CN102923537B - Integration drive control device for supercapacitor energy storage type elevator - Google Patents
Integration drive control device for supercapacitor energy storage type elevator Download PDFInfo
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Abstract
Provided is an integration drive control device for a supercapacitor energy storage type elevator. Integration processing of an elevator running control subsystem and an elevator energy-saving control subsystem is proposed, the integration drive control device for the supercapacitor energy storage type elevator is designed, the effect that two control subsystems share one Central Processing Unit(CPU) processor is achieved, a system hardware structure is simplified, and system debugging difficulty is lowered. At the same time, a storage battery and a management module of the storage battery are added in the elevator energy-saving control subsystem on the one hand to serve as an additional power module of an elevator and on the other hand to serve as a storage unit for feedback energy of the elevator, and work together with a supercapacitor under certain conditions to supply electric energy for elevator running.
Description
Technical field
The present invention relates to integrated elevator driving control device, relate in particular to ultracapacitor energy storage formula elevator, especially, elevator motion control subsystem and elevator energy-saving control subsystem are carried out integrated, belong to integrated control and elevator energy-saving correlative technology field.
Background technology
Along with the fast development of China's economy, China is having a surplus up to 2,000,000 by elevator quantity, and still with annual more than 20% speed rapid growth, elevator is as power consumption rich and influential family, and its energy saving technology has become the important channel that solves electric power resource shortage problem.
Up when elevator underloading, in heavy duty descending or when braking,, elevator is in regenerative power generation state, and this part regenerative electric energy acts on after intermediate dc filter capacitor by inverter flywheel diode, produces pump up voltage, the work safety of serious threat system.To this, tradition settling mode adopts energy consumption resistance to consume this part regenerative electric energy, this brake mode that regenerative electric energy is consumed with heat energy form by energy consumption resistance, although simple and convenient, but not only do not play energy-saving effect, and can, because consume this portion of energy by heating form, therefore cause computer room temperature too high, increase heat radiation cost, cause energy source secondary waste.
The another kind of mode of processing elevator regenerated electric energy is to adopt energy back feed device, at present, both at home and abroad to the existing certain Research foundation of lift energy feedback technology: the elevator regenerated energy technologies of (1) feedback grid formula: while moving due to elevator, power changes amplitude greatly, therefore such device can inject a large amount of harmonic waves to electrical network, the discountinuity of feedback energy all can cause very large negative effect to electrical network simultaneously; (2) super capacitor feedback elevator regenerated energy technology: this is a kind of elevator energy feedback device that directly stores on the spot, consumes on the spot, has avoided elevator regenerated energy to flow into electrical network, reduces the impact to electrical network.
Just because of this, super capacitor feedback elevator regenerated energy technology has been subject to people's generally approval, even but there is area for improvement in existing apparatus at present: (a) in super capacitor energy-storage type elevator energy back feed device, between elevator motion control subsystem and Energy Saving Control subsystem, be relatively independent, this independent mode is not easy to system debug on the one hand, on the other hand because signal connects and the problem such as signal interference, two inaccurate coordinations between subsystem independently.(b) consider the correlation parameter such as cost performance, volume, energy density of super capacitor, capacity of super capacitor designing requirement its after each discharge process, guarantee that elevator meets flat bed requirement nearby when there is power-off fault, such design has just reduced failure risk, when elevator is the disasters such as special elevator equipment or presence of fire, traditional design can not meet the demands.
Summary of the invention
The object of patent of the present invention is to propose the integrated driving control device of a kind of super capacitor energy-storage type elevator, elevator motion control and elevator energy-saving are controlled to a CPU treater of two sub-system integrations uses, then utilize communication circuit complete with upper computer between communicate by letter, save hardware resource, simplify software configuration, reduce debugging difficulty, simultaneously, add storage battery and administration module thereof, guarantee elevator safety, energy-efficient operation.
