CN104678830B - Electromechanical servo comprehensively control and energy management apparatus - Google Patents
Electromechanical servo comprehensively control and energy management apparatus Download PDFInfo
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- CN104678830B CN104678830B CN201410430929.8A CN201410430929A CN104678830B CN 104678830 B CN104678830 B CN 104678830B CN 201410430929 A CN201410430929 A CN 201410430929A CN 104678830 B CN104678830 B CN 104678830B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention provides a kind of electromechanical servo comprehensively control and energy management apparatus, for carrying out control and energy management to servo motor, it include: micro-processor interface circuit, detection circuit, signal conversion circuit, isolation drive amplifying circuit and gas gauge circuit, wherein, the detection circuit includes first voltage detection circuit, the first current detection circuit, second voltage detection circuit and the second current detection circuit.A kind of electromechanical servo comprehensively control provided by the invention and energy management apparatus can be realized the absorption of the energy and the integrated management released, and simplify system composition and reduce system weight, while can be realized the self-test of electromechanical servo system.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to an electromechanical servo comprehensive control and energy management device.
Background
The servo system is a flight control actuating mechanism of aerospace vehicles such as a carrier rocket, a missile weapon, an airplane and the like, and controls pitching, yawing and rolling channels of the vehicles by a thrust vector control mode, an air rudder control mode, a direct force control mode or a composite control mode of the three modes.
The electromechanical servo system is a form of servo system, and mainly comprises a servo controller, a servo driver, an electromechanical actuator and a servo power supply. The servo controller is in charge of analog or digital bus communication with a control system (an upper computer), and is also in charge of transmitting feedback signals of a servo driver and other devices to the control system (the upper computer), and the servo controllers for thrust vector control also have the functions of swing angle command decomposition, position closed loop and the like. The servo driver is a device for driving a servo motor to operate according to a certain command, mainly comprises a digital control circuit, a power amplification circuit and the like, and can realize closed-loop control of the electromechanical actuator. The electromechanical actuator consists of a servo motor and a servo transmission mechanism, and converts electric energy output by a servo driver in a servo system into mechanical energy output by linear or rotation of the actuator.
The electromechanical servo system for the aircraft has the characteristics of small long-term working current, large short-term working current and quick response. Under the working condition of high dynamic response, a servo motor in the electromechanical actuator is accelerated and decelerated frequently in the working process, so that a servo power supply needs to provide peak current frequently and bear reverse-filling voltage when the servo motor is braked. To reduce this effect and also to reduce the overload output requirement of the output current of the servo power supply, an energy management design is required.
The energy management device for the aircraft generally adopts two modes of independent design or integrated design with other single machines, and the energy management mode comprises absorption and discharge.
Patent ZL201220322859.0 "a power management device based on electromechanical servo mechanism" adopts an absorption and cut-off independent device for energy management (as shown in fig. 1), and the device is composed of a diode and a capacitor bank, the diode is used for preventing energy generated by braking from recharging the power supply, and the capacitor bank is used for absorbing recharging energy during braking and generating instant working current during starting to compensate power supply output. The scheme has the advantages that the braking energy can be recycled, and the peak current output capacity of the power supply is enhanced; the device has the disadvantages that the voltage resistance and the capacity of the capacitor bank are required to be larger for occasions with larger braking energy and higher working voltage, so the number of the capacitor bank in series connection and parallel connection needs to be increased, the volume and the weight of the energy management device are increased, and in addition, the device does not have the functions of measuring the direct current bus voltage and the bus current, for example, additional power supply conversion circuits and communication transmission circuits need to be designed for increasing the functions.
Patent ZL201120416755.1 "a control circuit for reliably managing regenerated energy" adopts a discharging mode to manage energy (as shown in fig. 2), and the device is generally integrated in a servo driver and consists of a brake power tube and a brake resistor, when the voltage of a direct current bus is higher than a set threshold, the control circuit generates a high level and turns on the brake power tube, and simultaneously turns off a PWM signal for controlling a motor of the servo driver, the brake resistor is connected between a positive bus and a negative bus of a power supply in series, the brake energy is discharged by heating of the resistor, when the voltage of the direct current bus is lower than the set threshold, the brake power tube is turned off, and the servo driver is in a normal working state. The scheme has the advantages that the volume and the weight are relatively low, the high working voltage can be borne, and the cost is low; the brake circuit has the defects that only the release function is adopted, the brake energy is not effectively absorbed and utilized, and the electromechanical actuator is temporarily in a stop control state when the brake circuit works.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide an electromechanical servo comprehensive control and energy management device which is used for realizing comprehensive management of absorption and discharge of energy, simplifying system composition, reducing system weight and realizing self-test of an electromechanical servo system.
