CN117978036A - Control method and device of inductive single-phase motor, storage medium and electronic equipment - Google Patents

Control method and device of inductive single-phase motor, storage medium and electronic equipment Download PDF

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Publication number
CN117978036A
CN117978036A CN202410132764.XA CN202410132764A CN117978036A CN 117978036 A CN117978036 A CN 117978036A CN 202410132764 A CN202410132764 A CN 202410132764A CN 117978036 A CN117978036 A CN 117978036A
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China
Prior art keywords
time period
wave signal
duty cycle
motor
sine wave
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Pending
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CN202410132764.XA
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Chinese (zh)
Inventor
付国强
叶将鹏
吴君乐
孙瑞欣
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Zhuhai Huge Ic Co ltd
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Zhuhai Huge Ic Co ltd
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Priority to CN202410132764.XA priority Critical patent/CN117978036A/en
Publication of CN117978036A publication Critical patent/CN117978036A/en
Pending legal-status Critical Current

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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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/04—Single phase motors, e.g. capacitor motors
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/26—Arrangements for controlling single phase motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The embodiment of the application discloses a control method and device of a sensitive single-phase motor, a storage medium and electronic equipment, and relates to the field of motor control. The application uses sine wave control to make the commutation stable and smooth when the commutation is performed, and reduces vibration and noise. The square wave signal with the maximum duty ratio is directly output after a period of commutation to maximize the moment of the motor, and then the sine wave control is switched back after a period of waiting, so that the sine wave and the square wave are continuously and alternately changed, the maximum moment output time can be increased on the basis of insufficient moment of the sine wave, and the moment can be increased and the vibration and noise can be reduced.

