CN203219237U - Zero checker - Google Patents
Zero checker Download PDFInfo
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- CN203219237U CN203219237U CN 201320228799 CN201320228799U CN203219237U CN 203219237 U CN203219237 U CN 203219237U CN 201320228799 CN201320228799 CN 201320228799 CN 201320228799 U CN201320228799 U CN 201320228799U CN 203219237 U CN203219237 U CN 203219237U
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Abstract
Disclosed in the utility model is a zero checker that is used for carrying out measurement and calibration on zero offsets of a motor and a revolving device installed at the motor. The zero checker comprises: a setting portion, which is used for setting a vector signal for expressing a current inputting and outputting relation among three phase terminals of the motor according to an operation of a user as well as an angle theoretical value corresponding to the vector signal; a driving circuit, which is used for inputting a driving signal corresponding to the vector signal to the three phase terminals; a decoder, which is used for a measuring signal of the revolving device under the circumstances that the motor is driven by the driving signal and converting the measuring signal into an angle measuring value for expressing the deflection angle of the rotor of the motor; and an arithmetic unit, which is used for calculating an offset between the angle measuring value and the angle theoretical value to use the offset as a zero offset. According to the utility model, the provided zero checker with the advantage of simple and convenient operation can be realized easily.
Description
Technical field
The utility model relates to automation field, is specifically related to a kind of zero checker of dc brushless motor.
Background technology
At present, for the accurately deflection of control dc brushless motor, use resolver (abbreviation revolves and becomes device) that the deflection angle of the rotor of motor is measured usually, wherein revolve and become in the rotating shaft of rotor that device is fixed on dc brushless motor.Yet revolving when becoming device and being installed on the motor, owing to reasons such as machining accuracies, it is inconsistent with the zero-bit of motor to cause revolving the zero-bit that becomes device, thereby causes the angle detection of motor system deviation to occur.Therefore, be necessary to measure revolving the zero drift that becomes on device and the motor, carrying out zero adjustment based on the zero drift of measuring.
Yet, in the prior art, need the test platform of specialty to measure and calibrate motor and revolve the zero drift that becomes device, input cost height usually.
The utility model content
Technical problem
In view of this, problem to be solved in the utility model is: motor is difficult to measure with the zero drift of revolving the change device, and a kind of zero checker is provided, and can measure motor easily and revolve the zero drift that becomes device.
Technical scheme
In order to solve the problems of the technologies described above, according to the utility model one embodiment, provide a kind of zero checker, it comprises:
For above-mentioned zero checker, in a kind of possible implementation, also comprise: comparator 210, be connected with described configuration part 130 and described decoder 150, be used for calculating the deviation between described angle measurement and the described angle theoretical value; And average module 220, is connected with described comparator 210, be used for calculating the mean value of a plurality of described deviations of exporting from described comparator 210 as described zero drift.
For above-mentioned zero checker, in a kind of possible implementation, also comprise: the calibrator 310 that is connected with described decoder 150 and described arithmetic unit 160, calibrate the angle measurement that described decoder 150 is exported with the zero drift of utilizing described arithmetic unit 160 to calculate.
For above-mentioned zero checker, in a kind of possible implementation, also comprise: the display 510 that is connected with described configuration part 130, described decoder 150 and described arithmetic unit 160, with show in described vector signal, described angle theoretical value, described angle measurement and the described zero drift any one or a plurality of.
Beneficial effect
The zero checker of present embodiment, the angle theoretical value of vector signal correspondence can be set in the configuration part, drive circuit meets the driving signal of the vector correlation of described vector signal to the three phase terminals input of motor, rotate with drive motors, decoder can be based on revolving the measuring-signal that becomes the device feedback then, calculate the angle measurement of the deflection angle of rotor, thereby can calculate the angle theoretical value of motor and the zero drift between the angle measurement, zero checker of the present utility model can be measured and calibrate motor and revolve the zero drift value that becomes device, simple to operation, be easy to realize.
According to below with reference to accompanying drawing to detailed description of illustrative embodiments, it is clear that further feature of the present utility model and aspect will become.
Description of drawings
The accompanying drawing that is included in the specification and constitutes the part of specification shows exemplary embodiment of the present utility model, feature and aspect with specification, and is used for explaining principle of the present utility model.