(II) technical scheme
In order to achieve the above object, the present invention provides an electromechanical servo integrated control and energy management device for controlling and managing a servo motor, comprising: the system comprises a micro-processing circuit, a detection circuit, a signal conversion circuit, an isolation driving amplification circuit and an energy management circuit, wherein the detection circuit comprises a first voltage detection circuit, a first current detection circuit, a second voltage detection circuit and a second current detection circuit, wherein the first voltage detection circuit is used for detecting the direct current bus voltage at the input end of the energy management circuit and transmitting the direct current bus voltage to the micro-processing circuit through the signal conversion circuit; the first current detection circuit is used for detecting the direct current bus current at the input end of the energy management circuit and transmitting the direct current bus current to the micro-processing circuit through the signal conversion circuit; the second voltage detection circuit is used for detecting the direct current bus voltage at the output end of the energy management circuit and transmitting the direct current bus voltage to the micro-processing circuit through the signal conversion circuit; the second current detection circuit is used for detecting the direct current bus current at the output end of the energy management circuit and transmitting the direct current bus current to the micro-processing circuit through the signal conversion circuit; the micro-processing circuit is used for outputting a brake control signal according to the received detection result, and controlling the energy management circuit to absorb and discharge energy after passing through the isolation drive amplifying circuit.
Preferably, the energy management circuit comprises: the absorption energy storage circuit is used for absorbing and storing backward-flowing energy generated when the servo motor is braked and generating instant working current to compensate power supply output when the servo motor is started; and the brake release circuit is used for releasing the reverse irrigation energy when the servo motor is braked.
Preferably, the microprocessor circuit is configured to control the energy management circuit to absorb and discharge energy, and specifically includes: setting the absorption voltage threshold of the absorption energy storage circuit to be U1thThe brake voltage threshold value released by the brake release circuit is U2thAnd U is2thGreater than U1th(ii) a When the voltage of the direct current bus at the output end of the energy management circuit is lower than U1thWhen the servo motor is braked, the micro-processing circuit controls the absorption energy storage circuit to absorb and store the back-pouring energy of the servo motor during braking; when the voltage of the DC bus at the output end of the energy management circuit is higher than U2thAnd the micro-processing circuit controls the brake release circuit to release the reverse-flow energy of the servo motor during braking.
Preferably, the energy management circuit further includes a diode for preventing energy at an output end side of the energy management circuit from flowing back to an input end side of the energy management circuit, and the specific structures of the energy management circuit and the detection circuit are as follows: the first end of the first voltage detection circuit is connected with the positive input end of the energy management circuit, and the second end of the first voltage detection circuit is connected with the negative input end of the energy management circuit; the first end of the first current detection circuit is connected with the positive input end of the energy management circuit, and the second end of the first current detection circuit is connected with the anode of the diode; the first end of the absorption energy storage circuit is connected with the cathode of the diode, and the second end of the absorption energy storage circuit is connected with the negative input end of the energy management circuit; the first end of the brake release circuit is connected with the first end of the absorption energy storage circuit, and the second end of the brake release circuit is connected with the second end of the absorption energy storage circuit; the first end of the second voltage detection circuit is connected with the first end of the brake release circuit, and the second end of the second voltage detection circuit is connected with the second end of the brake release circuit and the negative output end of the energy management circuit; and the first end of the second current detection circuit is connected with the first end of the second voltage detection circuit, and the second end of the second current detection circuit is connected with the positive output end of the energy management circuit output end.
Preferably, the absorption energy storage circuit is a capacitor bank, the brake release circuit includes a brake pipe and a brake resistor connected in series, and the brake pipe performs a switching operation according to the brake control signal.
Preferably, the primary bus interface circuit is used for transmitting a digital control signal from an external control system to the micro-processing circuit and transmitting a digital feedback signal of the micro-processing circuit to the control system; and the secondary bus interface circuit is used for transmitting the digital control signal of the micro-processing circuit to an external servo driver and transmitting a digital feedback signal from the external servo driver to the microprocessor.
