CN202481287U - Controller for ship electric propulsion system - Google Patents
Controller for ship electric propulsion system Download PDFInfo
- Publication number
- CN202481287U CN202481287U CN2012200089098U CN201220008909U CN202481287U CN 202481287 U CN202481287 U CN 202481287U CN 2012200089098 U CN2012200089098 U CN 2012200089098U CN 201220008909 U CN201220008909 U CN 201220008909U CN 202481287 U CN202481287 U CN 202481287U
- Authority
- CN
- China
- Prior art keywords
- signal
- propulsion system
- electric propulsion
- screw propeller
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The utility model provides a controller for a ship electric propulsion system, comprising a computing module, a comparing module and a switching module, wherein the input end of the computing module receives a motor actual torque signal from the electric propulsion system, and the output end of the computing module outputs the torque acceleration signal of the electric propulsion system; the input end of the comparing module inputs the torque acceleration signal and a torque acceleration setting value, and the output end of the comparing module outputs a comparing signal; and the input end of the switching module inputs the comparing signal, and the output end of the switching module outputs a switching signal, so that a rotate speed of a screw propeller is switched between the rotate speed setting value of the ship electric propulsion system and the rotate speed threshold value of the ship electric propulsion system. According to the controller for the ship electric propulsion system, whether the screw propeller is exposed out of water surface is judged, so that the torque fluctuation of the screw propeller can be reduced, and then the fatigue damage of the screw propeller and the shaft system of the screw propeller can be reduced, and the service life of the controller can be prolonged.
Description
Technical field
The utility model relates to a kind of electric propulsion system control setup, relates in particular to a kind of control setup that is used for watercraft electric propulsion system.
Background technology
Electric propulsion with its flexible configuration, control conveniently, the advantage of no complicated machinery driving system obtained extensive employing in the engineering ship manufacturing in modern times.Watercraft electric propulsion system mainly is made up of diesel powerplant, frequency converter, asynchronous motor and propeller machine system.In the ship's navigation process,, and get back in the water once more because stormy waves possibly make screw propeller surface in short-term.The torque of propeller for vessels and rotating speed square are directly proportional; And torque differs very big in water and in the air; Therefore when propeller speed is higher; Frequent go out the water surface and get into torque that the water surface can make screw propeller frequent fluctuation significantly, is fatigue damage thereby cause screw propeller and its axle, reduces its service life.
The utility model content
The purpose of the utility model provides the control setup that a kind of marine vessel power advances, and reducing propeller for vessels screw propeller and the axle thereof that causes of primering in short-term is the fluctuation of torque.
The utility model provides a kind of control setup of watercraft electric propulsion system, and it comprises a computing module, a comparison judge module and a handover module.Computing module is used for the torque acceleration/accel of the actual motor torque of Ship ' electric propulsion system, and its input end can receive the actual motor torque signal from electric propulsion system, and the torque acceleration signal of the exportable electric propulsion system of its mouth.Relatively judge module can compare the size of the torque acceleration/accel setting value of torque acceleration/accel and watercraft electric propulsion system, but its input end input torque acceleration signal and torque acceleration/accel setting value, and the exportable comparison signal of its mouth.Handover module is used to control the rotating speed of the screw propeller of watercraft electric propulsion system; Its input end can be imported comparison signal, and the exportable switching signal of its mouth rotating speed that makes screw propeller switches between the rotating speed threshold value of the speed setting value of watercraft electric propulsion system and watercraft electric propulsion system.
The control setup of watercraft electric propulsion system can judge whether screw propeller surfaces, and when judging that screw propeller surfaces, reduces the screw propeller threshold rotating speed V of the rotating speed of screw propeller to safety
g, to reduce the torque fluctuation of screw propeller, be fatigue damage with its axle thereby reduce screw propeller, prolong its service life.
In another schematic embodiment of the control setup of watercraft electric propulsion system; Control setup also is provided with a comparison module; It can compare the screw propeller actual speed of watercraft electric propulsion system and the screw propeller threshold rotating speed of watercraft electric propulsion system; Its input end can be imported the actual speed signal of the screw propeller of watercraft electric propulsion system; Exportable one first enable signal of its mouth, handover module can be imported first enable signal, and handover module output switching signal to make the rotating speed of screw propeller be speed setting value.