Fig. 1 a illustrates the composition frame chart according to the zero checker of the utility model one embodiment;
Fig. 1 b illustrates the schematic diagram according to six fundamental space vectors of the space magnetic field of the motor stator formation of the utility model one embodiment;
Fig. 1 c illustrates the circuit theory diagrams corresponding to the step mode of fundamental space vector U180 according to the motor of the utility model one embodiment;
Fig. 2 illustrates the composition frame chart according to the zero checker of another embodiment of the utility model;
Fig. 3 illustrates the composition frame chart according to the zero checker of the another embodiment of the utility model;
Fig. 4 illustrates the composition frame chart according to the zero checker of the another embodiment of the utility model;
Fig. 5 illustrates according to the utility model composition frame chart of the zero checker of an embodiment again.
Embodiment
Describe various exemplary embodiment of the present utility model, feature and aspect in detail below with reference to accompanying drawing.The identical same or analogous element of Reference numeral presentation function in the accompanying drawing.Although accompanying drawing unless otherwise indicated, needn't be drawn in proportion in the various aspects of embodiment shown in the drawings.
Here Zhuan Yong word " exemplary " means " as example, embodiment or illustrative ".Here needn't be interpreted as being better than or being better than other embodiment as " exemplary " illustrated any embodiment.
In addition, provided numerous details in the embodiment hereinafter by the utility model in order better to illustrate.It will be appreciated by those skilled in the art that does not have these details, and the utility model can be implemented equally.In the other example, method, means, element and the circuit known for everybody are not described in detail, so that highlight purport of the present utility model.
Embodiment 1
Fig. 1 a illustrates the composition frame chart according to the zero checker of the utility model one embodiment.As shown in Figure 1a, this zero checker can comprise:
The operation principle of the zero checker of present embodiment is described in detail in detail below with reference to Fig. 1 b, 1c.Wherein, Fig. 1 b illustrates the schematic diagram of six fundamental space vectors of the space magnetic field that forms according to the motor stator of the utility model one embodiment; Fig. 1 c illustrates the circuit theory diagrams corresponding to the step mode of fundamental space vector U180 according to the motor of the utility model one embodiment.
The space magnetic field that stator produces can be regarded as a vector space, and vector space can be divided into six fundamental space vectors, and each fundamental space vector is respectively to there being an angle theoretical value in the vector space.Shown in Fig. 1 b, according to the basic principle of space vector control, divide according to the angle value mark, fundamental space vector title is respectively U0, U60, U120, U180, U240, U300, and the vector signal of corresponding fundamental space vector is respectively (0,0,1), (0,1,1), (0,1,0), (1,1,0), (1,0,0), (1,0,1), the theoretical value of the deflection angle of the rotor of Dui Ying motor 120 is respectively 0 degree, 60 degree, 120 degree, 180 degree, 240 degree, 300 degree.Particularly, if U, V, the W three phase terminals of motor 120 are passed to any corresponding three-phase drive electric current of basic vector in the space magnetic field, then the stator of motor 120 can produce a space magnetic field under the effect of this three-phase drive electric current, the rotor of motor 120 is subjected to the effect in the magnetic field of stator, deflect and finally rest on a certain settling position, between the theoretical deflection angle value of the corresponding deflection angle of this settling position with respect to the rotor of motor 120 certain misalignment angle may be arranged.
Shown in Fig. 1 c, six fundamental space vectors can pass to that six kinds of different step modes obtain by U, V, the W end of giving motor 120 respectively.Suppose when U, V, W end during for input corresponding vector value be " 1 ", when U, V, W end during for output corresponding vector value be " 0 ".For example, the U of motor 120, V end short circuit and input current and when W end output current, the vector signal of corresponding fundamental space vector is U180(1,1,0), the theoretical value of the deflection angle of the rotor of corresponding motor 120 is 180 degree, that is to say, the rotor of described motor 120 can stop in 180 degree positions in theory.In like manner, pass to six kinds of different step modes respectively by U, V, the W end of giving motor 120, can access other fundamental space vectors, it is other the angle theoretical value of rotor deflection of corresponding motor 120 respectively.During practical operation, the measured value that revolves the deflection angle of the rotor that becomes the motor 120 that device 110 measures may have deviation.For example: when the angle theoretical value is 180 degree, angle measurement is 185 degree, and at this moment, the rotor deflection of motor 120 is that 185 degree-180 degree=5 are spent to zero drift value of this 180 degree position.
