CN109546917B - Multi-path adjusting system and method for alternating current permanent magnet synchronous motor actuating mechanism - Google Patents
Multi-path adjusting system and method for alternating current permanent magnet synchronous motor actuating mechanism Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
A multi-path adjusting system and a method for an alternating current permanent magnet synchronous motor actuating mechanism belong to the technical field of aerospace servo motor control. According to the invention, the control instruction type judgment device in the servo control driver in each period judges the state that the servo control driver receives the control instruction, so that the effect of reliably exiting the initial amplitude limiting is achieved, the problem of complex instructions between the servo control driver and an upper computer is solved, and the purpose of high priority of the rapid amplitude limiter is achieved; and by changing an output amplitude limiter in the servo control driver, the low-speed zero returning under the initial state can be realized, and the purpose of pushing the rated load can be realized.
Description
Technical Field
The invention relates to a multi-path adjusting system and method for an alternating current permanent magnet synchronous motor executing mechanism, in particular to a variable control structure control system and method for controlling an electromechanical actuator based on a permanent magnet synchronous motor, and belongs to the technical field of aerospace servo motor control.
Background
The servo control driver is a servo control device and controls the actuator to realize position action according to the corresponding position command sent by the upper computer. The actuator is divided into a permanent magnet synchronous motor, a ball screw assembly and a displacement sensor. The controlled object of the servo control driver is an electromechanical actuator using a permanent magnet synchronous motor; one servo-controlled actuator can control four electromechanical actuators. When the initial position of the electromechanical actuator is not at the default position (zero position), the servo control driver controls the electromechanical actuator to return to the zero position (zero return) by default when the power supply (power supply) of the power part of the servo control driver is powered up.
When the servo control driver realizes servo control on the actuator, the actuator needs to be controlled to meet certain index requirements on response speed. The servo control drive therefore has a large instantaneous demand for power when a step response, such as a return-to-zero action, is implemented. The power voltage used by the servo control driver is 160V. In the step response, the instantaneous demand for power supply current is often around 20A. The ground power supply is then required to produce a power output of about 3.2 kw. However, in some circumstances, the output power of the power supply can be much less than 20A, only 1A. If the electromechanical actuator is not at the zero position, the power supply is frequently protected when the power supply is electrified, namely, the power supply is automatically turned off, so that the servo control driver cannot be normally used. Thus, in some test strip limited environments, the high dynamic response of the servo controlled driver initial state can severely impact usage.
If the above functions are realized, in the prior art, after a control power supply of a servo control driver is powered on, the current positions of all actuators of the servo control driver are acquired at the first time, and the self-return-to-zero motion is executed to a zero position at a speed of 1mm per second. And simultaneously monitoring whether the upper computer sends an exit self-zero command or not. If the upper computer sends an exit self-zero command, the servo control driver enters formal closed-loop control.
Therefore, the existing control method has the following defects:
1. the upper computer is required to send an exit self-zero command, and the control complexity between the servo control driver and the upper computer is increased.
2. The servo control driver needs to automatically generate a command after the control power supply is powered on, so that the multi-path electromechanical actuator returns to a zero position at a speed for generating the command. This approach requires the servo control driver to add a zero-return control command auto-generation algorithm. The method needs to control each load of the servo control driver independently, and simultaneously needs to automatically produce different self-zero instructions aiming at different initial positions. The method needs to realize a new functional unit different from normal closed-loop control, and the complexity of a control algorithm is greatly increased.
Disclosure of Invention
The technical problem solved by the invention is as follows: the system and the method overcome the defects of the prior art, judge the state that the servo control driver receives the control instruction through a control instruction type judgment device in the servo control driver in each period, achieve the effect of reliably exiting the initial amplitude limiting, and solve the problem of complex instructions between the servo control driver and an upper computer.
