EP3175313A1 - Drive for home appliance - Google Patents

Drive for home appliance

Info

Publication number
EP3175313A1
EP3175313A1 EP14898684.7A EP14898684A EP3175313A1 EP 3175313 A1 EP3175313 A1 EP 3175313A1 EP 14898684 A EP14898684 A EP 14898684A EP 3175313 A1 EP3175313 A1 EP 3175313A1
Authority
EP
European Patent Office
Prior art keywords
pid
home appliance
motor
drive
regulating element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14898684.7A
Other languages
German (de)
French (fr)
Other versions
EP3175313A4 (en
Inventor
Kwok Yui Lawrence NG
William MA Hing Kin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Face Moore International Ltd
Original Assignee
Face Moore International Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Face Moore International Ltd filed Critical Face Moore International Ltd
Publication of EP3175313A1 publication Critical patent/EP3175313A1/en
Publication of EP3175313A4 publication Critical patent/EP3175313A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
    • H02P7/295—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC of the kind having one thyristor or the like in series with the power supply and the motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference

Definitions

  • the present invention relates to a drive for a home appliance, and, more specifically, to a drive controlled by a PID controller.
  • Feedback or control loops are used to control many industrial processes, such as the rotational speed of motors.
  • Simple control loops include a set point or desired value input, a measurement input which indicates the actual value of the parameter to be controlled, and a comparator to develop an error signal related to the difference between the desired and actual values.
  • a control loop output signal, related to the error signal, is then applied to the control device whose parameter is to be controlled, such as a motor whose speed is to be controlled by the loop.
  • control accuracy and response characteristics of control loops are conventionally enhanced by adding various control terms or weightings to the error signal in order to develop the control output signal.
  • One classic enhanced servo control loop is known as the PID loop which includes proportional, integral and derivative terms added to the error signal to develop the desired control signal.
  • PID loops are often applied where the accurate maintenance of a controlled parameter is important, such as the control of the rotational speed of the motor shaft in the drive of the home appliance.
  • a control signal i/(t) is described by: where e is the control error defined as where y is a current value of a parameter
  • the control signal is thus a sum of three terms: the P-term (which is proportional to the error), the I-term (which is proportional to the integral of the error), and the D-term (which is proportional to the derivative of the error).
  • the controller parameters are proportional gain K, integral time T 1 , and derivative time T D .
  • a system 10 comprises a regulating element 20 providing a preset signal y sp (reference variable) corresponding to a parameter of a plant 80 to be controlled.
  • the plant 80 is provided with a sensor configured for transmitting a signal corresponding to a real time value y of the parameter to be controlled.
  • a summator 30 calculates a value of the control error e provided to units 40, 50 and 60 which are proportional, integral and derivative unit, respectively.
  • Applications of the PID controller to different tasks are characterized by different values of the proportional gain K, integral time T 1 , and derivative time To.
  • a problem of maintaining stable rotational speed relates to substantially long processing time and can be implemented by means a high-speed CPU which is very expensive in terms of home appliance costs.
  • Cheaper 8-bit or 16-bit CPUs have slower responsiveness and provide unstable control quality resulting in fluctuations of rotational speed.
  • a drive for a home appliance comprising: (a) an electric motor connectable to an operating tool of said home appliance; (b) a power regulating element energizing said motor; (c) a Hall sensor generating an electric signal corresponding to rotating speed of said motor; and (d) a PID controller preprogrammed to receive electric signals from said Hall sensor and generating a PID output applicable to said regulating element such that a predetermined rotating speed is maintained constant.
  • Another object of the invention is to disclose controller preprogrammed such that values of PID gains are defined by the following equations; Proportional gain
  • a further object of the invention is to disclose the power regulating element which is triac.
  • a further object of the invention is to disclose the drive configured for actuating a home appliance selected from the group consisting of a stand mixer, a table blender, a food processor, a soup maker, a hand mixer, a juicer, a hand blender, a power tool and any combination thereof.