Be that 180 degree are the operation principle of example explanation present embodiment zero checker with the angle theoretical value.For example: the vector signal that can send the three phase terminals electric current input/output relation each other of expression motor by the configuration part 130 of zero checker to drive circuit 140, generate a corresponding vector signal of six fundamental space vectors, for example: the theoretical value that takes measurement of an angle if desired is 180 zero drift values when spending, then fundamental space vector (1 can be sent to drive circuit 140 in configuration part 130,1,0) corresponding vector signal.After drive circuit 140 receives vector signal, vector signal is handled, obtain corresponding driving signal, for example: U, V end short circuit and input current and at W end output current, and this driving signal can be input to motor 120 by U, V, W three phase terminals, at this moment the rotor of motor 120 can produce certain deflection and finally be stabilized in some angles.Decoder 150 obtains the measuring-signal that revolves the rotor rotational angle that becomes the motor 120 that device 110 passes back by revolving the interface that becomes device, after measuring-signal being converted to the angle measurement of deflection angle of rotor of expression motor 120, calculator 160 can calculate deviation between angle measurement and the angle theoretical value as zero drift.
The zero checker of present embodiment, the angle theoretical value of vector signal correspondence can be set in the configuration part, after drive circuit meets driving signal from the vector correlation of described vector signal to the input of the three phase terminals of motor rotates with drive motors, decoder can be based on the angle measurement of revolving the deflection angle that measures rotor that becomes device, thereby can calculate the angle theoretical value of motor and the zero drift between the angle measurement, zero checker of the present utility model can be measured and calibrate motor and revolve the zero drift value that becomes device, simple to operation, be easy to realize.
Embodiment 2
Fig. 2 illustrates the composition frame chart according to the zero checker of another embodiment of the utility model.The assembly that label is identical with Fig. 1 among Fig. 2 has identical functions.As shown in Figure 2, compare with zero checker shown in Figure 1, the main distinction is that described arithmetic unit 160 can also comprise:
The zero checker of present embodiment, the angle theoretical value of vector signal correspondence can be set in the configuration part, after drive circuit meets driving signal from the vector correlation of described vector signal to the input of the three phase terminals of motor rotates with drive motors, decoder can be based on the angle measurement of revolving the deflection angle that measures rotor that becomes device, thereby can calculate the angle theoretical value of motor and the zero drift between the angle measurement, zero checker of the present utility model can be measured and calibrate motor and revolve the zero drift value that becomes device, simple to operation, be easy to realize.Further, average module will can make zero drift more accurate from the mean value of a plurality of deviations of comparator output as zero drift.
Embodiment 3
Fig. 3 illustrates the composition frame chart according to the zero checker of another embodiment of the utility model.The assembly that label is identical with Fig. 1, Fig. 2 among Fig. 3 has identical functions.As shown in Figure 3, compare with Fig. 1, zero checker shown in Figure 2, the main distinction is that this zero checker can also comprise:
The calibrator 310 that is connected with described decoder 150 and described arithmetic unit 160 is calibrated the angle measurement that described decoder 150 is exported with the zero drift of utilizing described arithmetic unit 160 to calculate.Wherein, calibrator 310 both can be connected with the comparator 210 of arithmetic unit 160, and the angle measurement of employing comparator 210 outputs and the deviation between the described angle theoretical value are calibrated the angle measurement of decoder 150 outputs as zero drift; Also can be connected with the average module 220 of arithmetic unit 160, adopt average module 220 mean values to calibrate the angle measurement of decoder 150 outputs as zero drift.
The zero checker of present embodiment, the angle theoretical value of vector signal correspondence can be set in the configuration part, after drive circuit meets driving signal from the vector correlation of described vector signal to the input of the three phase terminals of motor rotates with drive motors, decoder can be based on the angle measurement of revolving the deflection angle that measures rotor that becomes device, thereby can calculate the angle theoretical value of motor and the zero drift between the angle measurement, zero checker of the present utility model can be measured and calibrate motor and revolve the zero drift value that becomes device, simple to operation, be easy to realize.Further, average module will can make zero drift more accurate from the mean value of a plurality of deviations of comparator output as zero drift.In addition, calibrator utilizes zero drift to come the collimation angle measured value, can calibrate motor and revolve the zero drift that becomes device.
