CN1801563A - Method, controller and motor apparatus capable of detecting motor running state - Google Patents
Method, controller and motor apparatus capable of detecting motor running state Download PDFInfo
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- CN1801563A CN1801563A CN 200510003714 CN200510003714A CN1801563A CN 1801563 A CN1801563 A CN 1801563A CN 200510003714 CN200510003714 CN 200510003714 CN 200510003714 A CN200510003714 A CN 200510003714A CN 1801563 A CN1801563 A CN 1801563A
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Abstract
The motor with a controller to detect its running state comprises: a cell, a motor unit, and a controller with a power module to generate current and drive motor unit, a current detector to transform current into voltage signal, and a control unit to convert the voltage signal into digital format and compare with a standard value. When deciding the digital voltage value over standard value, the control unit stops the power module or adjusts drive current for protection.
Description
Technical field
The present invention relates to a kind of controller and have the motor apparatus of this controller, particularly relate to and a kind ofly have the controller that can detect motor operation state and have the motor apparatus that this kind can detect the controller of motor operation state.
Background technology
Motor in the running can not run well motor meeting with obstruction thing or external force effect and when being stuck state, if people fail in time to close or reduce the power supply of feed motor, then can make the electric current of the motor of flowing through continue to rise and elevate the temperature, will cause motor to burn at last.
Consult Fig. 1, existing a kind of motor apparatus comprises a battery 91, motor 92, fuse 93, an electric crystal 94 and a driver 95.
This battery 91 can be supplied a direct voltage and give this motor 92 and this driver 95, and these driver 95 exportable voltages with pulse width modulation are to this electric crystal 94, to drive the open and close of this electric crystal 94.And this motor 92 is connected with this fuse 93, and this fuse 93 is electrically connected with this electric crystal 94 again.Motor 92 in running is when being stuck state, and is excessive because of the electric current of the fuse 93 of flowing through, and cause fuse 93 to burn and make circuit interruption, thus also stopped being supplied to the electric energy of this motor 92, so can reach the effect of avoiding motor 92 to burn.
But the effective controller of existing motor apparatus neither one detects the operating condition of motor 92 and just makes improvements on hardware; promptly; when existing motor apparatus burns at each fuse 93; just reinstall new fuse 93; but this is quite inconvenience in the use; and by the time fuse 93 is superheated in the process that circuit interrupts fully; the electric current of motor 92 of flowing through may damage motor 92 portion of element, so the effective controller of existing motor apparatus neither one reaches the purpose of real-time guard motor.
Summary of the invention
Main purpose of the present invention is to cooperate the mode of software that a kind of controller that can accurately detect motor operation state is provided with hardware.
Another object of the present invention is to provide a kind of motor apparatus, and this motor apparatus has a controller that can detect motor operation state to reach the purpose of protection motor.
Another purpose of the present invention is to provide a kind of method that detects motor operation state, and whether this method can detect motor effectively in real time and run well, to avoid the overheated situation of burning of motor.
A kind of motor apparatus with the controller that can detect motor operation state of the present invention comprises the battery of an exportable voltage, a motor unit and a controller that is electrically connected and comprises at least one motor with this battery.
This controller comprises a power model, a current detector and a control unit.This power model is electrically connected with this battery, and can produce an output current and drive this motor unit running.
This current detector is electrically connected with this power model, and the electric current of this power model output can be changed into a voltage signal.
This control unit is electrically connected with this power model and this current detector, and the voltage signal that is analog form by this current detector output can be changed into a digital voltage value, and this digital voltage value and a default standard value can be compared, and when this control unit is judged this digital voltage value greater than this standard value, the size of current that reduces this power model output is overheated to prevent this motor, and when this control unit detects this digital voltage value less than this standard value, just control the current value that this power model recovers output.
And this control unit also is electrically connected with this battery and this motor, and can detect the change in voltage of this battery, and adjust the output current value of this standard value and this power model according to the voltage swing of this battery in good time, promptly the voltage that provides when battery hour, just increase the current value of this power model output, and the voltage that provides when this battery is when big, just reduce the current value of this power model output, and this control unit also can be according to the type of this motor, optimize and revise the start-up time of this motor with software mode, the value of the working pulse width in the time of the startup stage that this motor being finished, and adjust and wait for the stable time of this motor rotary speed.
