CN103713629B - Fault positioning method, device and system of motor controller - Google Patents
Fault positioning method, device and system of motor controller Download PDFInfo
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- CN103713629B CN103713629B CN201310753871.6A CN201310753871A CN103713629B CN 103713629 B CN103713629 B CN 103713629B CN 201310753871 A CN201310753871 A CN 201310753871A CN 103713629 B CN103713629 B CN 103713629B
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Abstract
The invention discloses a fault positioning method, device and system of a motor controller. The method includes the following steps that S1, a diagnosis instruction is sent to the motor controller through a connecting port of the motor controller; S2, diagnosis feedback information returned from the motor controller is received through the connecting port of the motor controller; S3, the diagnosis feedback information is compared with prestored information, and a fault source is confirmed according to a comparison result. The fault positioning method, device and system of the motor controller have the advantages that the fault source in the motor controller can be positioned rapidly and accurately, and the fault positioning method, device and system are of great significance to maintenance of batch products.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly, it relates to a kind of fault location side of electric machine controller
Method, apparatus and system.
Background technology
At present low voltage motor controller producer of the country diagnoses also imperfect event due to starting late for controller
The barrier diagnostic equipment, when vehicle breaks down, parts that can only be on car do to be investigated one by one, and the method efficiency is low, is not suitable for
Maintenance to bulk article.
It is also more next to the investigation workload of failure and with the raising of user's request, the parts on car are more and more
It is bigger, when needing to do Breakdown Maintenance especially for bulk article, it is necessary to put into substantial amounts of manpower and materials, and work efficiency
It is low.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided a kind of electric machine controller
Fault Locating Method, methods described be included in fault locator perform following steps：
S1：Diagnostic instruction is sent to electric machine controller by electric machine controller connectivity port；
S2：The diagnostic feedback information returned by electric machine controller is received by electric machine controller connectivity port；
S3：The diagnostic feedback information is compared with prestored information, and the source of trouble is confirmed according to comparison result；
The prestored information includes：When the input channel of the electric machine controller is normal, by the outer of the electric machine controller
Enclose the information that the normal input of parts is produced；Diagnostic instruction in step S1 includes：It is connected with the electric machine controller
Peripheral parts simulation input data；Diagnostic feedback information in step S2 includes that the electric machine controller is being received
The information generated during to the simulation input data；
The prestored information includes；The output channel presupposed information of the electric machine controller；Diagnosis in step S1
Instruction includes：The electric machine controller is asked to return the output channel presupposed information being stored on the electric machine controller；The step
Diagnostic feedback information in rapid S2 includes：The electric machine controller performs the output channel information that the diagnostic instruction is generated；
The prestored information includes：The normal state information of the submodule in the master control borad of the electric machine controller；It is described
Diagnostic instruction in step S1 includes：The electric machine controller is asked to return the work state information of submodule in master control borad；Institute
The diagnostic feedback information stated in step S2 includes：The work state information of submodule in the master control borad of the electric machine controller；
The prestored information includes：Driving plate and power amplifier board are received from the electric machine controller in normal condition
The status information returned during the master control presupposed information of master control borad；Diagnostic instruction in step S1 includes：Ask the motor
Controller to driving plate and power amplifier board send master control presupposed information；Diagnostic feedback information in step S2 includes：The drive
The feedback information that dynamic plate and power amplifier board are generated after the master control presupposed information is received.
In above-mentioned Fault Locating Method, step S3 is performed when all diagnostic feedback information are received.
In above-mentioned Fault Locating Method, methods described also includes：The relevant information of the source of trouble is included in malfunction coefficient
On panel.