In the another kind of schematically embodiment of the control setup of watercraft electric propulsion system; Relatively also be provided with a time meter that can calculate actual motor torque in the judge module with torque acceleration change time length; With a comparator that can compare torque acceleration/accel and torque acceleration/accel setting value; But time meter is connected with the comparator signal; And exportable one second enable signal of time meter is to comparator, but the input end input torque acceleration signal of comparator and torque acceleration/accel duty setting signal, and the comparator may command compares judge module output comparison signal.
In another schematic embodiment of the control setup of watercraft electric propulsion system; Control setup also is provided with one first filtration module, but the first filtration module filtering inputs to the interfering signal that comprises in the actual motor torque signal of input end of computing module.
In another schematic embodiment of the control setup of watercraft electric propulsion system; Control setup also is provided with a discrimination module; It comprises a discriminator and a derailing switch; Discriminator can compare the rotating speed lower limit of the screw propeller of actual speed and watercraft electric propulsion system, and its input end can be imported the actual speed signal, exportable one the 3rd enable signal of its mouth; The 3rd enable signal controllable switch device turns on and off the torque acceleration/accel setting value that inputs to the comparison judge module.
In another schematic embodiment of the control setup of watercraft electric propulsion system, control setup also is provided with one second filtration module, but the second filtration module filtering inputs to the interfering signal that comprises in the actual speed signal of discrimination module.
In another schematic embodiment of the control setup of watercraft electric propulsion system; Handover module comprises one second comparator, a logical "or" arithmetic and logic unit, a rest-set flip-flop and a switch; Second comparator can distinguish that whether comparison signal is greater than zero; Its input end can be imported comparison signal, its mouth exportable one on the occasion of signal and a negative value signal, the input end of logical "or" arithmetic and logic unit can be imported the negative value signal and first enable signal; The exportable reset signal of its mouth; The input end of rest-set flip-flop can be imported on the occasion of signal or reset signal, the exportable switching signal of its mouth, switching signal may command switch output screw propeller threshold rotating speed or speed setting value.
Hereinafter will be with clear and definite understandable mode, and the accompanying drawings preferred embodiment further specifies above-mentioned characteristic, technical characterictic, advantage and the implementation thereof of the control setup of watercraft electric propulsion system.
Description of drawings
Following accompanying drawing is only done schematic illustration and explanation to the utility model, does not limit the scope of the utility model.
Fig. 1 is used to explain the structural representation of a kind of exemplary embodiment of control setup of watercraft electric propulsion system.
Fig. 2 is used to explain the structural representation of other exemplary embodiment of control setup of watercraft electric propulsion system.
Label declaration
10 computing modules
20 comparison modules
30 compare judge module
32 time meters
34 comparators
40 handover modules
42 second comparators
The 44RS binary pair
46 logical "or" arithmetics and logic unit
48 switchs
50 first filtration modules
60 second filtration modules
70 discrimination module
72 discriminators
74 derailing switches
The specific embodiment
Understand for technical characterictic, purpose and effect to utility model have more clearly, contrast the specific embodiment of description of drawings the utility model at present, identical label is represented identical or structural similitude but the identical part of function in each figure.
For making drawing succinct, only schematically shown out the part relevant among each figure with the utility model, they do not represent its practical structures as product.In addition, so that drawing succinctly is convenient to understand, the parts that in some figure, have same structure or function have only schematically illustrated one of them, or have only marked one of them.
Fig. 1 is used to explain the structural representation of a kind of exemplary embodiment of control setup of watercraft electric propulsion system.As shown in the figure, the control setup of watercraft electric propulsion system comprises a computing module 10, one relatively judge module 30 and a handover module 40.
Wherein, the input end of computing module 10 can be imported the actual motor torque signal M of the screw propeller that measures from electric propulsion system
Act, and actual motor torque signal M
ActCan reflect the real-time level of torque of motor that is used to drive the screw propeller motor.The exportable torque acceleration signal of the mouth of computing module 10 D
Act, signal D
ActReacted actual motor torque pace of change in time, i.e. actual motor torque signal M
ActSpeed d over time
Mact/ dt.
