CN103281036A - Control method and control device of five-phase alternating current motor - Google Patents
Control method and control device of five-phase alternating current motor Download PDFInfo
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Abstract
The invention discloses a control method of a five-phase alternating current motor. The method comprises a five-phase PWM (Pulse Width Modulation) inverter circuit and a motor and is characterized by comprising the steps of determining a first axis mapping current and a second axis mapping current according to a target torque, input voltage and rotating speed; determining a second axis feedback current according to each phase of current of the motor; determining a first axis preset quadrature axis current range according to the second axis feedback current; adjusting the first axis mapping current according to the first axis preset quadrature axis current range so as to obtain a first axis output current; controlling the input signal of the five-phase PWM inverter circuit according to the first axis output current; obtaining and adjusting a control current according to the target torque, the input voltage and the rotating speed; and controlling the waveform of the motor and further controlling the running of the motor through controlling the input signal of the circuit according to the adjusted control current. The phase current can be adjusted according to the load change, the motor rotating speed change and the input voltage fluctuation, so that the torque and the rotating speed of the motor can be adjusted, the reliable running range can be determined, and the running is more stable.
Description
Technical field
The present invention relates to electric machines control technology, particularly relate to a kind of control method and control device of five cross streams motors.
Background technology
In recent years, because the interior resource of world wide and environmental problem become increasingly conspicuous, each state is all stepping up to implement new energy electric motor vehicle research and development plan.Drive motors will become main motive drive source in the new-energy automobile.The form of drive motors is varied, and AC permanent magnet synchronous motor will become main flow, the motor of seeing in market at present that is essentially three-phase, and heterogeneous motor is rarely found.But polyphase machine possesses higher power density and moment of torsion density, can suppress the torque ripple effect, is suitable for the environment for use of automobile-used drive motors like this, has very big development space, especially five cross streams motors.It is main that the domestic electric machine industry is still studied three phase electric machine basically, does not more go to consider application and the control of polyphase machine.Needs for faster adaptation market, make five cross streams motors move towards market as soon as possible, need provide a kind of five cross streams motors to control scheme reliably as early as possible, use five-phase induction motor, the bigger torque ripple effect that exists in the three phase electric machine that can suppress to use always at present, and the torque and the power density that promote motor, make the car load operation more steady.
Summary of the invention
At above-mentioned defective, the purpose of the embodiment of the invention provides a kind of control method and control device of five cross streams motors, has solved at five cross streams motors, how this motor is controlled, realize that moment of torsion and motor speed are adjustable, and make and move technical problem more stably.
To achieve these goals, the invention provides a kind of five cross streams motor control methods, comprise five phase PWM inverter circuits and five cross streams motors, wherein, described method comprises:
Determine first mapping electric current and second mapping electric current according to target torque, input voltage and motor speed; Determine second feedback current according to described five each phase current of cross streams motor; Determine first default shaft current scope of handing over according to described second feedback current; According to described first default shaft current scope of handing over described first mapping electric current adjusted, and obtained first output current; Control the input signal of described five phase PWM inverter circuits according to described first output current.
Further, describedly determine that according to described second feedback current first default shaft current scope of handing over is specially: hand over shaft current limits value and first preset difference value to determine described first default shaft current scope of handing over according to first, determine described first preset difference value according to second stator hypervelocity electric current and described second feedback current.
Further, describedly determine that according to second stator hypervelocity electric current and described second feedback current described first preset difference value is specially: described second feedback current and described second stator hypervelocity electric current and described second shine upon current ratio after, obtain first deviation, described first deviation exported described first preset difference value after the PI regulating and controlling.
Further, adjust described first default friendship shaft current scope by adjusting described second stator hypervelocity electric current and described first friendship shaft current limits value.
Further, describedly according to described first default shaft current scope of handing over described first mapping electric current adjusted, and obtained first output current and be specially: judge that whether described first mapping electric current be first default friendship within the shaft current scope; If described first mapping electric current then do not adjusted described first mapping electric current described first default friendship within the shaft current scope, obtain described first output current; If described first mapping electric current handed over outside the shaft current scope at described first, then described first mapping electric current adjusted, obtain described first output current.