Embodiment 4
Fig. 4 illustrates the composition frame chart according to the zero checker of another embodiment of the utility model.The assembly that label is identical with Fig. 1～Fig. 3 among Fig. 5 has identical functions.As shown in Figure 4, compare with the zero checker of Fig. 1～shown in Figure 3, the main distinction is that this zero checker can also comprise:
The display 510 that is connected with described configuration part 130, described decoder 150 and described arithmetic unit 160, with show in described vector signal, described angle theoretical value, described angle measurement and the described zero drift any one or a plurality of.Wherein, display 510 can be connected respectively with the comparator 210 of arithmetic unit 160, average module 220, and the data of the two output are all shown, and also can be only the data of one of them output be shown as zero drift.In addition, according to using needs, display 510 is connected with configuration part 130, can output angle theoretical value and/or vector signal; Display 510 is connected with decoder 150, can also output decoder 150 pairs of angle measurement data that the measuring-signals decoding obtains.
The zero checker of present embodiment, the angle theoretical value of vector signal correspondence can be set in the configuration part, after drive circuit meets driving signal from the vector correlation of described vector signal to the input of the three phase terminals of motor rotates with drive motors, decoder can be based on the angle measurement of revolving the deflection angle that measures rotor that becomes device, thereby can calculate the angle theoretical value of motor and the zero drift between the angle measurement, zero checker of the present utility model can be measured and calibrate motor and revolve the zero drift value that becomes device, simple to operation, be easy to realize.Further, average module will can make zero drift more accurate from the mean value of a plurality of deviations of comparator output as zero drift.In addition, calibrator utilizes zero drift to come the collimation angle measured value, can calibrate motor and revolve the zero drift that becomes device.
Embodiment 5
Fig. 5 illustrates according to the utility model composition frame chart of the zero checker of an embodiment again.
As shown in Figure 5, compare with the zero checker of Fig. 1～shown in Figure 4, the main distinction is, configuration part 130 in above-described embodiment can be realized jointly by supervisory keyboard 51 and CPU, different key on this supervisory keyboard 51 is respectively applied to set the different angle theoretical value of motor 120, the different key of pressing on the supervisory keyboard 51 can produce different fundamental space vectors, CPU generates corresponding vector signal and sends to drive circuit 140 according to receiving the fundamental space vector, and the reset button on the supervisory keyboard 51 can be with the test result zero clearing in addition.Decoder 150 in above-described embodiment can be by RDC(Resolver-to-Digital Converter, revolving parameter word transducer) chip 52 and CPU realize jointly, RDC chip 52 from revolve become device 110 and read measuring-signal after, send CPU to after measuring-signal can being converted to angle measurement data, by CPU angle measurement data is converted to angle measurement.Arithmetic unit 160 and calibrator 310 can be by CPU(Central Processing Unit, central processing units) or MCU(Micro Control Unit, micro-control unit) etc. realization.Display 510 can be realized by the display screen of LCDs 54 or other kinds.The U of drive circuit 140, V, W three-phase output signal can be connected respectively on the binding post of U, V, W three phase terminals of motor 120 by cable.CPU can send to LCDs 54 with angle measurement, angle theoretical value, zero drift etc. and show.Wherein, the different key of pressing on the supervisory keyboard 51 can produce different fundamental space vectors, CPU can send different vector signals to drive circuit 140, and receive the RDC chip and return a plurality of angle measurement data, CPU can calculate the mean value of angle measured behind the button repeatedly and be shown on the LCDs 54 as zero drift, presses the test result zero clearing that reset button can be before.Like this, the engineering staff just can record motor 120 and revolve the zero drift that becomes device 110 by shirtsleeve operation intuitively, and is as shown in table 1 below.
Table 1
As can be seen from Table 1, behind the angle measurement data calculating mean value of the zero adjustment device of present embodiment after the RDC chip is measured for more than 52 time, CPU is converted to the mean value of angle measurement data angle measurement and the zero drift of deflection angle of the rotor of resultant this motor, thereby obtains each fundamental space vector to the zero drift of the deflection angle of rotor that should motor according to the angle theoretical value.The zero adjustment device of present embodiment also can carry out the data of repeatedly measuring respectively obtaining corresponding angle measurement after the angular transition, and then averages and obtain zero drift.As shown in Figure 5, the motor angle value that shows on the LCDs 54 is the angle theoretical value, revolve change device angle value and be angle measurement, the current deviation angle is the angle that obtains as zero drift with the deviation between angle measurement and the angle theoretical value, and the average deviation angle is the angle that the mean value that adopts a plurality of deviations between angle measurement and the angle theoretical value obtains as zero drift.