And the above-mentioned controller of mentioning also can individualism and sale, just has the operating condition of its internal motor of device of motor originally to be used for detecting.
A kind of method that detects motor operation state of the present invention is applicable to the operating condition that detects at least one motor, and comprises following steps:
Detect the accurate position of output voltage of the battery that is electrically connected with this motor.
Set the starting impulse width (PWM Duty Cycle) of the locked standard value of judgement motor, motor and start output voltage gradient according to the voltage quasi position of this battery, and according to this voltage quasi position set one by a power model output to be used for starting the size of current of this motor.
Size of current according to this power model output of default motor starting program control.
The start detection program, and the electric current that this power model is exported changes into an analog voltage signal.
This analog voltage signal is changed into a digital voltage value, and judge whether this digital voltage value is bigger than this standard value, if not, then represent the success of this motor starting, if represent that then this motor starting running has some setbacks or has locked situation to take place.
Description of drawings
The present invention is described in detail below in conjunction with drawings and Examples:
Fig. 1 is the system architecture diagram of existing motor apparatus;
Fig. 2 is the system block diagrams of the preferred embodiment of the motor apparatus of the present invention with the controller that can detect motor operation state;
Fig. 3 is the schematic diagram of this preferred embodiment, and illustrating one, to have the working pulse width be 40% pulse width modulation voltage;
Fig. 4 is a schematic diagram, illustrates that the driver output of this preferred embodiment is the time dependent situation of working pulse width of the voltage of pulse width modulation;
Fig. 5 is the flow chart that the present invention can detect the method for motor operation state;
Fig. 6 be one with the similar view of Fig. 2, the situation of the current detector that this preferred embodiment is described and the exchange of the electrically connecting position of a power adjustment unit;
Fig. 7 is one and the similar view of Fig. 6, and the situation that a free-wheel diode electrically connecting position changes is described;
Fig. 8 be one with the similar view of Fig. 2, the controller that this preferred embodiment is described does not comprise the situation of a filter and an amplification module.
Embodiment
Consult Fig. 2, the preferred embodiment that the present invention has a motor apparatus of the controller that can detect motor operation state comprises a controller 1, a motor unit 2 and a battery 3.This controller 1 comprises a control unit 11, filter 12, amplification module 13, current detector 14, a power model 15 and a free-wheel diode 16 (Freewheel diode).
This motor unit 2 can receive the voltage that this battery 3 provides, and in the present embodiment, this motor unit 2 comprises a motor 21, but not as limit, also can comprise a plurality of motors 21 that are parallel form.
This power model 15 comprises a driver 151 and a power adjustment unit 152.This driver 151 and this battery 3, control unit 11 and power adjustment unit 152 are electrically connected, and this driver 151 can receive the voltage of these battery 3 outputs and the control signal of this control unit 11 outputs, and these driver 151 exportable voltages that are pulse width modulation (Pulse Width Modulation) are to this power adjustment unit 152, and by the working pulse width (Duty Cycle) of this pulse width modulation voltage of control signal may command of this control unit 11 outputs, as: Fig. 3 promptly is that the working pulse width of a pulse width modulation voltage is 40% situation.
Consult Fig. 2, this power adjustment unit 152 is electrically connected and can produces one with this motor unit 2 and outputs current to this motor unit 2, and in the present embodiment, this power adjustment unit 152 is electric crystals, and the gate of this electric crystal receives the pulse width modulation voltage that this driver 151 transmits, and this electric crystal can be switched in unlatching or closed condition in turn.
This free-wheel diode 16 is in parallel with this motor 21, and when this power adjustment unit 152 was closed condition, this free-wheel diode 16 can the loop of conducting to provide a power supply stream to flow through.
This current detector 14 is electrically connected with this power adjustment unit 152 and this amplification module 13, the electric current that can detect the size of electric current and this power adjustment unit 152 is exported changes into voltage, and in the present embodiment, this current detector 14 is a resistance, but it should be noted that, this current detector 14 is a Hall (Hall) element also, or other can change into a current signal element of a voltage signal.
This amplification module 13 can receive the voltage of this current detector 14 outputs, and with this voltage amplification, and the voltage after will amplifying is sent into this filter 12 and carried out filtering.And this filter 12 be one can be with the low pass filter of high-frequency noise filtering, and this filter 12 can be delivered to this control unit 11 with the signal after handling.