A kind of fault locator of electric machine controller is also provided, including：
Information transmitting unit, for sending diagnostic instruction to electric machine controller by electric machine controller connectivity port；
Information receiving unit, for receiving the diagnostic feedback returned by electric machine controller by electric machine controller connectivity port
Information；
Failure location unit, for the diagnostic feedback information to be compared with prestored information, and confirms according to comparison result
The source of trouble；
The prestored information includes：When the input channel of the electric machine controller is normal, by the outer of the electric machine controller
Enclose information, the output channel presupposed information of the electric machine controller, the electric machine controller that the normal input of parts is produced
Master control borad in the normal state information of submodule, driving plate and power amplifier board receive from the motor in normal condition
The status information returned during the master control presupposed information of the master control borad of controller；
The diagnostic instruction includes：The simulation input data of the peripheral parts being connected with the electric machine controller, request
The electric machine controller return be stored on the electric machine controller output channel presupposed information, ask the electric machine controller to return
Return the work state information of submodule in master control borad, ask the electric machine controller to be preset to driving plate and power amplifier board transmission master control
Information；
The diagnostic feedback information includes：The letter that the electric machine controller is generated when the simulation input data are received
Breath, the electric machine controller perform output channel information, the master control borad of the electric machine controller that the diagnostic instruction is generated
The feedback that the work state information of interior submodule, the driving plate and power amplifier board are generated after the master control presupposed information is received
Information.
A kind of fault location system of electric machine controller is also provided, including the electric machine controller being sequentially connected, described above
Fault locator and malfunction coefficient panel, it is logical using CAN between the electric machine controller and the fault locator
News mode, adopts SCI communication modes between the fault locator and the malfunction coefficient panel.
Implement Fault Locating Method, the apparatus and system of a kind of electric machine controller of the present invention, have the advantages that：
By the reasonable coordination of electric machine controller and fault locator, be capable of achieving to carry out quick diagnosis to the failure of electric machine controller with
And the source of trouble is accurately positioned, and design cost of the present invention is low, stable and reliable in work and efficiency high, is highly suitable for batch and produces
The Breakdown Maintenance of product.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is a kind of flow chart of the Fault Locating Method of electric machine controller of the invention；
Fig. 2 is a kind of structural representation of the fault locator of electric machine controller of the invention；
Fig. 3 is a kind of structural representation of the fault location system of electric machine controller of the invention.
Specific embodiment
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now compare accompanying drawing and describe in detail
The specific embodiment of the present invention.
Fig. 1 is a kind of flow chart of the Fault Locating Method of electric machine controller of the invention, and the method includes following step
Suddenly：
S1：Diagnostic instruction is sent to electric machine controller by electric machine controller connectivity port；
S2：The diagnostic feedback information returned by electric machine controller is received by electric machine controller connectivity port；
S3：The diagnostic feedback information is compared with prestored information, and the source of trouble is confirmed according to comparison result.
Specifically, when being and motor control to the diagnostic instruction that electric machine controller sends by electric machine controller connectivity port
During the simulation input data of the peripheral parts of device connection, the peripheral parts that will simulate the electric machine controller connection of generation are defeated
The information for entering is sent to electric machine controller, and requires that the electric machine controller returns the simulation input data, now by motor control
The diagnostic feedback information returned by electric machine controller that device connectivity port processed receives is electric machine controller to receive the simulation defeated
Enter the information generated during data.
When the diagnostic instruction sent to electric machine controller by electric machine controller connectivity port is returned for request electric machine controller
Return when being stored in the output channel presupposed information on the electric machine controller；Receive accordingly by electric machine controller connectivity port
The diagnostic feedback information returned by electric machine controller performs the output channel letter that the diagnostic instruction is generated by electric machine controller
Breath.
When the diagnostic instruction sent to electric machine controller by electric machine controller connectivity port is returned for request electric machine controller
When returning the work state information of submodule in master control borad；Accordingly by the reception of electric machine controller connectivity port by motor control
The diagnostic feedback information that device is returned is the work state information of submodule in the master control borad of electric machine controller.
When the diagnostic instruction sent to electric machine controller by electric machine controller connectivity port for ask electric machine controller to
When driving plate and power amplifier board send master control presupposed information；Accordingly by the reception of electric machine controller connectivity port by motor control
The diagnostic feedback information that device is returned is the feedback information that driving plate and power amplifier board are generated after master control presupposed information is received.The master
Control presupposed information include by electric machine controller master control borad send it is predefined for diagnosing driving plate and each submodule of power amplifier board
The whether abnormal group information of block.