The integrated driving control device of super capacitor energy-storage type elevator provided by the invention, comprises elevator motion control subsystem and elevator energy-saving control subsystem;
Elevator motion control subsystem power circuit (I) is comprised of the first contactless switch (KM1), uncontrollable rectifier (1), buffer circuit (2), filter capacitor (3), DC bus (4), brake unit (5), inverter (6) and elevator traction machine (7), elevator motion control subsystem power circuit (I) is first connected to outside three phase network by the first contactless switch (KM1), three plase alternating current is undertaken becoming direct current signal after rectification processing by uncontrollable rectifier (1), this direct current signal is after buffer circuit (2) and filter capacitor (3) processing, along DC bus (4), be sent to inverter (6), through inverter (6) inversion, process and be converted to the needed AC signal of elevator traction machine (7), wherein, the input end of buffer circuit (2) is connected with the AC of uncontrollable rectifier (1), mouth is connected to the positive pole of filter capacitor (3) by DC bus (4), brake unit (5) is all connected in parallel on the generating positive and negative voltage two ends of DC bus (4) with filter capacitor (3),
Elevator energy-saving control subsystem power circuit (II) is comprised of two-way DC/DC changer (8), ultracapacitor (9), the 3rd contactless switch (KM3), battery management circuit (10), the second contactless switch (KM2) and battery pack (11); Wherein, two-way DC/DC changer (8) is connected in parallel on the generating positive and negative voltage two ends of the DC bus (4) in elevator motion control subsystem, opposite side ultracapacitor (9) in parallel; Battery management circuit (10) is in parallel with ultracapacitor (9) by the 3rd contactless switch (KM3), the a that battery management circuit (10) opposite side is connected to external communication electrical network by the second contactless switch (KM2) goes up mutually, and the output of battery management circuit (10) connects battery pack (11).
Elevator motion control subsystem and elevator energy-saving control subsystem common control circuit (III), this control circuit is comprised of power circuit (13), DSP control module (14), signal sampling modulate circuit (15), communication circuit (16), upper computer (17), demonstration and warning circuit (18) and isolated drive circuit (19);
Described power circuit (13) is connected with the battery pack (11) in elevator energy-saving control subsystem power circuit (II), by battery pack 11, provide electric energy, for generation of 3.3V, 5V, ± 12V and ± 15V light current DC power signal, to supply with corresponding units in the control circuit (III) of whole integrated elevator driving control device;
Described battery pack (11) provides ac supply signal and provides light current DC power signal for the control circuit (III) of integrated elevator driving control device except the illumination for elevator, fan, on the other hand, also with the common absorption storage element as feedback energy of ultracapacitor (9), and as emergency source of electrical power, provide electric energy with ultracapacitor (9) combined action for elevator when there is power-off fault.
Described signal sampling modulate circuit (15) is for terminal voltage and the electric current of the ultracapacitor (9) to elevator energy-saving control subsystem power circuit (II), and the voltage of the DC bus (4) in elevator motion control subsystem power circuit (I), the conditioning of sampling of the stator terminal voltage parameter of elevator traction machine (7), and be sent to CPU control module and carry out analyzing and processing, CPU control module adopts DSP control module (14), DSP control module (14) is connected with signal sampling modulate circuit (15), for receiving the signal from signal sampling modulate circuit (15), after analyzing, send control signal, after isolated drive circuit (19) effect, control whole integrated driving control device, simultaneously DSP control module (14) also completes and the communicating by letter of upper computer (17) by communication circuit (16).
The control circuit of described integrated elevator driving control device (III) comprises for the software signal that elevator motion control subsystem power circuit provides: process elevator faults alerting signal and other logic control signals etc.Wherein said fault alarm breakdown signal is for when system et out of order being detected, and the integrated driving control device of automatic switchover super capacitor energy-storage type elevator enters safety mode; Wherein, described other logical signals comprise control signal for the treatment of relevant devices such as elevator traction machine and frequency converters etc.
The control circuit of described integrated elevator driving control device (III) comprises for the software signal that elevator energy-saving control subsystem power circuit provides: the control signal of ultracapacitor (9) and two-way DC/DC changer (8), and for completing storage and the recycling of elevator regenerated energy.
Described buffer circuit (2) is composed in parallel by inductance (Ls) and switch (SB1), for play buffer action when filter capacitor (3) discharges and recharges.
Described brake unit (5) is composed in series by energy consumption resistance (Rs) and switching valve (T1), and the object that retains brake unit (5) is a kind of safety mode state as the integrated driving governor of super capacitor energy-storage type elevator.
Described battery management circuit (10) is by battery charger and battery condition information monitoring the electric circuit constitute.Wherein battery condition information monitoring circuit, by insulting the stacking use of Li Erte battery cell monitoring IC LTC6802, coordinates corresponding peripheral circuit, for completing cell pressure, charging and discharging currents monitoring and the prediction of dump energy being estimated.
