CN114679109A - Control method of motor controlled by magnetic field orientation - Google Patents
Control method of motor controlled by magnetic field orientation Download PDFInfo
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- CN114679109A CN114679109A CN202210595497.0A CN202210595497A CN114679109A CN 114679109 A CN114679109 A CN 114679109A CN 202210595497 A CN202210595497 A CN 202210595497A CN 114679109 A CN114679109 A CN 114679109A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02H7/085—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 against excessive load
- H02H7/0852—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 against excessive load directly responsive to abnormal temperature by using a temperature sensor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/25—Devices for sensing temperature, or actuated thereby
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a control method of a motor controlled by magnetic field orientation, which comprises a motor monomer and a motor controller, wherein the motor controller comprises a power supply circuit, a microprocessor MCU, a phase line current detection circuit and an inverter circuit, wherein a coil winding is electrically connected with a temperature protector; the control method is characterized in that an FOV magnetic field orientation control operation software module and a motor locked rotor test operation software module are arranged in a motor, when the motor is judged to be in a locked rotor test environment, the motor locked rotor test operation software module is executed, and a locked rotor test is completed by utilizing the cooperation of a temperature protector and the motor locked rotor test operation software module; and when the normal working state of the motor is judged, executing the FOV magnetic field orientation control operation software module. The motor can simply and easily pass UL authentication, so that the motor controlled by the magnetic field orientation can realize the locked rotor function, the product export of enterprises is ensured, the authentication period is short, and the authentication cost is low.
Description
Technical Field
The invention relates to a control method of a motor controlled by magnetic field orientation.
Background
At present, when a plurality of motors are subjected to UL authentication, locked-rotor tests are required, locked-rotor protection in software is cancelled, then the shaft of the motor is clamped by equipment to operate the motor for testing, whether the motor can be reliably protected or not is judged, and safety problems are prevented. Because many motors do not have software certification, the software certification can only be guaranteed through hardware protection.
The current BLDC motor or PMSM motor all belongs to the category of permanent magnet synchronous motor, and many BLDC motors or PMSM motor all adopt FOC control strategy, FOC's english expression: Field-Oriented Control, which is known as Field-Oriented Control, is also called Vector Control (VC), and is one of the best methods for efficient Control of brushless direct current motors (BLDC) and Permanent Magnet Synchronous Motors (PMSM) at present. The FOC control strategy aims to ensure that the motion torque of the motor is smooth, the noise is low, the efficiency is high and the dynamic response is high by accurately controlling the size and the direction of a magnetic field.
And if the motor adopts an FOC (magnetic field orientation control) algorithm scheme, the motor cannot carry out locked rotor test, because after locked rotor protection of software is removed, the current and the power of the motor cannot be increased, because a locked rotor motor stops, the system defaults that the motor still runs (a closed loop is formed by detecting that a tiny current exists, and the motor is out of control actually). The motor adopting the FOC control strategy cannot perform normal locked rotor test, and software authentication cost is high, the period is long, and the normal locked rotor test cannot be considered generally.
In conclusion, the motor adopting the FOC control strategy cannot perform normal locked rotor test, and thus cannot pass UL certification and cannot be exported, which affects production and sales of enterprises.
Disclosure of Invention
The invention aims to provide a control method of a motor controlled in a magnetic field orientation mode, and solves the technical problems that in the prior art, the motor adopting an FOC control strategy cannot perform normal locked rotor test, cannot pass UL authentication, cannot be exported and influences production and sales of enterprises.