Further, also comprise according to described five each phase current of cross streams motor and determine first feedback current; The described input signal of controlling described five phase PWM inverter circuits according to described first output current is specially: described first feedback current and described first output current generate first command voltage after the PI regulating and controlling, and described second mapping electric current and described second feedback current generate second command voltage after the PI regulating and controlling; Described first command voltage and described second command voltage are through the input signal of conversion back as the SVPWM module, and described SVPWM module is exported the input signal of described five phase PWM inverter circuits.
Further, also comprise according to described five each phase current of cross streams motor and determine first feedback current or the 3rd feedback current, determine second default shaft current scope of handing over according to described first feedback current or described the 3rd feedback current, according to described second default shaft current scope of handing over described second mapping electric current adjusted, and obtained second output current.
Further, the described input signal of controlling described five phase PWM inverter circuits according to described first output current is specially: described first output current and described first feedback current generate first command voltage after the PI regulating and controlling, generate second command voltage according to described second output current and described second feedback current after the PI regulating and controlling; Described first command voltage and described second command voltage are through the input signal of conversion back as the SVPWM module, and described SVPWM module is exported the input signal of described five phase PWM inverter circuits.
According to another aspect of the present invention, a kind of five cross streams motor control assemblies are provided, comprise DC power supply and PWM inverter circuit, feedback current acquisition module, motor speed acquisition module, wherein, also comprise the control loop module, described control loop module is used for according to target torque, input voltage and motor speed and first feedback current that receives, second feedback current first command voltage of output and second command voltage; Described control loop module comprises that moment of torsion is to electric current mapping block, mapping current adjusting module and command voltage generation module; Described mapping current adjusting module is used for adjusting first mapping electric current and/or second mapping electric current; Described command voltage generation module is used for described first command voltage of output and second command voltage.
Further, described command voltage generation module comprises first PI control module, second PI control module; Described first PI control module generates first command voltage according to described first output current and first feedback current, and described second PI control module generates described second command voltage according to described second output current and described second feedback current; Or, described first PI control module generates described first command voltage according to described first output current and described first feedback current, and described second PI control module generates described second command voltage according to described second mapping electric current and described second feedback current.
Five cross streams motor control methods provided by the invention can reliably be controlled five cross streams motors, realize that moment of torsion and motor speed are adjustable; Target torque Te*, the input voltage Vdc and the motor speed ω that receive by controller, controlled electric current, judge that the control electric current needs to adjust, input signal according to the control Current Control five phase PWM inverter circuits after adjusting, control each phase waveform and the current signal of five-phase induction motor, control the running of five-phase induction motor.This kind setting can be adjusted phase current according to the variation of load, the variation of motor speed and the fluctuation of input voltage fast, realizes that moment of torsion and motor speed are adjustable, adjusting range is set determines reliable range of operation, makes operation more steady.
Description of drawings
Fig. 1 is the structured flowchart of an embodiment of a kind of five cross streams motor control assemblies provided by the invention;
The structured flowchart of the control strategy that Fig. 2 provides for the embodiment of the invention;
Fig. 3 is the control loop module frame chart among Fig. 2.
Reference numeral: DC power supply 100, control loop module 200, direct current supports electric capacity 301, insulated gate bipolar transistor 312, IGBT module temperature sensor 13, five cross streams motors 14, motor stator temperature sensor 15, rotor-position sensor 16, busbar voltage transducer 17, electric machine controller master board 18, entire car controller 19, mapping current adjusting module 20, current acquisition module 21, moment of torsion is to electric current mapping block 22, command voltage generation module 23 is static to synchronization map module 24, be synchronized to static mapping block 25, temperature collect module 26, voltage collecting device 27, motor speed acquisition module 28, SVPWM module 29, PWM inverter circuit 30.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the invention is clearer, below in conjunction with accompanying drawing specific embodiment is described in detail.
The control method of a kind of five cross streams motors provided by the invention.The control method of five-phase induction motor comprises five phase PWM inverter circuits and five cross streams motors, specifically comprises the steps:
Determine second mapping electric current I ds* and first mapping electric current I qs* according to target torque Te*, input voltage Vdc and motor speed ω;
Determine second feedback current Ids according to five each phase current of cross streams motor;
Determine first default shaft current scope of handing over according to second feedback current Ids;
According to first default shaft current scope of handing over first mapping electric current I qs* adjusted, and obtain first output current Iq*;
Control the input signal of five phase PWM inverter circuits according to first output current Iq*.