  • a further object of the invention is to disclose a method of actuating a home appliance comprising the steps of: (a) providing a drive further comprising: (i) an electric motor connectable to an operating tool of said home appliance; (ii) a power regulating element energizing said motor; (iii) a Hall sensor generating an electric signal corresponding to rotating speed of said motor; (iv) a PID controller preprogrammed to receive electric signals from said Hall sensor and generating a PID output applicable to said regulating element such that a predetermined rotating speed is maintained constant; (b) mechanically connecting said drive to an operating tool of said home appliance; (c) energizing said motor; (d) measuring rotating speed of said motor by means of said Hall sensor; (e) generating said PID output; (f) applying said PID output to said regulating element.
  • a further object of the invention is to disclose method comprising a step of preprogramming said PID controller such that PID gains are defined by the following equations:
  • T sampling time
  • Fig. 1 is a schematic diagram of a PID controller (Prior Art);
  • Fig. 2 is a schematic diagram of a drive for a home appliance
  • Fig. 3 is an exemplar electric circuit diagram of a drive for a home appliance.
  • Fig. 2 presenting a drive for a home appliance 100 comprising a mode selector providing a signal (preset signal) corresponding to a target rotational speed of an electric motor 350 connectable to an operating tool of the home appliance (not shown).
  • AC and DC electric motors are in the scope of the present invention.
  • the motor 150 is energized by a voltage corresponding to a target rotating speed at idle. Then, the voltage on the motor is controlled by a PID controller 120.
  • a feedback is formed by a Hall sensor 140, a summator 115, PID controller 120 and regulating element 130 (for example, a triac).
  • an electric signal corresponding to a real time value of rotational speed is transmitted to the summator 1 15 which computes a value of an error (deviation from the target speed).
  • the error signal is divided into 3 channels providing proportional, integi'al and derivative processing of the error signal.
  • Output signals from the aforesaid channels are summated and a resultant signal is transmitted to the element 130 which controls the voltage on the motor 150.
  • a present sample is a previous sample, is a last previous sample;
  • X is in a range between 1 .5 and 2, Y between 1 and 3, Z between 1 and 3.
  • the gains of the PID controller 120 are preset. In exemplar manner, Table presents specific operational modes of the drive for a home appliance.
  • the PID controller is tuned by presetting proportional, integral and derivative gains.
  • preset gain values are given the following equations: ;
  • a most advantage of the disclosed technical solution is presetting (preliminary tuning) of the drive 100 according to a specific home appliance to be connected to the drive.
  • the following home appliances are connectabie to the drive of the present invention:
  • an 8-digit PID controller having gains preset according to the present invention is able to process 100 sample data per second, vvlwar performance of a conventional PID controller is characterized by processing of about 10 sample data per second.
  • Fig, 3 presenting exemplar electric circuit diagram of a drive for a home appliance.
  • the PID controller is implemented in microcontroller SOP 14-7.
  • a universal electric motor is connected to the electric grid via a triac BTA316.
  • Hall sensor provides an error signal to the PID controller which in transmits control voltage to the triac which regulates voltage on the electric motor of the drive.
  • the PID controller with preset proportional, integral and derivative gains as described above keeps rotating speed of the home appliance drive substantially independent on a drive load.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Food-Manufacturing Devices (AREA)

Abstract

A drive for a home appliance (100) comprising (a) an electric motor (150) connectable to an operating tool of said home appliance (100); (b) a power regulating element (130) energizing said motor (150); (c) a Hall sensor (140) generating an electric signal corresponding to rotating speed of said motor (150); and (d) a PID controlled (120) preprogrammed to receive electric signals from said Hall sensor (140) and generating a PID output applicable to said regulating element (130) such that a predetermined rotating speed is maintained constant. The PID output is computed according to the following equation: Formula (I), where e k is a present sample, e k-1 is a previous sample, e k-2 is a last previous sample; X is in a range between 1.5 and 2, Y between 1 and 3, Z between 1 and 3.