The invention is realized by the following technical scheme:
a control method of a motor controlled by magnetic field orientation comprises a motor monomer and a motor controller, wherein the motor monomer comprises a stator component and a permanent magnet rotor component, the stator component comprises a stator core and a coil winding wound on the stator core, the motor controller comprises a power supply circuit, a microprocessor MCU, a phase current detection circuit and an inverter circuit, the phase current detection circuit detects phase current flowing through the coil winding and sends the phase current to the microprocessor MCU, the microprocessor MCU controls the inverter circuit to work, the inverter circuit controls the on-off of each phase coil winding of the stator component, and the coil winding is electrically connected with a temperature protector;
the method is characterized in that: the control method is characterized in that an FOV magnetic field orientation control operation software module and a motor locked rotor test operation software module are arranged in a motor, when the motor is judged to be in a locked rotor test environment, the motor locked rotor test operation software module is operated, and a temperature protector is matched with the motor locked rotor test operation software module to carry out locked rotor test; and when the normal working state of the motor is judged, operating the FOV magnetic field orientation control operation software module.
The temperature protector is a thermal protector, when the motor locked-rotor test running software module is executed, the temperature of the motor is continuously increased to reach the critical temperature, the thermal protector is fused, and a power supply loop of the coil winding is cut off.
In the motor under the locked rotor test environment, the motor locked rotor test operation software module executes the following steps:
the method comprises the following steps: by adding the voltage of the coil winding to the maximum operating voltage; the motor is output according to the maximum power, and the current is also increased to the maximum;
step two: and when the state of the motor is detected to be a stop state, the motor is regarded as a locked rotor test to be passed.
The motor controller is also provided with a locked rotor test outgoing line which is electrically connected with an input port of the microprocessor, and the microprocessor judges whether the motor is in a locked rotor test environment or in a normal working state of the motor currently through different signals given to the locked rotor test outgoing line, so that the motor locked rotor test running software module or the FOV magnetic field directional control running software module is selected to run.
The output end of the power circuit is also electrically connected with a low-voltage power supply outgoing line which provides a signal source for the locked rotor test outgoing line.
The low-voltage power supply outgoing line is connected with a terminal female socket, the end part of the locked rotor test outgoing line is connected with a terminal plug, the terminal plug is plugged in the terminal female socket to realize the electric connection of the low-voltage power supply outgoing line and the locked rotor test outgoing line, and the microprocessor judges that the low-voltage power supply outgoing line is in the locked rotor test environment; when the terminal plug is separated from the terminal female socket, the low-voltage power supply outgoing line is disconnected with the locked rotor test outgoing line, and the microprocessor judges that the motor is in a normal working state.
The FOV field orientation control running software module described above is a vector control performed with the direct axis current Iq and the quadrature axis current Id in the rotor rotational coordinate system.
The temperature protector is attached to the surface of the coil winding.
Compared with the prior art, the invention has the following effects:
(1) the invention is provided with an FOV magnetic field orientation control operation software module and a motor locked rotor test operation software module in a motor, when the motor is judged to be in a locked rotor test environment, the motor locked rotor test operation software module is executed, and a locked rotor test is completed by utilizing the cooperation of a temperature protector and the motor locked rotor test operation software module; when the normal working state of the motor is judged, the FOV magnetic field directional control is executed to operate the software module, UL authentication can be simply and easily passed, the product export of enterprises is guaranteed, the authentication period is short, and the authentication cost is low.
(2) Other advantages of the present invention are described in detail in the examples section.
Drawings
FIG. 1 is a perspective view of the motor of the present invention;
FIG. 2 is a perspective view of a motor controller of the motor of the present invention;
fig. 3 is a structural sectional view of the motor of the present invention;
FIG. 4 is a block diagram of an implementation circuit of a motor controller of the motor of the present invention;
FIG. 5 is a corresponding circuit diagram of FIG. 4;
FIG. 6 is a schematic block diagram of the present invention referring to magnetic field orientation control;
FIG. 7 is a work flow diagram of the operation of the field oriented controlled motor of the present invention;
FIG. 8 is a schematic block diagram of the motor stall test of the present invention;
FIG. 9 is a schematic diagram of the motor of the present invention with the addition of a locked rotor test lead and a low voltage power supply lead;
fig. 10 is a block diagram of the electrical machine of the present invention with the addition of a locked rotor test outlet and a low voltage power outlet.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the motor for magnetic field directional control provided in this embodiment can adopt a non-inductive dc brushless BLDC motor or a PMSM motor, and is composed of a motor unit 1 and a motor controller 2, where the motor unit 1 includes a stator assembly 12, a rotor assembly 13 and a casing assembly 11, and includes a stator core and a coil winding wound on the stator core, the stator assembly 13 is installed on the casing assembly 11, the rotor assembly 13 is sleeved on the inner side of the stator assembly 12, the motor controller 2 includes a control box 22 and a control circuit board 21 installed in the control box 22, the control circuit board 21 generally includes a power circuit, a microprocessor MCU, a phase current detection circuit, and an inverter circuit, the power circuit supplies power to each part of the circuits, the phase current detection circuit inputs the phase current of the detection coil winding to the microprocessor MCU, the microprocessor MCU controls an inverter circuit that controls the power on and off of the coil windings of each phase of the stator assembly 12.