Target torque Te*, the input voltage Vdc and the motor speed ω that receive by controller, controlled electric current, judge that the control electric current needs to adjust, input signal according to the control Current Control five phase PWM inverter circuits after adjusting, control each phase waveform and the current signal of five-phase induction motor, control the running of five-phase induction motor.This kind setting can be adjusted phase current according to the variation of load, the variation of motor speed and the fluctuation of input voltage fast, realizes that moment of torsion and motor speed are adjustable, adjusting range is set determines reliable range of operation, makes operation more steady.
In another one embodiment of the present invention, also provide and how to have determined first default shaft current scope of handing over according to second feedback current, be specially: determine first default shaft current scope of handing over according to first friendship shaft current limits value Iqmax and first preset difference value Iqf, determine first preset difference value according to second feedback current Ids and second stator hypervelocity electric current I os.Second feedback current Ids and second stator hypervelocity electric current I os and second mapping electric current I ds* relatively after, obtain first deviation delta Iq, first deviation delta Iq exports first preset difference value Iqf after the PI regulating and controlling.The determined first default shaft current scope of handing over of method embodiment of the present invention is: [Iq1, Iq1], Iq1=Iqmax-Iqf.When first mapping electric current I qs* is within the default friendship of q axle shaft current scope, first mapping of first output current Iq*=electric current I qs*, otherwise q axle output current Iq*=Iq1.
Come first mapping electric current I qs* adjusted by second feedback current Ids, the diaxon electric current is influenced each other, mutually adjust, thereby make the motor operation more steady.
Also can be by adjusting second stator hypervelocity electric current I os and first default shaft current scope of handing over of first friendship shaft current limits value Iqmax adjustment.Can make the five-phase induction motor even running, holding torque is stable, especially under high-speed case.
In another one embodiment of the present invention, provide and how according to first default shaft current scope of handing over first mapping electric current I qs* to have been adjusted, obtain first output current Iq*; Be specially:
Judge that whether first mapping electric current I qs* be first default friendship within the shaft current scope;
If first mapping electric current I qs* then do not adjust first mapping electric current first default friendship within the shaft current scope, obtain first output current Iq*; If first mapping electric current handed over outside the shaft current scope at first, then first mapping electric current adjusted, obtain first output current Iq*.The determined first default shaft current scope of handing over of method embodiment of the present invention is: [Iq1, Iq1], Iq1=Iqmax-Iqf.When first mapping electric current I qs* is within the default friendship of q axle shaft current scope, first mapping of first output current Iq*=electric current I qs*, otherwise q axle output current Iq*=Iq1.
In another one embodiment of the present invention, comprise also according to five each phase current of cross streams motor and determine first feedback current Iqs that the input signal of controlling five phase PWM inverter circuits according to first output current Iq* is specially:
First output current Iq* and first feedback current Iqs generate first command voltage Vqs* after the PI regulating and controlling, second mapping electric current I ds* and second feedback current Ids generate second command voltage Vds* after the PI regulating and controlling; First command voltage Vqs* and second command voltage Vds* are through being synchronized to static mapping block conversion back as the input signal of SVPWM module, and the SVPWM module is exported the input signal of five phase PWM inverter circuits.
In another one embodiment of the present invention, also comprise according to five each phase current of cross streams motor and determine first feedback current Iqs, determine second default shaft current scope of handing over according to first feedback current Iqs, according to second default shaft current scope of handing over second mapping electric current I ds* adjusted, obtain second output current.In another one embodiment of the present invention, the input signal of controlling five phase PWM inverter circuits according to first output current Iq* is specially: first output current Iq* and first feedback current Iqs generate first command voltage Vqs* after the PI regulating and controlling, generate second command voltage Vds* according to second output current and second feedback current Ids after the PI regulating and controlling; First command voltage Vqs* and second command voltage Vds* are through being synchronized to static mapping block conversion back as the input signal of SVPWM module, and the SVPWM module is exported the input signal of five phase PWM inverter circuits.Five each phase current of cross streams motor convert first feedback current Iqs and second feedback current Ids to through Clarke and Park conversion.Regulate second mapping electric current and first mapping electric current simultaneously by first feedback current and second feedback current, both are influenced each other, regulate mutually, control more accurate.
