CN201378820Y - Three-phase real-time automatic sub-stepping drive - Google Patents
Three-phase real-time automatic sub-stepping drive Download PDFInfo
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Abstract
The utility model relates to a three-phase real-time automatic subdivision stepping drive. the three-phase real-time automatic subdivision stepping drive is characterized by connecting a current command generator consisting of a two-path digital-to analog converter, a PI operation regulator, a PWM modulator consisting of a triangle wave generator and a comparer, a bridge arm driving circuit, a current given circuit, a three-phase power inverter bridge and a current detecting and conditioning circuit in sequence. The current given instructions are generated by pulse, direction and off line instructions of a digital signal processor through the two-channel digital-to-analog converter; the current detecting and conditioning circuit detects the current of a motor winding, the feedback value of the three-phase current of the motor is obtained after conditioning; control of the motor is realized by carrying out closed-loop adjustment and control on the given signals and feedback signals through the PI operation regulator. The three-phase real-time automatic subdivision stepping drive pertains to the technical field of a stepping motor drive control system and provides a three-phase real-time automatic subdivision stepping drive, reduces vibration and noises, and is applied to the fields of automation and medical treatment.
Description
Technical field
The utility model relates to stepper motor driver, specifically refers to three-phase stepping subdivision driver.The technical field that belongs to the step motor drive control system.
Background technology
Stepping motor has constituted step-by-step control system with step actuator, because control is simple and convenient, cost is low, and the reliability height is used widely at industry-by-industry.But because the operation of step-by-step control system is by one by one, disperse independently single step (single angle is jumped over mode) splicing to finish, the generation that the vibration that brings has directly caused vibrating noise is carried out in single step in its running, for the reduction vibrations of satisfying the proposition of modern industry technical field of automation, the demand that reduces noise and raising precision, the segmentation control technology has obtained popularization and application.Traditional segmentation control is in advance the standard step pitch of motor to be carried out after equal angles cuts apart, carry out resolution of vectors, the phase current vector data that calculates each position is stored in the driver, during real work according to the requirement of upper control command, find the phase current data of location of instruction correspondence, cooperate the control circuit (mostly being PWM control) of driver to realize the accurate control of electric current, thus on motor shaft, restore configure cut apart the angle location requirement.It is high more to segment number, and unit step pitch equivalent is just more little, and the motor operation is just even more, thereby realizes that driving control system improves the purpose of stationarity, raising positioning accuracy, reduction noise.But, there is significant limitation in tradition segmentation control mode, use high segmentation just accordingly the instruction frequency fan-out capability of control system to be had higher requirement, a lot of control system does not have such high frequency control ability, user or will change high-grade control system, or can only select lower segmentation control mode, thereby many industry strong requests are improved the problem of indexs such as vibrations, noise, can not obtain satisfied effect.
Summary of the invention
The purpose of this utility model provides a kind of three-phase and segments step actuator in real time automatically.Utilize the powerful calculation process ability of the built-in digital signal processor of driver (DSP), computing is automatically carried out in real time in the instruction of control system decomposes, an instruction of control system is resolved in real time automatically according to the minimum execution equivalent that stepping motor allows, and go up order according to the corresponding rule time and carry out, thereby reach optimum runnability.Because this controlling schemes is born by the built-in arithmetic element of step actuator fully, can not increase any host computer expense.New control mode adopts real-time operation to substitute the segmentation pattern of traditional table-look-up type, thereby can take different control strategies flexibly according to the operation conditions of stepping motor automatically, reach optimum operational effect, realization provides the segmentation automatically in real time of a kind of three-phase, improves the step actuator of vibrations, noise simultaneously again.Owing to reduced the content of harmonic wave, reduced the iron loss of motor, help reducing the temperature rise loss of motor, improve the operating efficiency of stepping motor, realize improving the target of the conservation of power energy.Be widely used in fields such as industrial automation, medical treatment, national defense construction.