The technical solution of the invention is as follows: the method is characterized in that the position state of an electromechanical actuator is detected in real time aiming at a multi-path adjusting method of an alternating current permanent magnet synchronous motor actuating mechanism, a position sensing signal is generated and sent to a position controller; the position controller receives the position sensing signal in real time and judges whether a position control instruction sent by the upper computer in real time is received; if the position control instruction is not received, the output of the position controller is sent to a first amplitude limiter, and the first amplitude limiter carries out amplitude limiting on the output of the position controller, so that an electromechanical actuator is controlled to return to a zero position at a protection speed after a first amplitude limiting signal subjected to amplitude limiting by the first amplitude limiter sequentially passes through a speed closed loop and a current closed loop; if the position controller receives the position control instruction, the output of the position controller is sent to a second amplitude limiter, and the second amplitude limiter limits the output of the position controller according to the received position control instruction, so that after a second amplitude limiting signal limited by the second amplitude limiter sequentially passes through a speed closed loop and a current closed loop, the electromechanical actuator is controlled to move to an instruction position at an instruction speed; the position control command is a set value of the movement position of the electromechanical actuator; the instruction position is a position corresponding to the position control instruction, and the instruction speed is equal to the value of the second amplitude limiting signal; the speed closed loop is a speed feedback loop formed by the speed controller, the speed sensor and the electromechanical actuator, and the current closed loop is a speed feedback loop formed by the current controller, the current sensor and the electromechanical actuator.
Further, the position controller is a PID controller, and the proportional gain of the position controller is 0.5-2.
Further, the first amplitude limiting signal is a normalized value for controlling the rotating speed of the electromechanical actuator, and the magnitude of the first amplitude limiting signal is 0.5-1.5.
Further, the protection speed is 0.8-1.2 mm/s.
Further, the second amplitude limiting signal is a normalized value for controlling the rotating speed of the electromechanical actuator, and the magnitude of the second amplitude limiting signal is 2.0-4.0.
Further, the speed of the electromechanical actuator moving from the current position to the task instruction required position is controlled to be 10-14 mm/s by the second amplitude limiting signal.
Further, the number of the electromechanical actuators is four, and the position controller controls the four electromechanical actuators, respectively.
Further, the initial value of the control instruction is 0.
Further, the electromechanical actuator is a permanent magnet synchronous motor.
Further, the device comprises a position controller, a first amplitude limiter, a second amplitude limiter, a position sensor, a speed controller, a speed sensor, a current controller, a current sensor and an electromechanical actuator;
the speed controller, the speed sensor and the electromechanical actuator form a speed closed loop, and the current controller, the current sensor and the electromechanical actuator form a current closed loop;
the position sensor detects the position state of the electromechanical actuator in real time, generates a position sensing signal and sends the position sensing signal to the position controller;
the position controller receives the position sensing signal in real time and judges whether a position control instruction sent by the upper computer in real time is received; if the position control instruction is not received, the output of the position controller is sent to a first amplitude limiter, and the first amplitude limiter carries out amplitude limiting on the output of the position controller, so that an electromechanical actuator is controlled to return to a zero position at a protection speed after a first amplitude limiting signal subjected to amplitude limiting by the first amplitude limiter sequentially passes through a speed closed loop and a current closed loop; if the position controller receives the position control instruction, the output of the position controller is sent to a second amplitude limiter, and the second amplitude limiter limits the output of the position controller according to the received position control instruction, so that after a second amplitude limiting signal limited by the second amplitude limiter sequentially passes through a speed closed loop and a current closed loop, the electromechanical actuator is controlled to move to an instruction position at an instruction speed; the position control command is a set value of the movement position of the electromechanical actuator; the instruction position is a position corresponding to the position control instruction, and the instruction speed is equal to the value of the second amplitude limiting signal.
Compared with the prior art, the invention has the advantages that:
(1) the invention achieves the effect of controlling different movement speeds of the servo actuator by changing different output amplitude limiters of the position controller in the servo control driver.
(2) The invention judges the state of the servo control driver receiving the control instruction through the control instruction type judgment device in the servo control driver in each period, thereby achieving the effect of reliably quitting the initial amplitude limiting and realizing the purpose of high priority of the rapid amplitude limiter.
(3) The invention can realize slow zero return in the initial state and also can realize the purpose of pushing rated load by changing the output amplitude limiter in the servo control driver.
(4) The invention also achieves the control effect on at most four paths of electromechanical servo actuators by changing the output value of the output amplitude limiter of the control framework.
(5) Compared with the traditional zero-returning control method, the method for changing the output value of the output amplitude limiter of the control framework can achieve the effects of unchanged function and reduced software code amount.
(6) The invention can be compatible with two working conditions of the initial state and the normal closed-loop state without newly adding a zero returning instruction by changing the output value of the output amplitude limiter of the control framework, and has no influence on an external interface.
(7) The invention can achieve the purpose of using low-power driving power supply under the high-performance working condition without a servo control driver by changing the output value of the output amplitude limiter of the control framework.
