CN205453391U - Parking equipment's two motor driver and control method - Google Patents
Parking equipment's two motor driver and control method Download PDFInfo
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- CN205453391U CN205453391U CN201620208709.5U CN201620208709U CN205453391U CN 205453391 U CN205453391 U CN 205453391U CN 201620208709 U CN201620208709 U CN 201620208709U CN 205453391 U CN205453391 U CN 205453391U
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Abstract
The utility model provides a parking equipment's two motor driver and control method, its technical scheme's main points adopt the separate unit motor to drive safe defect that chain or wire rope circulation towed and limited not enough to the mounting dimension who adopts two sets of screw and nut mechanisms of separate unit motor drive to current two -layer parking equipment. Wherein, drive arrangement is for adopting the same two sets of motors of parameter and reducing gear box to constitute two sets of screw rods of two sets of separately -driven of power drive mechanism and nut unit, and two nut seats tow through wire rope or pull, implement to tow or pull the lift and drive carrying the sweep both sides respectively through the screw rod. This drive arrangement's control method adopts two converters that the parameter is the same and supplementary measures to realize having a plurality of schemes selective to two threephase asynchronous machine's speed synchronization control. Above device and control method reach and carry the sweep balanced synchronous go up and down and the effect of falling is prevented in whole auto -lock.
Description
Technical field
This utility model relates to mechanical parking equipment technical field, more particularly, it relates to the upper strata platen vertical lift driving means of the two-layer parking apparatus of middle two root post clamping upper strata platen vertical lifts and control method.
Background technology
Along with the increase of automobile pollution, the problem that parking space is not enough becomes clear day by day, and mechanical parking equipment is widely used, and wherein the market share of two-layer parking apparatus is bigger.In two-layer parking apparatus, there is the form of two root posts (including symmetric configuration and asymmetric layout) clamping upper strata platen vertical lift in the middle of using, the structure of existing equipment is to use single motor to drive chain or steel wire rope circulation draw mode, which makes the traction supporting drive mechanism of vehicle-containing both sides there is architectural difference (side is that directly driving, opposite side are for through the powerdriven indirect driving of multi-stage mechanical), there is vehicle-containing and drive imbalance, and either side chain or wire cable rupture i.e. produce the defect toppled.Recently, having the technical scheme proposing to use single motor to drive twin screw synchronization lifting, the program uses machine driving forced synchronism mode to ensure that the balance drive of vehicle-containing, it also avoid the potential safety hazard that existing equipment exists；But when reality is applied, due to the limited reason of installation dimension, the motor of the program and reduction box position are difficult to rationally arrange, are unfavorable for popularization and application.
Utility model content
The purpose of this utility model is to overcome shortcoming of the prior art with not enough, it is provided that the double-motor driving device of a kind of parking apparatus and control method.Wherein, double-motor driving device is that the two set power-driven mechanisms using the two set motors identical by parameter and reduction box to form drive two set screw rod and nut sections respectively, linked by steel wire rope traction or link nut seat and vehicle-containing by screw rod traction so that the enforcement traction lifting of vehicle-containing both sides is driven or traction lifting driving by two nut seats respectively；The control method of this device is to use two converters and the supplementary measures realization synchronous velocity control to two threephase asynchronous machines that parameter is identical.Apparatus above and control method reach the lifting of vehicle-containing balanced synchronization and the effect of full range automatic locking fall arrest.