According to the above-mentioned all diagnostic feedback information returned by electric machine controller for receiving, by these diagnostic feedback information
Compared one by one again with prestored information, the source of trouble can be confirmed according to comparison result.Wherein prestored information includes：In motor control
When the input channel of device processed is normal, the information produced by the normal input of the peripheral parts of the electric machine controller, by what is returned
Diagnostic feedback information is compared with the prestored information, if unanimously, the input channel of the electric machine controller is normal, if not
Unanimously, then failure can be there occurs with the input channel of diagnosing motor controller.
Prestored information includes the output channel presupposed information of electric machine controller, is motor control by the diagnostic feedback information of return
The output channel presupposed information of device processed is compared with the prestored information, if unanimously, the output channel of electric machine controller is normal,
If inconsistent, failure can be there occurs with the output channel of diagnosing motor controller.
Prestored information includes the normal state information of the submodule in the master control borad of electric machine controller, and the diagnosis for returning is anti-
Feedforward information is that the work state information of each submodule is compared one by one with the prestored information in the master control borad of electric machine controller, is led to
Cross each the submodule work state information for returning to compare with corresponding prestored information, be diagnosable according to comparison result
Whether each submodule work is abnormal in master board.It is working properly if consistent, if inconsistent, can diagnose it is concrete which
Individual submodule there occurs failure.
Prestored information includes that driving plate and power amplifier board receive the master control borad from electric machine controller in normal condition
The status information returned during master control presupposed information, the master control presupposed information is for reflecting that driving plate and each submodule of power amplifier board be
A no abnormal group information, is that driving plate and power amplifier board are raw after master control presupposed information is received by the diagnostic feedback information of return
Into feedback information compare with the prestored information, you can diagnosing driving plate and each submodule of power amplifier board according to comparison result is
No exception.It is working properly if consistent, if inconsistent, can diagnose that concrete which submodule there occurs failure.
Therefore, in above-mentioned steps S3, just compared one by one after all diagnostic feedback information are received, and then really
Recognize the source of trouble, the method efficiency is higher, and be capable of achieving quick and precisely positioning failure source.
Especially, a coarse localization first can also be carried out to the source of trouble before step S1：By reading motor control
The fault reference information of device memory storage a, you can coarse localization is carried out to the source of trouble, you can coarse localization is electric machine controller
Master control borad, driving plate, or power amplifier board there occurs failure, when the source of trouble is subsequently accurately positioned, be equivalent to positioning
Concrete one or more submodules in electric machine controller master control borad, driving plate and power amplifier board there occurs failure, if being accurately positioned
The source of trouble for going out is not needed to re-start again and is once accurately positioned in the range of the source of trouble that coarse localization goes out, then, improves accuracy,
Reduce the probability of wrong report.For example, it is that the driving plate of electric machine controller there occurs failure when coarse localization has, and follow-up accurate
Certain submodule not being diagnosed to be in driving plate in positioning there occurs failure, then need again to enter each submodule in driving plate
Row diagnosis, that is, resend diagnostic instruction.
Said method is also included in real time including the relevant information of the source of trouble on malfunction coefficient panel, wherein, it is related to believe
Breath refers to concrete which subassembly there occurs failure in electric machine controller, and the input channel of such as electric machine controller breaks down, or
The output channel of person's electric machine controller breaks down, or some submodule there occurs event in the master control borad of electric machine controller
Barrier, or electric machine controller driving plate in some submodule break down, or in the power amplifier board of electric machine controller it is a certain
Individual submodule breaks down.
Therefore the source of trouble in quick and precisely positioning motor controller is capable of achieving efficiently by above-mentioned Fault Locating Method, it is right
The maintenance of bulk article is significant.
Fig. 2 is a kind of structural representation of the fault locator of electric machine controller of the invention, the fault locator 20
The simulation of external signal can be realized to electric machine controller 10, at the same detect electric machine controller inside the source of trouble, including for
The information transmitting unit 201 of diagnostic instruction is sent to electric machine controller by electric machine controller connectivity port, for by motor
Controller connectivity port receives the information receiving unit 202 of the diagnostic feedback information returned by electric machine controller and for by institute
State diagnostic feedback information to compare with prestored information and confirm the failure location unit 203 of the source of trouble according to comparison result.
