CN207782693U - A kind of safety control device of permanent magnet synchronous motor - Google Patents
A kind of safety control device of permanent magnet synchronous motor Download PDFInfo
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- CN207782693U CN207782693U CN201721158795.4U CN201721158795U CN207782693U CN 207782693 U CN207782693 U CN 207782693U CN 201721158795 U CN201721158795 U CN 201721158795U CN 207782693 U CN207782693 U CN 207782693U
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Abstract
This application discloses a kind of safety control device of permanent magnet synchronous motor, which is applied to the control system of permanent magnet synchronous motor, specially obtains the input voltage of permanent magnet synchronous motor；When input voltage exceeds predetermined voltage threshold, control permanent magnet synchronous motor reduces rotating speed.By the rotating speed for reducing permanent magnet synchronous motor, it can be in the duty ratio of the raised drive signal for moderately reducing input contravariant equipment of busbar voltage, the problem of causing loss to be increased because of network voltage raising so as to avoid it, and then can avoid the problem that it occurs breaks down because of heating.
Description
Technical field
This application involves electric drive technology fields, are controlled more specifically to a kind of security personnel of permanent magnet synchronous motor
Device.
Background technology
The control device of permanent magnet synchronous motor be it is driven using the single-phase alternating current that electricity network inputs, and according to
Position, actual speed and the given rotating speed of target of the rotor of permanent magnet synchronous motor control it and are transported by scheduled rotating speed of target
Turn.The control device turns when driving permanent magnet synchronous motor first with the single-phase alternating current that rectification circuit inputs electricity network
It is changed to direct current, then direct current is switched to three-phase alternating current by contravariant equipment according to above-mentioned parameter, and contravariant equipment is then by the three-phase
Alternating current is input in the stator circuit of permanent magnet synchronous motor.
Present inventor has found that line voltage generally can generate wave with the electricity consumption situation of power grid in actual implementation
Dynamic, the range of China's correlation standard, voltage fluctuation meets the requirements -10%~7%.When network load is lighter, electricity
Net voltage can be higher, and the voltage so as to cause the DC bus of permanent magnet synchronous motor increases, at this time if tieed up according to demand for control
It is constant to hold rotating speed, then contravariant equipment loss can be caused to increase, it is exceeded to cause temperature to rise, especially at high speed, it is possible to
Contravariant equipment is caused to break down.
Utility model content
In view of this, the application provides a kind of safety control device of permanent magnet synchronous motor, for solve network voltage compared with
The problem of contravariant equipment loss increases when high.
To achieve the goals above, it is proposed that scheme it is as follows：
A kind of safety control device of permanent magnet synchronous motor is applied to the control system of permanent magnet synchronous motor, the security personnel
Control device includes：
Voltage acquisition module, the input voltage for obtaining the permanent magnet synchronous motor；
Reduction of speed control module, for when the input voltage exceeds predetermined voltage threshold, controlling the permanent magnet synchronous electric
Machine reduces rotating speed.
Optionally, the safety control device further includes：
Operating temperature detection module, the operating temperature of the contravariant equipment for detecting the control system；
The reduction of speed control module is additionally operable to, when the operating temperature is higher than preset temperature threshold, it is same to control the permanent magnetism
Walking motor reduces rotating speed.
Optionally, the input voltage is network voltage or the DC bus-bar voltage of the control system.
Optionally, the permanent magnet synchronous motor includes multiple rotating speed grades, and the reduction of speed control module includes：
Reduction of speed control unit reduces a rotating speed grade for controlling the permanent magnet synchronous motor.
Optionally, the reduction of speed control unit includes：
Duty ratio control subelement, for control system transmission Duty ratio control instruction is stated, the Duty ratio control to refer to
Enable the duty ratio for reducing the drive signal exported to contravariant equipment for controlling the control system.