Described signal sampling modulate circuit (15) comprises voltage sensor, current sensor, coder and corresponding signal conditioning circuit, is respectively used to the conditioning of sampling of machine shaft angular transposition/displacement of the lines θ/S signal, motor stator terminal voltage (Us) and motor stator electric current (Is) in DC bus (4) voltage (Udc) in elevator motion control subsystem power circuit (I), ultracapacitor (9) terminal voltage (Usc), ultracapacitor (9) electric current (Isc), elevator energy-saving control subsystem power circuit (II).
Corresponding modulate circuit, for sampled data is converted to data type and the scope that data processing equipment can be identified and accept, is comprised of filter unit, amplifying circuit and protective circuit.Particular circuit configurations is determined according to sampled signal type and scope.
The corresponding signal that the battery pack status information of described battery management circuit (10) and signal sampling modulate circuit (15) are sampled and nursed one's health, is delivered in the lump in DSP control module (14) and processes.
DSP control module (14) is carried out after analyzing and processing above-mentioned sampled signal, and output control signal, realizes the synchro control to elevator motion control subsystem and elevator energy-saving control subsystem.
Control signal in described DSP control module (14) output control signal specifically comprises: the control signal of the control signal of the control signal of (1) first contactless switch (KM1), brake unit (5), the control signal of inverter (6) and elevator traction machine (7); (2) control signal of the control signal of two-way DC/DC changer (8), the second contactless switch (KM2) and the 3rd contactless switch (KM3) and the control signal of battery management circuit (10).
Advantage of the present invention and good effect:
1, the present invention proposes elevator motion control subsystem and elevator energy-saving control subsystem integrated approach, design the integrated driving control device of a kind of super capacitor energy-storage type elevator, propose two control subsystem and share a CPU treater, then utilize communication circuit complete with upper computer between communicate by letter, save hardware resource, simplify software configuration, reduce debugging difficulty.
2, the present invention compares traditional super capacitor energy-storage type elevator, increases battery pack and administration module thereof, adopts AC network and ultracapacitor interleaved power.Battery pack is as the additional supply module of elevator, on the one hand for the control circuit in elevator lighting, fan and integrated driving control device provides power supply signal, on the other hand, together with ultracapacitor as the absorption storage element of feedback energy, and as emergency source of electrical power, provide electric energy with ultracapacitor combined action for elevator when there is power-off fault.
3, when the integrated driving control device of super capacitor energy-storage type elevator occurs when abnormal, the integrated elevator driving control system that the present invention proposes switches under safety mode rapidly, and gives the alarm, and after abnormal solution, system is recovered normal work.
Accompanying drawing explanation
Fig. 1 is the integrated driving control device integral structure of super capacitor energy-storage type elevator block diagram;
Fig. 2 is the integrated drive control device controls circuit structure of super capacitor energy-storage type elevator block diagram.
The specific embodiment
The integrated driving control device of super capacitor energy-storage type elevator of the present invention is comprised of elevator motion control subsystem and elevator energy-saving control subsystem, and specific embodiments illustrates in conjunction with Fig. 1.
The integrated driving control device power circuit of super capacitor energy-storage type elevator as shown in Figure 1, the main circuit structure of elevator motion control subsystem is shown in module I unit, the first contactless switch KM1, uncontrollable rectifier 1, buffer circuit 2, filter capacitor 3, DC bus 4, brake unit 5, inverter 6 and elevator traction machine 7, consists of.
Specifically: first elevator motion control subsystem power circuit part is connected to outside three phase network by the first contactless switch KM1, three plase alternating current is undertaken becoming direct current signal after rectification processing by uncontrollable rectifier 1, this direct current signal is after buffer circuit 2 and filter capacitor 3 processing, along DC bus 4, be sent to inverter 6, through inverter 6 inversions, process and be converted to the needed AC signal of elevator traction machine 7.
Wherein said buffer circuit 2 is composed in parallel by inductance L s and switch S B1, for play buffer action when filter capacitor discharges and recharges.The input end of buffer circuit 2 is connected with the AC of uncontrollable rectifier 1, and mouth is connected to the positive pole of filter capacitor by DC bus.