In order to achieve the above object, this utility model is achieved by following technical proposals: the double-motor driving device of a kind of parking apparatus, it is characterised in that: described parking apparatus refers to the two-layer parking apparatus of middle two root post clamping upper strata platen vertical lifts；Described motor is the threephase asynchronous machine of frequency conversion drive；Described Dual-motors Driving refers to that the two set motors identical by parameter and reduction box form two power-driven mechanisms, drives two set screw rod and nut sections respectively, and concrete installation form uses the one of which of following two mode；One of mode refers to: described motor and reduction box are fixedly mounted on the top position of column, and screw rod is vertically set on column internal cavities position, and reduction box outfan drives screw rod to rotate；Nut is arranged on nut seat, and nut seat can rise or fall at column internal cavities but can not rotate；Motor rotates forward or backwards, drives screw rod forward or rotate backward so that nut drives nut seat to rise or fall；Vehicle-containing is positioned at the lower section of nut seat, both sides correspondence stud is provided with the structural member protruding into stand column cavity, nut seat and vehicle-containing protrude into and are linked by least steel cable or at least screw rod between the structural member of stand column cavity, nut seat rises, and is risen by steel wire rope traction vehicle-containing or is risen by screw rod traction vehicle-containing；Nut seat declines, and vehicle-containing declines the most therewith, remains nut seat traction vehicle-containing or the state of traction vehicle-containing；The two of method refer to: described screw rod is vertically and fixedly arranged at column internal cavities position, it is impossible to rotate, can not displacement；Described motor and reduction box synthesize an integrated model with nut block, the outfan of reduction box drives cap rotation, and this integrated model is positioned at the parts of stand column cavity position and is referred to as nut seat；Motor rotates forward or backwards, drives nut to rotate forward or backwards, drives nut seat and this integrated model to rise or fall；Vehicle-containing is positioned at the lower section of nut seat, both sides correspondence stud is provided with the structural member protruding into stand column cavity, nut seat and vehicle-containing protrude into and are linked by least steel cable or at least screw rod between the structural member of stand column cavity, nut seat rises, and is risen by steel wire rope traction vehicle-containing or is risen by screw rod traction vehicle-containing；Nut seat declines, and vehicle-containing declines the most therewith, remains nut seat traction vehicle-containing or the state of traction vehicle-containing.
Why select to be carried out by steel wire rope or screw rod between nut seat and vehicle-containing indirectly to link rather than nut seat is directly linked with vehicle-containing fastening, mainly consider vehicle-containing actually used when owing to there is error in the surface water Pingdu of vehicle sailed/rolled away from the impact of generation into or electromechanical device produces when running site error or the rear support vehicle-containing that vehicle-containing drops to ground, above-mentioned situation maybe can cause the vertical or horizontal imbalance of vehicle-containing certain amplitude；Therefore, the mode using link indirectly between nut seat and vehicle-containing can be as buffering.And, it is preferred that steel wire rope links.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: use that two parameters are identical, can be set to master and slave type of drive and realize the converter of speed tracking control to be driven two motors respectively, the velocity of rotation that its control result makes two motors is identical, vehicle-containing both sides to rise or fall speed identical, reach balance lifting.
The General Converters provided in the market arranges majority and all possesses speed Tracking synchronous operation pattern.The technical program use the converter that two parameters are identical to drive respectively motor that two Radix codonopsis pilosulae numbers are identical also realizes speed Tracking and synchronizes, being the simple application of General Converters speed Tracking synchronous operation pattern, common method has following two: one of method is to be realized by an encoder.Specifically setting one of them converter as primary transducer, another converter is from converter；Set motor that primary transducer drives as mair motor, be from motor from the motor of transducer drive；It is co-axially mounted encoder at mair motor, two converters are set to encoder I/O and follow the tracks of synchronous operation pattern, the signal output of the coaxial mounted encoder of mair motor is connected to the code device signal input from converter, making the encoder output reflecting the instant rotating speed of mair motor as from the speed preset of motor, the actual speed following mair motor from converter is implemented to control to from motor.Above-described encoder I/O follows the tracks of and synchronizes to be set to pulse I/O tracking synchronization at some converter, and its principle and method to set up are followed the tracks of Tong Bu similar with encoder I/O.The two of method are to realize following the tracks of by analog quantity I/O synchronizing.Specifically setting one of them converter as primary transducer, another converter is from converter；Set motor that primary transducer drives as mair motor, be from motor from the motor of transducer drive；Two converters are set to analog quantity I/O and follow the tracks of synchronous operation pattern, the analog output of primary transducer is connected to the analog input port from converter, the frequency conversion curve of primary transducer drives mair motor, the analog output of its correspondence gives as from the frequency conversion curve of converter so that follows primary transducer from converter and implements to control to from motor.Due to method two not using the actual speed of mair motor as benchmark, in order to compensate two asynchronous motors revolutional slip that may be present error, can be by surveying the actual revolutional slip of two asynchronous motors, calculate the proportionate relationship of correspondence, then carry out adjusting from the analog quantity of transducer drive by corresponding proportion adjustment analog circuit or Digital Logical Circuits so that the frequency conversion curve of primary transducer output considers penalty coefficient between the two with the frequency conversion curve being connected to from converter.