The zero checker of present embodiment, the angle theoretical value of vector signal correspondence can be set in the configuration part, after drive circuit meets driving signal from the vector correlation of described vector signal to the input of the three phase terminals of motor rotates with drive motors, decoder can be based on the angle measurement of revolving the deflection angle that measures rotor that becomes device, thereby can calculate the angle theoretical value of motor and the zero drift between the angle measurement, zero checker of the present utility model can be measured and calibrate motor and revolve the zero drift value that becomes device, simple to operation, be easy to realize.Further, average module will can make zero drift more accurate from the mean value of a plurality of deviations of comparator output as zero drift.In addition, calibrator utilizes zero drift to come the collimation angle measured value, can calibrate motor and revolve the zero drift that becomes device.
The above only be embodiment of the present utility model, but protection range of the present utility model is not limited thereto.Anyly be familiar with those skilled in the art in the technical scope that the utility model discloses, can expect easily changing or replacing, all should be encompassed within the protection range of the present utility model.Therefore, protection range of the present utility model should be as the criterion by described protection range with claim.
Claims (5)
1. a zero checker is used for measuring and calibration motor (120) and the zero drift of revolving change device (110), it is characterized in that, comprising:
Configuration part (130), for the vector signal that flows to the three phase terminals of described motor (120) according to user's operating and setting, and the angle theoretical value that obtains correspondence according to described vector signal;
Drive circuit (140) is connected with the three phase terminals of described configuration part (130) and described motor (120), is used for to the described three phase terminals input driving signal corresponding with described vector signal;
Decoder (150), be connected with the described change device (110) that revolves, be used for described the revolving of input and become the measuring-signal of device (110) under the situation that described motor (120) is driven by described driving signal, and described measuring-signal is converted to the angle measurement of the deflection angle of the rotor of representing described motor (120); And
Arithmetic unit (160) is connected with described configuration part (130) and described decoder (150), be used for to calculate deviation between described angle measurement and the described angle theoretical value as described zero drift.
2. zero checker according to claim 1 is characterized in that, described arithmetic unit (160) comprising:
Comparator (210) is connected with described configuration part (130) and described decoder (150), is used for calculating the deviation between described angle measurement and the described angle theoretical value; And
Average module (220) is connected with described comparator (210), is used for calculating the mean value of a plurality of described deviations of exporting from described comparator (210) as described zero drift.
3. zero checker according to claim 1 and 2, it is characterized in that, also comprise the calibrator (310) that is connected with described decoder (150) and described arithmetic unit (160), calibrate the angle measurement of described decoder (150) output with the zero drift of utilizing described arithmetic unit (160) to calculate.
4. zero checker according to claim 1 and 2, it is characterized in that, also comprise the display (510) that is connected with described configuration part (130), described decoder (150) and described arithmetic unit (160), with show in described vector signal, described angle theoretical value, described angle measurement and the described zero drift any one or a plurality of.
5. zero checker according to claim 3, it is characterized in that, also comprise the display (510) that is connected with described configuration part (130), described decoder (150) and described arithmetic unit (160), with show in described vector signal, described angle theoretical value, described angle measurement and the described zero drift any one or a plurality of.