Description

Control method and device of inductive single-phase motor, storage medium and electronic equipment
Technical Field
The present application relates to the field of motor control, and in particular, to a method and apparatus for controlling a sensored single-phase motor, a storage medium, and an electronic device.
Background
The inductive single-phase motor has the characteristics of low cost and simple structure, and is widely applied to various fields. The related art generally uses square wave signals to control the speed of a sensible single-phase motor, and performs 2 commutation in an electrical period of 360 ° at the position of the motor rotor. Each motor commutation moment outputs a force in a specific direction to the motor, so the position accuracy of the square wave control is electrically 180 °. In this control mode, the phase current waveform of the motor approaches a square wave, and each commutation causes a sudden change in current, thus causing a sudden change in force, which can cause the motor to shake unstably. While the motor's dithering can cause mechanical noise, while the square wave current can cause high frequency harmonic current noise.
Disclosure of Invention
The embodiment of the application provides a control method and device of a sensitive single-phase motor, a storage medium and electronic equipment, which can solve the problem of large harmonic current noise generated by jitter when the motor is in phase change in the prior art. The technical scheme is as follows:
In a first aspect, an embodiment of the present application provides a method for controlling a sensored single-phase motor, the method including:
Calculating a target duty ratio in a commutation period according to a difference value between a target rotating speed and an actual rotating speed of the motor; the phase change period consists of a first time period, a second time period and a third time period;
When the commutation of the motor is detected, a first sine wave signal is input to the driving module in the first time period, a square wave signal is input to the driving module in the second time period, and a second sine wave signal is input to the driving module in the third time period. Wherein the duty cycle of the first sine wave signal is increased from 0 to the target duty cycle according to a first step size, the duty cycle of the square wave signal is the target duty cycle, and the duty cycle of the second sine wave signal is decreased from the target duty cycle to 0 according to a second step size.
In a second aspect, an embodiment of the present application provides a control apparatus for a sensored single-phase motor, the apparatus including:
a calculation unit for calculating a target duty ratio in a commutation period according to a difference between a target rotational speed and an actual rotational speed of the motor; the phase change period consists of a first time period, a second time period and a third time period;
The generating unit is used for inputting a first sine wave signal to the driving module in the first time period, inputting a square wave signal to the driving module in the second time period and inputting a second sine wave signal to the driving module in the third time period when the motor commutation is detected. Wherein the duty cycle of the first sine wave signal is increased from 0 to the target duty cycle according to a first step size, the duty cycle of the square wave signal is the target duty cycle, and the duty cycle of the second sine wave signal is decreased from the target duty cycle to 0 according to a second step size.
In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.
In a fourth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
The technical scheme provided by the embodiments of the application has the beneficial effects that at least:
The square wave signal control and the sine wave signal control are combined, and the sine wave control is used during phase change, so that the phase change is smooth and stable, and vibration and noise are reduced. The square wave signal with the maximum duty ratio is directly output after a period of commutation to maximize the moment of the motor, and then the sine wave control is switched back after a period of waiting, so that the sine wave and the square wave are continuously and alternately changed, the maximum moment output time can be increased on the basis of insufficient moment of the sine wave, and the moment can be increased and the vibration and noise can be reduced.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a network architecture according to an embodiment of the present application;
Fig. 2 is a flow chart of a control method of a sensing single-phase motor according to an embodiment of the present application;
Fig. 3 is a duty ratio variation trend chart provided by an embodiment of the present application;
Fig. 4 is a schematic structural diagram of a control device for a sensored single-phase motor according to the present application;
fig. 5 is another schematic structural diagram of a control device for a sensored single-phase motor according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.
It should be noted that, the control method of the inductive single-phase motor provided by the application is generally executed by an electronic device, and correspondingly, the control device of the inductive single-phase motor is generally arranged in the electronic device.
Fig. 1 illustrates an exemplary system architecture of a control method of a sensible single phase motor or a control apparatus of a sensible single phase motor, which can be applied to the present application.
An electronic device includes: the motor is a single-phase inductive motor. The motor is connected with the control device.
The control device comprises a power supply module, a control module, a commutation detection module and a driving module.
The power supply module is used for providing working voltage for the control module, the commutation detection module and the driving module, and generating low-voltage direct-current voltage of 5V or 3.3V through the LDO or the DC-DC circuit to supply power for each module.
The control module comprises a processor, which can be a singlechip, and is used for adjusting the duty ratio of the current driving signal according to the detected position of the rotor and a closed-loop control algorithm, and outputting the current driving signal to the driving module for driving the motor to run, so as to control the rotating speed of the motor. For example: the method comprises the steps of adjusting by using a PI (Proportional Integral) algorithm or a PID (Proportional-integral-derivative) algorithm, taking the position of a rotor detected by a commutation detection module, the actual rotating speed of the rotor and a target rotating speed as input, calculating the duty ratio of a current driving signal by using a closed-loop control algorithm, outputting the current driving signal to a driving module to drive a motor to rotate, and controlling the actual rotating speed of the motor to reach the target rotating speed
The commutation detection module comprises a Hall device and is used for detecting the position information of the rotor through the Hall device, and the position information is reported to the control module.
The driving module mainly comprises an H-bridge circuit, an MOS tube and a sampling resistor, and after receiving a current driving signal output by the control module, the driving module controls the H-bridge to open the MOS tube according to a set switching sequence according to a PMW waveform, and current passes through a motor winding after passing through the MOS and returns to GND after passing through the sampling resistor through a lower tube. The main function is to turn on the MOS tube to control the rotation of the motor according to the set switching sequence.
The method for controlling the inductive single-phase motor according to the embodiment of the application will be described in detail with reference to fig. 2.
Referring to fig. 2, a flow chart of a control method of a sensored single-phase motor is provided in an embodiment of the application. As shown in fig. 2, the method according to the embodiment of the present application may include the following steps:
s201, calculating a target duty ratio in a commutation period according to a difference value between the target rotating speed and the actual rotating speed of the motor.
The motor performs two commutation in an electrical period of 360 degrees, and each commutation period is a time interval when the motor rotates 180 degrees. The actual rotation speed of the motor is calculated through the rotor position detected by the Hall element, and then the target duty ratio in the commutation period is calculated according to the difference between the target rotation speed and the actual rotation speed by utilizing a closed-loop control algorithm. The commutation period is composed of a first time period, a second time period and a third time period, namely the commutation period is divided into the first time period, the second time period and the third time period which are connected end to end according to time sequence.
For example, referring to the duty ratio trend chart shown in fig. 3, the start time t0 of the first period is the current motor commutation time t0, the start time t1 of the second period is the end time of the first period, the start time t2 of the third period is the end time of the second period, and the end time of the third period is the next motor commutation time t3.