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: the variable frequency drive unit using two parameters identical drives the motor that two Radix codonopsis pilosulae numbers are identical respectively, the frequency conversion curve of variable frequency drive unit is that the two-way pwm signal that a single-chip microcomputer exports respectively sets, two motors are separately installed with the encoder that parameter is identical, the pulse output signals of two encoders is respectively connected to the high-speed counter port of single-chip microcomputer, comparison and the PID arithmetic of real-time pulse numerical value is carried out by single-chip microcomputer, on the basis of a wherein road pwm signal parameter, dynamically adjust the output parameter of an other road pwm signal；Or, the frequency conversion curve of two variable frequency drive unit is that the two-way pwm signal that a single-chip microcomputer exports respectively sets, two nut seats are separately installed with that parameter is identical, the displacement detector of band signal output, the pulse output signals of two displacement detectors is respectively connected to the high-speed counter port of single-chip microcomputer, comparison and the PID arithmetic of real-time pulse numerical value is carried out by single-chip microcomputer, on the basis of a wherein road pwm signal parameter, dynamically adjust the output parameter of an other road pwm signal.
Above way realizes closed loop control by single-chip microcomputer to two motors controlled, and it controls result and makes identical or two nut seats the velocity of displacement of velocity of rotation of two motors identical so that vehicle-containing both sides to rise or fall speed identical, reach balance lifting.
Industrial controlling single-chip microcomputer is provided simultaneously with the output control of multi-channel PWM signal at present, multipath high-speed counter signals accesses and the function of high-speed computation, fully meets the demand of above-mentioned closed loop control.Owing to the level of parking apparatus vehicle-containing is less demanding, a kind of simple process method of such scheme is not make PID arithmetic and Real-time and Dynamic adjustment control, only set the allowed band of a number of pulses difference, real-time pulse numeric ratio relatively show that error information temporarily preserves, and disposably adjusts compensation when accumulation is transfinited to difference.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: the converter using two parameters identical drives the motor that two Radix codonopsis pilosulae numbers are identical respectively；Two motors before the use must on the basis of same frequency conversion curve, respectively by transducer drive, carry out the detection of actual revolutional slip, using the actual measurement revolutional slip of that motor of one of them transducer drive as benchmark revolutional slip, motor on the basis of this motor, converter on the basis of this converter, frequency conversion curve on the basis of the frequency conversion curve that benchmark converter sets；Then, using the actual measurement revolutional slip of another motor of another transducer drive and the ratio of benchmark revolutional slip as proportional control factor, the frequency conversion curve of another converter is adjusted accordingly；In actual moving process, two converter synchronous operations, but benchmark converter therein is by benchmark frequency conversion curve controlled, and another converter is by the frequency conversion curve controlled after proportion adjustment.
The actual revolutional slip that according to above way, two motors are different is respectively provided with different frequency conversion curves and is controlled, and it controls result and makes the velocity of rotation of two motors identical, vehicle-containing both sides to rise or fall speed identical, reach balance lifting.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: the converter using two parameters identical drives the motor that two Radix codonopsis pilosulae numbers are identical respectively；It is actually detected that two motors must carry out revolutional slip before the use under standard frequency drives, using the actual measurement revolutional slip of wherein motor as benchmark revolutional slip, motor on the basis of this motor, for frequency conversion curve on the basis of the frequency conversion curve that this motor sets, this benchmark frequency conversion curve is specified and is driven benchmark motor by a wherein road pwm signal output of single-chip microcomputer；Then, drive the ratio surveying revolutional slip and benchmark revolutional slip of another motor as proportional control factor using identical standard frequency, adjusting the frequency conversion curve of this motor accordingly, this frequency conversion curve is specified and is driven another motor by another road pwm signal output of single-chip microcomputer；In actual moving process, two-way pwm signal runs simultaneously, but benchmark motor therein is by benchmark frequency conversion curve controlled, and another motor is by the frequency conversion curve controlled after proportion adjustment.