Can be in this control unit 11 according to the default standard value (Criteria) of practical application situation, and this control unit 11 can change into a digital voltage value earlier with the analog voltage signal by these filter 12 inputs, again with this digital voltage value and the comparison of this standard value.When this control unit 11 is judged this digital voltage value less than this standard value, just represent the state of motor 21 a normal operation, this control unit 11 will can not be sent the order that requires this driver 151 to adjust the working pulse width that exports these power adjustment unit 152 output voltages to, keep the regular event state so motor 21 is still.
And when this control unit 11 is judged this digital voltage value greater than this standard value, just the flow through electric current of motor 21 of expression is too big, so infer that motor 21 may be stuck state at present, so this control unit 11 is just controlled this driver 151, this driver 151 is stopped or the working pulse width that reducing the voltage that exports this power adjustment unit 152 to prevent this motor 21 overheated.And when this control unit 11 detects this digital voltage value less than this standard value, just control the working pulse width that these driver 151 recoveries output to the voltage of this power adjustment unit 152.
In fact, the voltage of battery 3 its outputs in the motor apparatus may be along with time fluctuation, as: the voltage of battery 3 may can't maintain a fixed value between 9 volts～16 volts.And control unit 11 of the present invention also is electrically connected with this battery 3 and can detect the change in voltage of this battery 3, and adjusts the working pulse width that this standard value and this driver 151 export the voltage of this power adjustment unit 152 to according to these battery 3 present voltage swings in good time.That is, the voltage that provides when battery 3 hour just increases the working pulse width of these driver 151 output voltages, makes the output current of this power adjustment unit 152 become big.And the voltage that provides when battery 3 just reduces the working pulse width when big.So, can reduce the influence that produces because of the voltage instability of battery 3, also can avoid change being arranged slightly, and make this control unit 11 that the situation of judging by accident take place when relatively this standard value and this digital voltage value because of the voltage of battery 3.
As Fig. 2 and shown in Figure 4, after a simple case explanation motor 21 started, these driver 151 outputs were the time dependent situation of working pulse width of the voltage of pulse width modulation.The starter stage when starting this motor 21, this control unit 11 can be controlled this driver 151, make this driver 151 increase the working pulse width of output voltage, reach default starting impulse width up to this motor 21, just stopping to increase the size of working pulse width and keeping the working pulse width is a fixed value.And at this motor 21 during at the stabilized speed phase run, this control unit 11 will begin to judge that whether the digital voltage value that receives is greater than this standard value, and bigger at this digital voltage value, find that promptly motor 21 has running to have some setbacks and when locked situation is arranged, just reduces the working pulse width.
In addition, in Fig. 4, when the type of motor 21 not simultaneously, control unit 11 of the present invention can software mode be adjusted the set point of following three parameters, to promote the detectability of this controller 1, the value of the working pulse width the startup stage that these three parameters being respectively when time, the startup stage of finishing, and adjust the time of waiting for motor 21 stabilizations of speed.These three parameters are cooperated the original criterion adjustment that just can do according to battery 3 change in voltage again, optimize and revise processing and these parameters are done, just can obtain optimum efficiency, so the present invention can Yin Mada 21 type changes and make the operating condition of these control unit 11 erroneous judgement motors 21.
Shown in Fig. 2,4,5, the method that the present invention detects motor operation state comprises following steps:
Step 51 is voltage quasi positions that this control unit 11 detects these battery 3 outputs.
To be these control units 11 determine the size that this is used for judging the standard value that motor 21 is locked according to the voltage quasi position of battery 3 to step 52, and determine this driver 151 to export the starting impulse width value of the voltage of this power adjustment unit 152 to, start the output voltage gradient size according to the voltage quasi position of battery 3.
Step 53 is the default motor starting programs of these control unit 11 foundations, as: judge that this motor 21 is in starter stage or the stage of turning round with stabilized speed, controls the pulse duration that this driver 151 exports the voltage of this power adjustment unit 152 to.
Step 54 is these control unit 11 start detection programs, and obtains via the analog voltage signal after this current detector 14, amplification module 13, filter 12 processing.