S202, when the motor commutation is detected, a first sine wave signal is input to the driving module in a first time period, a square wave signal is input to the driving module in a second time period, and a second sine wave signal is input to the driving module in a third time period.
Wherein the duty cycle of the first sine wave signal is increased from 0 to a target duty cycle according to a first step size, the duty cycle of the square wave signal is the target duty cycle, and the duty cycle of the second sine wave signal is decreased from the target duty cycle to 0 according to a second step size.
The lengths of the first time period, the second time period and the third time period may be determined according to actual requirements, and the sizes of the first step and the second step may also be determined according to actual requirements, which is not limited by the present application. The control module may configure the length of each time period based on the user's configuration instructions. For example: the lengths of the first time period, the second time period and the third time period are equal, the target duty ratio in the current phase-change period T is calculated to be 80% through a closed-loop control algorithm, the duty ratio of the first sine wave signal in the front time period T/3 is increased to 0.8, the duty ratio of the square wave signal in the middle time period T/3 is maintained to be 0.8, and the duty ratio of the second sine wave signal in the rear time period T/3 is reduced to 0 from 80%.
In the scheme, a timer is used for detecting the commutation moment of the motor, two complementary PMWs are used for pushing an H-bridge circuit to drive the motor, an IO interrupt is used for detecting a Hall signal, an operational amplifier circuit and a current sampling circuit are used for overcurrent protection, and a board is burnt under abnormal conditions. After power-on, the initialization is started, firstly, an IO port of the HALL is initialized to be an input mode, and an interrupt function of the IO is opened. The configuration timer can set the working frequency of the timer to prevent the counting overflow at low speed. Assuming that the clock source frequency of the TIMER is timer_clk, the clock frequency of the TIMER is divided into PSR, F is the frequency of the TIMER, and T is the period of the TIMER, the count value timer_cnt of the TIMER can be calculated according to the following formula:
F＝TIMER_CLK/(TIMER_CNT*PSR)；①。
T＝1/F；②。
if the interruption of IO is triggered when the motor commutates, a TIMER is started to count after the interruption is started, and the motor is considered to be converted into 1/2 electric cycle when the counting is stopped when the next interruption is started, and the counting value is TIMER_CNT, the electric frequency f of the motor is calculated as follows:
f＝1/(TIMER_CNT*T)；③。
if the pole pair number of the motor is P, the actual rotational speed of the motor is calculated according to the following formula:
RPM＝60*f/P*2；④。
The speed closed-loop control can be realized after the actual rotating speed of the motor is obtained. In the calculation, 1/2 time of the electric period of the motor can be obtained, namely the commutation period, a section of square wave signal with fixed duty ratio and a section of sine wave signal with variable duty ratio are inserted into the commutation period, the fixed duty ratio can be calculated by using a closed-loop control algorithm, the insertion time can be controlled by the period interruption of PWM, and the fixed duty ratio can be inserted into the middle according to proportion in the 1/2 electric period of the known motor, so that the efficiency of the single-phase inductive motor can be improved, and the harmonic noise generated during commutation of the single-phase inductive motor can be reduced.
In the embodiment of the application, the square wave signal control and the sine wave signal control are combined, and the sine wave control is used in phase change, so that the phase change is stable and smooth, and the vibration and noise are reduced. The square wave signal with the maximum duty ratio is directly output after a period of commutation to maximize the moment of the motor, and then the sine wave control is switched back after a period of waiting, so that the sine wave and the square wave are continuously and alternately changed, the maximum moment output time can be increased on the basis of insufficient moment of the sine wave, and the moment can be increased and the vibration and noise can be reduced.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Referring to fig. 4, a schematic structural diagram of a control device for a sensored single-phase motor according to an exemplary embodiment of the present application is shown, which is hereinafter referred to as device 4. The device 4 may be implemented as all or part of the control device by software, hardware or a combination of both. The device 4 comprises: a calculation unit 401 and a generation unit 402.
A calculation unit for calculating a target duty ratio in a commutation period according to a difference between a target rotational speed and an actual rotational speed of the motor; the phase change period consists of a first time period, a second time period and a third time period;
The generating unit is used for inputting a first sine wave signal to the driving module in the first time period, inputting a square wave signal to the driving module in the second time period and inputting a second sine wave signal to the driving module in the third time period when the motor commutation is detected. Wherein the duty cycle of the first sine wave signal is increased from 0 to the target duty cycle according to a first step size, the duty cycle of the square wave signal is the target duty cycle, and the duty cycle of the second sine wave signal is decreased from the target duty cycle to 0 according to a second step size.
In one or more possible embodiments, the first time period, the second time period, and the third time period are equal in duration.
In one or more possible embodiments, the motor commutation moment is detected by a hall element.
In one or more possible embodiments, the length of the first period, the length of the second period, and the length of the third period are set according to a configuration instruction of a user.
In one or more possible embodiments, the target duty cycle is calculated using a PID algorithm.
In one or more possible embodiments, the closed loop control mode is controlled using a PID algorithm.
It should be noted that, when the apparatus 4 provided in the foregoing embodiment performs the control method of the sensored single-phase motor, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the foregoing functions. In addition, the control device of the inductive single-phase motor provided in the above embodiment belongs to the same concept as the control method embodiment of the inductive single-phase motor, which embodies the detailed implementation process and is not described herein.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are adapted to be loaded by a processor and execute the steps of the method shown in the embodiment of fig. 2, and the specific execution process may refer to the specific description of the embodiment shown in fig. 2, which is not repeated herein.
The present application also provides a computer program product storing at least one instruction that is loaded and executed by the processor to implement the method of controlling a sensored single phase motor according to the above embodiments.
Referring to fig. 5, a schematic structural diagram of a control device is provided in an embodiment of the present application. As shown in fig. 5, the control device 500 may include: at least one processor 501, at least one communication interface 503, a memory 504, at least one communication bus 502.
Wherein a communication bus 502 is used to enable connected communications between these components.
Wherein the communication interface 503 is used to communicate with external devices, the optional communication interface 503 may include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Wherein the processor 501 may include one or more processing cores. The processor 501 connects various parts within the overall control device 500 using various interfaces and lines, and performs various functions of the control device 500 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 504, and invoking data stored in the memory 504. Alternatively, the processor 501 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 501 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 501 and may be implemented by a single chip.
The Memory 504 may include a random access Memory (RandomAccess Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 504 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 504 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 504 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory 504 may also optionally be at least one storage device located remotely from the aforementioned processor 501. As shown in FIG. 5, an operating system, network communication modules, user interface modules, and application programs may be included in memory 504, which is a type of computer storage medium.
In the control device 500 shown in fig. 5, the processor 501 may be configured to invoke an application program stored in the memory 504, and specifically execute the method shown in fig. 2, and the specific process may be shown in fig. 2, which is not described herein.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, or the like.
The foregoing disclosure is illustrative of the present application and is not to be construed as limiting the scope of the application, which is defined by the appended claims.