It can be seen from the above technical scheme that this application discloses a kind of safety control device of permanent magnet synchronous motor,
The device is applied to the control system of permanent magnet synchronous motor, specially obtains the input voltage of permanent magnet synchronous motor；When input electricity
When pressure is beyond predetermined voltage threshold, control permanent magnet synchronous motor reduces rotating speed.It, can be with by reducing the rotating speed of permanent magnet synchronous motor
In the duty ratio of the raised drive signal for moderately reducing input contravariant equipment of busbar voltage, so as to avoid it because of electricity
The problem of raising of net voltage causes loss to be increased, and then can avoid the problem that it occurs breaks down because of heating.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow chart of security personnel's control method of permanent magnet synchronous motor provided by the embodiments of the present application；
Fig. 2 is the flow chart of security personnel's control method of another permanent magnet synchronous motor provided by the embodiments of the present application；
Fig. 3 is a kind of structure diagram of the safety control device of permanent magnet synchronous motor provided by the embodiments of the present application；
Fig. 4 is the structure diagram of the safety control device of another permanent magnet synchronous motor provided by the embodiments of the present application.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall in the protection scope of this application.
Embodiment one
Fig. 1 is a kind of flow chart of security personnel's control method of permanent magnet synchronous motor provided by the embodiments of the present application.
As shown in Figure 1, security personnel's control method provided in this embodiment is applied to the control system of permanent magnet synchronous motor, it is used for
The safety of the control system of permanent magnet synchronous motor is ensured when network voltage changes, which specifically includes step：
S101：Obtain the input voltage of permanent magnet synchronous motor.
In the case where control rotating speed is certain, the height of the input voltage of permanent magnet synchronous motor determines its contravariant equipment
Energy consumption height, therefore obtains the input voltage of the permanent magnet synchronous motor first, so as to according to the input voltage to permanent magnet synchronous electric
The rotating speed of machine is controlled.
Here input voltage can be permanent magnet synchronous motor control system in the DC voltage that is exported of finishing circuit,
DC voltage i.e. in control system on DC bus；It can also be network voltage.For example, for network voltage, it is single-phase
The standard value of voltage be 220 volts, if it exceeds if just illustrate input voltage increase；For 220 volts of network voltage, warp
DC voltage after over commutation is 310 volts, if the actual value of busbar voltage is more than 310 volts, illustrates that input voltage increases.
S102：The rotating speed of magneto is controlled according to input voltage.
After obtaining the input voltage, which is judged, if exceeding predetermined voltage threshold, control should
Permanent magnet synchronous motor reduces rotating speed.When it is implemented, the permanent magnet synchronous motor can be provided to multiple rotating speed grades, needing in this way
Permanent magnet synchronous motor is controlled when wanting from current rotating speed reduction of speed to next rotating speed grade.The predetermined voltage threshold can be set as
Corresponding 310 volts in 220 volts of the normal voltage of power grid or busbar.
In order to ensure effectively to control the power consumption of contravariant equipment, numerical value that can be by input voltage higher than predetermined voltage threshold is drawn
It is divided into multiple voltage class, the rotating speed of permanent magnet synchronous motor is controlled according to corresponding voltage class reduces one or more rotating speeds etc.
Grade.
Since the strategy for the rotating speed for reducing permanent magnet synchronous motor is to reduce input to export to the contravariant equipment of control system
The duty ratio of drive signal, therefore, the method for controlling permanent magnet synchronous motor here are to control to believe to control system output duty cycle
Number, the duty ratio which is used to that control system to be driven to reduce the drive signal exported to contravariant equipment.
In permanent magnet synchronous motor actual moving process, control system can acquire permanent magnet synchronous motor by its sampling module
Three-phase current information, rotor position information, motor speed information etc., and information above is fed back into control system, control system
System can calculate stator three-phase current, rotor angle and actual speed, and carry out vector to electric current, in conjunction with given rotating speed
Instruction and actual speed carry out vector inverse transformation again after carrying out PI adjustings, finally calculate to drive the square-wave signal of contravariant equipment,
To change three-phase bridge arm turn-on sequence and each switching tube make-and-break time, maintain permanent magnet synchronous motor perseverance rotating speed operation.