Drawings
FIG. 1 is a functional block diagram of an adaptive adjustment method provided by the present invention;
FIG. 2 is a hardware connection diagram of the adaptive adjustment method provided by the present invention;
FIG. 3 is a schematic block diagram of an adaptive tuning method provided by the present invention;
fig. 4 is a flowchart of a control method of the adaptive adjustment method provided by the present invention.
Detailed Description
The present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, the output of the upper computer 1 is connected to the input end of the servo control driver 2, and the output of the servo control driver 2 is connected to the input end of the electromechanical actuator 3. There are 3 outputs of the electromechanical actuator 3, each connected to 3 different inputs of the servo-controlled actuator 2. The upper computer 1 sends a control instruction to the servo control driver 2, the servo control driver 2 receives the control instruction sent by the upper computer 1 and three feedback signals of the electromechanical actuator 3 at the same time, and after signal processing, an output result is transmitted to the servo control driver 3 to control the servo driver to execute related operations.
As shown in fig. 2 and 3, the control command 101 is sent to the servo control driver 2 and then received by the control command type determiner 202 and the control command slicer 201, respectively. The control instruction type judger 202 is used for distinguishing the instruction types sent by the control instruction 101; and sends the output to the position loop output limit switch 203. The position loop output limit switch 203 receives the result transmitted by the control command type determiner 202, and controls the output of the position loop PID controller 220 to go. If the result output by the control instruction type decider 202 is "not a position instruction", the position loop output limiter switch 203 controls the output of the position loop PID adjuster 220 to the position loop output limiter (slow limiter) 204; if the result output by the control instruction type decider 202 is "yes position instruction", the position loop output limiter switch 203 controls the output of the position loop PID adjuster 220 to the position loop output limiter (normal limiter) 205; both the position loop output limiter (slow limiter) 204 and the position loop output limiter (normal limiter) 205 pass the output to the speed loop PID regulator 206.
Where the position loop output limiter (normal limiter) 205 functions as: the output of the position loop under normal operating conditions is limited to prevent large calculations from being generated in the position loop control and thereby affecting the normal operation of the speed loop PID regulator 206. The position loop output limiter (slow limiter) 204 functions to control the output of the position loop to be small enough to limit the control capability of the servo control driver 2, so that the electromechanical actuator 3 of the controlled object does not move fast enough to move to the initial position at a slow speed when no control command is received and the electromechanical actuator 3 is not at the initial position.
After receiving the control command 101, the control command limiter 201 limits the position command in the control command 101, and the limiter functions to limit the range of the position command not to exceed the control range of the position loop PID controller 220. After receiving the output result of the control instruction limiter 201, the position loop PID regulator 220 performs PID operation with the output result of the actuator position resolver 223, and transmits the output result to the position loop output limit switch 203.
After receiving the output result of the position loop output limiter (slow limiter) 204 or the position loop output limiter (normal limiter) 205, the speed loop PID regulator 206 performs PID operation with the output result of the rotational speed resolver 213, and transmits the output result to the speed loop output limiter switch 207. The rotation speed resolver 213 receives the output result of the rotor angle resolver 221, and calculates the rotation speed of the motor rotor from the changed rotor angle of the permanent magnet synchronous motor 301 in the electromechanical actuator 3, for the rotation speed closed-loop use. The rotor angle resolver 221 receives the output result of the resolver 222, and resolves the rotor angle of the permanent magnet synchronous motor 301 in the electromechanical actuator 3, which is finally used by the speed loop PID regulator 206 and the coordinate converter 217. The resolver 222 is used to capture the rotor angle of the permanent magnet synchronous motor 301 in the electromechanical actuator 3.
The current loop Iq component PID regulator 208 receives the output result of the coordinate converter 217 and the output result of the speed loop output limiter 207, performs PID operation on the two results, and then transmits the output result to the Iq component output limiter 209. The Iq component output limiter 209 limits the output result of the current loop Iq component PID regulator 208 to prevent the calculation result from exceeding the input range of the SVPWM calculator 210.
The current loop Id component PID regulator 215 receives the output result of the coordinate converter 217 and the given value with Id being zero 204, and transmits the output result to the Id component output limiter 216 after performing PID operation on the two results. The Id component output limiter 216 limits the output result of the current loop Id component PID regulator 215 to prevent the calculation result from exceeding the input range of the SVPWM calculator 210.