In another one embodiment of the present invention, also comprise according to five each phase current of cross streams motor and determine the 3rd feedback current, the 4th feedback current, the 5th feedback current, determine second default shaft current scope of handing over according to the 3rd feedback current, according to second default shaft current scope of handing over second mapping electric current I ds* adjusted, obtain second output current, adjust the 3rd mapping electric current according to the 4th feedback current, adjust the 4th mapping electric current according to the 5th feedback current, adjust the 5th mapping electric current according to first feedback current, obtain each output current respectively; Particularly, five each phase current of cross streams motor are respectively as first feedback current, second feedback current, the 3rd feedback current, the 4th feedback current and the 5th feedback current, respectively according to generating each command voltage after each feedback current and each output current process PI regulating and controlling, each command voltage is as the input signal of SVPWM module, and the SVPWM module is exported the input signal of five phase PWM inverter circuits.The input signal of above-mentioned five the mapping Current Control SVPWM modules after adjusting or the input signal of PWM inverter circuit, influence each other between each phase current, accurately each phase current of motor is adjusted, realized that moment of torsion and motor speed are adjustable, and make operation more steady.
Fig. 1 is the structured flowchart of a kind of five cross streams motor control assemblies provided by the invention, as shown in Figure 1, the embodiment of the invention provides a kind of five cross streams motor control assemblies, comprise DC power supply 100 and PWM inverter circuit 30 and electric machine controller master board 18, the PWM inverter circuit comprises inverter circuit and modulation circuit, five cross streams motor control assemblies also comprise SVPWM module 29, be arranged on the front end of modulation circuit, be used for generating switching value signal controlling modulation circuit, SVPWM module 29 can be arranged in the electric machine controller master board 18.DC power supply 100 is electrokinetic cell, generally adopts LiFePO4 or ternary material, and power supply is high voltage direct current, and electric pressure is than higher, generally greater than 300V.Direct current supports electric capacity 301, is connected in parallel on the dc bus of inverter circuit, plays the effect of voltage stabilizing and filtering.Inverter circuit 30 comprises ten inverters insulated gate bipolar transistor 312, and its effect is that high voltage direct current is reverse into alternating current, by the control of PWM output circuit, is namely modulated by modulation circuit; Produced moment of torsion and the speed of the Current Control five cross streams motors 14 output appointments of alternation by the switch of these ten IGBT.Whether SVPWM module 29 is arranged on the front end of modulation circuit, is used for generating switching value signal controlling modulation circuit, and then the output signal of control PWM output circuit, effective.Thereby realize that the motor speed of five cross streams motors and moment of torsion are adjustable, thereby five cross streams motors 14 are carried out control effectively reliably, can reduce the pulsation of torque, make motor output steadily.
Electric machine controller master board 18 is provided with temperature collect module 26, link to each other with IGBT module temperature sensor 13 and/or motor stator temperature sensor 15, for detection of the temperature of PWM inverter circuit and/or the temperature of motor, the temperature that prevents PWM inverter circuit module and/or motor is too high, influences the performance of system and car load.Also be provided with the rotor-position sensor 16 that detects five cross streams motors, 14 rotor-positions in the electric machine controller master board 18, link to each other with motor speed acquisition module 28, the general employing revolved change.Also be provided with voltage collecting device 27 in the electric machine controller master board 18, link to each other with busbar voltage transducer 17, can gather the direct voltage of bus, i.e. input voltage.Electric machine controller master board 18 is provided with the feedback current acquisition module 21 of gathering each phase current, is used for gathering each phase current Ias-Ies.Electric machine controller master board 18 and entire car controller 19 carry out communication by the CAN bus, are subjected to the control of entire car controller 19.
As shown in Figure 2, five cross streams motor control assemblies also comprise control loop module 200, static to synchronization map module 24, be synchronized to static mapping block 25, control loop module 200 is according to the target torque Te*, the motor speed ω that receive and input voltage Vdc and the second feedback current Ids that receives, first feedback current Iqs second command voltage Vds* of output and first command voltage Vqs*; Control loop module 200 comprises that mapping current adjusting module 20, moment of torsion are to electric current mapping block 22, command voltage generation module 23.