Description

DRIVE FOR HOME APPLIANCE
FIELD OF THE INVENTION
The present invention relates to a drive for a home appliance, and, more specifically, to a drive controlled by a PID controller.
BACKGROUND OF THE INVENTION
Feedback or control loops are used to control many industrial processes, such as the rotational speed of motors. Simple control loops include a set point or desired value input, a measurement input which indicates the actual value of the parameter to be controlled, and a comparator to develop an error signal related to the difference between the desired and actual values. A control loop output signal, related to the error signal, is then applied to the control device whose parameter is to be controlled, such as a motor whose speed is to be controlled by the loop.
The control accuracy and response characteristics of control loops are conventionally enhanced by adding various control terms or weightings to the error signal in order to develop the control output signal. One classic enhanced servo control loop is known as the PID loop which includes proportional, integral and derivative terms added to the error signal to develop the desired control signal. PID loops are often applied where the accurate maintenance of a controlled parameter is important, such as the control of the rotational speed of the motor shaft in the drive of the home appliance.
According to the PID algorithm, a control signal i/(t) is described by: where e is the control error defined as where y is a current value of a parameter
to be controlled and is a reference value or a requested value of the aforesaid parameter. The reference variable is often called the set point. The control signal is thus a sum of three terms: the P-term (which is proportional to the error), the I-term (which is proportional to the integral of the error), and the D-term (which is proportional to the derivative of the error). The controller parameters are proportional gain K, integral time T1, and derivative time TD.
Referring to Fig. 1 , a system 10 comprises a regulating element 20 providing a preset signal ysp (reference variable) corresponding to a parameter of a plant 80 to be controlled. The plant 80 is provided with a sensor configured for transmitting a signal corresponding to a real time value y of the parameter to be controlled. A summator 30 calculates a value of the control error e provided to units 40, 50 and 60 which are proportional, integral and derivative unit, respectively. Applications of the PID controller to different tasks are characterized by different values of the proportional gain K, integral time T1, and derivative time To.
A problem of maintaining stable rotational speed relates to substantially long processing time and can be implemented by means a high-speed CPU which is very expensive in terms of home appliance costs. Cheaper 8-bit or 16-bit CPUs have slower responsiveness and provide unstable control quality resulting in fluctuations of rotational speed.
There is a long-felt and unmet need to provide a cheap drive for a home appliance. The aforesaid drive should be controlled by a cheap fast PID controller providing stable rotational speed of the drive independently on shaft load.
SUMMARY OF THE INVENTION
It is hence one object of the invention to disclose a drive for a home appliance comprising: (a) an electric motor connectable to an operating tool of said home appliance; (b) a power regulating element energizing said motor; (c) a Hall sensor generating an electric signal corresponding to rotating speed of said motor; and (d) a PID controller preprogrammed to receive electric signals from said Hall sensor and generating a PID output applicable to said regulating element such that a predetermined rotating speed is maintained constant.
It is a core purpose of the invention to provide the PID output computed according to the following equation: A where is a present sample, is a previous sample, is a last previous sample; X is in a range between 1.5 and 2, Y between 1 and 3, Z between 1 and 3.
Another object of the invention is to disclose controller preprogrammed such that values of PID gains are defined by the following equations; Proportional gain
Integral gain and Derivative gain where T is sampling time.
A further object of the invention is to disclose the power regulating element which is triac.
A further object of the invention is to disclose the drive configured for actuating a home appliance selected from the group consisting of a stand mixer, a table blender, a food processor, a soup maker, a hand mixer, a juicer, a hand blender, a power tool and any combination thereof.
A further object of the invention is to disclose a method of actuating a home appliance comprising the steps of: (a) providing a drive further comprising: (i) an electric motor connectable to an operating tool of said home appliance; (ii) a power regulating element energizing said motor; (iii) a Hall sensor generating an electric signal corresponding to rotating speed of said motor; (iv) a PID controller preprogrammed to receive electric signals from said Hall sensor and generating a PID output applicable to said regulating element such that a predetermined rotating speed is maintained constant; (b) mechanically connecting said drive to an operating tool of said home appliance; (c) energizing said motor; (d) measuring rotating speed of said motor by means of said Hall sensor; (e) generating said PID output; (f) applying said PID output to said regulating element.