In addition, brake unit 5 is all connected in parallel on the generating positive and negative voltage two ends of DC bus with filter capacitor 3, and wherein brake unit 5 is composed in series by energy consumption resistance Rs and switch transistor T 1.The object that retains brake unit in the present invention is a kind of safety mode state as the integrated driving governor of super capacitor energy-storage type elevator.
Elevator energy-saving control subsystem power circuit, as shown in Fig. 1 module II unit, is comprised of two-way DC/DC changer 8, ultracapacitor 9, contactless switch KM3, battery management circuit 10, contactless switch KM2 and battery pack 11.
Wherein, two-way DC/DC changer 8 is connected in parallel on the generating positive and negative voltage two ends of DC bus 4, opposite side ultracapacitor 9 in parallel.Battery management circuit 10 is connected respectively in a phase and ultracapacitor 9 of external communication electrical network by the second contactless switch KM2 and the 3rd contactless switch KM3.The output of battery management circuit 10 connects battery pack 11, and the control circuit (III) that battery pack 11 is the illumination of elevator, fan and the integrated driving control device of super capacitor energy-storage type elevator provides power supply signal.
Wherein, battery management circuit 10 is by battery charger and battery condition information monitoring the electric circuit constitute.Wherein battery condition information monitoring circuit, by insulting the stacking use of Li Erte battery cell monitoring IC LTC6802, coordinates corresponding peripheral circuit to form, for completing cell pressure, charging and discharging currents monitoring and the prediction of dump energy being estimated.
The control circuit part of the integrated driving control device of super capacitor energy-storage type elevator, as shown in module III, is comprised of power circuit 13, DSP control module 14, signal sampling modulate circuit 15, communication circuit 16, upper computer 17, demonstration and warning circuit 18, isolated drive circuit 19.
Wherein, power circuit 13 provides electric energy by battery pack 11, for generation of light current d. c. voltage signal (3.3V, 5V, ± 12V, ± 15V), to supply with corresponding unit in the integrated drive control device controls circuit of super capacitor energy-storage type elevator of the present invention (III).Signal sampling modulate circuit 15 for to the voltage of the terminal voltage of elevator motion control subsystem (I) ultracapacitor 9 and electric current, DC bus 4, the correlation parameter such as the stator terminal voltage of elevator traction machine 7 and the electric current conditioning of sampling in elevator energy-saving control subsystem (II), and the CPU control module that is sent to integrated elevator drive control device controls circuit (III) is carried out analyzing and processing.CPU control module adopts DSP control module 14, reception is from the signal of battery management circuit 10 and signal sampling modulate circuit 15, after analyzing, send control signal, after isolated drive circuit 19 effect, control whole integrated driving control device, DSP control module 14 also completes and the communicating by letter of upper computer 17 by communication circuit 16 simultaneously.
Further, the control circuit structure of the above-mentioned integrated driving control device of super capacitor energy-storage type elevator as shown in Figure 2.
Further, signal sampling modulate circuit 15 comprises voltage sensor, current sensor, coder and corresponding signal conditioning circuit, is respectively used to DC bus-bar voltage Udc, ultracapacitor terminal voltage Usc, ultracapacitor electric current Isc, machine shaft angular transposition/displacement of the lines θ/S signal, motor stator terminal voltage Us and motor stator electric current I s to sample.These sampled datas are delivered in DSP control module 14 after modulate circuit 15 conditionings.
Further, corresponding modulate circuit, for sampled data is converted to data type and the scope that data processing equipment can be identified and accept, is comprised of filter unit, amplifying circuit and protective circuit.Particular circuit configurations is determined according to sampled signal type and scope.
Further, the observation circuit to battery condition information in battery management circuit 10, after conditioning, is delivered to the status information of storage battery in DSP control module 14 and processes.
Further, 14 pairs of above-mentioned sampling conditioned signal of DSP control module are carried out after analyzing and processing, and output control signal, realizes the synchro control to elevator motion control subsystem and elevator energy-saving control subsystem.
Further, the control signal in above-mentioned DSP control module output control signal specifically comprises: the control signal of (1) contactless switch KM1, the control signal of brake unit 5, the control signal of inverter unit 6 and the control signal of elevator traction machine 7; (2) control signal of two-way DC/DC changer 8, the second contactless switch KM2 and the control signal of the 3rd contactless switch KM3 are, the control signal of battery management circuit 10.