Above way also belongs to be respectively provided with different frequency conversion curves according to the actual revolutional slip that two motors are different and is controlled, and it controls result and makes the velocity of rotation of two motors identical, vehicle-containing both sides to rise or fall speed identical, reach balance lifting.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: occur that when vehicle-containing static state both sides are uneven, be in non-standard state, i.e. by adjusting the length of the wherein traction steel-cable of side vehicle-containing or adjusting the length of the wherein traction screw of side vehicle-containing and be adjusted.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: occurs that when vehicle-containing static state both sides are uneven, be in non-standard state, then measured by reality and draw level difference numerical value, and it is converted into the motor operation driving frequency conversion curve eliminated needed for this level difference, carry out the interim operation of special adjustment level；Or, directly it is manually operated motor operation and is adjusted.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: increases correlation electrooptical device and prevents occurring that imbalance transfinites between two nut seats, specific practice is: the correspondence position at two nut seats installs correlation photoelectric detection system, when two nut seats are in relative level state, the signal receiving end of correlation detection device can normally detect the signal that signal issuing side sends；When the horizontal error of two nut seats transfinites, the signal receiving end of correlation detection device can not detect the signal that signal issuing side sends, then correlation detection device sends fault-signal immediately, triggering parking apparatus is out of service or no parking, and equipment runs, until the imbalance occurred between two nut seats transfinites, fault is got rid of, the signal receiving end of correlation detection device can normally detect the signal that signal issuing side sends.
Further, double-motor driving device based on above-mentioned a kind of parking apparatus, its control method is characterised by: described single-chip microcomputer changes PLC device or single board computer into.
Compared with prior art, this utility model has the advantage that and beneficial effect: screw rod and the auto-lock function of nut mechanism so that vehicle-containing is in fall arrest state all the time；When the traction steel-cable of every side vehicle-containing is more than one, and already ensure that when design steel cable fracture, other steel wire ropes completely can safe traction vehicle-containings, then increase and wire rope fracture detection apparatus is set, the security incident caused because steel wire rope ruptures suddenly can be avoided.For the control method of vehicle-containing synchronization lifting, different technical schemes can be taked according to different costs and required precision.Of the present utility model promote the use of, preferable Social benefit and economic benefit will be produced.
Accompanying drawing explanation
Fig. 1 is double-motor driving device and the schematic diagram of one of them embodiment of control method of a kind of parking apparatus of this utility model.In figure, 1 single-chip microcomputer；2-1 first via pwm signal；2-2 the second road pwm signal；Number converter of 3-1；No. bis-converters of 3-2；Number variable-frequency power sources of 4-1；No. bis-variable-frequency power sources of 4-2；Number code device signal of 5-1；No. bis-code device signals of 5-2；Number worm gear of 6-1；No. bis-worm gears of 6-2；Number motor of 7-1；No. bis-motors of 7-2；Number encoder of 8-1；No. bis-encoders of 8-2；Number screw rod of 9-1；No. bis-screw rods of 9-2；Number nut seat of 10-1；No. bis-nut seats of 10-2；One of number traction steel-cable of 11-1a；The two of a number traction steel-cable of 11-1b；One of No. bis-traction steel-cables of 11-2a；The two of No. bis-traction steel-cables of 11-2b；12 vehicle-containings.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
Shown in Fig. 1, for double-motor driving device and the schematic diagram of one of them embodiment of control method of a kind of parking apparatus of this utility model.