But the input end input torque acceleration signal D that compares judge module 30
ActTorque acceleration/accel setting value D with predefined watercraft electric propulsion system
m, torque acceleration/accel setting value D
mNeed set according to the particular case of screw propeller, relatively judge module 30 can be with torque acceleration/accel setting value D
mWith torque acceleration signal D
ActComparison, and export a comparison signal S who reacts comparison result
cSince the resistance of the big air of resistance of water, therefore, as torque acceleration signal D
ActGreater than torque acceleration/accel setting value D
m, judge that then screw propeller surfaces.In a kind of exemplary embodiment of the control setup of watercraft electric propulsion system, as torque acceleration signal D
ActGreater than square acceleration/accel setting value D
m, comparison signal S
cValue be one greater than 0 numerical value; As torque acceleration signal D
ActSmaller or equal to square acceleration/accel setting value D
m, comparison signal S
cValue is the numerical value less than 0.
The input end of handover module 40 can be imported comparison signal S
cWhen handover module 40 is judged comparison signal S
cValue is during greater than 0 numerical value, and the rotating speed of the screw propeller of handover module 40 may command watercraft electric propulsion systems switches to screw propeller threshold rotating speed V
g, and at screw propeller threshold rotating speed V
gIn, screw propeller and axle thereof are that the fluctuation of torque is very little to its influence, screw propeller threshold rotating speed V
gNeed measure according to the particular case of screw propeller; When handover module 40 is judged comparison signal S
cValue be one less than 0 numerical value, the rotating speed of the screw propeller of handover module 40 may command watercraft electric propulsion systems switches to the speed setting value V of watercraft electric propulsion system
s, and speed setting value V
sFor before screw propeller runs off the water surface, the real-time rotating speed of watercraft electric propulsion system control screw propeller.
In a kind of exemplary embodiment of the control setup of watercraft electric propulsion system, concrete control flow is following.
At first, computing module 10 calculates torque acceleration signal D
Act
Then, compare judge module 30 with torque acceleration signal D
ActWith torque acceleration/accel setting value D
mRelatively, export the comparison signal S of a reaction comparison result
c
Then, handover module 40 is according to comparison signal S
cJudge whether screw propeller surfaces.If judge that screw propeller surfaces, then the rotating speed of the screw propeller of handover module 40 control watercraft electric propulsion systems switches to screw propeller threshold rotating speed V
gIf judge that screw propeller does not surface, then the rotating speed of the screw propeller of handover module 40 may command watercraft electric propulsion systems switches to the speed setting value V of watercraft electric propulsion system
s
The control setup of watercraft electric propulsion system is through to torque/mass ratio acceleration signal D
ActWith torque acceleration/accel setting value D
m, judge whether screw propeller surfaces, and when judging that screw propeller surfaces, reduce the screw propeller threshold rotating speed V of the rotating speed of screw propeller to safety
g, to reduce the torque fluctuation of screw propeller, be fatigue damage with its axle thereby reduce screw propeller, prolong its service life.