As shown in fig. 4 and 5, the PM motor is a non-inductive dc brushless motor and is a 3-phase brushless dc permanent magnet synchronous motor, the stator assembly 12 includes 3-phase coil windings such as U, V, W, an AC INPUT (AC INPUT) passes through a full-wave rectification circuit composed of diodes D7, D8, D9, and D10, and then outputs a dc bus voltage Vbus at one end of a capacitor C1, the dc bus voltage Vbus is related to an INPUT AC voltage, the bus voltage Vbus is constant after the voltage of the AC INPUT (AC INPUT) is determined, the line voltage P of the 3-phase coil windings is a PWM chopping output voltage, P = Vbus V _ D, V _ D is a duty ratio of a PWM signal INPUT to the inverter circuit by the electronic switching tubes Q1, Q2, Q3, Q4, Q5, and Q6, and the electronic switching tubes Q1, Q2, Q3, Q4, Q5, Q6 are respectively composed of control signals at the output end of the microprocessor (PWM chopping output P1) P2, P3, P4, P5 and P6), the inverter circuit is also connected with a resistor R1 for detecting the bus current I, and the bus current detection circuit converts the bus current I detected by the resistor R1 and transmits the converted bus current I to the microprocessor. In fig. 6 and 5, the motor unit 1 is represented by a letter M which is sleeved in a circle.
The invention relates to a control method of a motor controlled by magnetic field orientation, which comprises a motor monomer 1 and a motor controller 2, wherein the motor monomer 1 comprises a stator assembly 12 and a permanent magnet rotor assembly 13, the stator assembly 12 comprises a stator core and a coil winding wound on the stator core, the motor controller 2 comprises a control box 22 and a control circuit board 21 arranged in the control box 22, the motor controller 2 comprises a power supply circuit, a microprocessor MCU, a phase current detection circuit and an inverter circuit, the phase current detection circuit detects phase current flowing through the coil winding and sends the phase current to the microprocessor MCU, the microprocessor MCU controls the inverter circuit to work, the inverter circuit controls the on-off of each phase coil winding of the stator assembly, and the coil winding is electrically connected with a temperature protector 3;
the method is characterized in that: the control method is characterized in that an FOV magnetic field orientation control operation software module and a motor locked rotor test operation software module are arranged in a motor, when the motor is judged to be in a locked rotor test environment, the motor locked rotor test operation software module is operated, and a temperature protector is matched with the motor locked rotor test operation software module to carry out locked rotor test; and when the normal working state of the motor is judged, operating the FOV magnetic field orientation control operation software module.
The invention is provided with an FOV magnetic field orientation control operation software module and a motor locked rotor test operation software module in a motor, when the motor is judged to be in a locked rotor test environment, the motor locked rotor test operation software module is executed, and a locked rotor test is completed by utilizing the cooperation of a temperature protector and the motor locked rotor test operation software module; when the normal working state of the motor is judged, the FOV magnetic field directional control operation software module is executed, UL authentication can be simply and easily passed, the motor controlled in the magnetic field directional control can realize the locked rotor function, the product export of an enterprise is ensured, the authentication period is short, and the authentication cost is low.