Step 55 is that this control unit 11 changes into this digital voltage value with this analog voltage signal, and judges whether this digital voltage value is bigger than this standard value.If not, represent that then motor 21 starts successfully.If represent that then motor 21 starts running and has some setbacks or have locked situation to take place, and will jump to step 56 in this case.
Step 56 is the working pulse width size that these control unit 11 these drivers 151 of control stop or reducing the voltage that exports this power adjustment unit 152 to, and is overheated to prevent this motor 21.And when this control unit 11 detects this digital voltage value less than this standard value, just control the working pulse width that these driver 151 recoveries output to the voltage of this power adjustment unit 152.
It should be noted that as shown in Figure 6 the current detector 14 in the present embodiment is also interchangeable with the electrically connecting position of power adjustment unit 152, and still can reach the above-mentioned effect of mentioning after exchange.In addition, as shown in Figure 7, when the electrically connecting position of this current detector 14 and power adjustment unit 152 exchanges, the electrically connecting position of this free-wheel diode 16 also can be by being connected across this motor 21 two ends, become an end and be electrically connected, but the other end is to be connected between this current detector 14 and this power adjustment unit 152 with this motor 21.
In addition, as shown in Figure 8, if the noise in environment or the processing procedure is little, controller 1 of the present invention also can not comprise this filter 12 and exist, in addition, when the voltage of this current detector 14 outputs was enough big, controller 1 of the present invention also can not comprise this amplification module 13, so can directly send into this control unit 11 processing by the voltage of these current detector 14 outputs.
What this need emphasize be, controller 1 of the present invention can sell separately, and does not promptly need together to sell with this motor unit 2 and this battery 3.So controller 1 of the present invention can be installed in one had had on the device of this motor unit 2 and this battery 3 originally, as: install this controller 1 additional in existing car engine, make the car engine that originally promptly has this motor unit 2 and battery 3 have the function of motor 21 operating conditions that can detect automotive interior, whether have with the flabellum that is connected with this motor unit 2 in the timely detection car engine and the situation that running has some setbacks such as block.
In sum, the present invention can detect the controller of motor operation state and motor apparatus except some hardware facilities, also cooperate this control unit 11 to judge the operating condition that motor 21 is present in the mode of software feedback signal, so can the minimizing system situation of erroneous judgement, reach in real time, purpose accurately.
Claims (30)
1, a kind of motor apparatus with the controller that can detect motor operation state comprises the battery of an exportable voltage, and one is electrically connected and comprises with this battery and it is characterized in that the motor unit of at least one motor:
This motor apparatus further comprises a controller, and this controller comprises:
A power model is electrically connected with this battery, and can produce an output current to drive the running of this motor unit;
A current detector is electrically connected with this power model, and the electric current of this power model output can be changed into a voltage signal; And
A control unit, be electrically connected with this battery, this power model and this current detector, can detect the voltage swing of this battery and set a standard value, and the voltage signal that is analog form by this current detector output can be changed into a digital voltage value, again this digital voltage value and this standard value are compared, and when this digital voltage value during greater than this standard value, the size of current that reduces this power model output is overheated to prevent this motor unit.
2, the motor apparatus with the controller that can detect motor operation state as claimed in claim 1, it is characterized in that: when the detected described digital voltage value of described control unit when changing into less than described standard value greater than described standard value, described control unit will be controlled the current value that described power model recovers output.
3, the motor apparatus with the controller that can detect motor operation state as claimed in claim 1 is characterized in that: described control unit can be adjusted the output current value of described power model according to the voltage swing of described battery.
4, the motor apparatus with the controller that can detect motor operation state as claimed in claim 1, it is characterized in that: described control unit can be according to the type of described motor unit, the value of the working pulse width in the time of the startup stage of optimizing and revising start-up time of described motor unit and described motor unit and finish with software mode.
5, the motor apparatus with the controller that can detect motor operation state as claimed in claim 1, it is characterized in that: described controller further comprises a filter, the noise of the voltage signal of can the first filtering described current detector output of this filter, the voltage signal behind the filtering noise is delivered to described control unit again.
6, the motor apparatus with the controller that can detect motor operation state as claimed in claim 5 is characterized in that: described filter is a low pass filter.