Preferably, the primary bus interface circuit is a 1553B bus interface circuit, the secondary bus interface circuit is a CAN bus circuit, and the microprocessor circuit is a DSP and a core circuit thereof.
Preferably, the analog signal processing and converting circuit is configured to transmit an analog control signal from an external control system to the microprocessor circuit and transmit a digital feedback signal of the microprocessor circuit to the control system, and transmit a digital control signal of the microprocessor circuit to an external servo driver and transmit an analog feedback signal from the external servo driver to the microprocessor.
The invention also provides an electromechanical servo system which comprises any one of the electromechanical servo comprehensive control and energy management devices.
Preferably, the method further comprises the following steps: servo power supply, servo driver and electromechanical actuator, wherein, servo power supply connects the energy management circuit input, servo driver connects the energy management circuit output with second grade bus interface circuit, electromechanical actuator includes servo motor and servo drive mechanism, be used for with the electric energy conversion of servo driver output is the mechanical energy output of straight line or rotation.
(III) advantageous effects
The invention has the following characteristics: (1) the complete integrated design of 'control and energy management' of an electromechanical servo system can be realized, a servo controller and an energy manager are comprehensively designed, and the digital control function of the servo controller can be fully utilized to realize the comprehensive management of energy absorption and discharge in addition to the realization of the function of the servo controller; (2) compared with the two schemes of absorption type and discharge type energy management in the prior art, the invention can absorb most of energy by reasonably setting multiple protection thresholds, and can not cause the problems of overlarge volume and weight and overhigh cost of an energy management part due to overhigh voltage and braking energy; (3) the detection and information feedback of the bus voltage and the bus current at the front end and the rear end of the energy management circuit can be realized, the testability of an electromechanical servo system is improved, and performance analysis and troubleshooting are facilitated; (4) the invention adopts an integrated design, reduces the single machine types and the electric connection between the single machines of the electromechanical servo system, and reduces the volume and the weight of the whole system.
Drawings
The invention is further described below with reference to the accompanying drawings and with reference to examples. Wherein:
fig. 1 is a schematic circuit diagram of an absorption energy management device in the prior art;
fig. 2 shows a block diagram of a bleeder type energy management device according to the prior art;
FIG. 3 is a schematic diagram of the electromechanical servo integrated control and energy management device of the present invention;
FIG. 4 is a schematic diagram of an electromechanical servo integrated control and energy management device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an energy management circuit and a detection circuit in the electromechanical servo integrated control and energy management apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention provides a comprehensive control and energy management device for an electromechanical servo system and the electromechanical servo system comprising the device, which can efficiently manage the power utilization characteristics of the electromechanical servo system and realize high integration of a servo controller and a servo power manager.
As shown in fig. 3, the electromechanical servo integrated control and energy management apparatus according to the present invention is used for controlling and managing the servo motor, and includes: the device comprises a micro-processing circuit, a detection circuit, a signal conversion circuit, an isolation driving amplification circuit and an energy management circuit, wherein the detection circuit comprises a first voltage detection circuit, a first current detection circuit, a second voltage detection circuit and a second current detection circuit. Wherein,
the first voltage detection circuit is used for detecting the direct current bus voltage at the input end of the energy management circuit and transmitting the direct current bus voltage to the micro-processing circuit through the signal conversion circuit.
The first current detection circuit is used for detecting the direct current bus current at the input end of the energy management circuit and transmitting the direct current bus current to the micro-processing circuit through the signal conversion circuit.
The second voltage detection circuit is used for detecting the direct current bus voltage at the output end of the energy management circuit and transmitting the direct current bus voltage to the micro-processing circuit through the signal conversion circuit.
The second current detection circuit is used for detecting the direct current bus current at the output end of the energy management circuit and transmitting the direct current bus current to the micro-processing circuit through the signal conversion circuit.
The number of the signal conversion circuits may be one or a plurality of, for example, two, the first voltage detection circuit and the first current detection circuit may share one signal conversion circuit, and the second voltage detection circuit and the second current detection circuit may share the other signal conversion circuit.
The micro-processing circuit is used for outputting a brake control signal according to a received detection result, and controlling the energy management circuit to absorb and discharge energy after passing through the isolation driving amplification circuit.
According to an embodiment of the invention, the energy management circuit may include: an absorption tank circuit and a brake release circuit.
The absorption energy storage circuit is used for absorbing and storing the back-filling energy when the servo motor is braked and generating instant working current to compensate power supply output when the servo motor is started.