Wherein, above-mentioned prestored information includes：When the input channel of electric machine controller is normal, by the outer of the electric machine controller
Enclose information, the output channel presupposed information of electric machine controller, the master control borad of electric machine controller that the normal input of parts is produced
The normal state information of interior submodule, driving plate and power amplifier board receive the master control from electric machine controller in normal condition
The status information returned during the master control presupposed information of plate.
Diagnostic instruction includes：The simulation input data of the peripheral parts being connected with electric machine controller, request motor control
Device is returned and is stored in submodule in the output channel presupposed information on the electric machine controller, request electric machine controller return master control borad
Work state information, request electric machine controller send master control presupposed information to driving plate and power amplifier board.
Diagnostic feedback information includes：Information, motor control that electric machine controller is generated when simulation input data are received
Device performs the working condition letter of submodule in the output channel information that the diagnostic instruction generated, the master control borad of electric machine controller
The feedback information that breath, driving plate and power amplifier board are generated after master control presupposed information is received.
The diagnostic feedback information of all returns is compared one by one with corresponding prestored information, you can diagnosing motor is controlled
Whether the input channel of device breaks down, or whether the output channel of electric machine controller breaks down, or electric machine controller
Master control borad in some submodule whether there occurs failure, or whether some submodule in the driving plate of electric machine controller
Break down, or whether some submodule breaks down in the power amplifier board of electric machine controller.
Additionally, the fault locator 20 also includes the fault reference information for reading electric machine controller memory storage, root
The failure coarse localization unit (not shown) of coarse localization is carried out to the source of trouble and for inciting somebody to action according to the fault reference information for reading
The relevant information of the source of trouble is displayed in the fault display unit (not shown) on malfunction coefficient panel.Wherein, fault display unit
In real time the relevant information of the source of trouble is included on malfunction coefficient panel 30 by SCI communications, to provide intuitively source of trouble letter
Cease to user.And by the failure coarse localization unit coarse localization source of trouble, wrong report phenomenon is effectively prevent, improve failure
The accuracy of positioning.
Fig. 3 is a kind of structural representation of the fault location system of electric machine controller of the invention, the fault location system bag
Electric machine controller 10, fault locator 20 and malfunction coefficient panel 30 are included, wherein, fault locator 20 and motor control
Adopt between device 10 between CAN communication mode, with malfunction coefficient panel 30 and realized using SCI communication modes.
Fault Locating Method, the concrete operating principle of apparatus and system of a kind of electric machine controller of the invention is now discussed in detail
It is as follows：Each subassembly of electric machine controller is mainly master control borad, driving plate and power amplifier board, driving plate and power amplifier board with master
Control plate rigid connection.In the event of failure, fault locator can first read the fault reference of electric machine controller storage inside
Information, according to the fault reference information for reading a coarse localization is carried out to the source of trouble, i.e., be possible to master control in electric machine controller
Plate there occurs failure, or driving plate there occurs failure, or power amplifier board there occurs failure, and this is to follow-up master control borad, driving plate
Or the fault diagnosis of each submodule is referred to there is provided one in power amplifier board.
The fault locator is capable of achieving simulated machine control external signal and delivers to electric machine controller, you can diagnosing motor control
Whether the input channel and output channel of device processed breaks down.It is outer that fault locator simulation generation is connected with electric machine controller
Enclose the information of parts input, including digital quantity and analog quantity information, by these simulation input data is activations to motor control
The information generated when the simulation input data are received then is returned to fault locator by device processed, electric machine controller.
Fault locator sends request electric machine controller and returns by electric machine controller connectivity port to electric machine controller
The default information of output channel, fault locator receives again the output channel presupposed information of electric machine controller return.Failure is determined
Position device asks the work state information of each submodule in electric machine controller return master control borad by sending to electric machine controller, and
Receive each sub- work state information in the master control borad that electric machine controller is returned.
Fault locator sends request electric machine controller to drive by electric machine controller connectivity port to electric machine controller
Dynamic plate and power amplifier board send master control presupposed information, i.e., send presupposed information to driving plate and power amplifier board by master control borad, the default letter
Cease is used to diagnosing in driving plate and power amplifier board each submodule work whether abnormal information for one group, and fault locator is received drives
The feedback information that dynamic plate and power amplifier board are generated after master control presupposed information is received, also for corresponding for reflecting driving plate and work(
A group information of each submodule working condition in rate plate.
