CN106786814A - A kind of leadage circuit - Google Patents
A kind of leadage circuit Download PDFInfo
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- CN106786814A CN106786814A CN201710032785.4A CN201710032785A CN106786814A CN 106786814 A CN106786814 A CN 106786814A CN 201710032785 A CN201710032785 A CN 201710032785A CN 106786814 A CN106786814 A CN 106786814A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J5/00—Circuit arrangements for transfer of electric power between ac networks and dc networks
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Abstract
The embodiment of the present invention provides a kind of leadage circuit, is related to electronic technology field.The leadage circuit includes the first modulate circuit, duty cycle adjustment module, frequency adjustment module, modulation chip and module of releasing, first modulate circuit, duty cycle adjustment module, frequency adjustment module and module of releasing are connected with modulation chip, and duty cycle adjustment module and frequency adjustment module are also connected with the first modulate circuit.Detect the voltage of power supply whether beyond over-pressed setting value by the first modulate circuit, and control modulation chip to produce pwm signal, duty cycle adjustment module and frequency adjustment module exceed the size of over-pressed setting value according to the voltage of power supply, the dutycycle and frequency of the pwm signal of modulation chip output are adjusted respectively, further realization is released the working time of module, reaches the purpose released to the electric energy of power supply.Can be time saving and energy saving without the resource of occupancy MCU and software resource, and bleeder resistance is turned on when electric energy is released, and reduces the unnecessary heating of device.
Description
Technical field
The present invention relates to electronic technology field, in particular to a kind of leadage circuit.
Background technology
At present, people for the overtension of bus, the settling mode of use is to utilize leadage circuit, leadage circuit be therefore
Meaning consumption part energy converts thereof into the circuit of heat or other forms energy.Traditional leadage circuit has two kinds of realization sides
Formula：Mode one, is realized by hardware, after part control modulate circuit detects that dc bus reaches over-pressed setting value, straight
Stream busbar voltage is directly connected on bleeder resistance, is consumed energy by bleeder resistance；What base chip controls were realized when also using releases
Circuit, but the speed of electric energy of releasing is certain, not enough intelligently.Mode two, is realized by software, and MCU constantly detects bus electricity
Pressure, the frequency released is controlled by software, intelligent, but software function is realized than relatively time-consuming, and wastes MCU moneys
Source.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of leadage circuit, to improve releasing for prior art
Certain, not intelligent enough the problem of circuit waste of resource, the speed of time-consuming and electric energy of releasing.
A kind of leadage circuit provided in an embodiment of the present invention, is applied to carry out voltage to power supply to release, including the first conditioning
Circuit, duty cycle adjustment module, frequency adjustment module, modulation chip and module of releasing, first modulate circuit, described account for
Sky is connected than adjustment module, the frequency adjustment module and the module of releasing with the modulation chip, the dutycycle
Adjustment module and the frequency adjustment module are also connected with first modulate circuit；First modulate circuit is used to detect institute
State whether power supply is over-pressed, when the voltage of the power supply exceedes first modulate circuit overvoltage setting value, control the modulation
Chip produces pulse；The duty cycle adjustment module is used to adjust the dutycycle of the output pulse of the modulation chip；The frequency
Rate adjustment module is used to adjust the frequency of the output pulse of the modulation chip；The modulation chip is used to send pulse width tune
Signal processed, module of releasing described in control carries out voltage and releases to the power supply.
Compared with prior art, a kind of leadage circuit of the invention, including the first modulate circuit, duty cycle adjustment module,
Frequency adjustment module, modulation chip and module of releasing, first modulate circuit, the duty cycle adjustment module, the frequency
Rate adjustment module and the module of releasing are connected with the modulation chip, and the duty cycle adjustment module and the frequency are adjusted
Section module is also connected with first modulate circuit.Whether the voltage for detecting power supply by the first modulate circuit sets beyond overvoltage
Value, and control modulation chip to produce pwm signal, duty cycle adjustment module and frequency adjustment module can be super according to the voltage of power supply
Go out the size of over-pressed setting value, the dutycycle and frequency of the pwm signal of modulation chip output are adjusted respectively, further realize releasing
The working time of module, reach the purpose released to the electric energy of power supply.Can be saved without the resource of occupancy MCU and software resource
Shi Shengli, and bleeder resistance is to be turned on when electric energy is released, and reduces the unnecessary heating of device, and the time of releasing can
Adjust, more intelligently.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
The block diagram of the leadage circuit that Fig. 1 is provided for present pre-ferred embodiments.
