the circuit comprises comparators A1 and A2, resistors R1-R6, a capacitor C1 and a diode D1; the current sampling input signal Vihall is connected with the non-inverting input end of a comparator A1 through a voltage division circuit consisting of resistors R1 and R2, the inverting input end of the comparator A1 is connected with a reference voltage Vref and used as the comparison level of the non-inverting input signal, and the output end of a comparator A1 is connected with the non-inverting input end through a feedback resistor R3; the output end of the comparator A1 is connected in series with a protective resistor R4 and then is pulled up to a power supply Vcc through a resistor R5 for output; the output voltage passes through a parallel circuit consisting of a diode D1 and a resistor R6 and then is connected with the reverse input end Vp of a comparator A2, and the Vp is grounded through a filter capacitor C1 and is used for filtering high-frequency interference signals at the reverse input end; the non-inverting input end of the comparator A2 is connected with the motor driving control signal VIComparator A2 output VOAnd the control end of the motor winding driving power bridge arm circuit is connected.
2. The hardware overcurrent protection circuit of claim 1, wherein: the working process of the hardware overcurrent protection circuit is as follows: the protection current-limiting threshold of the hardware overcurrent protection circuit is determined by adjusting the reference voltage Vref, the current sampling input signal Vihall is compared with the reference voltage Vref after being subjected to voltage division by a resistor, when the bus current acquired by the hardware overcurrent protection circuit is greater than the protection threshold Vref, namely, the bus current is in an overcurrent state, and according to the working principle of a comparator, the bus current is V +>V-time, the output of comparator A1 is pulled up by resistor R5 and then output high level, the inverting input end V of comparator A2PAt high level, the hardware will VPAnd a drive control signal VIMaking a comparison of VP＞VIComparator A2 outputs level VOWhen the motor is equal to 0, the motor stops working; at this time, the bus current will rapidly decrease to 0, the output of the comparator A1 is 0, the capacitor C1 discharges through the resistor R6, and the voltage signal VPGradually decreases to 0 when V is satisfiedP＜VIIf the condition is met, the motor is restarted to work; on the contrary, in normal operation, the inverting input Vp of the comparator A2 is at low level, VP＜VIComparator A2 outputs level VO＝VIThe requirements of the motor winding on the drive level of the MOSFET of the power bridge arm are met, and the motor works normally.
3. A self-adaptive protection design method suitable for deep space sampling high-power direct current motor limit working condition is characterized by comprising the following implementation steps:
(1) collecting the bus current of the direct current motor through a hardware overcurrent protection circuit;
(2) determining a hardware overcurrent protection line protection current-limiting threshold Vref；
(3) And determining the longest reliable working time of the software driving circuit and the motor locked-rotor rotating speed threshold parameter according to the design constraint of the reliable working of the driving circuit in the overcurrent protection state.
4. The adaptive protection design method suitable for the extreme condition of the deep space sampling high-power direct current motor according to claim 3, characterized in that: in the step (1), the detection of the motor bus current is realized by adopting a method of measuring the voltage drop of a sampling resistor, and the sampling resistor is arranged at the negative end of a bus and is connected with a motor load in series; the sampling voltage is output to a hardware overcurrent protection circuit Vihall and an analog quantity acquisition circuit respectively after signal conditioning to carry out A/D acquisition to obtain Vsample。
5. The adaptive protection design method suitable for the extreme condition of the deep space sampling high-power direct current motor according to claim 4, characterized in that: in the step (2), I is setoverloadIs an overcurrent protection threshold value, then
Rs is a motor bus current sampling resistor.
6. The adaptive protection design method suitable for the extreme condition of the deep space sampling high-power direct current motor according to claim 5, is characterized in that: the specific process of the step (3) is as follows: software real-time acquisition direct current motor bus current signal VsampleAnd a hardware overcurrent protection line protection current limiting threshold VrefComparing, and in normal operation Vsample＜VrefDrive line output level VO＝VIThe motor works normally; when the voltage signal V is collected by softwaresample＞VrefSetting the overcurrent protection flag to True by software and starting timing, and if the motor rotating speed value in continuous t time is less than omegadSoftware stops sending drive signal VIThe motor drive is completely closed, and the reliability and safety of the drive circuit and the motor work are ensured; otherwise, the software normally sends a driving signal VIAnd clearing the overcurrent protection mark, so that the driving circuit and the motor can normally and continuously work, and the lunar soil sampling function can be normally carried out.
7. The adaptive protection design method suitable for the extreme condition of the deep space sampling high-power direct current motor according to claim 6, characterized in that: and t is the maximum time for the reliable work of the driving circuit in the overcurrent protection state, and the determination principle of the time is as follows: when the driving circuit is under the working condition of the highest working temperature and is in an overcurrent protection state, the shortest reliable working time of the circuit components and the direct current motor body is ensured; reliable operation means that the actual operating temperature of the components or the direct current motor does not exceed the maximum range allowed by a manual.
8. The adaptive protection design method suitable for the extreme condition of the deep space sampling high-power direct current motor according to claim 6, characterized in that: the omegadThe determination principle of the parameter is that the rotation speed value of the motor during locked rotor is as follows:
wherein, ω ismaxIs the maximum speed of the DC motor, tcIs a mechanical time constant, IoverloadFor motor protection current threshold, LphaseIs a single-phase inductance of the motor, VdriveIs the motor winding drive voltage.
9. The adaptive protection design method suitable for the extreme condition of the deep space sampling high-power direct current motor according to claim 3, characterized in that: the hardware overcurrent protection circuit comprises comparators A1 and A2, resistors R1-R6, a capacitor C1 and a diode D1; the current sampling input signal Vihall is connected with the non-inverting input end of a comparator A1 through a voltage division circuit consisting of resistors R1 and R2, the inverting input end of the comparator A1 is connected with a reference voltage Vref and used as the comparison level of the non-inverting input signal, and the output end of a comparator A1 is connected with the non-inverting input end through a feedback resistor R3; the output end of the comparator A1 is connected in series with a protective resistor R4 and then is pulled up to a power supply Vcc through a resistor R5 for output; the output voltage passes through a parallel circuit consisting of a diode D1 and a resistor R6 and then is connected with a reverse input end Vp of a comparator A2, and the Vp is grounded through a filter capacitor C1 and is used for filtering high-frequency interference signals at the reverse input end; the non-inverting input end of the comparator A2 is connected with the motor driving control signal VIComparator A2 output VOAnd the control end of the motor winding driving power bridge arm circuit is connected.
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| CN116191383A (en) * | 2023-03-06 | 2023-05-30 | 江苏吉泰科电气有限责任公司 | Overcurrent protection method and circuit |
| CN116191383B (en) * | 2023-03-06 | 2023-09-29 | 江苏吉泰科电气有限责任公司 | Overcurrent protection method and circuit |
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| CN114512961B (en) | 2023-11-10 |
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