Afterwards, fault locator is by the diagnostic feedback information received by electric machine controller connectivity port and fault location
Device prestored information is compared one by one, and is to send to examine to electric machine controller by CAN communication in above process
Severed finger makes and receives the diagnostic feedback information that electric machine controller is returned.Wherein, diagnostic feedback information includes above-mentioned motor control
Output channel presupposed information, the electricity stored in information, electric machine controller that device is generated when the simulation input data are received
The work state information of submodule, driving plate and power amplifier board are raw after master control presupposed information is received in the master control borad of machine controller
Into feedback information；Prestored information be included in electric machine controller input channel it is normal when, by the periphery zero of the electric machine controller
The information of the normal input generation of part, electric machine controller perform output channel information, motor control that diagnostic instruction is generated
The normal state information and driving plate and power amplifier board of the submodule in the master control borad of device is received from electricity in normal condition
The status information returned during the master control presupposed information of the master control borad of machine controller.
The information that generates when simulation input data are received of electric machine controller received by fault locator with
When the input channel of electric machine controller is normal, the information produced by the normal input of the peripheral parts of the electric machine controller is carried out
Compare, if unanimously, the input channel for being diagnosed to be electric machine controller for receiving peripheral components information is normal, otherwise different
Often.Prestore inside the output channel presupposed information and fault locator of the electric machine controller received by fault locator
The output channel presupposed information of electric machine controller is compared, if unanimously, the output channel of electric machine controller be it is normal, instead
It is abnormal.Each submodule such as Electrical Erasable in the master control borad of the electric machine controller received by fault locator
(EEPROM) module, the work state information of temperature detecting module etc. of detection ambient temperature, by its respective work state information
Carry out one by one with the normal state information of each submodule in the master control borad of the electric machine controller prestored inside fault locator
Compare, if unanimously, normally, on the contrary it is abnormal.
The feedback that the driving plate and power amplifier board received by fault locator is generated after master control presupposed information is received
The driving plate and power amplifier board prestored inside information and fault locator is received from electric machine controller in normal condition
The status information returned during the master control presupposed information of master control borad is compared, if unanimously, normally, on the contrary it is abnormal, and the master control is pre-
If information is one group is used for diagnosing motor controller driving plate and each submodule of power amplifier board whether abnormal information, wherein, drive
Each submodule in plate includes drive module and electric current, voltage sample module of controlled motor etc., each in power amplifier board
Whether abnormal submodule include the temperature sampling module for detecting power plate temperature and the module for judging drive signal
Etc..Therefore, by the diagnostic feedback of each submodule in the master control borad, driving plate and the power amplifier board that receive electric machine controller
Information, then compared one by one with fault locator inside prestored information, then the source of trouble is accurately positioned according to comparison result,
With high efficiency, quick and the characteristics of can be accurately positioned.
And by SCI communications in real time include the relevant information of the source of trouble being diagnosed to be on malfunction coefficient panel, with
To user, that is, the input channel for being possible to above-mentioned middle electric machine controller breaks down, Huo Zhe electricity to provide intuitively failure source information
The output channel of machine controller breaks down, or some in electric machine controller in master control borad in submodule or multiple generations
In failure, or the driving plate of electric machine controller some submodule or it is multiple break down, or the power of electric machine controller
Some submodule or multiple break down in plate.
Therefore, by electric machine controller and the reasonable coordination of fault locator, it is capable of achieving the failure to electric machine controller
Being accurately positioned for quick diagnosis and the source of trouble is carried out, while the Fault Locating Method of the present invention, apparatus and system design cost
Low, stable and reliable in work and efficiency high is highly suitable for the Breakdown Maintenance of bulk article, particularly low-voltage electromobile motor control
The fault location of device.