Fig. 2 is used to explain the structural representation of other exemplary embodiment of control setup of watercraft electric propulsion system, and structure identical with Fig. 1 among the figure repeats no more at this.As shown in Figure 2, the control setup of watercraft electric propulsion system also is provided with a comparison module 20.The input end of comparison module 20 can be imported the actual speed signal V of the screw propeller that is recorded by electric propulsion system
ActWith screw propeller threshold rotating speed V
gActual speed signal V
ActCan reflect the size of the real-time rotating speed of motor that is used to drive the screw propeller motor.Comparison module 20 can compare actual speed signal V
ActWith screw propeller threshold rotating speed V
gSize, as actual speed signal V
ActGreater than screw propeller threshold rotating speed V
gThe time, exportable one the first enable signal S of the mouth of comparison module 20
1n
When the input end of handover module 40 can be imported the first enable signal S
1nThe time, the rotating speed of the screw propeller of handover module 40 may command watercraft electric propulsion systems switches to speed setting value V
s, the real-time rotating speed of avoiding screw propeller is at screw propeller threshold rotating speed V
gIn the time be switched to screw propeller threshold rotating speed V
g
As shown in Figure 2, relatively judge module 30 also is provided with a time meter 32 and a comparator 34.Wherein, time meter 32 can calculate actual motor torque according to the lasting time that changes of torque acceleration/accel, but time meter 32 is connected with comparator 34 signals.But the input end input torque acceleration signal D of comparator 34
ActWith torque acceleration/accel setting value D
mComparator 34 is with torque acceleration signal D
ActWith torque acceleration/accel setting value D
mCompare, if torque acceleration signal D
ActGreater than torque acceleration/accel setting value D
m, then comparator 34 notice time meters 32 pick up counting, and have only as torque acceleration signal D
ActGreater than torque acceleration/accel setting value D
mTime length during greater than a time period threshold value, time meter 32 is just exported the second enable signal S
2nTo comparator 34, make relatively it 34 can export comparison signal S
c
Relatively judge module 30 can avoid the control setup of watercraft electric propulsion system frequently to switch propeller speed through time meter 32 is set, and has only the rotating speed that surfaces when lasting till the time period threshold value just screw propeller when screw propeller to switch to screw propeller threshold rotating speed V
g, and the time period threshold value need be measured according to the particular case of screw propeller.
As shown in Figure 2, the control setup of watercraft electric propulsion system also is provided with one first filtration module 50.First filtration module 50 can be with the actual motor torque signal M that inputs to computing module 10
ActCarry out Filtering Processing, make actual motor torque signal M
ActSmoothly, avoid being mixed in actual motor torque signal M
ActIn interfering signal computing module 10 is impacted.
As shown in Figure 2, the control setup of watercraft electric propulsion system also is provided with a discrimination module 70, comprises a discriminator 72 and a derailing switch 74 in the discrimination module 70.The input end of discriminator 72 can be imported actual speed signal V
Act, discriminator 72 can be with the actual speed V of screw propeller
ActCompare with the rotating speed lower limit of predefined screw propeller in the watercraft electric propulsion system, and have only actual speed V when screw propeller
ActGreater than the rotating speed lower limit of screw propeller, discriminator 72 is just exported one the 3rd enable signal S
3nTo derailing switch 74.When derailing switch 74 is received the 3rd enable signal S
3nAfter, its output torque acceleration/accel setting value D
mTo comparing judge module 30.When propeller during in slow speed of revolution, screw propeller surfaces and gets back in the process of the water surface, and the fluctuation of propeller torque is very little to the influence of screw propeller and its system, through discrimination module 70 is set, can avoid screw propeller frequent its rotating speed that switches when slow speed of revolution.
As shown in Figure 2, the control setup of watercraft electric propulsion system also is provided with one second filtration module 60.Second filtration module 60 can be with the actual speed signal V that inputs to discrimination module 70
ActCarry out Filtering Processing, make actual speed signal V
ActSmoothly, avoid being mixed in actual speed signal V
ActIn interfering signal discrimination module 70 is impacted.
As shown in Figure 2, handover module 40 comprises one second comparator 42, logical "or" arithmetic and logic unit 46, a rest-set flip-flop 44 and a switch 48.
Wherein, second comparator 42 imports from the comparison signal S that compares judge module 30
c, second comparator 42 judges according to the comparison signal of input whether screw propeller runs off the water surface, in a kind of exemplary embodiment of the control setup of watercraft electric propulsion system, as comparison signal S
cValue is one during less than 0 numerical value or greater than 0 numerical value, and second comparator 42 can be judged comparison signal S
cPositive and negative, as comparison signal S
cValue is one during less than 0 numerical value, negative value signal S of second comparator, 42 outputs
NAnd as comparison signal S
cValue is one during greater than 0 numerical value, and one of second comparator, 42 output are on the occasion of signal S
P
The input end of logical "or" arithmetic and logic unit 46 can be imported the negative value signal S from second comparator 42
NWith the first enable signal S from comparator 20
1n, and as logical "or" arithmetic and logic unit 46 input negative value signal S
NOr the first enable signal S
1nAfter, the exportable reset signal S of its mouth
R
The input end of rest-set flip-flop 44 can be imported reset signal S
ROr on the occasion of signal S
PAs rest-set flip-flop 44 input reset signal S
RThe time, the switching signal S of its mouth output
WMake the rotating speed of screw propeller become speed setting value V
sWhen rest-set flip-flop 44 is imported on the occasion of signal S
PThe time, the switching signal S of its mouth output
WMake the rotating speed of screw propeller become screw propeller threshold rotating speed V
g
In this article, " schematically " expression " is served as instance, example or explanation ", should any diagram, the embodiment that be described to " schematically " in this article be interpreted as a kind of preferred or have more the technical scheme of advantage.