For the electromechanical actuator 3, it comprises a permanent magnet synchronous motor 301 and an actuating rod 302. The permanent magnet synchronous motor 301 rotates to drive the nut to transmit with the lead screw, so that the actuating rod 302 extends and retracts, and position movement is realized. The linear displacement sensor 224 is connected to the actuator rod and converts the actual displacement of the actuator rod into an electrical signal. The actuator position resolver 223 receives the output signal of the wire displacement sensor 224 and conditions the received electrical signal for use by the position loop PID regulator 220.
The above implementation method is a single-path implementation method, and the control method for the rest of the electromechanical actuators 3 is the same as the single-path implementation method.
Examples
As shown in fig. 4.
1. The initialization state is slow return-to-zero, and after returning to zero, the control instruction is received, the automatic return-to-zero operation is skipped, and the normal closed loop state is entered.
As shown in fig. 2 and fig. 3, when the control command 101 is not sent to the servo control driver 2, and the four electromechanical actuators are respectively at the positions of +12mm, +8mm, -5mm and-15 mm (neither is at the position of 0 mm), the servo control driver completes initialization and the power supply is powered up, the servo system works, and the four electromechanical actuator commands are assigned to 0 mm. At this time, the control instruction type decider 202 judges that the current state is the slow closed-loop control state. The control instruction type decider 202 controls the position loop output limiter switch 203 to output the operation result of the control position loop PID regulator 220 to the position loop output limiter (slow limiter) 204. The proportional coefficient Kp of the control position loop PID regulator 220 ranges from 0.5 to 2, preferably 1.1; the limit value of the position loop output limiter (slow limiter) 204 is in the range of 0.5 to 1.5, preferably 1.5.
At this time, each error value is different, taking the first path as an example, compared with a default zero instruction, the value of the error is 13.2 after the error is 12 multiplied by the scaling coefficient, and after the limitation of the position loop output limiter (slow limiter) 204, the output value is limited to 1.5. The value is then transmitted to the speed loop PID regulator 206 and the subsequent regulating unit to perform a speed closed loop and a current closed loop. The speed of movement of the corresponding electromechanical actuator is then 1 mm/s. The control method of the other three paths of electromechanical actuators is the same as that of the first path, but the time for moving to the zero position is different due to different position deviation of each path.
After sufficient time for all four electromechanical actuators to return to the zero position, if the control command type determiner 202 receives any command from the control command 101, including a zero command, it will control the position loop output limiter switch 203 to output the operation result of the position loop PID adjuster 220 to the position loop output limiter (normal limiter) 205, where the limit range is 2.0 to 4.0, preferably 3.8.
Taking the first path as an example, the path has returned to the zero position, the received control command is 20mm, the error is 20 and the proportional coefficient is multiplied by the proportional coefficient, the value is 22, and the output value is limited to 3.8 through the position loop output limiter (normal limiter) 205. The value is then transmitted to the speed loop PID regulator 206 and the subsequent regulating unit to perform a speed closed loop and a current closed loop. The speed of movement of the corresponding electromechanical actuator is then 12 mm/s.
2. The initialization state is slow return-to-zero, and when one path of the control command is not returned to zero, the control command is received, the automatic return-to-zero operation is skipped, and the normal closed loop state is entered.
As shown in fig. 2 and fig. 3, when the control command 101 is not sent to the servo control driver 2, and the four electromechanical actuators are respectively at the positions of +12mm, +8mm, -5mm and-15 mm (neither is at the position of 0 mm), the servo control driver completes initialization and the power supply is powered up, the servo system works, and the four electromechanical actuator commands are assigned to 0 mm. At this time, the control instruction type decider 202 judges that the current state is the slow closed-loop control state. The control instruction type decider 202 controls the position loop output limiter switch 203 to output the operation result of the control position loop PID regulator 220 to the position loop output limiter (slow limiter) 204. The proportional coefficient Kp of the control position loop PID regulator 220 ranges from 0.5 to 2, preferably 1.1; the limit value of the position loop output limiter (slow limiter) 204 is in the range of 0.5 to 1.5, preferably 1.5. The slow return to zero process begins as in example 1.