The structural representation of the power supply that Fig. 2 is provided for present pre-ferred embodiments.
The circuit diagram of the leadage circuit that Fig. 3 is provided for present pre-ferred embodiments.
The circuit diagram of the module of releasing that Fig. 4 is provided for present pre-ferred embodiments.
Icon：10- leadage circuits；20- power supplys；21- ac output ends；22- rectification circuits；23- dc bus；100-
One modulate circuit；200- duty cycle adjustment modules；201- scope modulate circuits；The variable resistors of R1- first；R2- second can power transformation
Resistance；300- frequency adjustment modules；The modulate circuits of 301- second；302- analog switching circuits；C1- electric capacity；400- modulation chips；
GND- grounding pins；TRIG- triggers pin；Q- output pins；R- reset pins；CVOLT- control voltage pins；THR- thresholds
Pin；DIS- discharge load prongs；VCC- energization pins；500- releases module；R0- bleeder resistances；600- push-pull output circuits.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
Fig. 1 is refer to, is the block diagram of the leadage circuit 10 that present pre-ferred embodiments are provided.The present invention provides one
Leadage circuit 10 is planted, for being heat energy or other energy by unnecessary voltage conversion in the overvoltage of power supply 20.It is of the invention to release
Circuit 10 includes the first modulate circuit 100, duty cycle adjustment module 200, frequency adjustment module 300, modulation chip 400 and lets out
Amplification module 500, first modulate circuit 100, the duty cycle adjustment module 200, the frequency adjustment module 300 and institute
State module 500 of releasing to be connected with the modulation chip 400, the duty cycle adjustment module 200 and the frequency adjustment module
300 are also connected with first modulate circuit 100.
First modulate circuit 100 is used to detect whether the power supply 20 is over-pressed that first modulate circuit 100 to be preset
There is over-pressed setting value, it is described when the voltage that the first modulate circuit 100 detects the power supply 20 exceedes the over-pressed setting value
First modulate circuit 100 controls the modulation chip 400 to produce pulse.Meanwhile, the electricity that the first modulate circuit 100 will can be detected
Pressure is sent to duty cycle adjustment module 200 and the frequency adjustment module 300 beyond the size of over-pressed setting value, realizes dutycycle
The regulation of the duty of the pulse that adjustment module 200 and the frequency adjustment module 300 are exported to modulation chip 400 when frequency.
The modulation chip 400 is used to send pulse width modulation (Pulse Width Modulation, PWM) signal,
500 pairs of power supplys 20 of module of being released described in control carry out voltage and release.The modulation chip 400 includes grounding pin GND, touches
Carry out the coffin upon burial pin TRIG, output pin Q, reset pin R, control voltage pin CVOLT, threshold pin THR, discharge load prongs DIS
And energization pins VCC.
2 are refer to, is the structural representation of the power supply 20 that present pre-ferred embodiments are provided.The power supply 20 of the present embodiment is wrapped
Include ac output end 21, rectification circuit 22 and dc bus 23.The alternating current of the output of the ac output end 21 is by described
The rectification of rectification circuit 22 is direct current, and by the dc bus 23 for load provides electric energy.The dc bus 23 is included just
To input VP and negative input VN, external load typically accesses the positive input VP and negative input VN.
As shown in figure 3, being the circuit diagram of the leadage circuit 10 that present pre-ferred embodiments are provided.Refer to Fig. 3 and combine
With reference to Fig. 1, first modulate circuit 100 is connected with the positive input VP and negative input VN of the dc bus 23,
To detect the voltage of dc bus 23 whether beyond over-pressed setting value.First modulate circuit 100 also with the modulation chip
400 reset pin R connections, for controlling the modulation chip 400 to produce pwm signal.
The duty cycle adjustment module 200 includes scope modulate circuit 201, the first variable resistor R1 and the second adjustable resistance
R2, the scope modulate circuit 201 is connected with first modulate circuit 100 respectively, the first variable resistor R1 and institute
The second adjustable resistance R2 connections are stated, the first variable resistor R1 is also connected with the second adjustable resistance R2, and the discharge is born
Pin DIS is carried to be connected between the first variable resistor R1 and the second adjustable resistance R2.
Leadage circuit 10 also includes diode D1, and the positive pole of the diode D1 is connected with the discharge load prongs DIS,
The negative pole of the diode D1 is connected with the threshold pin THR, and the diode D1 is used to prevent the modulation chip 400 defeated
The pulse width modulating signal dutycycle for going out is excessive.