It is a core purpose of the invention to provide the step of generating said PID output comprising a step of computing said PID output according to the following equation:
where is a present sample, is a previous sample, is a last previous sample; X is
in a range between 1.5 and 2, 7 between 1 and 3, Z between 1 and 3.
A further object of the invention is to disclose method comprising a step of preprogramming said PID controller such that PID gains are defined by the following equations:
Proportional gain
Integral gain
Derivative gain
where T is sampling time.
BRIEF DESCRIPTION OF THE DRAWINGS
In order to understand the invention and to see how it may be implemented in practice, a plurality of embodiments is adapted to now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which
Fig. 1 is a schematic diagram of a PID controller (Prior Art);
Fig. 2 is a schematic diagram of a drive for a home appliance; and
Fig. 3 is an exemplar electric circuit diagram of a drive for a home appliance.
DETAILED DESCRIPTION OF THE INVENTION
The following description is provided, so as to enable any person skilled in the art to make use of said invention and sets forth the best modes contemplated by the inventor of carrying out this invention. Various modifications, however, are adapted to remain apparent to those skilled in the art, since the generic principles of the present invention have been defined specifically to provide a drive for a home appliance and a method of actuating the same.
Reference is now made to Fig. 2, presenting a drive for a home appliance 100 comprising a mode selector providing a signal (preset signal) corresponding to a target rotational speed of an electric motor 350 connectable to an operating tool of the home appliance (not shown). AC and DC electric motors are in the scope of the present invention. The motor 150 is energized by a voltage corresponding to a target rotating speed at idle. Then, the voltage on the motor is controlled by a PID controller 120. A feedback is formed by a Hall sensor 140, a summator 115, PID controller 120 and regulating element 130 (for example, a triac). Specifically, an electric signal corresponding to a real time value of rotational speed is transmitted to the summator 1 15 which computes a value of an error (deviation from the target speed). Then, the error signal is divided into 3 channels providing proportional, integi'al and derivative processing of the error signal. Output signals from the aforesaid channels are summated and a resultant signal is transmitted to the element 130 which controls the voltage on the motor 150.
According to the present invention, is computed according to the following equation:
where is a present sample is a previous sample, is a last previous sample; X is in a range between 1 .5 and 2, Y between 1 and 3, Z between 1 and 3.
The values X, Y and Z are defined as follows:
and
The gains of the PID controller 120 are preset. In exemplar manner, Table presents specific operational modes of the drive for a home appliance.
Table
According to the present invention, the PID controller is tuned by presetting proportional, integral and derivative gains. Explicitly, preset gain values are given the following equations: ; and
It should be emphasized that a most advantage of the disclosed technical solution is presetting (preliminary tuning) of the drive 100 according to a specific home appliance to be connected to the drive. The following home appliances are connectabie to the drive of the present invention:
1. Stand mixer;
2. Table blender,
3. Food processor,
4. Soup maker,
5. Hand mixer,
6. Juicer,
7. Hand blender,
8. Power tool and
9. Any combination thereof.
Keeping the values X, Y and Z provides speedling the PID controller. According to experimentally obtained data, an 8-digit PID controller having gains preset according to the present invention is able to process 100 sample data per second, vvliile performance of a conventional PID controller is characterized by processing of about 10 sample data per second.
Reference is now made to Fig, 3, presenting exemplar electric circuit diagram of a drive for a home appliance. The PID controller is implemented in microcontroller SOP 14-7. A universal electric motor is connected to the electric grid via a triac BTA316. Hall sensor provides an error signal to the PID controller which in transmits control voltage to the triac which regulates voltage on the electric motor of the drive.
It should be appreciated that the PID controller with preset proportional, integral and derivative gains as described above keeps rotating speed of the home appliance drive substantially independent on a drive load.