Embodiments of the invention are described above in conjunction with accompanying drawing, but be the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned specific embodiment is only schematic, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (5)
1. a kind of Fault Locating Method of electric machine controller, it is characterised in that methods described is included in fault locator and holds
Capable following steps：
S1：Diagnostic instruction is sent to electric machine controller by electric machine controller connectivity port；
S2：The diagnostic feedback information returned by electric machine controller is received by electric machine controller connectivity port；
S3：The diagnostic feedback information is compared with prestored information, and the source of trouble is confirmed according to comparison result；
The prestored information includes：When the input channel of the electric machine controller is normal, by the periphery zero of the electric machine controller
The information that the normal input of part is produced；Diagnostic instruction in step S1 includes：What is be connected with the electric machine controller is outer
Enclose the simulation input data of parts；Diagnostic feedback information in step S2 includes the electric machine controller receiving
State the information generated during simulation input data；
The prestored information includes；The output channel presupposed information of the electric machine controller；Diagnostic instruction in step S1
Including：The electric machine controller is asked to return the output channel presupposed information being stored in the electric machine controller；Step S2
In diagnostic feedback information include：The electric machine controller performs the output channel information that the diagnostic instruction is generated；
The prestored information includes：The normal state information of the submodule in the master control borad of the electric machine controller；The step
Diagnostic instruction in S1 includes：The electric machine controller is asked to return the work state information of submodule in master control borad；The step
Diagnostic feedback information in rapid S2 includes：The work state information of submodule in the master control borad of the electric machine controller；
The prestored information includes：Driving plate and power amplifier board receive the master control from the electric machine controller in normal condition
The status information returned during the master control presupposed information of plate；Diagnostic instruction in step S1 includes：Ask the motor control
Device to driving plate and power amplifier board send master control presupposed information；Diagnostic feedback information in step S2 includes：The driving plate
The feedback information generated after the master control presupposed information is received with power amplifier board.
2. Fault Locating Method according to claim 1, it is characterised in that step S3 is to receive all diagnosis anti-
Perform during feedforward information.
3. Fault Locating Method according to claim 1, it is characterised in that methods described also includes：By the phase of the source of trouble
Pass presentation of information is on malfunction coefficient panel.
4. a kind of fault locator of electric machine controller, it is characterised in that include：
Information transmitting unit, for sending diagnostic instruction to electric machine controller by electric machine controller connectivity port；
Information receiving unit, for receiving the diagnostic feedback letter returned by electric machine controller by electric machine controller connectivity port
Breath；
Failure location unit, for the diagnostic feedback information to be compared with prestored information, and confirms failure according to comparison result
Source；
The prestored information includes：When the input channel of the electric machine controller is normal, by the periphery zero of the electric machine controller
Information, the output channel presupposed information of the electric machine controller, the master of the electric machine controller that the normal input of part is produced
Normal state information, driving plate and the power amplifier board for controlling the submodule in plate is received from the motor control in normal condition
The status information returned during the master control presupposed information of the master control borad of device；
The diagnostic instruction includes：The simulation input data of the peripheral parts being connected with the electric machine controller, request are described
Electric machine controller returns output channel presupposed information, the request electric machine controller return master being stored on the electric machine controller
The work state information of submodule, the request electric machine controller send the default letter of master control to driving plate and power amplifier board in control plate
Breath；
The diagnostic feedback information includes：Information that the electric machine controller is generated when the simulation input data are received,
The electric machine controller performs son in the output channel information that the diagnostic instruction generated, the master control borad of the electric machine controller
The feedback letter that the work state information of module, the driving plate and power amplifier board are generated after the master control presupposed information is received
Breath.
5. a kind of fault location system of electric machine controller, it is characterised in that including the electric machine controller, 4 institutes of power that are sequentially connected
The fault locator stated and malfunction coefficient panel, adopt CAN between the electric machine controller and the fault locator
Communication modes, adopt SCI communication modes between the fault locator and the malfunction coefficient panel.
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| CN105242662B (en) * | 2015-10-21 | 2018-03-02 | 上海电控研究所 | A kind of handling controller detection means and detection method |
| CN107696862A (en) * | 2017-10-11 | 2018-02-16 | 珠海英搏尔电气股份有限公司 | Indicating fault method, controller and the electric car of electronic vehicle control |
| CN109719727A (en) * | 2019-01-18 | 2019-05-07 | 芜湖智久机器人有限公司 | A kind of robot communication and fault detection system and method |
| CN112947393B (en) * | 2021-04-12 | 2023-05-05 | 杭州秋瑞自动化科技有限公司 | Diagnostic method of PLC system |
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| CN103713629A (en) | 2014-04-09 |
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