The utility model is to realize like this, its technical scheme is to segment in the step actuator automatically in real time at three-phase, the digital signal processor DSP that employing is carried out by the establishment related software is a core, connect the current command generator that constitutes by the binary channels digital to analog converter successively, PI computing adjuster, the PWM modulator of forming by triangular-wave generator and comparator, the brachium pontis drive circuit, current setting circuit, the three phase power inverter bridge, the current detecting modulate circuit, receive the pulse command that upper control is sent by digital signal processor DSP, direction instruction and off line instruction, it is characterized in that generating the biphase current data command according to default scheme, produce the given instruction of three-phase simulation electric current through the binary channels digital to analog converter in conjunction with current setting circuit output, by the actual current in the current detecting modulate circuit detection motor windings, obtain the feedback analogue value of motor three-phase current after the conditioning, given signal and feedback signal are carried out the closed-loop adjustment control of electric current by simulation PI computing adjuster, final pwm signal and six tunnel drive signals of producing, control three phase power inverter bridge realizes the control operation of motor.
To possess high accuracy, the DSP of high arithmetic speed is a kernel, and the kernel arithmetic speed can respond control signal timely fast, and carries out repeatedly interative computation the intermittent phase in instruction, guarantees to export result's exquisiteness.High operational precision can guarantee that the error of operation result is less, improves accuracy rate.16 bit DSPs are adopted in this case, and arithmetic speed reaches more than the 30MPS.By optimal design and the automatic in real time circuit connecting mode that segments step actuator of three-phase to dsp software, can provide maximum availability on the one hand, 16 kinds of segmentation options are provided, the step pitch that has contained nearly all automatic field two-phase commonly used, three-phase, five phase step motor is selected, all mode of operations commonly used are provided, have comprised mode of operations such as pulse, dipulse, outage memory, automatic semi-fluid; Can refine command information by the software processes of establishment on the other hand, reach the intelligent control of segmentation in real time, make instruction current convergence sine wave as much as possible, reach the target that reduces motor operation vibrations, noise, temperature rise to greatest extent.
Adopt advantage of the present utility model and effect to be:
In a single day selected certain segmentation in the tradition segmentation, no matter how the speed of service can keep this segmentation control always, it is less when the segmentation number is low owing to fitting sinusoidal data point, step pitch is fine and smooth inadequately, still there are problems such as vibrating noise, and high segmentation needs control system to cooperate very high control signal frequency and processing speed, is difficult to realize high-speed cruising.And segmentation has in real time automatically accomplished all to realize the operational effect of the highest segmentation under any segmentation option by built-in intelligence software algorithm, make vibrations, operating index such as noise get the maximum optimization, the pairing anglec of rotation of command pulse has only been represented in the selection of segmentation, and do not have difference on the performance again, even the user has selected the most coarse non-segmentation step (synchronizing) mode, driver also can independently be optimized execution according to the segmentation of the best, when obtaining the optimum operation effect, do not increase any extra on the level controlling system expense, thereby can carry out seamless butt joint with former control system.Adopt the step-by-step system of segmenting automatically in real time, in the vibrations that improved the motor operation, noise, also because finer Current Control makes itself and the sinusoidal wave Du Genggao that fits, therefore reduced the content of harmonic wave, reduced the iron loss of motor, help reducing the temperature rise loss of motor, improve the operating efficiency of stepping motor, realize improving the target of the conservation of power energy.
Below in conjunction with drawings and Examples, the utility model is further specified as follows:
Description of drawings
Fig. 1 theory diagram of the present invention
The circuit diagram of Fig. 2 data signal processor DSP
The given current-order digital-to-analogue conversion of Fig. 3 (DA) change-over circuit
Fig. 4 current detecting modulate circuit
Fig. 5 PI arithmetic control circuit
Fig. 6 brachium pontis power tube drive circuit
Fig. 7 current setting circuit
Fig. 8 three phase inverter bridge
Embodiment
In Fig. 1, its technical scheme is, to it is characterized in that in real time automatically in the segmentation step actuator at three-phase: PWM modulator 4, brachium pontis drive circuit 5, the three-phase bridge of forming by the current command generator 2 that comprises the digital signal processor (DSP) 1 that links successively, constitute by the binary channels digital to analog converter, PI computing adjuster 3, by triangular-wave generator and comparator 6, float current sample treatment circuit 7 altogether seven parts constitute complete step actuator.Receive pulse command, direction instruction and the off line instruction that upper control is sent by DSP.