7, the motor apparatus with the controller that can detect motor operation state as claimed in claim 1, it is characterized in that: described controller further comprises an amplification module, this amplification module can be earlier with the voltage signal amplification of described current detector output, and the voltage signal after will amplifying is again delivered to described control unit.
8, motor apparatus with the controller that can detect motor operation state as claimed in claim 1, it is characterized in that: described power model comprises a driver and a power adjustment unit, this power adjustment unit is electrically connected with described motor unit, and this driver and described battery, control unit and power adjustment unit are electrically connected, and this driver can receive the voltage of described battery output and the control signal of described control unit output, and export a voltage that is pulse width modulation to this power adjustment unit, and the working pulse width of this this pulse width modulation voltage of control signal may command with so that control the output current value of this power adjustment unit.
9, the motor apparatus with the controller that can detect motor operation state as claimed in claim 8, it is characterized in that: when described control unit is judged described digital voltage value greater than described standard value, to control described driver, it is overheated with the motor that prevents described motor unit to make described driver reduce the working pulse width of the voltage that exports described power adjustment unit to, and up to described digital voltage value during, just control the working pulse width that described driver recovers to output to the voltage of described power adjustment unit less than described standard value.
10, the motor apparatus with the controller that can detect motor operation state as claimed in claim 8, it is characterized in that: described power adjustment unit is an electric crystal, and the gate of this electric crystal receives the output voltage that described driver transmits, and this this electric crystal of output voltage may command switches in unlatching or closed condition in turn.
11, the motor apparatus with the controller that can detect motor operation state as claimed in claim 8, it is characterized in that: described controller further comprises a free-wheel diode in parallel with described motor, this free-wheel diode can conducting when described power adjustment unit is closed condition, with the loop that provides a power supply stream to flow through.
12, the motor apparatus with the controller that can detect motor operation state as claimed in claim 1 is characterized in that: described current detector is a resistance.
13, a kind of controller that detects motor operation state is useful at least one motor and the battery, and this controller comprises one and is electrically connected with this battery, and can produce an output current to drive the power model of this motor running, it is characterized in that:
This controller further comprises:
A current detector is electrically connected with this power model, and the electric current of this power model output can be changed into a voltage signal; And
A control unit, be electrically connected with this battery, this power model and this current detector, can detect the voltage swing of this battery and set a standard value, and the voltage signal that is analog form by this current detector output can be changed into a digital voltage value, again this digital voltage value and this standard value are compared, and when this control unit was judged this digital voltage value greater than this standard value, the size of current that reduces this power model output was overheated to prevent this motor.
14, the controller that detects motor operation state as claimed in claim 13, it is characterized in that: when the detected described digital voltage value of described control unit when changing into less than described standard value greater than described standard value, described control unit will be controlled the current value that described power model recovers output.
15, the controller that detects motor operation state as claimed in claim 13 is characterized in that: described control unit can be adjusted the output current value of described power model according to the voltage swing of described battery in good time.
16, the controller that detects motor operation state as claimed in claim 13, it is characterized in that: described control unit also can be according to the type of described motor, the value of the working pulse width in the time of the startup stage of optimizing and revising start-up time of described motor and described motor and finish with software mode.
17, the controller that detects motor operation state as claimed in claim 13, it is characterized in that: described controller further comprises a filter, the noise of the voltage signal of can the first filtering described current detector output of this filter, the voltage signal behind the filtering noise is delivered to described control unit again.
18, the controller that detects motor operation state as claimed in claim 17 is characterized in that: described filter is a low pass filter.
19, the controller that detects motor operation state as claimed in claim 13, it is characterized in that: described controller further comprises an amplification module, this amplification module can be earlier with the voltage signal amplification of described current detector output, and the voltage signal after will amplifying is again delivered to described control unit.
20, the controller that detects motor operation state as claimed in claim 13, it is characterized in that: described power model comprises a driver and a power adjustment unit, this power adjustment unit is electrically connected with described motor, and this driver and described battery, control unit and power adjustment unit are electrically connected, and this driver can receive the voltage of described battery output and the control signal of described control unit output, and export a voltage that is pulse width modulation to this power adjustment unit, and the working pulse width of this this pulse width modulation voltage of control signal may command with so that control the output current value of this power adjustment unit.