Further, in signal sampling modulate circuit 15, comprise three voltage sensor LEM1, LEM2, LEM3, two current sensor LEM4, LEM5, and a coder.
Further, above-mentioned three voltage sensor LEM1 ~ LEM3 are respectively used to DC bus-bar voltage, ultracapacitor voltage and elevator traction machine stator voltage to sample.
Further, above-mentioned two current sensor LEM4 and LEM5 are respectively used to ultracapacitor electric current, elevator traction machine stator current to sample.
Further, above-mentioned coder, for angular transposition/displacement of the lines signal of machine shaft is sampled, is conveniently accurately located elevator cage position and elevator traction machine rotating speed.
Further, the above-mentioned sampled signal being obtained by six sensors, after corresponding modulate circuit is processed, is transported in AD0 ~ AD5 register of DSP control module 14.
Above-mentioned DSP control module 14 adopts TMS320F2812 treater.
Further, two task manager EVA of DSP control module 14 and the equal output pwm signal of EVB, after isolated drive circuit 19 effects, the mode of operation of control inverter 6 and two-way DC/DC changer 8 respectively.
Further, 5 I/O port output control signals of DSP control module 14, after isolated drive circuit 19 effects, control respectively the first contactless switch KM1, the second contactless switch KM2, the 3rd contactless switch KM3, brake unit and elevator traction machine.
Further, DSP control module 14 is also by communication circuit 16, realize with upper computer 17 between intercommunication mutually.
Claims (8)
1. the integrated driving control device of super capacitor energy-storage type elevator, described integrated driving control device comprises elevator motion control subsystem and elevator energy-saving control subsystem;
Elevator motion control subsystem power circuit (I) comprises uncontrollable rectifier (1), filter capacitor (3), DC bus (4), brake unit (5), inverter (6) and elevator traction machine (7); Three plase alternating current is undertaken becoming direct current signal after rectification processing by uncontrollable rectifier (1), this direct current signal is after electric capacity (3) is processed after filtering, along DC bus (4), be sent to inverter (6), through inverter (6) inversion, process and be converted to the needed AC signal of elevator traction machine (7), brake unit (5) is all connected in parallel on the generating positive and negative voltage two ends of DC bus (4) with filter capacitor (3);
Elevator energy-saving control subsystem power circuit (II) comprises two-way DC/DC changer (8), ultracapacitor (9), battery management circuit (10) and battery pack (11); Wherein, two-way DC/DC changer (8) is connected in parallel on the generating positive and negative voltage two ends of the DC bus (4) in elevator motion control subsystem, opposite side ultracapacitor (9) in parallel; Battery management circuit (10) is in parallel with ultracapacitor (9), and the output of battery management circuit (10) connects battery pack (11);
It is characterized in that,
Elevator motion control subsystem power circuit (I) also comprises the first contactless switch (KM1) and buffer circuit (2);
Wherein the first contactless switch (KM1) is connected to outside three phase network by elevator motion control subsystem, the input end of buffer circuit (2) is connected with the AC of uncontrollable rectifier (1), and mouth is connected to the positive pole of filter capacitor (3) by DC bus (4);
Elevator energy-saving control subsystem power circuit (II) also comprises the 3rd contactless switch (KM3) and the second contactless switch (KM2);
Wherein, the 3rd contactless switch (KM3) is realized the in parallel of battery management circuit (10) and ultracapacitor (9), the second contactless switch (KM2) is realized being connected of battery management circuit (10) and outside a cross streams electrical network, and battery management circuit (10) is controlled illumination, the fan that battery pack (11) is elevator provides the control circuit (III) of ac supply signal and integrated driving control device that light current DC power signal is provided;
Elevator motion control subsystem and elevator energy-saving control subsystem common control circuit (III), this control circuit is comprised of power circuit (13), DSP control module (14), signal sampling modulate circuit (15), communication circuit (16), upper computer (17), demonstration and warning circuit (18) and isolated drive circuit (19), wherein, power circuit (13) is connected with the battery pack (11) in elevator energy-saving control subsystem power circuit (II), by battery pack 11, provide electric energy, for generation of 3.3V, 5V, ± 12V and ± weak electric signal of 15V, to supply with the middle corresponding units of control circuit (III) of integrated elevator driving control device, in addition, battery pack (11) also with ultracapacitor (9) jointly as the absorption storage element of feedback energy, and as emergency source of electrical power, provide electric energy with ultracapacitor (9) combined action for elevator when there is power-off fault, signal sampling modulate circuit (15) is for terminal voltage and the electric current of the ultracapacitor (9) to elevator energy-saving control subsystem power circuit (II), and the voltage of the DC bus (4) in elevator motion control subsystem power circuit (I), the conditioning of sampling of the stator terminal voltage parameter of elevator traction machine (7), and be sent to CPU control module and carry out analyzing and processing, CPU control module adopts DSP control module (14), DSP control module (14) is connected with signal sampling modulate circuit (15), for receiving the sampling conditioned signal from signal sampling modulate circuit (15), after analyzing, send control signal, after isolated drive circuit (19) effect, control whole integrated driving control device, simultaneously DSP control module (14) also completes and the communicating by letter of upper computer (17) by communication circuit (16).