After input voltage increases, since control system uses speed closed loop, the voltage is higher to cause rotating speed to become
To change, i.e. the duty ratio of the drive signal of contravariant equipment will not change, but the raising of busbar voltage can increase the loss of contravariant equipment,
Its temperature is caused to increase, may be above standard range, the range that even module can bear, and there are the hidden danger of damage, lead to
The loss of contravariant equipment can be reduced by crossing the rotating speed of reduction permanent magnet synchronous motor, to ensure that its safe operation.
It can be seen from the above technical proposal that a kind of security personnel's control method of permanent magnet synchronous motor is present embodiments provided,
This method is applied to the control system of permanent magnet synchronous motor, specially obtains the input voltage of permanent magnet synchronous motor；When input electricity
When pressure is beyond predetermined voltage threshold, control permanent magnet synchronous motor reduces rotating speed.It, can be with by reducing the rotating speed of permanent magnet synchronous motor
In the duty ratio of the raised drive signal for moderately reducing input contravariant equipment of busbar voltage, so as to avoid it because of electricity
The problem of raising of net voltage causes loss to be increased, and then can avoid the problem that it occurs breaks down because of heating.
Embodiment two
Fig. 2 is the flow chart of security personnel's control method of another permanent magnet synchronous motor provided by the embodiments of the present application.
As shown in Fig. 2, security personnel's control method provided in this embodiment is applied to the control system of permanent magnet synchronous motor, it is used for
The safety of the control system of permanent magnet synchronous motor is ensured when network voltage changes, which specifically includes step：
S201：Obtain the input voltage of permanent magnet synchronous motor.
In the case where control rotating speed is certain, the height of the input voltage of permanent magnet synchronous motor determines its contravariant equipment
Energy consumption height, therefore obtains the input voltage of the permanent magnet synchronous motor first, so as to according to the input voltage to permanent magnet synchronous electric
The rotating speed of machine is controlled.
Here input voltage can be permanent magnet synchronous motor control system in the DC voltage that is exported of finishing circuit,
DC voltage i.e. in control system on DC bus；It can also be network voltage.For example, for network voltage, it is single-phase
The standard value of voltage be 220 volts, if it exceeds if just illustrate input voltage increase；For 220 volts of network voltage, warp
DC voltage after over commutation is 310 volts, if the actual value of busbar voltage is more than 310 volts, illustrates that input voltage increases.
S202：The rotating speed of magneto is controlled according to input voltage.
After obtaining the input voltage, which is judged, if exceeding predetermined voltage threshold, control should
Permanent magnet synchronous motor reduces rotating speed.When it is implemented, the permanent magnet synchronous motor can be provided to multiple rotating speed grades, needing in this way
Permanent magnet synchronous motor is controlled when wanting from current rotating speed reduction of speed to next rotating speed grade.The predetermined voltage threshold can be set as
Corresponding 310 volts in 220 volts of the normal voltage of power grid or busbar.
In order to ensure effectively to control the power consumption of contravariant equipment, numerical value that can be by input voltage higher than predetermined voltage threshold is drawn
It is divided into multiple voltage class, the rotating speed of permanent magnet synchronous motor is controlled according to corresponding voltage class reduces one or more rotating speeds etc.
Grade.
Since the strategy for the rotating speed for reducing permanent magnet synchronous motor is to reduce input to export to the contravariant equipment of control system
The duty ratio of drive signal, therefore, the method for controlling permanent magnet synchronous motor here are to control to believe to control system output duty cycle
Number, the duty ratio which is used to that control system to be driven to reduce the drive signal exported to contravariant equipment.