The function of each part is as follows:
Digital signal processor (DSP) 1 is the control centre that this three-phase segments step actuator in real time automatically, is responsible for finishing the reception control command, carries out s operation control according to the program that weaves.
The current command generator 2 that constitutes by the binary channels digital to analog converter, be responsible for the given instruction of two-way digital current of above-mentioned digital signal processor output is converted into dummy instruction REF-U, the REF-V that control needs, and by adopting analog operating unit to generate Third Road instruction REF-W.
The current sample treatment circuit 7 of floating, directly series connection is gone in the two-phase induction motor winding, handles obtaining two-phase SEN-U, SEN-V after proofreading and correct through postposition, and union draws the actual value SEN-W of third phase electric current.
Closed loop current PI computing adjuster 3, the output that receives above-mentioned current command generator 2 and float current sample treatment circuit 7, carry out the proportional integral computing and regulate back generated error adjusting correction value, deliver to comparator, PWM modulator 4 via triangular-wave generator and comparator composition, the modulation back generates the drive signal of three-phase, delivers to brachium pontis drive circuit 5.
Brachium pontis drive circuit 5 receives above-mentioned 4 output, is organized into the signal that the brachium pontis power tube needs, in order to power controlling pipe switch.In conjunction with three-phase bridge 6 inversions, realize the conversion of power, DC bus-bar voltage is converted into the electric current of three-phase stepper motor need of work.
Below, circuit diagram and the following Fig. 3 to Fig. 8 of the data signal processor DSP by Fig. 2 elaborate to the technical solution of the utility model:
Technical scheme at Fig. 2 is to segment in the step actuator automatically in real time at three-phase, it is characterized in that: receive pulse command, direction instruction and the off line instruction that upper control is sent by digital signal processor DSP, generate the biphase current data according to default scheme, deliver to the binary channels digital to analog converter.
Control in the kernel dsp chip circuit at Fig. 2, the pulse control command CLK that level controlling system transmits in the 15th pin (IC1) reception, the 14th pin (IC2/RD1) receive direction control command DIR, 12 pin (RC14) receive off line instruction FREE.Send from the 2nd pin (RB0/AN0) that D6, the 3rd pin (RB1/AN1) send D7, the 21st～26 pin is sent D5～D0 (PWM3H/E5～PWM1L/E0), merge the current-order data D0～D7 that sends 8 bit wides respectively.Select signal DAB by the 11st pin (RC13) output channel, the height of DAB and low two states indicate a certain value mutually in the biphase current of current data representative of current D0～D7 output respectively.By the 4th pin (RB2/AN2) output write signal WR, control the binary channels digital to analog converter of next stage during its low level, receive the data of D0～D7, and change according to the channel selecting of selecting signal DAB, write data into the digital to analog converter of next stage.
Technical scheme at Fig. 3 is to segment in the step actuator automatically in real time at three-phase, it is characterized in that: adopt parallel analog-digital chip U1 to be converted to dummy instruction by the current-order data that DSP sends, 7～14 pin with analog-digital chip U1 receive bus data D7～D0, the two tunnels analogies instruction OUT-A and the OUT-B of analog-digital chip U1 output, after being connected to discharge circuit U3A～U3D processing, by discharge circuit U4D output Third Road current-order REF-W.
In the given current-order D/A converting circuit of Fig. 3, parallel analog-digital chip U1 will be converted to dummy instruction by the current-order data that DSP sends, 7～14 pin with analog-digital chip U1 receive bus data D7～D0, two tunnels analogies instruction OUT-A, OUT-B is respectively from 2 pin, the output of 20 pin, be connected to 9 pin of discharge circuit U3C, 13 pin of U3D, the output of U3C is passed through resistance R 11 from 8 pin, 6 pin that connect U3B, OUT-B exports from 20 pin, be connected to 13 pin of discharge circuit U3D, the output 14 of U3D is by resistance R 13,2 pin that connect U3A, respectively after U3B and U3A processing, the given dummy instruction REF-U of two-way electric current, the REF-V signal is exported from 7 pin of discharge circuit U3B and 1 pin of U3A respectively, two-way output is connected to 13 pin of discharge circuit U4D more respectively by resistance R 45 and R46, behind 13 and 14 pin of resistance R 43 cross-over connection discharge circuit U4D, from 14 pin output Third Road current-order REF-W.