Wherein, the device schematic diagram that lower broken line frame is this embodiment of Fig. 1.In figure visible, the motor 7-1 being positioned at left side is fixedly mounted on the top position of left side column, and motor 7-1 drives a worm gear 6-1, motor output shaft fastening to link the worm screw of reduction box, and the fastening of reduction box worm gear links a screw rod 9-1；A number nut seat 10-1 is arranged on a screw rod 9-1, can not rotate, and can only rise or fall；The lower section of a number nut seat 10-1 is vehicle-containing 12, between the two by two steel wire ropes (respectively one of traction steel-cable 11-1a and two 11-1b of a traction steel-cable) traction；It is coaxially installed with an encoder 8-1 with the output shaft of a motor 7-1；The output shaft of a number motor 7-1 rotates, drive a worm gear 6-1, a screw rod 9-1 is rotated, so that a nut seat 10-1 rises or falls, and made by two traction steel-cables that the left side of vehicle-containing 12 is Tong Bu with nut seat 10-1 to be risen or fallen；Meanwhile, the output shaft of a motor 7-1 rotarily drives the turntable rotation of an encoder 8-1, and an encoder 8-1 externally exports a code device signal 5-1.Similarly, No. two motor 7-2 being positioned at right side are fixedly mounted on the top position of right side uprights, and No. two motor 7-2 drive No. two worm gear 6-2, motor output shaft fastening to link the worm screw of reduction box, and the fastening of reduction box worm gear links No. two screw rod 9-2；No. two nut seat 10-2 are arranged on No. two screw rod 9-2, can not rotate, and can only rise or fall；The lower section of No. two nut seat 10-2 is vehicle-containing 12, between the two by two steel wire ropes (respectively one of No. two traction steel-cables 11-2a and two 11-2b of No. two traction steel-cables) traction；It is coaxially installed with No. two encoder 8-2 with the output shaft of No. two motor 7-2；The output shaft of No. two motor 7-2 rotates, drive No. two worm gear 6-2, No. two screw rod 9-2 are rotated, so that No. two nut seat 10-2 rise or fall, and made by two traction steel-cables that the right side of vehicle-containing 12 is Tong Bu with No. two nut seat 10-2 to be risen or fallen；Meanwhile, the output shaft of No. two motor 7-2 rotarily drives the turntable rotation of No. two encoder 8-2, and No. two encoder 8-2 externally export No. two code device signal 5-2.
As be apparent from the foregoing, key issue is to take which kind of control method that the rotation of a number motor 7-1 and No. two motor 7-2 is synchronized.
The upper broken line frame of Fig. 1 is the control method schematic diagram of corresponding lower broken line frame shown device.In figure visible, the impulse scaler input port of single-chip microcomputer 1 receives No. two code device signal 5-2 of a code device signal 5-1 and No. two encoder 8-2 from an encoder 8-1 respectively；The pwm signal output port of single-chip microcomputer 1 exports first via pwm signal 2-1 and the second road pwm signal 2-2 to a converter 3-1 and No. two converter 3-2 respectively；A number converter 3-1 and No. two converter 3-2 exports variable-frequency power sources 4-1 and No. two variable-frequency power sources 4-2 to a motor 7-1 and No. two motor 7-2 respectively.
Assuming that motor on the basis of a motor 7-1, then signal on the basis of the first via pwm signal 2-1 of single-chip microcomputer 1 output, the initial value of the second road pwm signal 2-2 can be identical with first via pwm signal 2-1, or carry out just successive step and first via pwm signal 2-1 by the actual measurement revolutional slip of a motor 7-1 and No. two motor 7-2 and there is the signal of preset ratio difference.nullWhen single-chip microcomputer 1 exports first via pwm signal 2-1 and the second road pwm signal 2-2 to a converter 3-1 and No. two converter 3-2 simultaneously，A converter 3-1 and No. two converter 3-2 is made to export variable-frequency power sources 4-1 and No. two variable-frequency power sources 4-2 to a motor 7-1 and No. two motor 7-2 respectively，A number motor 7-1 and No. two motor 7-2 rotates respectively，Make an encoder 8-1 and No. two encoder 8-2 synchronous rotaries respectively，No. two code device signal 5-2 that a code device signal 5-1 that number encoder 8-1 externally exports and No. two encoder 8-2 externally exports are received by the impulse scaler input port of single-chip microcomputer 1 respectively，Single-chip microcomputer 1 carries out real-time pulse numeric ratio relatively and PID arithmetic accordingly，The first via pwm signal 2-1 of its output continues to put out according to the basic parameter of former setting，Second road pwm signal 2-2 is then by the parameter output after dynamically adjusting.Above-mentioned closed loop control action is persistently carried out, until instruction out of service occurs.