Be to be understood that; Though this specification sheets is described according to each embodiment; But be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification sheets only is for clarity sake, and those skilled in the art should make specification sheets as a whole; Technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
The listed a series of detailed description of preceding text only is specifying to the feasibility embodiment of the utility model; They are not the protection domain in order to restriction the utility model, allly do not break away from equivalent embodiment or the change that the utility model skill spirit done and all should be included within the protection domain of the utility model.
Claims (7)
1. the control setup of watercraft electric propulsion system is characterized in that, it comprises:
A computing module (10); It is used to calculate the torque acceleration/accel of the actual motor torque of said watercraft electric propulsion system; Its input end receives the actual motor torque signal from said electric propulsion system, and its mouth is exported the torque acceleration signal of said electric propulsion system;
A comparison judge module (30); The size of the torque acceleration/accel setting value of its more said torque acceleration/accel and said watercraft electric propulsion system; Its input end is imported said torque acceleration signal and said torque acceleration/accel setting value, and comparison signal of its mouth output; With
A handover module (40); It is used to control the rotating speed of the screw propeller of said watercraft electric propulsion system; Its input end is imported said comparison signal, and switching signal of its mouth output rotating speed of making said screw propeller switches between the rotating speed threshold value of the speed setting value of said watercraft electric propulsion system and said watercraft electric propulsion system.
2. control setup as claimed in claim 1; Wherein said control setup also is provided with a comparison module (20); The screw propeller threshold rotating speed of the screw propeller actual speed of its more said watercraft electric propulsion system and said watercraft electric propulsion system; Its input end is imported the actual speed signal of the screw propeller of said watercraft electric propulsion system, one first enable signal of its mouth output
Said first enable signal of said handover module (40) input, and the said switching signal of said handover module (40) output to make the rotating speed of said screw propeller be said speed setting value.
3. control setup as claimed in claim 1; Also be provided with a time meter (32) that calculates said actual motor torque with said torque acceleration change time length in the wherein said relatively judge module (30); Comparator (34) with a more said torque acceleration/accel and said torque acceleration/accel setting value
Said time meter is connected with said comparator signal, and one second enable signal of said time meter output is to said comparator,
The input end of said comparator (34) is imported said torque acceleration signal and said torque acceleration/accel duty setting signal, and the said relatively judge module of said comparator control is exported said comparison signal.
4. control setup as claimed in claim 1, wherein said control setup also are provided with one first filtration module (50), and the said first filtration module filtering inputs to the interfering signal that comprises in the said actual motor torque signal of input end of said computing module.
5. control setup as claimed in claim 1, wherein said control setup also are provided with a discrimination module (70), and it comprises a discriminator (72) and a derailing switch (74),
The rotating speed lower limit of the screw propeller of more said actual speed of said discriminator and said watercraft electric propulsion system, its input end are imported said actual speed signal, one the 3rd enable signal of its mouth output;
Said the 3rd enable signal is controlled said derailing switch and is turned on and off the said torque acceleration/accel setting value that inputs to said comparison judge module (30).
6. control setup as claimed in claim 5, wherein said control setup also are provided with one second filtration module (60), and the said second filtration module filtering inputs to the interfering signal that comprises in the said actual speed signal of said discrimination module.