Technical scheme at Fig. 4 is to segment in the step actuator automatically in real time at three-phase, it is characterized in that: the current detecting modulate circuit is by adopting current sense chip IC 7, IC6, produce and accurate corresponding detection voltage SEN-U and the SEN-V of the real-time phase current of motor, with 1 of current sense chip, 2 pin short circuits, 3, in the U phase and V phase winding that inserts motor of directly contacting behind the 4 pin short circuits, the output that obtains from 7 pin, after the arrangement of discharge circuit U9A and U9B, 1 pin output SEN-U from U9A, 7 pin output SEN-V from U9B, after inserting discharge circuit U4C processing by resistance R 29 and R30 again, obtain the detected value SEN-W of third phase W phase current from 8 pin of discharge circuit U4C.
In the current detecting modulate circuit of Fig. 4, adopt current sense chip IC 7, PHU phase and PHV phase winding that IC6 directly contacts respectively and inserts motor, wherein 1,2 pin are a group of access point, 3,4 pin go out a little for another winding, electric current flows into from a group of access point, go out an outflow from another winding, the detection magnitude of voltage corresponding with size of current is respectively from corresponding chip IC 7, and the output of 7 pin of IC6 is respectively by resistance R 63, R70 inserts discharge circuit U9A, 2 pin of U9B and 6 pin, use R75 adjustable resistance correction reference zero, can obtain U phase current detected value SEN-U from 1 pin of U9A, obtain V phase current detected value SEN-V, more respectively by resistance R 29 from 7 pin of U9B, after 9 pin that R30 inserts U4C are handled, obtain W phase current detected value SEN-W from 8 pin of U4C.
Technical scheme in Fig. 5 and Fig. 6 is to segment in the step actuator automatically in real time at three-phase, it is characterized in that: the PI arithmetic control circuit receives the reference instruction REF of D/A converting circuit and the feedback command SEN after the current sample processing respectively, U phase reference instruction REF-U inserts the 6th pin of discharge circuit U4B by resistance R 18, the sampling feedback instruction SEN-U of U phase also inserts the 6th pin of discharge circuit U4B by resistance R 33, operation result is delivered to the 9th pin of comparator U6C from the 7th pin output of discharge circuit U4B; V phase reference instruction REF-V inserts the 2nd pin of discharge circuit U4A by resistance R 32, the sampling feedback SEN-V of V phase also inserts the 2nd pin of discharge circuit U4A by resistance R 34, operation result is delivered to the 11st pin of comparator U6D from the 1st pin output of discharge circuit U4A; W phase reference instruction REF-W inserts the 13rd pin of discharge circuit U5D by R41, and the sampling feedback SEN-W of W phase also inserts the 13rd pin of discharge circuit U5D by resistance R 39, and operation result is delivered to the 7th pin of comparator U6B from the 14th pin output of discharge circuit U5D; Three tunnel outputs are respectively by three comparator U6C, and U6B, U6D and triangular signal PWM8, PWM6 are relatively, generate the three-phase modulations ripple respectively, PWM-U is from the output of comparator U6C the 14th pin, and PWM-W is from the output of comparator U6B the 1st pin, and PWM-V exports from comparator U6D the 13rd pin.
In Fig. 6 brachium pontis power tube drive circuit,, export upper arm power tube switch controlling signal UH from 7 pin of U7, from the 5 pin output upper arm power tube switch controlling signal UL of U7 from the 2nd, 3 pin that the PWM-U of U6C the 14th output is connected to half-bridge driven chip U7; PWM-V is connected to the 2nd, 3 pin of half-bridge driven chip U8 from the output of U6D the 13rd pin, from the 7 pin output upper arm power tube switch controlling signal VH of U8, from the 5 pin output upper arm power tube switch controlling signal VL of U7; PWM-W is connected to the 2nd, 3 pin of half-bridge driven chip U10 from the output of U6B the 1st pin, from the 7 pin output upper arm power tube switch controlling signal WH of U10, from the 5 pin output upper arm power tube switch controlling signal WL of U7.