Claims

Claims:
1 . A drive for a home appliance comprising: a. an electric motor connectable to an operating tool of said home appliance; b. a power regulating element energizing said motor; c. a Hall sensor generating an electric signal corresponding to rotating speed of said motor; d. a PID controller preprogrammed to receive electric signals from said Hall sensor and generating a PID output applicable to said regulating element such that a predetermined rotating speed is maintained constant;
wherein said PID output is computed according to the following equation:
where is a present sample, is a previous sample, is a last previous sample; X is in a range between 1.5 and 2, Y between 1 and 3, Z between 1 and 3.
2. The drive according to claim 1 , wherein said controller is preprogrammed such that values of PID gains are defined by the following equations:
Proportional gain V
Integral gain and
Derivative gain
where T is sampling time.
3. The drive according claim 1 , wherein said power regulating element is triac.
4. The drive according claim 1 configured for actuating a home appliance selected from the group consisting of a stand mixer, a table blender, a food processor, a soup maker, a hand mixer, a juicer, a hand blender, a power tool and any combination thereof.
5. A method of actuating a home appliance comprising the steps of:
a. Providing a drive further comprising: i. an electric motor connectable to an operating tool of said home appliance;
ii a power regulating element energizing said motor; iii. a Hall sensor generating an electric signal corresponding to rotating speed of said motor;
iv. a PID controller preprogrammed to receive electric signals from said Hall sensor and generating a PID output applicable to said regulating element such that a predetermined rotating speed is maintained constant;
b. mechanically connecting said drive to an operating tool of said home appliance;
c. energizing said motor; d. measuring rotating speed of said motor by means of said Hall sensor; e. generating said PID output; f. applying said PID output to said regulating element; wherein said step of generating said PID output comprises a step of compiiting said PID output according to the following equation:
where is a present sample, is a previous sample, is a last previous sample; X is in a range between 1.5 and 2, 7 between 1 and 3, Z between 1 and 3.
6. The method according to claim 5 comprising a step of preprogramming said PID controller such that PID gains are defined by the following equations:
Proportional gain
Integral gain and
Derivative gain
where T is sampling time,
EP14898684.7A 2014-07-29 2014-07-29 Drive for home appliance Withdrawn EP3175313A4 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2014/063510 WO2016016685A1 (en) 2014-07-29 2014-07-29 Drive for home appliance

Publications (2)

Publication Number Publication Date
EP3175313A1 true EP3175313A1 (en) 2017-06-07
EP3175313A4 EP3175313A4 (en) 2018-03-28

Family

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Application Number Title Priority Date Filing Date
EP14898684.7A Withdrawn EP3175313A4 (en) 2014-07-29 2014-07-29 Drive for home appliance

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Publication number Priority date Publication date Assignee Title
CN108757191B (en) * 2018-05-24 2020-09-04 天津捷强动力装备股份有限公司 Method for controlling engine speed of power generation system
CN113854810A (en) * 2021-10-28 2021-12-31 深圳市商汤科技有限公司 Cooking apparatus, cooking method, and readable storage medium

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10122120A (en) * 1996-10-22 1998-05-12 Mitsubishi Electric Corp Speed governing control device for water turbine and reversible pump-turbine and method thereof
CN2929791Y (en) * 2006-07-31 2007-08-01 北京紫御湾科技有限公司 Speed regulating energy saving control system
EP3048720B1 (en) * 2010-11-02 2021-11-24 Whirlpool Corporation Mixer with direct drive dc motor
CN102332223B (en) * 2011-09-25 2014-06-25 北京理工大学 Teaching experiment system based on alternating-current motor driving control method
CN103941732A (en) * 2014-04-18 2014-07-23 江苏物联网研究发展中心 Bionic two-leg robot control system

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Publication number Publication date
EP3175313A4 (en) 2018-03-28
WO2016016685A1 (en) 2016-02-04

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