Moment of torsion is that motor speed acquisition module 28 is gathered motor rotor position θ r to electric current mapping block 22 according to the target torque Te*, the motor speed ω that receive, obtain the angular speed of rotor then by differentiate, namely motor speed ω and input voltage Vdc generate second mapping electric current I ds* and first mapping electric current I qs*.
Static each phase current Ias-Ies that current acquisition module 21 is gathered to synchronization map module 24 converts second feedback current Ids and first feedback current Iqs to through Clarke and Park conversion.
Command voltage generation module 23 comprises first PI control module and second PI control module, the second beam warp allusion quotation PI control module generates second command voltage Vds* according to second output current and second feedback current Ids, and the first beam warp allusion quotation PI control module generates first command voltage Vqs* according to first output current and first feedback current Iqs; Or, this device embodiment provides, second PI control module generates second command voltage Vds* according to second mapping electric current I ds* and second feedback current Ids, and first PI control module generates first command voltage Vqs* according to first output current Iq* and first feedback current Iqs.
Be synchronized to static mapping block 24 and convert the input signal of circuit in the SVPWM module 29 according to second command voltage Vds* and first command voltage Vqs* to; Be specially and add motor rotor position θ r according to second command voltage Vds* and first command voltage Vqs* inverse transformation converts first sinusoidal voltage Va--the 5th phase sinusoidal voltage Ve mutually to Park through Clarke.
Mapping current adjusting module 20 is used for adjusting d axle mapping electric current I ds* and/or q axle mapping electric current I qs*, particularly, determine second deviation according to first feedback current Iqs and first stator hypervelocity electric current and first mapping electric current I qs*, second deviation is through second preset difference value of PI regulating and controlling output, determine second default shaft current scope of handing over, second output current of mapping current adjusting module output according to second preset difference value and second friendship shaft current limits value; And/or, determine first deviation delta Iq according to second feedback current Iqs and second stator hypervelocity electric current I os and second mapping electric current I ds*, first deviation delta Iq exports first preset difference value Iqf after the PI regulating and controlling, determine first default shaft current scope of handing over according to first preset difference value Iqf and first friendship shaft current limits value Iqmax, 20 pairs first mapping of mapping current adjusting module electric current I qs* adjusts, and exports first output current Iq*.By adjusting first stator hypervelocity electric current and second default shaft current scope of handing over of second friendship shaft current limits value adjustment; And/or by adjusting second stator hypervelocity electric current I os and first default shaft current scope of handing over of first friendship shaft current limits value Iqmax adjustment.In the present embodiment, only adjust first mapping electric current I qs*, in working control, by second stator hypervelocity electric current I os of abundant adjustment and first these two variable of friendship shaft current limits value Iqmax, can make the five-phase induction motor even running, especially under high-speed case, holding torque is stable.
As from the foregoing, the embodiment of the invention has following advantage:
Five cross streams motor control methods provided by the invention can reliably be controlled five cross streams motors, realize that moment of torsion and motor speed are adjustable; Target torque Te*, the input voltage Vdc and the motor speed ω that receive by controller, controlled electric current, judge that the control electric current needs to adjust, input signal according to the control Current Control five phase PWM inverter circuits after adjusting, control each phase waveform and the current signal of five-phase induction motor, control the running of five-phase induction motor.This kind setting can be adjusted phase current according to the variation of load, the variation of motor speed and the fluctuation of input voltage fast, realizes that moment of torsion and motor speed are adjustable, adjusting range is set determines reliable range of operation, makes operation more steady.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a cross streams motor control method comprises five phase PWM inverter circuits and five cross streams motors, it is characterized in that described method comprises:
Determine first mapping electric current and second mapping electric current according to target torque, input voltage and motor speed;
Determine second feedback current according to described five each phase current of cross streams motor;
Determine first default shaft current scope of handing over according to described second feedback current;
According to described first default shaft current scope of handing over described first mapping electric current adjusted, and obtained first output current;
Control the input signal of described five phase PWM inverter circuits according to described first output current.
2. five cross streams motor control methods according to claim 1, it is characterized in that, describedly determine that according to described second feedback current first default shaft current scope of handing over is specially: hand over shaft current limits value and first preset difference value to determine described first default shaft current scope of handing over according to first, determine described first preset difference value according to second stator hypervelocity electric current and described second feedback current.