Current setting circuit technical scheme at Fig. 7, be to segment in the step actuator automatically in real time at three-phase, it is characterized in that: set electric current by S1, S2 two-position switch and resistance R 83～R85, R87, R9, LED P OW, discharge circuit U9C finishes jointly, be connected setting initial reference voltage with LED P OW by resistance R 9, and be connected to 10 pin of discharge circuit U9C, and by switch S 1, the closure of S2 and openly select 4 kinds of multiplication factors, 8 pin at discharge circuit U9C obtain four kinds of different big or small output voltages, as the reference voltage VREF of digital to analog converter.
In Fig. 8 three phase inverter bridge, M1～M6 has formed three phase inverter bridge jointly, three phase lines of motor are connected on respectively on half-bridge mid point U, V, the PHW, the conducting of under the control of six tunnel drive signal UL, UH, VL, VH, WL, WH, rotating, thus reach the purpose of controlling the three phase electric machine winding current.
Claims (5)
1. a three-phase segments step actuator in real time automatically, the digital signal processor DSP that employing is carried out by the establishment related software is a core, connect the current command generator that constitutes by the binary channels digital to analog converter successively, PI computing adjuster, the PWM modulator of forming by triangular-wave generator and comparator, the brachium pontis drive circuit, current setting circuit, the three phase power inverter bridge, the current detecting modulate circuit, receive the pulse command that upper control is sent by digital signal processor DSP, direction instruction and off line instruction, it is characterized in that generating the biphase current data command according to default scheme, instruction is given in conjunction with the output generation three-phase simulation electric current of current setting circuit via the binary channels digital to analog converter, by the actual current in the current detecting modulate circuit detection motor windings, obtain the feedback analogue value of motor three-phase current after the conditioning, given signal and feedback signal are carried out the closed-loop adjustment control of electric current by PI computing adjuster, final pwm signal and six tunnel drive signals of producing, control three phase power inverter bridge realizes the control operation of motor.
2. three-phase according to claim 1 segments step actuator in real time automatically, it is characterized in that: the current command generator that adopts the binary channels digital to analog converter to constitute, parallel analog-digital chip U1 will be converted to dummy instruction by the current-order data that DSP sends, 7～14 pin with parallel analog-digital chip U1 receive bus data D7～D0, the two tunnels analogies instruction OUT-A and the OUT-B of parallel analog-digital chip U1 output, after being connected to discharge circuit U3A～U3D processing, by discharge circuit U4D output Third Road current-order REF-W.
3. three-phase according to claim 1 segments step actuator in real time automatically, it is characterized in that: the current detecting modulate circuit is by adopting current sense chip IC 7, IC6, produce and accurate corresponding detection voltage SEN-U and the SEN-V of the real-time phase current of motor, with 1 of current sense chip, 2 pin short circuits, 3, in the U phase and V phase winding that inserts motor of directly contacting behind the 4 pin short circuits, the output that obtains from 7 pin, after the arrangement of discharge circuit U9A and U9B, 1 pin output SEN-U from U9A, 7 pin output SEN-V from U9B, after inserting discharge circuit U4C processing by resistance R 29 and R30 again, obtain the detected value SEN-W of third phase W phase current from 8 pin of discharge circuit U4C.
4. three-phase according to claim 1 segments step actuator in real time automatically, it is characterized in that: PI computing adjuster receives the reference instruction REF of binary channels digital to analog converter and the feedback command SEN after the current sample processing respectively, U phase reference instruction REF-U inserts the 6th pin of discharge circuit U4B by resistance R 18, the sampling feedback instruction SEN-U of U phase also inserts the 6th pin of discharge circuit U4B by resistance R 33, operation result is delivered to the 9th pin of comparator U6C from the 7th pin output of discharge circuit U4B; V phase reference instruction REF-V inserts the 2nd pin of discharge circuit U4A by resistance R 32, the sampling feedback SEN-V of V phase also inserts the 2nd pin of discharge circuit U4A by resistance R 34, operation result is delivered to the 11st pin of comparator U6D from the 1st pin output of discharge circuit U4A; W phase reference instruction REF-W inserts the 13rd pin of discharge circuit U5D by R41, and the sampling feedback SEN-W of W phase also inserts the 13rd pin of discharge circuit U5D by resistance R 39, and operation result is delivered to the 7th pin of comparator U6B from the 14th pin output of discharge circuit U5D; Three tunnel outputs are respectively by three comparator U6C, and U6B, U6D and triangular signal PWM8, PWM6 are relatively, generate the three-phase modulations ripple respectively, PWM-U is from the output of comparator U6C the 14th pin, and PWM-W is from the output of comparator U6B the 1st pin, and PWM-V exports from comparator U6D the 13rd pin.