The scope modulate circuit 201 can exceed first modulate circuit according to the voltage of the dc bus 23
The size of 100 over-pressed setting values, adjusts the first variable resistor R1 and the second adjustable resistance R2, the modulation chip
400 pwm signals that output according to the first variable resistor R1 and the resistance size of the second adjustable resistance R2, can be adjusted
Dutycycle.The voltage of the dc bus 23 is higher, and the scope modulate circuit 201 is by adjusting first variable resistor
R1 and the second adjustable resistance R2 make the dutycycle of the pwm signal of the output of the modulation chip 400 bigger.
The frequency adjustment module 300 include be sequentially connected the second modulate circuit 301, analog switching circuit 302 and
Electric capacity C1, the electric capacity C1 are connected with the triggering pin TRIG and the threshold pin THR respectively, the electric capacity C1 also with it is negative
To input VN connections, it is necessary to mentioning is, in the present embodiment, the level of reference ground is identical with the level of negative input VN, therefore
It is equivalent to the reference ground for accessing circuit board to access negative input VN.
Second modulate circuit 301 is used to be set beyond first modulate circuit 100 overvoltage according to the voltage of the power supply 20
The size of definite value, different control signals are sent to the analog switching circuit 302, and the analog switching circuit 302 is according to institute
The control signal for stating the second modulate circuit 301 controls the capacitance of the electric capacity C1, and the modulation chip 400 is additionally operable to according to described
The capacitance of electric capacity C1, the frequency of the pwm signal of controlled output.
By duty cycle adjustment module 200 to the duty cycle adjustment of pwm signal, PWM is believed by frequency adjustment module 300
Number frequency regulation, to change the pwm signal of output, and then adjust working time of module 500 of releasing, reach female according to direct current
The voltage of line 23, control module 500 of releasing is released time of electric energy, simple, intelligence.
The energization pins VCC is connected with the power supply 20 that voltage is+15V, for providing work to the modulation chip 400
Voltage, the power supply 20 of+15V is connected with negative input VN again after being connected with electric capacity C3, and electric capacity C3 is used to filter.The grounding lead
Pin GND is connected with negative input VN, i.e., be grounded equivalent to grounding pin GND, and the control voltage pin CVOLT connects electric capacity
It is connected with negative input VN after C2.
The leadage circuit 10 also includes push-pull output circuit 600, the push-pull output circuit 600 and the modulation chip
400 output pin Q connections, the push-pull output circuit 600 includes output end GZ, the output end GZ and the module of releasing
500 connections.
The push-pull output circuit 600 includes NPN type triode Q2 and PNP type triode Q3, the NPN type triode Q2
Base stage and PNP type triode Q3 base stage connection after be connected with output pin Q, the colelctor electrode of NPN type triode Q2 company
The power supply 20 of+15V is connected to, the emitter stage of the NPN type triode Q2 is connected with the colelctor electrode of PNP type triode Q3, the PNP
The emitter stage of type triode Q3 is connected with negative input VN, and output end GZ is connected to the emitter stage of the NPN type triode Q2
And the colelctor electrode of PNP type triode Q3 between.
The output pin Q is after connecting resistance R3, then the base stage with the NPN type triode Q2 and the pole of positive-negative-positive three
The base stage connection of pipe Q3, the resistance R3 is used for current limliting.The power supply 20 of+15V is connected with resistance R4, the other end of resistance R4
It is connected between output pin Q and resistance R3, resistance R4 is used for partial pressure.One end of electric capacity C4 is also connected to output pin Q with electricity
Between resistance R3, the other end of electric capacity C4 accesses negative input VN, and electric capacity C4 is used to filter.
When output pin Q outputs are low level, the output end GZ exports low level, as the output pin Q
Output high level when, the output end GZ exports high level, but the pwm signal of output end GZ outputs is stronger, i.e. institute
Stating push-pull output circuit 600 can increase the driving force of pwm signal.
Fig. 4 is refer to, is the circuit diagram of the module 500 of releasing that present pre-ferred embodiments are provided.The module 500 of releasing
Including the bleeder resistance R0 being connected in series and switch, one end of the bleeder resistance R0 and the forward direction of the dc bus 23 are input into
End VP connections, one end of the switch is connected with the negative input VN of the dc bus 23.
In the present embodiment, the switch is NMOS tube Q1, and certainly in other specific embodiments, the switch can be with
It is other, such as PMOS, triode, photoelectrical coupler etc..