21, the controller that detects motor operation state as claimed in claim 20, it is characterized in that: when described control unit is judged described digital voltage value greater than described standard value, to control described driver, it is overheated to prevent described motor to make described driver reduce the working pulse width of the voltage that exports described power adjustment unit to, and up to described digital voltage value during, just control the working pulse width that described driver recovers to output to the voltage of described power adjustment unit less than described standard value.
22, the controller that detects motor operation state as claimed in claim 20, it is characterized in that: described power adjustment unit is an electric crystal, and the gate of this electric crystal receives the output voltage that described driver transmits, and this this electric crystal of output voltage may command switches in unlatching or closed condition in turn.
23, the controller that detects motor operation state as claimed in claim 20, it is characterized in that: further comprise a free-wheel diode in parallel with described motor, this free-wheel diode can conducting when described power adjustment unit is closed condition, with the loop that provides a power supply stream to flow through.
24, the controller that detects motor operation state as claimed in claim 13 is characterized in that: described current detector is a resistance.
25, a kind of method that detects motor operation state is applicable to the operating condition that detects at least one motor, and the method includes the steps of:
Detect the accurate position of output voltage of the battery that is electrically connected with this motor;
Voltage quasi position according to this battery is set a standard value, and sets the startup pulsation width and startup output voltage gradient of this motor according to this voltage quasi position;
The size of current of controlling a power model output is to start this motor;
The start detection program, and the electric current that this power model is exported changes into an analog voltage signal; And
This analog voltage signal is changed into a digital voltage value, and judge whether this digital voltage value is bigger than this standard value, if not, then represent the success of this motor starting, if represent that then this motor starting running has some setbacks or has locked situation to take place.
26, the method that detects motor operation state as claimed in claim 25, it is characterized in that: when described motor starting running has some setbacks or has locked situation to take place, just stop or reducing the electric current that described power model exports described motor to, overheated to prevent described motor, and when detecting described digital voltage value, just recover the electric current that described power model exports described motor to less than described standard value.
27, the method that detects motor operation state as claimed in claim 25, it is characterized in that: described power model comprises a driver and a power adjustment unit, and this power adjustment unit is electrically connected with this motor, and this driver can receive the voltage of described battery output, and export a voltage that is pulse width modulation to this power adjustment unit, and working pulse width that can be by controlling this pulse width modulation voltage with so that control the output current value of this power adjustment unit.
28, the method that detects motor operation state as claimed in claim 25 is characterized in that: the method that the electric current of described power model output is changed into described analog voltage signal is by a current detector with described electric current.
29, the method that detects motor operation state as claimed in claim 25, it is characterized in that: the electric current of described power model output successively by a current detector and an amplification module respectively this current signal is changed into a voltage signal, again this voltage signal is amplified to obtain described analog voltage signal.
30, the method that detects motor operation state as claimed in claim 25, it is characterized in that: the electric current of described power model output is successively by a current detector, an amplification module and a filter, respectively this current signal being changed into a voltage signal, and this voltage signal is amplified filtering noise to obtain described analog voltage signal again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510003714 CN1801563A (en) | 2005-01-06 | 2005-01-06 | Method, controller and motor apparatus capable of detecting motor running state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510003714 CN1801563A (en) | 2005-01-06 | 2005-01-06 | Method, controller and motor apparatus capable of detecting motor running state |
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| Publication Number | Publication Date |
|---|---|
| CN1801563A true CN1801563A (en) | 2006-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510003714 Pending CN1801563A (en) | 2005-01-06 | 2005-01-06 | Method, controller and motor apparatus capable of detecting motor running state |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101796713B (en) * | 2007-10-09 | 2012-09-12 | 三菱电机株式会社 | Motor controller, electric vacuum cleaner, and hand dryer |
| CN104670679A (en) * | 2014-12-19 | 2015-06-03 | 中国印钞造币总公司 | Control method and control device for mechanical lock of cash carrying bag |
-
2005
- 2005-01-06 CN CN 200510003714 patent/CN1801563A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101796713B (en) * | 2007-10-09 | 2012-09-12 | 三菱电机株式会社 | Motor controller, electric vacuum cleaner, and hand dryer |
| CN104670679A (en) * | 2014-12-19 | 2015-06-03 | 中国印钞造币总公司 | Control method and control device for mechanical lock of cash carrying bag |
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