In permanent magnet synchronous motor actual moving process, control system can acquire permanent magnet synchronous motor by its sampling module
Three-phase current information, rotor position information, motor speed information etc., and information above is fed back into control system, control system
System can calculate stator three-phase current, rotor angle and actual speed, and carry out vector to electric current, in conjunction with given rotating speed
Instruction and actual speed carry out vector inverse transformation again after carrying out PI adjustings, finally calculate to drive the square-wave signal of contravariant equipment,
To change three-phase bridge arm turn-on sequence and each switching tube make-and-break time, maintain permanent magnet synchronous motor perseverance rotating speed operation.
After input voltage increases, since control system uses speed closed loop, the voltage is higher to cause rotating speed to become
To change, i.e. the duty ratio of the drive signal of contravariant equipment will not change, but the raising of busbar voltage can increase the loss of contravariant equipment,
Its temperature is caused to increase, may be above standard range, the range that even module can bear, and there are the hidden danger of damage, lead to
The loss of contravariant equipment can be reduced by crossing the rotating speed of reduction permanent magnet synchronous motor, to ensure that its safe operation.
S203：The operating temperature of contravariant equipment in detecting and controlling system.
The case where the duty ratio for the drive signal that will be exported to contravariant equipment reduces, realizes the power consumption for reducing contravariant equipment
Under, contravariant equipment is also possible that heating, i.e., operating temperature, which is increased to one, may bring dangerous degree, for this purpose, can lead to
It crosses and the operating temperature that the temperature detecting element in contravariant equipment detects the contravariant equipment is set, take this as a foundation further to rotating speed
Control.
S204：The rotating speed of permanent magnet synchronous motor is controlled according to operating temperature.
When the operating temperature of contravariant equipment is higher than preset temperature threshold, permanent magnet synchronous motor degradation rotating speed is controlled, specifically
Reduction of speed control it is identical as the reduction of speed control of front, which is not described herein again.The preset temperature threshold can be according to contravariant equipment
The certain percentage of normal working temperature is determined, and can also be determined according to the specific component parameters of the contravariant equipment.
It can be seen from the above technical proposal that a kind of security personnel's control method of permanent magnet synchronous motor is present embodiments provided,
This method is applied to the control system of permanent magnet synchronous motor, specially obtains the input voltage of permanent magnet synchronous motor；When input electricity
When pressure is beyond predetermined voltage threshold, control permanent magnet synchronous motor reduces rotating speed；Further include being carried out to the operating temperature of contravariant equipment
Detection controls permanent magnet synchronous motor reduction rotating speed after operating temperature is exceeded.It, can be with by reducing the rotating speed of permanent magnet synchronous motor
In the duty ratio of the raised drive signal for moderately reducing input contravariant equipment of busbar voltage, so as to avoid it because of electricity
The problem of raising of net voltage causes loss to be increased, and then can avoid the problem that it occurs breaks down because of heating.
Embodiment three
Fig. 3 is a kind of structure diagram of the safety control device of permanent magnet synchronous motor provided by the embodiments of the present application.
As shown in figure 3, safety control device provided in this embodiment is applied to the control system of permanent magnet synchronous motor, it is used for
Ensure that the safety of the control system of permanent magnet synchronous motor, the safety controlling system specifically include voltage and obtains mould when network voltage changes
Block 10 and reduction of speed control module 20.
Voltage acquisition module is used to obtain the input voltage of permanent magnet synchronous motor.
In the case where control rotating speed is certain, the height of the input voltage of permanent magnet synchronous motor determines its contravariant equipment
Energy consumption height, therefore obtains the input voltage of the permanent magnet synchronous motor first, so as to according to the input voltage to permanent magnet synchronous electric
The rotating speed of machine is controlled.
Here input voltage can be permanent magnet synchronous motor control system in the DC voltage that is exported of finishing circuit,
DC voltage i.e. in control system on DC bus；It can also be network voltage.For example, for network voltage, it is single-phase
The standard value of voltage be 220 volts, if it exceeds if just illustrate input voltage increase；For 220 volts of network voltage, warp
DC voltage after over commutation is 310 volts, if the actual value of busbar voltage is more than 310 volts, illustrates that input voltage increases.