The temperature protector is a thermal protector, when the motor locked-rotor test running software module is executed, the temperature of the motor is continuously increased to reach the critical temperature, the thermal protector is fused, and a power supply loop of the coil winding is cut off.
In the motor under the locked rotor test environment, the motor locked rotor test operation software module executes the following steps:
the method comprises the following steps: by adding the voltage of the coil winding to the maximum operating voltage; the motor is output according to the maximum power, and the current is also increased to the maximum;
step two: and (3) gradually increasing the temperature of the coil winding along with the time, fusing the thermal protector when the critical temperature is reached, stopping the motor, and judging that the locked rotor test is finished to pass when the state of the motor is detected to be a stopped state.
As shown in fig. 9 and 10, the motor controller 2 is further provided with a locked rotor test outlet 4, the locked rotor test outlet 4 is electrically connected with an input port of the microprocessor, and the microprocessor judges whether the motor is in a locked rotor test environment or in a normal motor working state currently by giving different signals to the locked rotor test outlet 4, so that the motor locked rotor test operation software module or the FOV magnetic field orientation control operation software module is selected to operate, and the structure is simple and easy to implement.
The output end of the power circuit is electrically connected with a low-voltage power supply outgoing line 5, the low-voltage power supply outgoing line 5 has +5V voltage output, the low-voltage power supply outgoing line 5 provides a signal source for the locked rotor test outgoing line 4, the locked rotor test outgoing line 4 does not depend on an external power supply, and the use is simpler and more convenient.
In the invention, 2 independent running software modules, namely an FOV magnetic field directional control running software module and a motor stalling test running software module, are burned and solidified in a memory ROM connected with a microprocessor MCU; as shown in fig. 7, the low-voltage power supply outgoing line 5 is connected with a terminal female socket 51, the end of the locked rotor test outgoing line 4 is connected with a terminal plug 41, the terminal plug 41 is plugged in the terminal female socket 51 to realize the electrical connection between the low-voltage power supply outgoing line 5 and the locked rotor test outgoing line 4, and the microprocessor judges that the motor locked rotor test running software module is running in the locked rotor test environment; when the terminal plug 41 is separated from the terminal female socket 51, the low-voltage power supply outgoing line 5 is disconnected from the locked rotor test outgoing line 4, and the microprocessor judges that the motor is in a normal working state and operates the FOV magnetic field directional control operation software module. Simple structure and convenient operation.
The FOV magnetic field orientation control operation software module is vector control executed by using the direct-axis current Iq and the quadrature-axis current Id in a rotor rotation coordinate system.
The temperature protector is attached to the surface of the coil winding so as to accurately sense the temperature of the coil winding.
The motor of the present invention employs vector control, typically FOC control (i.e., field oriented control), as shown in figure 6, fig. 6 is a schematic diagram of a classical magnetic field orientation control, the FOV magnetic field orientation control running software module of the present invention is obtained by programming according to the block diagram, here, the details are not described, because fig. 6 is a classical magnetic field orientation control, which is described in detail in textbooks or patent documents, the three-phase current vectors Ia, Ib, and Ic of the three-phase coil are collected and input to the clark transformation module, two orthogonal time-varying current vectors I α and I β are obtained after processing, the two orthogonal time-varying current vectors I α and I β obtained above are input to the park transformation module, two orthogonal constant vectors Id and Iq are obtained after processing, the constant vectors obtained above are input to the PI controller, and the processed voltage vectors Ud and Uq to be applied to the motor are output.
And after the voltage vector obtained in the above way is subjected to park inverse transformation, the motor is controlled in the next step through an SVPWM technology, and the description is not expanded.
As shown in fig. 8, a thermal fuse (i.e., a thermal protection device) is installed inside the motor, the motor stalling test operation software module adds the voltage of the 3-phase coil winding (i.e., the voltage Uq of the q-axis) of the motor to the maximum working voltage, at this time, the motor outputs according to the maximum power, the current also rises to the maximum, the motor stalling is started, the temperature of the 3-phase coil winding starts to rise slowly, as time increases, when the temperature of the 3-phase coil winding reaches the thermal fuse protection temperature (i.e., the critical temperature), the thermal fuse fuses, the motor stops, and the stalling test passes.