Claims (8)

1. A method of controlling a sensible single phase motor, comprising:
Calculating a target duty ratio in a commutation period according to a difference value between a target rotating speed and an actual rotating speed of the motor; the phase change period consists of a first time period, a second time period and a third time period;
When the commutation of the motor is detected, a first sine wave signal is input to the driving module in the first time period, a square wave signal is input to the driving module in the second time period, and a second sine wave signal is input to the driving module in the third time period. Wherein the duty cycle of the first sine wave signal is increased from 0 to the target duty cycle according to a first step size, the duty cycle of the square wave signal is the target duty cycle, and the duty cycle of the second sine wave signal is decreased from the target duty cycle to 0 according to a second step size.
2. The method of claim 1, wherein the first time period, the second time period, and the third time period are equal in duration.
3. The method of claim 1, wherein the motor commutation moment is detected by a hall element.
4. The method of claim 1, wherein the length of the first time period, the length of the second time period, and the length of the third time period are set according to a configuration instruction of a user.
5. The method of claim 1, wherein the target duty cycle is calculated using a PID algorithm.
6. A control device for a sensible single-phase motor, comprising:
a calculation unit for calculating a target duty ratio in a commutation period according to a difference between a target rotational speed and an actual rotational speed of the motor; the phase change period consists of a first time period, a second time period and a third time period;
The generating unit is used for inputting a first sine wave signal to the driving module in the first time period, inputting a square wave signal to the driving module in the second time period and inputting a second sine wave signal to the driving module in the third time period when the motor commutation is detected. Wherein the duty cycle of the first sine wave signal is increased from 0 to the target duty cycle according to a first step size, the duty cycle of the square wave signal is the target duty cycle, and the duty cycle of the second sine wave signal is decreased from the target duty cycle to 0 according to a second step size.
7. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps of any one of claims 1 to 5.
8. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1-5.
CN202410132764.XA 2024-01-31 2024-01-31 Control method and device of inductive single-phase motor, storage medium and electronic equipment Pending CN117978036A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410132764.XA CN117978036A (en) 2024-01-31 2024-01-31 Control method and device of inductive single-phase motor, storage medium and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410132764.XA CN117978036A (en) 2024-01-31 2024-01-31 Control method and device of inductive single-phase motor, storage medium and electronic equipment

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CN117978036A true CN117978036A (en) 2024-05-03

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