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| CN 201320228799 CN203219237U (en) | 2013-04-28 | 2013-04-28 | Zero checker |
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| CN 201320228799 CN203219237U (en) | 2013-04-28 | 2013-04-28 | Zero checker |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105823504A (en) * | 2016-04-13 | 2016-08-03 | 北京航天发射技术研究所 | Zero-point-crossing processing method of encoder |
| CN106505926A (en) * | 2016-12-20 | 2017-03-15 | 中国航空工业集团公司雷华电子技术研究所 | A kind of zero method of radar servo system rotor mark |
| CN108418490A (en) * | 2018-03-30 | 2018-08-17 | 成都富临精工新能源动力有限公司 | A kind of permanent magnet synchronous motor rotation change relative angle on-line correction method |
| CN111399446A (en) * | 2020-03-30 | 2020-07-10 | 北京润科通用技术有限公司 | Servo system control method, drive controller and servo system |
| CN112019114A (en) * | 2019-05-29 | 2020-12-01 | 联合汽车电子有限公司 | Method for measuring zero offset angle of motor control system |
| CN113063345A (en) * | 2021-04-07 | 2021-07-02 | 上海拿森汽车电子有限公司 | Motor zero position angle calibration method and device and computer storage medium |
| CN113702704A (en) * | 2021-07-16 | 2021-11-26 | 东风汽车集团股份有限公司 | Motor zero position detection method and device for new energy vehicle and related vehicle |
| CN114465541A (en) * | 2022-02-14 | 2022-05-10 | 苏州蓝石新动力有限公司 | Zero setting method and device of motor and electronic equipment |
| CN115347838A (en) * | 2022-10-20 | 2022-11-15 | 深圳市好盈科技有限公司 | Method, system, equipment and medium for correcting initial zero position of motor |
| CN117639604A (en) * | 2023-11-30 | 2024-03-01 | 卓品智能科技无锡股份有限公司 | Zero self-learning method for motor angle sensor |
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2013
- 2013-04-28 CN CN 201320228799 patent/CN203219237U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105823504A (en) * | 2016-04-13 | 2016-08-03 | 北京航天发射技术研究所 | Zero-point-crossing processing method of encoder |
| CN105823504B (en) * | 2016-04-13 | 2018-05-22 | 北京航天发射技术研究所 | A kind of more zero point processing method of encoder |
| CN106505926A (en) * | 2016-12-20 | 2017-03-15 | 中国航空工业集团公司雷华电子技术研究所 | A kind of zero method of radar servo system rotor mark |
| CN108418490B (en) * | 2018-03-30 | 2021-03-30 | 成都富临精工新能源动力有限公司 | Online correction method for rotary phase angle of permanent magnet synchronous motor |
| CN108418490A (en) * | 2018-03-30 | 2018-08-17 | 成都富临精工新能源动力有限公司 | A kind of permanent magnet synchronous motor rotation change relative angle on-line correction method |
| CN112019114A (en) * | 2019-05-29 | 2020-12-01 | 联合汽车电子有限公司 | Method for measuring zero offset angle of motor control system |
| CN111399446A (en) * | 2020-03-30 | 2020-07-10 | 北京润科通用技术有限公司 | Servo system control method, drive controller and servo system |
| CN111399446B (en) * | 2020-03-30 | 2021-11-23 | 北京润科通用技术有限公司 | Servo system control method, drive controller and servo system |
| CN113063345A (en) * | 2021-04-07 | 2021-07-02 | 上海拿森汽车电子有限公司 | Motor zero position angle calibration method and device and computer storage medium |
| CN113063345B (en) * | 2021-04-07 | 2023-01-10 | 拿森汽车科技(杭州)有限公司 | Motor zero position angle calibration method and device and computer storage medium |
| CN113702704A (en) * | 2021-07-16 | 2021-11-26 | 东风汽车集团股份有限公司 | Motor zero position detection method and device for new energy vehicle and related vehicle |
| CN114465541A (en) * | 2022-02-14 | 2022-05-10 | 苏州蓝石新动力有限公司 | Zero setting method and device of motor and electronic equipment |
| CN114465541B (en) * | 2022-02-14 | 2024-07-02 | 苏州蓝石新动力有限公司 | Zero setting method and device of motor and electronic equipment |
| CN115347838A (en) * | 2022-10-20 | 2022-11-15 | 深圳市好盈科技有限公司 | Method, system, equipment and medium for correcting initial zero position of motor |
| CN117639604A (en) * | 2023-11-30 | 2024-03-01 | 卓品智能科技无锡股份有限公司 | Zero self-learning method for motor angle sensor |
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Address after: No. 451, Zixing Road, Zizhu Science Park, Minhang District, Shanghai 200241 Patentee after: Hitachi astemo automotive electronics (Shanghai) Co.,Ltd. Address before: No. 451, Zixing Road, Zizhu Science Park, Minhang District, Shanghai 200241 Patentee before: KEIHIN R&D CHINA Co.,Ltd. |
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