2. the integrated driving control device of super capacitor energy-storage type elevator according to claim 1, it is characterized in that described buffer circuit (2) is composed in parallel by inductance (Ls) and switch (SB1), for play buffer action when filter capacitor (3) discharges and recharges.
3. the integrated driving control device of super capacitor energy-storage type elevator according to claim 1, it is characterized in that described brake unit (5) is composed in series by energy consumption resistance (Rs) and switching valve (T1), the object that retains brake unit (5) is a kind of safety mode state as the integrated driving governor of super capacitor energy-storage type elevator.
4. the integrated driving control device of super capacitor energy-storage type elevator according to claim 1, is characterized in that described battery management circuit (10) is by battery charger and battery condition information monitoring the electric circuit constitute.
5. the integrated driving control device of super capacitor energy-storage type elevator according to claim 1, it is characterized in that described signal sampling modulate circuit (15) comprises voltage sensor, current sensor, coder and corresponding signal conditioning circuit, be respectively used to DC bus (4) voltage (Udc) in elevator motion control subsystem power circuit (I), ultracapacitor (9) terminal voltage (Usc), the electric current (Isc) of ultracapacitor (9), machine shaft angular transposition/displacement of the lines θ/S signal in elevator energy-saving control subsystem power circuit (II), the conditioning of sampling of motor stator terminal voltage (Us) and motor stator electric current (Is).
6. the integrated driving control device of super capacitor energy-storage type elevator according to claim 4, battery condition information monitoring circuit described in it is characterized in that after conditioning, is delivered to the status information of battery pack (11) in DSP control module (14) and processes.
7. according to the integrated driving control device of the super capacitor energy-storage type elevator described in any one in claim 1～6, DSP control module (14) described in it is characterized in that is carried out after analyzing and processing described sampling conditioned signal, output control signal, realizes the synchro control to elevator motion control subsystem and elevator energy-saving control subsystem.
8. the integrated driving control device of super capacitor energy-storage type elevator according to claim 7, is characterized in that the control signal in described DSP control module (14) output control signal specifically comprises: the control signal of the control signal of the control signal of (1) first contactless switch (KM1), brake unit (5), the control signal of inverter (6) and elevator traction machine (7); (2) control signal of the control signal of two-way DC/DC changer (8), the second contactless switch (KM2) and the 3rd contactless switch (KM3) and the control signal of battery management circuit (10).
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| CN1845417A (en) * | 2006-04-10 | 2006-10-11 | 中国科学院电工研究所 | Hybrid energy-storage device for elevator and its controlling method |
| CN101931366A (en) * | 2010-08-03 | 2010-12-29 | 浙江大学 | Super capacitor-based energy-saving drive circuit of motor and control method |
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| JP4283963B2 (en) * | 2000-02-28 | 2009-06-24 | 三菱電機株式会社 | Elevator control device |
| JP5094831B2 (en) * | 2009-12-21 | 2012-12-12 | 株式会社日立製作所 | Elevator system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1845417A (en) * | 2006-04-10 | 2006-10-11 | 中国科学院电工研究所 | Hybrid energy-storage device for elevator and its controlling method |
| CN101931366A (en) * | 2010-08-03 | 2010-12-29 | 浙江大学 | Super capacitor-based energy-saving drive circuit of motor and control method |
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