Reduction of speed control module is used to control the rotating speed of magneto according to input voltage.
After obtaining the input voltage, which is judged, if exceeding predetermined voltage threshold, control should
Permanent magnet synchronous motor reduces rotating speed.The module specifically includes reduction of speed control unit, when it is implemented, can be by the permanent magnet synchronous electric
Machine provides multiple rotating speed grades, so when needed the reduction of speed control unit control permanent magnet synchronous motor from current rotating speed reduction of speed to
Next rotating speed grade.The predetermined voltage threshold can be set as right with it in 220 volts of the normal voltage or busbar of power grid
310 volts answered.
In order to ensure effectively to control the power consumption of contravariant equipment, numerical value that can be by input voltage higher than predetermined voltage threshold is drawn
It is divided into multiple voltage class, the rotating speed of permanent magnet synchronous motor is controlled according to corresponding voltage class reduces one or more rotating speeds etc.
Grade.
The reduction of speed control unit includes Duty ratio control subelement, since the strategy for the rotating speed for reducing permanent magnet synchronous motor is
Reduce the duty ratio of drive signal that input is exported to the contravariant equipment of control system, therefore, Duty ratio control subelement here
For controlling signal to control system output duty cycle, which sets for driving control system to reduce to inversion
The duty ratio of the drive signal of standby output.
In permanent magnet synchronous motor actual moving process, control system can acquire permanent magnet synchronous motor by its sampling module
Three-phase current information, rotor position information, motor speed information etc., and information above is fed back into control system, control system
System can calculate stator three-phase current, rotor angle and actual speed, and carry out vector to electric current, in conjunction with given rotating speed
Instruction and actual speed carry out vector inverse transformation again after carrying out PI adjustings, finally calculate to drive the square-wave signal of contravariant equipment,
To change three-phase bridge arm turn-on sequence and each switching tube make-and-break time, maintain permanent magnet synchronous motor perseverance rotating speed operation.
After input voltage increases, since control system uses speed closed loop, the voltage is higher to cause rotating speed to become
To change, i.e. the duty ratio of the drive signal of contravariant equipment will not change, but the raising of busbar voltage can increase the loss of contravariant equipment,
Its temperature is caused to increase, may be above standard range, the range that even module can bear, and there are the hidden danger of damage, lead to
The loss of contravariant equipment can be reduced by crossing the rotating speed of reduction permanent magnet synchronous motor, to ensure that its safe operation.
It can be seen from the above technical proposal that a kind of safety control device of permanent magnet synchronous motor is present embodiments provided,
The device is applied to the control system of permanent magnet synchronous motor, specially obtains the input voltage of permanent magnet synchronous motor；When input electricity
When pressure is beyond predetermined voltage threshold, control permanent magnet synchronous motor reduces rotating speed.It, can be with by reducing the rotating speed of permanent magnet synchronous motor
In the duty ratio of the raised drive signal for moderately reducing input contravariant equipment of busbar voltage, so as to avoid it because of electricity
The problem of raising of net voltage causes loss to be increased, and then can avoid the problem that it occurs breaks down because of heating.
Example IV
Fig. 4 is the structure diagram of the safety control device of another permanent magnet synchronous motor provided by the embodiments of the present application.
As shown in figure 4, safety control device provided in this embodiment is to be additionally arranged work on the basis of a upper embodiment
Temperature detecting module 30.
Operating temperature detection module is used for the operating temperature of contravariant equipment in detecting and controlling system.
The case where the duty ratio for the drive signal that will be exported to contravariant equipment reduces, realizes the power consumption for reducing contravariant equipment
Under, contravariant equipment is also possible that heating, i.e., operating temperature, which is increased to one, may bring dangerous degree, for this purpose, can lead to
It crosses and the operating temperature that the temperature detecting element in contravariant equipment detects the contravariant equipment is set, take this as a foundation further to rotating speed
Control.