The above embodiments are only preferred embodiments of the present invention, but the present invention is not limited thereto, and any other changes, modifications, substitutions, combinations, simplifications, which are made without departing from the spirit and principle of the present invention, are all equivalent replacements within the protection scope of the present invention.
Claims (8)
1. A control method of a motor controlled by magnetic field orientation comprises a motor monomer and a motor controller, wherein the motor monomer comprises a stator component and a permanent magnet rotor component, the stator component comprises a stator core and a coil winding wound on the stator core, the motor controller comprises a power supply circuit, a microprocessor MCU, a phase current detection circuit and an inverter circuit, the phase current detection circuit detects phase current flowing through the coil winding and sends the phase current to the microprocessor MCU, the microprocessor MCU controls the inverter circuit to work, the inverter circuit controls the on-off of each phase coil winding of the stator component, and the coil winding is electrically connected with a temperature protector; the method is characterized in that: the control method is characterized in that an FOV magnetic field orientation control operation software module and a motor locked rotor test operation software module are arranged in a motor, when the motor is judged to be in a locked rotor test environment, the motor locked rotor test operation software module is operated, and a temperature protector is matched with the motor locked rotor test operation software module to carry out locked rotor test; and when the normal working state of the motor is judged, operating the FOV magnetic field orientation control operation software module.
2. The control method of a field oriented controlled machine according to claim 1, characterized by: the temperature protector is a thermal protector, when the motor locked-rotor test running software module is executed, the temperature of the motor is continuously increased to reach the critical temperature, the thermal protector is fused, and a power supply loop of the coil winding is cut off.
3. The control method of a field oriented controlled machine according to claim 2, characterized in that: the motor locked-rotor test operation software module executes the following steps under the locked-rotor test environment of the motor:
the method comprises the following steps: by adding the voltage of the coil winding to the maximum operating voltage; the motor is output according to the maximum power, and the current is also increased to the maximum;
step two: and (3) gradually increasing the temperature of the coil winding along with the time, fusing the thermal protector when the critical temperature is reached, stopping the motor, and passing the locked rotor test when the state of the motor is detected to be a stopped state.
4. A method of controlling a field oriented controlled machine according to claim 1, 2 or 3, characterized by: the motor controller is also provided with a locked rotor test outgoing line which is electrically connected with an input port of the microprocessor, and the microprocessor judges whether the motor is in a locked rotor test environment or in a normal working state of the motor currently through different signals given to the locked rotor test outgoing line, so that the motor locked rotor test running software module or the FOV magnetic field directional control running software module is selected to run.
5. The control method of a field oriented controlled machine according to claim 4, characterized in that: the output end of the power circuit is also electrically connected with a low-voltage power supply outgoing line which provides a signal source for the locked rotor test outgoing line.
6. The control method of a field oriented controlled machine according to claim 5, characterized in that: the low-voltage power supply outgoing line is connected with a terminal female socket, the end part of the locked rotor test outgoing line is connected with a terminal plug, the terminal plug is plugged in the terminal female socket to realize the electric connection of the low-voltage power supply outgoing line and the locked rotor test outgoing line, and the microprocessor judges that the locked rotor test environment is in the locked rotor test environment; when the terminal plug is separated from the terminal female socket, the low-voltage power supply outgoing line is disconnected with the locked rotor test outgoing line, and the microprocessor judges that the motor is in a normal working state.
7. The method of claim 6, wherein: the FOV field orientation control running software module is a vector control performed with the direct axis current Iq and the quadrature axis current Id in the rotor rotational coordinate system.
8. A method of controlling a field oriented controlled machine according to claim 1, 2 or 3, characterized by: the temperature protector is attached to the surface of the coil winding.
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| CN203404061U (en) * | 2013-07-11 | 2014-01-22 | 天津市詹佛斯科技发展有限公司 | Locked rotor testing device of scroll compressor |
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