7. control setup as claimed in claim 2, wherein said handover module (40) comprise one second comparator (42), a logical "or" arithmetic and logic unit (46), a rest-set flip-flop (44) and a switch (48),
Whether said second comparator distinguishes said comparison signal greater than zero, and its input end is imported said comparison signal, and its mouth is exported one on the occasion of signal and a negative value signal,
The input end of said logical "or" arithmetic and logic unit is imported said negative value signal and said first enable signal, reset signal of its mouth output,
The input end input of said rest-set flip-flop is said on the occasion of signal or said reset signal, switching signal of its mouth output,
Said switching signal is controlled said switch and is exported said screw propeller threshold rotating speed or said speed setting value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200089098U CN202481287U (en) | 2012-01-10 | 2012-01-10 | Controller for ship electric propulsion system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200089098U CN202481287U (en) | 2012-01-10 | 2012-01-10 | Controller for ship electric propulsion system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202481287U true CN202481287U (en) | 2012-10-10 |
Family
ID=46955733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200089098U Expired - Lifetime CN202481287U (en) | 2012-01-10 | 2012-01-10 | Controller for ship electric propulsion system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202481287U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103840736A (en) * | 2012-11-28 | 2014-06-04 | 西门子工厂自动化工程有限公司 | Load torque control system and load torque control method |
| CN103840736B (en) * | 2012-11-28 | 2016-11-30 | 西门子工厂自动化工程有限公司 | Load torque control system and load torque control method |
| CN106976541A (en) * | 2016-01-17 | 2017-07-25 | 哈尔滨工业大学（威海） | The anti-overwinding control strategy of watercraft electric propulsion system under a kind of non-orderly sea |
-
2012
- 2012-01-10 CN CN2012200089098U patent/CN202481287U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103840736A (en) * | 2012-11-28 | 2014-06-04 | 西门子工厂自动化工程有限公司 | Load torque control system and load torque control method |
| CN103840736B (en) * | 2012-11-28 | 2016-11-30 | 西门子工厂自动化工程有限公司 | Load torque control system and load torque control method |
| CN106976541A (en) * | 2016-01-17 | 2017-07-25 | 哈尔滨工业大学（威海） | The anti-overwinding control strategy of watercraft electric propulsion system under a kind of non-orderly sea |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205229350U (en) | Electromagnetic braking ware intellectual detection system system | |
| CN104753415B (en) | Start-up and shut-down control method, system and the stepper motor of stepper motor | |
| CN202481287U (en) | Controller for ship electric propulsion system | |
| CN201830194U (en) | Drive control device of stepping motor | |
| CN201569663U (en) | Brushless DC motor speed measurement device based on hall element | |
| CN102082535A (en) | Brushless direct current motor speed detector based on hall element and control method thereof | |
| CN101704403A (en) | Control and research/development platform for electric propulsion system of ships | |
| CN204370374U (en) | The safe checking motion of a kind of wharf anchors | |
| CN105460822A (en) | Control device and method for electric anchor and mooring equipment | |
| CN202156847U (en) | Running stabilizing device for elevator | |
| CN108599650A (en) | Small-sized Marine electric power brushless direct-current propulsion electric machine control system based on PI type Fuzzy | |
| CN104210637A (en) | Electric propulsion ship converter control unit | |
| CN105373109B (en) | A kind of Delta robots control system | |
| CN105305610A (en) | Ship electric propulsion monitoring device | |
| CN201926921U (en) | Test bench of ship host remote control system | |
| CN205017239U (en) | Brushless direct current motor control circuit | |
| CN204078053U (en) | A kind of Electrical Propulsion Ship current transformer control unit | |
| CN102298384A (en) | Testboard for marine main engine remote control system | |
| CN103676965A (en) | Engineering machinery arm support control method, device and system and engineering machinery | |
| CN103036489A (en) | Permanent magnet synchronous motor control system | |
| CN210041572U (en) | Step motor for cable stripping equipment | |
| CN203754326U (en) | Blast furnace winding protection system | |
| CN203200448U (en) | Digital warp-conveying device | |
| CN203794478U (en) | PLC (Programmable Logic Controller)-based tower crane moment limiter | |
| CN106712653B (en) | Electric machine control system and method based on FPGA |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121010 |
|
| CX01 | Expiry of patent term |