The brake release circuit is used for releasing reverse-flow energy generated when the servo motor is braked.
According to an embodiment of the present invention, the electromechanical servo integrated control and energy management apparatus may further include: the system comprises a primary bus interface circuit and a secondary bus interface circuit.
The primary bus interface circuit is used for transmitting a digital control signal from an external control system to the micro-processing circuit and transmitting a digital feedback signal of the micro-processing circuit to the control system.
The secondary bus interface circuit is used for transmitting the digital control signal of the micro-processing circuit to an external servo driver and transmitting the digital feedback signal from the external servo driver to the microprocessor.
Specifically, the primary bus interface circuit may be a 1553B bus interface circuit, the secondary bus interface circuit may be a CAN bus circuit, the primary bus interface circuit and the secondary bus interface circuit may also be interchanged, and other suitable forms of an industrial field bus, an aviation digital bus, and the like, such as RS422/485, Flexray, and the like, may also be adopted.
Specifically, the micro-processing circuit may be a DSP and a core circuit thereof, and may also adopt other suitable forms such as a single chip microcomputer, a programmable logic device, an ARM, and the like.
According to an embodiment of the present invention, the electromechanical servo integrated control and energy management apparatus may further include: the analog signal processing and converting circuit is used for transmitting an analog control signal from an external control system to the micro-processing circuit, transmitting a digital feedback signal of the micro-processing circuit to the control system, transmitting a digital control signal of the micro-processing circuit to an external servo driver and transmitting an analog feedback signal from the external servo driver to the microprocessor.
As shown in fig. 3, the electromechanical servo system provided by the present invention includes any one of the electromechanical servo integrated control and energy management devices, and further includes: a servo power supply, a servo driver, and an electromechanical actuator.
The servo power supply is connected with the input end of the energy management circuit, the servo driver is connected with the output end of the energy management circuit and the secondary bus interface circuit, and the electromechanical actuator comprises a servo motor and a servo transmission mechanism and is used for converting electric energy output by the servo driver into linear or rotary mechanical energy to be output.
According to the embodiment of the present invention, there is no specific requirement on the number of servo drivers, and the number may be one or any number of two or more.
The working principle of the invention is further illustrated according to this embodiment, as shown in fig. 4.
The direct current bus power supply of the servo power supply is input to the device, and is output to the servo driver as the power supply of the power main circuit after being subjected to energy management and control through the absorption energy storage circuit and the brake release circuit.
The direct current bus power supply detects voltage and current before and after energy management and transmits the voltage and current to the DSP and a core circuit thereof through a signal conversion circuit.
The micro-processing circuit receives the collected direct-current bus voltage, judges the direct-current bus voltage, outputs a brake control signal, and drives the power tube in the brake release circuit to be switched on and off after passing through the isolation drive amplifying circuit.
The DSP and the core circuit thereof realize CAN bus transmission with the control instruction of the servo driver and the feedback signal of the servo driver through the CAN bus interface circuit.
The DSP and the core circuit thereof realize digital bus transmission of control instructions of a control system and signals of the position, the motor speed, the current, the direct current bus voltage and the current before and after energy management and the like of the electromechanical servo system through a 1553B bus interface circuit.
The DSP and the core circuit thereof have another function of realizing the synthesis or decomposition of the swing angle commands of each station sent by part of the control system.
As shown in fig. 5, according to the embodiment of the present invention, the energy management circuit may further include a diode D for preventing energy on its output side from flowing backward to its input side; in addition, the absorption energy storage circuit is a capacitor bank C, and the capacity, the withstand voltage value and the series-parallel connection structure of the capacitor bank can be determined according to the actual rated working voltage, the braking energy and the threshold value allowing absorption; the brake release circuit comprises a brake pipe Q and a brake resistor R which are connected in series, and the brake pipe Q performs switching action according to the brake control signal; further, V1 and V2 are voltage detection circuits, and I1 and I2 are current detection circuits for detecting voltage and current signals on the power supply side and the power consumption side, respectively.