Above-described embodiment is this utility model preferably embodiment; but embodiment of the present utility model is also not restricted to the described embodiments; other any without departing from the change made under spirit of the present utility model and principle, modify, substitute, combine, simplify; all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.
Claims (1)
1. the double-motor driving device of a parking apparatus, it is characterised in that: described parking apparatus refers to the two-layer parking apparatus of middle two root post clamping upper strata platen vertical lifts；Described motor is the threephase asynchronous machine of frequency conversion drive；Described Dual-motors Driving refers to that the two set motors identical by parameter and reduction box form two power-driven mechanisms, drives two set screw rod and nut sections respectively, and concrete installation form uses the one of which of following two mode；One of mode refers to: described motor and reduction box are fixedly mounted on the top position of column, and screw rod is vertically set on column internal cavities position, and reduction box outfan drives screw rod to rotate；Nut is arranged on nut seat, and nut seat can rise or fall at column internal cavities but can not rotate；Motor rotates forward or backwards, drives screw rod forward or rotate backward so that nut drives nut seat to rise or fall；Vehicle-containing is positioned at the lower section of nut seat, both sides correspondence stud is provided with the structural member protruding into stand column cavity, nut seat and vehicle-containing protrude into and are linked by least steel cable or at least screw rod between the structural member of stand column cavity, nut seat rises, and is risen by steel wire rope traction vehicle-containing or is risen by screw rod traction vehicle-containing；Nut seat declines, and vehicle-containing declines the most therewith, remains nut seat traction vehicle-containing or the state of traction vehicle-containing；The two of method refer to: described screw rod is vertically and fixedly arranged at column internal cavities position, it is impossible to rotate, can not displacement；Described motor and reduction box synthesize an integrated model with nut block, the outfan of reduction box drives cap rotation, and this integrated model is positioned at the parts of stand column cavity position and is referred to as nut seat；Motor rotates forward or backwards, drives nut to rotate forward or backwards, drives nut seat and this integrated model to rise or fall；Vehicle-containing is positioned at the lower section of nut seat, both sides correspondence stud is provided with the structural member protruding into stand column cavity, nut seat and vehicle-containing protrude into and are linked by least steel cable or at least screw rod between the structural member of stand column cavity, nut seat rises, and is risen by steel wire rope traction vehicle-containing or is risen by screw rod traction vehicle-containing；Nut seat declines, and vehicle-containing declines the most therewith, remains nut seat traction vehicle-containing or the state of traction vehicle-containing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620208709.5U CN205453391U (en) | 2016-03-18 | 2016-03-18 | Parking equipment's two motor driver and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620208709.5U CN205453391U (en) | 2016-03-18 | 2016-03-18 | Parking equipment's two motor driver and control method |
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| Publication Number | Publication Date |
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| CN205453391U true CN205453391U (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620208709.5U Withdrawn - After Issue CN205453391U (en) | 2016-03-18 | 2016-03-18 | Parking equipment's two motor driver and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107204682A (en) * | 2016-03-18 | 2017-09-26 | 梁崇彦 | The double-motor driving device and control method of a kind of parking apparatus |
| CN107217882A (en) * | 2016-11-03 | 2017-09-29 | 梁崇彦 | A kind of mechanism of two layers of parking apparatus of single motor guide wheel unidirectional driving and control |
| WO2021016872A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium |
-
2016
- 2016-03-18 CN CN201620208709.5U patent/CN205453391U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107204682A (en) * | 2016-03-18 | 2017-09-26 | 梁崇彦 | The double-motor driving device and control method of a kind of parking apparatus |
| CN107217882A (en) * | 2016-11-03 | 2017-09-29 | 梁崇彦 | A kind of mechanism of two layers of parking apparatus of single motor guide wheel unidirectional driving and control |
| WO2021016872A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20160810 Effective date of abandoning: 20191231 |
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| AV01 | Patent right actively abandoned |