3. five cross streams motor control methods according to claim 2, it is characterized in that, describedly determine that according to second stator hypervelocity electric current and described second feedback current described first preset difference value is specially: described second feedback current and described second stator hypervelocity electric current and described second shine upon current ratio after, obtain first deviation, described first deviation exported described first preset difference value after the PI regulating and controlling.
4. five cross streams motor control methods according to claim 2 is characterized in that, adjust described first default friendship shaft current scope by adjusting described second stator hypervelocity electric current and described first friendship shaft current limits value.
5. five cross streams motor control methods according to claim 1 is characterized in that: describedly according to described first default shaft current scope of handing over described first mapping electric current adjusted, and obtained first output current and be specially:
Judge that whether described first mapping electric current be first default friendship within the shaft current scope;
If described first mapping electric current then do not adjusted described first mapping electric current described first default friendship within the shaft current scope, obtain described first output current; If described first mapping electric current handed over outside the shaft current scope at described first, then described first mapping electric current adjusted, obtain described first output current.
6. according to each described five cross streams motor control methods among the claim 1-5, it is characterized in that, also comprise according to described five each phase current of cross streams motor and determine first feedback current;
The described input signal of controlling described five phase PWM inverter circuits according to described first output current is specially:
Described first feedback current and described first output current generate first command voltage after the PI regulating and controlling, described second mapping electric current and described second feedback current generate second command voltage after the PI regulating and controlling; Described first command voltage and described second command voltage are through the input signal of conversion back as the SVPWM module, and described SVPWM module is exported the input signal of described five phase PWM inverter circuits.
7. according to each described five cross streams motor control methods among the claim 1-5, it is characterized in that, also comprise according to described five each phase current of cross streams motor and determine first feedback current or the 3rd feedback current, determine second default shaft current scope of handing over according to described first feedback current or described the 3rd feedback current, according to described second default shaft current scope of handing over described second mapping electric current adjusted, and obtained second output current.
8. five cross streams motor control methods according to claim 7 is characterized in that, the described input signal of controlling described five phase PWM inverter circuits according to described first output current is specially:
Described first output current and described first feedback current generate first command voltage after the PI regulating and controlling, generate second command voltage according to described second output current and described second feedback current after the PI regulating and controlling; Described first command voltage and described second command voltage are through the input signal of conversion back as the SVPWM module, and described SVPWM module is exported the input signal of described five phase PWM inverter circuits.
9. cross streams motor control assembly, comprise DC power supply and PWM inverter circuit, feedback current acquisition module, motor speed acquisition module, it is characterized in that, also comprise the control loop module, described control loop module is used for according to target torque, input voltage and motor speed and first feedback current that receives, second feedback current first command voltage of output and second command voltage; Described control loop module comprises that moment of torsion is to electric current mapping block, mapping current adjusting module and command voltage generation module; Described mapping current adjusting module is used for adjusting first mapping electric current and/or second mapping electric current; Described command voltage generation module is used for described first command voltage of output and second command voltage.
10. five cross streams motor control assemblies according to claim 9 is characterized in that, described command voltage generation module comprises first PI control module, second PI control module;
Described first PI control module generates first command voltage according to described first output current and first feedback current, and described second PI control module generates described second command voltage according to described second output current and described second feedback current;
Or, described first PI control module generates described first command voltage according to described first output current and described first feedback current, and described second PI control module generates described second command voltage according to described second mapping electric current and described second feedback current.
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| CN103281036B (en) | 2015-09-30 |
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Effective date of registration: 20190326 Address after: 317000 east gate of Taizhou City, Zhejiang Province Co-patentee after: Zhejiang Geely Holding Group Co., Ltd. Patentee after: Zhejiang Geely Automobile Research Institute Co., Ltd. Address before: 311228 No. 206 Farmer's Second House in Linjiang Industrial Park, Xiaoshan District, Hangzhou City, Zhejiang Province Co-patentee before: Zhejiang Geely Automobile Research Institute Co., Ltd. Patentee before: Hangzhou Branch, Zhejiang Geely Automobile Research Institute Co., Ltd. Co-patentee before: Zhejiang Geely Holding Group Co., Ltd. |