The specific structure of the energy management circuit and the detection circuit can be as follows: a first end of the first voltage detection circuit V1 is connected to the positive input end of the energy management circuit, and a second end thereof is connected to the negative input end of the energy management circuit; a first end of the first current detection circuit I1 is connected to the positive input end of the energy management circuit, and a second end thereof is connected to the anode of the diode D; the first end of the capacitor bank C is connected with the cathode of the diode D, and the second end of the capacitor bank C is connected with the negative input end of the energy management circuit; the first end of the brake pipe Q is connected with the first end of the capacitor bank C, the second end of the brake pipe Q is connected with the first end of the brake resistor R, and the second end of the brake resistor R is connected with the second end of the capacitor bank C; a first end of the second voltage detection circuit V2 is connected to a first end of the brake release circuit, and a second end thereof is connected to a second end of the brake resistor R and a negative output end of the energy management circuit; the first end of the second current detection circuit I2 is connected to the first end of the second voltage detection circuit V2, and the second end thereof is connected to the positive output end of the energy management circuit output end.
According to the brake tube provided by the embodiment of the invention, applicable switching devices such as IGBT and MOSFET can be selected according to actual needs.
According to the embodiment provided by the invention, a two-stage energy management strategy is adopted, namely: setting absorption for primary energy management by capacitive absorption and storageVoltage threshold of U1th(ii) a Setting the braking voltage threshold to U by secondary energy management of the brake circuit discharge2thAnd a threshold U set by secondary energy management2thAbove the first level energy management setting the first threshold U1th. Implementing a hierarchical management strategy for the energy of the electromechanical servo system, namely when the voltage of a direct current bus at the output end of the energy management circuit is lower than U1thWhen the brake is started, the brake pipe is closed, and the brake energy is stored into the capacitor bank in an absorption mode; when the voltage of the DC bus at the output end of the energy management circuit is higher than U2thWhen the brake is started, the brake pipe is opened, and redundant energy is discharged through the brake resistor.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. The utility model provides an electromechanical servo integrated control and energy management device for control and energy management to servo motor, its characterized in that includes: the device comprises a micro-processing circuit, a detection circuit, a signal conversion circuit, an isolation drive amplification circuit and an energy management circuit, wherein the detection circuit comprises a first voltage detection circuit, a first current detection circuit, a second voltage detection circuit and a second current detection circuit,
the first voltage detection circuit is used for detecting the direct current bus voltage at the input end of the energy management circuit and transmitting the direct current bus voltage to the micro-processing circuit through the signal conversion circuit;
the first current detection circuit is used for detecting the direct current bus current at the input end of the energy management circuit and transmitting the direct current bus current to the micro-processing circuit through the signal conversion circuit;
the second voltage detection circuit is used for detecting the direct current bus voltage at the output end of the energy management circuit and transmitting the direct current bus voltage to the micro-processing circuit through the signal conversion circuit;
the second current detection circuit is used for detecting the direct current bus current at the output end of the energy management circuit and transmitting the direct current bus current to the micro-processing circuit through the signal conversion circuit;
the micro-processing circuit is used for outputting a brake control signal according to the received detection result, and controlling the energy management circuit to absorb and discharge energy after passing through the isolation drive amplifying circuit.
2. The apparatus of claim 1, wherein the energy management circuit comprises:
the absorption energy storage circuit is used for absorbing and storing backward-flowing energy generated when the servo motor is braked and generating instant working current to compensate power supply output when the servo motor is started; and the number of the first and second groups,
and the brake release circuit is used for releasing the reverse irrigation energy when the servo motor is braked.
3. The apparatus of claim 2, wherein the microprocessor circuit is configured to control the energy management circuit to absorb and discharge energy, and further comprising:
setting the absorption voltage threshold of the absorption energy storage circuit to be U1thThe brake voltage threshold value released by the brake release circuit is U2thAnd U is2thGreater than U1th；
When the voltage of the direct current bus at the output end of the energy management circuit is lower than U1thThe micro-processing circuit controls the absorption energy storage circuit to absorb and store the servoBackward flow energy when the motor is braked;
when the voltage of the DC bus at the output end of the energy management circuit is higher than U2thAnd the micro-processing circuit controls the brake release circuit to release the reverse-flow energy of the servo motor during braking.