Electric capacity C6, the capacitance that the electric capacity C6 is are connected between the positive input VP and the negative input VN
It is generally large, for storing electric energy, can also be that multiple capacitor combinations are formed.The source electrode and negative input of the NMOS tube Q1
VN is connected, and the drain electrode of the NMOS tube Q1 is connected with the bleeder resistance R0, and grid and the output end GZ of the NMOS tube Q1 connect
Connect.
The module 500 of releasing also includes diode D2, resistance R5, resistance R6 and electric capacity C5, and the negative pole of diode D2 connects
It is connected between the positive input VP and bleeder resistance R0, the positive pole of diode D2 is connected to bleeder resistance R0 and NMOS tube Q1
Drain electrode between.Because general bleeder resistance R0 is noninductive resistance, when bleeder resistance R0 misconnections are inductive resistance, two pole
Pipe D2 can play a part of electric energy of releasing.One end of resistance R5 is connected with output end GZ, the other end and NMOS tube of resistance R5
The grid connection of Q1.One end of resistance R6 is connected between the grid of resistance R5 and NMOS tube Q1, the other end of resistance R6 with
The source electrode connection of NMOS tube Q1.One end of electric capacity C5 is connected between the grid of NMOS tube Q1 and the resistance R6, electric capacity C5's
The other end is connected between the source electrode of NMOS tube Q1 and the resistance R6.The resistance R5 is used for current limliting, electric capacity C5 and resistance R6
For filtering.
When the output end GZ exports high level, the source electrode of the NMOS tube Q1 and drain electrode are turned on, and electric current can be from just
To input VP by flowing to negative input VN by NMOS tube Q1 again after bleeder resistance R0 so that bleeder resistance R0 accesses straight
The two ends of bus 23 are flowed, bleeder resistance R0 carries out releasing for electric energy by way of heating.When output end GZ exports low level,
The NMOS tube Q1 is not turned on, and electric current can not be negative by being flow to by NMOS tube Q1 again after bleeder resistance R0 from positive input VP
To input VN, bleeder resistance R0 cannot access dc bus 23 to carry out electric energy and releases.The pwm signal of the output of modulation chip 400,
By after recommending output mode enhancing, module 500 of releasing being flowed into from output end GZ.
In this way, dutycycle and frequency of the embodiment of the present invention using regulation pwm signal, it is possible to achieve output end GZ outputs
Signal, further up to the time of control NMOS tube Q1 conductings.For example, the voltage of dc bus 23 is also high, modulation chip 400 is defeated
The dutycycle of the high level of the pwm signal for going out is higher, frequency is faster, and the time of NMOS tube Q1 conductings also increases, bleeder resistance R0
Can be released more electric energy.
In sum, the present invention provides a kind of leadage circuit, including the first modulate circuit, duty cycle adjustment module, frequency
Whether adjustment module, modulation chip and module of releasing, detect the voltage of dc bus beyond overvoltage by the first modulate circuit
Setting value, and control modulation chip to produce pwm signal, duty cycle adjustment module and frequency adjustment module can be according to dc bus
Voltage exceed the size of over-pressed setting value, the dutycycle and frequency of the pwm signal of modulation chip output are adjusted respectively, further
Realization is released working time of module, reaches the purpose released to the electric energy of dc bus.Can without take MCU resource and
Software resource, it is time saving and energy saving, and bleeder resistance is to be turned on when electric energy is released, and reduces the unnecessary hair of device
Heat, the time of releasing is adjustable, more intelligently.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, term " on ", D score, "left", "right", " interior ", " outward " etc. indicate
Orientation or position relationship be that, based on orientation shown in the drawings or position relationship, or the invention product is usually put when using
Orientation or position relationship, be for only for ease of the description present invention and simplify and describe, rather than indicating or imply signified device
Or element with specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one
The connection of body ground；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to indirect by intermediary
It is connected, can is two connections of element internal.For the ordinary skill in the art, can be with concrete condition understanding
State term concrete meaning in the present invention.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
It is further defined and is explained.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of leadage circuit, is applied to carry out voltage to power supply to release, it is characterised in that including the first modulate circuit, duty
Than adjustment module, frequency adjustment module, modulation chip and module of releasing, first modulate circuit, the duty cycle adjustment
Module, the frequency adjustment module and the module of releasing are connected with the modulation chip, the duty cycle adjustment module
Also it is connected with first modulate circuit with the frequency adjustment module；
First modulate circuit is used to detect whether the power supply is over-pressed that exceeding described first in the voltage of the power supply to nurse one's health
During circuit overvoltage setting value, the modulation chip is controlled to produce pulse；The duty cycle adjustment module is used to adjust the modulation
The dutycycle of the output pulse of chip；The frequency adjustment module is used to adjust the frequency of the output pulse of the modulation chip；
The modulation chip is used to send pulse width modulating signal, and module of being released described in control carries out voltage and releases to the power supply.