Above-mentioned reduction of speed control module is used to control the rotating speed of permanent magnet synchronous motor according to operating temperature.
When the operating temperature of contravariant equipment is higher than preset temperature threshold, permanent magnet synchronous motor degradation rotating speed is controlled, specifically
Reduction of speed control it is identical as the reduction of speed control of front, which is not described herein again.The preset temperature threshold can be according to contravariant equipment
The certain percentage of normal working temperature is determined, and can also be determined according to the specific component parameters of the contravariant equipment.
It can be seen from the above technical proposal that a kind of security personnel's control method of permanent magnet synchronous motor is present embodiments provided,
This method is applied to the control system of permanent magnet synchronous motor, specially obtains the input voltage of permanent magnet synchronous motor；When input electricity
When pressure is beyond predetermined voltage threshold, control permanent magnet synchronous motor reduces rotating speed；Further include being carried out to the operating temperature of contravariant equipment
Detection controls permanent magnet synchronous motor reduction rotating speed after operating temperature is exceeded.It, can be with by reducing the rotating speed of permanent magnet synchronous motor
In the duty ratio of the raised drive signal for moderately reducing input contravariant equipment of busbar voltage, so as to avoid it because of electricity
The problem of raising of net voltage causes loss to be increased, and then can avoid the problem that it occurs breaks down because of heating.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiment, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating
Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is with reference to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in flow and/or box combination.These can be provided
Computer program instructions are set to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine so that is held by the processor of computer or other programmable data processing terminal equipments
Capable instruction generates for realizing in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes
The device of specified function.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing terminal equipments
In computer-readable memory operate in a specific manner so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one flow of flow chart or multiple flows and/or one side of block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing terminal equipments so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one flow of flow chart or multiple flows
And/or in one box of block diagram or multiple boxes specify function the step of.
Claims (3)
1. a kind of safety control device of permanent magnet synchronous motor is applied to the control system of permanent magnet synchronous motor, which is characterized in that
The safety control device includes：
Voltage acquisition module, the input voltage for obtaining the permanent magnet synchronous motor；
Reduction of speed control module, for when the input voltage exceeds predetermined voltage threshold, controlling the permanent magnet synchronous motor drop
The slow-speed of revolution；
Reduction of speed control module includes reduction of speed control unit, and the reduction of speed control unit is reduced for controlling the permanent magnet synchronous motor
One rotating speed grade；
The reduction of speed control unit includes Duty ratio control subelement, and the Duty ratio control subelement is used for control system
System sends Duty ratio control instruction, and the Duty ratio control instruction reduces for controlling the control system to contravariant equipment output
Drive signal duty ratio.
2. safety control device as described in claim 1, which is characterized in that the safety control device further includes：
Operating temperature detection module, the operating temperature of the contravariant equipment for detecting the control system；
The reduction of speed control module is additionally operable to, when the operating temperature is higher than preset temperature threshold, control the permanent magnet synchronous electric
Machine reduces rotating speed.
3. safety control device as claimed in claim 1 or 2, which is characterized in that the input voltage is network voltage or institute
State the DC bus-bar voltage of control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721158795.4U CN207782693U (en) | 2017-09-11 | 2017-09-11 | A kind of safety control device of permanent magnet synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721158795.4U CN207782693U (en) | 2017-09-11 | 2017-09-11 | A kind of safety control device of permanent magnet synchronous motor |
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| CN207782693U true CN207782693U (en) | 2018-08-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086002A (en) * | 2021-05-25 | 2021-07-09 | 杭叉集团股份有限公司 | Automatic industrial vehicle power unit of adjusting |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086002A (en) * | 2021-05-25 | 2021-07-09 | 杭叉集团股份有限公司 | Automatic industrial vehicle power unit of adjusting |
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