5. three-phase according to claim 1 segments step actuator in real time automatically, it is characterized in that: the setting electric current of current setting circuit is by S1, S2 two-position switch and resistance R 83～R85, R87, R9, LED P OW, discharge circuit U9C finishes jointly, be connected setting initial reference voltage with LED P OW by resistance R 9, and be connected to 10 pin of discharge circuit U9C, by switch S 1, the closure of S2 selects 4 kinds of multiplication factors to obtain four kinds of different big or small output voltages at 8 pin of discharge circuit U9C with open, as the reference voltage VREF of digital to analog converter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200820132082U CN201378820Y (en) | 2008-08-05 | 2008-08-05 | Three-phase real-time automatic sub-stepping drive |
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| CN200820132082U CN201378820Y (en) | 2008-08-05 | 2008-08-05 | Three-phase real-time automatic sub-stepping drive |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797752A (en) * | 2010-04-16 | 2010-08-11 | 哈尔滨工业大学 | Integral joint driver of humanoid robot |
| CN102158161A (en) * | 2011-02-21 | 2011-08-17 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102624307A (en) * | 2011-01-26 | 2012-08-01 | 山东朗进科技股份有限公司 | Constant torque driving method and driving circuit of stepping motor |
| CN106533292A (en) * | 2016-10-19 | 2017-03-22 | 上海铼钠克数控科技股份有限公司 | Motor driver, servo drive device and numerical control machine tool |
| CN107612440A (en) * | 2017-10-30 | 2018-01-19 | 北京无线电测量研究所 | A kind of driver |
| CN107681931A (en) * | 2017-10-17 | 2018-02-09 | 中国电子科技集团公司第四十三研究所 | A kind of brshless DC motor current loop control system and control method |
| CN111505991A (en) * | 2020-04-29 | 2020-08-07 | 苏州欧立通自动化科技有限公司 | Multimode communication and feedback closed-loop motor driving method based on BRU and CRU |
| CN113131811A (en) * | 2021-04-14 | 2021-07-16 | 中国船舶重工集团公司第七0三研究所 | FPGA-based stepping motor driving method |
-
2008
- 2008-08-05 CN CN200820132082U patent/CN201378820Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797752A (en) * | 2010-04-16 | 2010-08-11 | 哈尔滨工业大学 | Integral joint driver of humanoid robot |
| CN102624307A (en) * | 2011-01-26 | 2012-08-01 | 山东朗进科技股份有限公司 | Constant torque driving method and driving circuit of stepping motor |
| CN102158161A (en) * | 2011-02-21 | 2011-08-17 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102158161B (en) * | 2011-02-21 | 2014-03-26 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN106533292A (en) * | 2016-10-19 | 2017-03-22 | 上海铼钠克数控科技股份有限公司 | Motor driver, servo drive device and numerical control machine tool |
| CN106533292B (en) * | 2016-10-19 | 2019-05-10 | 上海铼钠克数控科技股份有限公司 | Motor driver, servo drive and numerically-controlled machine tool |
| CN107681931A (en) * | 2017-10-17 | 2018-02-09 | 中国电子科技集团公司第四十三研究所 | A kind of brshless DC motor current loop control system and control method |
| CN107612440A (en) * | 2017-10-30 | 2018-01-19 | 北京无线电测量研究所 | A kind of driver |
| CN111505991A (en) * | 2020-04-29 | 2020-08-07 | 苏州欧立通自动化科技有限公司 | Multimode communication and feedback closed-loop motor driving method based on BRU and CRU |
| CN113131811A (en) * | 2021-04-14 | 2021-07-16 | 中国船舶重工集团公司第七0三研究所 | FPGA-based stepping motor driving method |
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