4. The apparatus of claim 3, wherein the energy management circuit further comprises a diode for preventing energy at its output side from flowing back to its input side, and the energy management circuit and the detection circuit are configured to:
the first end of the first voltage detection circuit is connected with the positive input end of the energy management circuit, and the second end of the first voltage detection circuit is connected with the negative input end of the energy management circuit;
the first end of the first current detection circuit is connected with the positive input end of the energy management circuit, and the second end of the first current detection circuit is connected with the anode of the diode;
the first end of the absorption energy storage circuit is connected with the cathode of the diode, and the second end of the absorption energy storage circuit is connected with the negative input end of the energy management circuit;
the first end of the brake release circuit is connected with the first end of the absorption energy storage circuit, and the second end of the brake release circuit is connected with the second end of the absorption energy storage circuit;
the first end of the second voltage detection circuit is connected with the first end of the brake release circuit, and the second end of the second voltage detection circuit is connected with the second end of the brake release circuit and the negative output end of the energy management circuit;
and the first end of the second current detection circuit is connected with the first end of the second voltage detection circuit, and the second end of the second current detection circuit is connected with the positive output end of the energy management circuit output end.
5. The apparatus of claim 4, wherein:
the absorption energy storage circuit is a capacitor bank, the brake release circuit comprises a brake pipe and a brake resistor which are connected in series, and the brake pipe performs switching according to the brake control signal.
6. The apparatus of any of claims 1 to 5, further comprising:
the primary bus interface circuit is used for transmitting a digital control signal from an external control system to the micro-processing circuit and transmitting a digital feedback signal of the micro-processing circuit to the control system;
and the secondary bus interface circuit is used for transmitting the digital control signal of the micro-processing circuit to an external servo driver and transmitting the digital feedback signal from the external servo driver to the micro-processing circuit.
7. The apparatus of claim 6, wherein:
the primary bus interface circuit is a 1553B bus interface circuit, the secondary bus interface circuit is a CAN bus circuit, and the micro-processing circuit is a DSP and a core circuit thereof.
8. The apparatus of claim 7, further comprising:
the analog signal processing and converting circuit is used for transmitting an analog control signal from an external control system to the micro-processing circuit, transmitting a digital feedback signal of the micro-processing circuit to the control system, transmitting a digital control signal of the micro-processing circuit to an external servo driver and transmitting an analog feedback signal from the external servo driver to the micro-processing circuit.
9. An electromechanical servo system, comprising: the electromechanical servo integrated control and energy management device according to any one of claims 6 to 8.
10. The system of claim 9, further comprising: servo power supply, servo driver and electromechanical actuator, wherein, servo power supply connects the energy management circuit input, servo driver connects the energy management circuit output with second grade bus interface circuit, electromechanical actuator includes servo motor and servo drive mechanism, be used for with the electric energy conversion of servo driver output is the mechanical energy output of straight line or rotation.
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| CN105467898B (en) * | 2015-12-28 | 2018-01-02 | 北京航天新风机械设备有限责任公司 | One kind delivery section electrical control combination embedded processing circuit |
| CN105955113A (en) * | 2016-05-10 | 2016-09-21 | 中国电子科技集团公司第三十二研究所 | Intelligent servo control device and equipment using same |
| CN108111494A (en) * | 2017-12-13 | 2018-06-01 | 天津津航计算技术研究所 | A kind of protocol conversion apparatus of 1553B buses and FlexRay buses |
| CN108762174A (en) * | 2018-05-25 | 2018-11-06 | 北京精密机电控制设备研究所 | A kind of Hot Spare control power supply system |
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| CN112350292B (en) * | 2020-11-02 | 2023-03-28 | 北京航天发射技术研究所 | Reverse irrigation energy absorption circuit and control method |
| CN114884043B (en) * | 2022-05-25 | 2023-05-02 | 兰州万里航空机电有限责任公司 | On-load voltage release control circuit for lifting system of airborne suspension device |
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| US6858953B2 (en) * | 2002-12-20 | 2005-02-22 | Hawaiian Electric Company, Inc. | Power control interface between a wind farm and a power transmission system |
| CN202373972U (en) * | 2011-10-27 | 2012-08-08 | 北京精密机电控制设备研究所 | Control circuit for reliable management of regenerated energy |
| CN103176414B (en) * | 2011-12-21 | 2016-06-15 | 国民技术股份有限公司 | A kind of leakage control circuit and method thereof |
| CN202737738U (en) * | 2012-07-04 | 2013-02-13 | 北京精密机电控制设备研究所 | Power supply management device based on electromechanical servo mechanism |
| CN103427462B (en) * | 2013-08-19 | 2015-11-04 | 中国科学院电工研究所 | A kind of bank of super capacitors charging circuit with electric voltage equalization ability |
| CN103441686B (en) * | 2013-09-04 | 2015-06-17 | 北京天诚同创电气有限公司 | Control system and method for braking module of DC busbars of wind-power current transformer |
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