2. leadage circuit according to claim 1, it is characterised in that the duty cycle adjustment module includes that scope nurses one's health electricity
Road, the first variable resistor and the second adjustable resistance, the scope modulate circuit is connected with first modulate circuit, described first
Variable resistor and the second adjustable resistance are connected, and first variable resistor is also connected with the second adjustable resistance, institute
Stating modulation chip includes discharge load prongs, and the discharge load prongs are connected to first variable resistor can with described second
Between change resistance；
The scope modulate circuit is used for the voltage according to the power supply beyond the big of first modulate circuit overvoltage setting value
It is small, first variable resistor and the second adjustable resistance are adjusted, the modulation chip is additionally operable to variable according to described first
The dutycycle of the pulse width modulating signal of the resistance size adjustment output of resistance and the second adjustable resistance.
3. leadage circuit according to claim 2, it is characterised in that the frequency adjustment module include being sequentially connected the
Two modulate circuits, analog switching circuit and electric capacity, the modulation chip also include triggering pin, threshold pin, the electric capacity
It is connected with the triggering pin and the threshold pin respectively；
Second modulate circuit is used for the voltage according to the power supply beyond the big of first modulate circuit overvoltage setting value
It is small, different control signals are sent to the analog switching circuit, the analog switching circuit is according to second modulate circuit
Control signal control the capacitance of the electric capacity, the modulation chip is additionally operable to the capacitance according to the electric capacity, controlled output
The frequency of pulse width modulating signal.
4. leadage circuit according to claim 3, it is characterised in that the leadage circuit also includes diode, described two
The positive pole of pole pipe is connected with the discharge load prongs, and the negative pole of the diode is connected with the threshold pin, two pole
Manage for preventing the pulse width modulating signal dutycycle of the modulation chip output excessive.
5. leadage circuit according to claim 1, it is characterised in that also including push-pull output circuit, the recommending output mode
Circuit is connected with the output pin of the modulation chip, the push-pull output circuit include output end, the output end with it is described
Module of releasing is connected.
6. leadage circuit according to claim 1, it is characterised in that the power supply includes the exchange output being sequentially connected
End, rectification circuit and dc bus, the alternating current of the ac output end output is direct current by the rectifier circuit rectifies
Electricity, and be load supplying by the dc bus.
7. leadage circuit according to claim 6, it is characterised in that the module of releasing includes the vent discharge being connected in series
Resistance and switch, one end of the bleeder resistance is connected with the positive input of the dc bus, one end of the switch and institute
State the negative input connection of dc bus.
8. leadage circuit according to claim 7, it is characterised in that the switch is NMOS tube, the source of the NMOS tube
Pole is connected with the negative input of the dc bus, and the drain electrode of the NMOS tube is connected with the bleeder resistance, the NMOS
The grid of pipe is connected with the modulation chip.
9. leadage circuit according to claim 1, it is characterised in that the modulation chip also includes reset pin, described
Reset pin is connected with first modulate circuit, and first modulate circuit is by the reset pin to the modulation chip
Control signal is sent, controls the modulation chip to produce pulse width modulating signal.
10. leadage circuit according to claim 1, it is characterised in that the modulation chip also includes energization pins, ground connection
Pin and control voltage pin, the energization pins are used to access power supply, the grounding pin ground connection, the control electricity
Pressure pin passes through a capacity earth.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710032785.4A CN106786814B (en) | 2017-01-16 | 2017-01-16 | A kind of leadage circuit |
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|---|---|---|---|
| CN201710032785.4A CN106786814B (en) | 2017-01-16 | 2017-01-16 | A kind of leadage circuit |
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| CN106786814B CN106786814B (en) | 2019-07-12 |
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| CN110460272A (en) * | 2019-09-16 | 2019-11-15 | 江苏科技大学 | High power permanent magnet synchronous motor energy bleeder and control method |
| CN110880748A (en) * | 2019-10-08 | 2020-03-13 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge circuit and system for rehabilitation robot |
| CN110880748B (en) * | 2019-10-08 | 2021-12-07 | 布法罗机器人科技（成都）有限公司 | Multi-motor back electromotive force discharge system for rehabilitation robot |
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