If the first way runs to the zero position and the running value is +3mm, and the received first way control instruction is that the first way control instruction runs to the position of minus 5mm, the control instruction type judger 202 controls the position loop output amplitude limiting switch 203 to output the operation result of the control position loop PID regulator 220 to the position loop output amplitude limiter (normal amplitude limiter) 205, wherein the limitation range is 2.0 to 4.0, and 3.8 is preferred. At this time, the error is 8 multiplied by the scaling factor, and the value is 8.8, and the output value is limited to 3.8 by the position loop output limiter (normal limiter) 205. The value is then transmitted to the speed loop PID regulator 206 and the subsequent regulating unit to perform a speed closed loop and a current closed loop. The corresponding electromechanical actuator now moves at a speed of 12mm/s and runs at this speed for a value of-5 mm position.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuating mechanism is characterized in that the position state of an electromechanical actuator is detected in real time, a position sensing signal is generated and sent to a position controller; the position controller receives the position sensing signal in real time and judges whether a position control instruction sent by the upper computer in real time is received; if the position control instruction is not received, the output of the position controller is sent to a first amplitude limiter, and the first amplitude limiter carries out amplitude limiting on the output of the position controller, so that an electromechanical actuator is controlled to return to a zero position at a protection speed after a first amplitude limiting signal subjected to amplitude limiting by the first amplitude limiter sequentially passes through a speed closed loop and a current closed loop; if the position controller receives the position control instruction, the output of the position controller is sent to a second amplitude limiter, and the second amplitude limiter limits the output of the position controller according to the received position control instruction, so that after a second amplitude limiting signal limited by the second amplitude limiter sequentially passes through a speed closed loop and a current closed loop, the electromechanical actuator is controlled to move to an instruction position at an instruction speed; the position control command is a set value of the movement position of the electromechanical actuator; the instruction position is a position corresponding to the position control instruction, and the instruction speed is equal to the value of the second amplitude limiting signal; the speed closed loop is a speed feedback loop formed by a speed controller, a speed sensor and an electromechanical actuator, and the current closed loop is a current feedback loop formed by a current controller, a current sensor and an electromechanical actuator.
2. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 1, characterized in that: the position controller is a PID controller, and the proportional gain of the position controller is 0.5-2.
3. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 2, characterized in that: the first amplitude limiting signal is a normalized value for controlling the rotating speed of the electromechanical actuator, and the magnitude of the first amplitude limiting signal is 0.5-1.5.
4. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 3, characterized in that: the protection speed is 0.8-1.2 mm/s.
5. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 2, characterized in that: the second amplitude limiting signal is a normalized value for controlling the rotating speed of the electromechanical actuator, and the magnitude of the second amplitude limiting signal is 2.0-4.0.
6. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 5, characterized in that: and the speed of the second amplitude limiting signal for controlling the electromechanical actuator to move from the current position to the position required by the position control instruction is 10-14 mm/s.
7. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 1, characterized in that: the number of the electromechanical actuators is four, and the position controller controls the four electromechanical actuators respectively.
8. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 1, characterized in that: the initial value of the position control instruction is 0.
9. The multi-path adjusting method for the alternating current permanent magnet synchronous motor actuator according to claim 1, characterized in that: the electromechanical actuator is a permanent magnet synchronous motor.
10. Multichannel governing system to exchanging PMSM actuating mechanism, its characterized in that: the device comprises a position controller, a first amplitude limiter, a second amplitude limiter, a position sensor, a speed controller, a speed sensor, a current controller, a current sensor and an electromechanical actuator;
the speed controller, the speed sensor and the electromechanical actuator form a speed closed loop, and the current controller, the current sensor and the electromechanical actuator form a current closed loop;
the position sensor detects the position state of the electromechanical actuator in real time, generates a position sensing signal and sends the position sensing signal to the position controller;
the position controller receives the position sensing signal in real time and judges whether a position control instruction sent by the upper computer in real time is received; if the position control instruction is not received, the output of the position controller is sent to a first amplitude limiter, and the first amplitude limiter carries out amplitude limiting on the output of the position controller, so that an electromechanical actuator is controlled to return to a zero position at a protection speed after a first amplitude limiting signal subjected to amplitude limiting by the first amplitude limiter sequentially passes through a speed closed loop and a current closed loop; if the position controller receives the position control instruction, the output of the position controller is sent to a second amplitude limiter, and the second amplitude limiter limits the output of the position controller according to the received position control instruction, so that after a second amplitude limiting signal limited by the second amplitude limiter sequentially passes through a speed closed loop and a current closed loop, the electromechanical actuator is controlled to move to an instruction position at an instruction speed; the position control command is a set value of the movement position of the electromechanical actuator; the instruction position is a position corresponding to the position control instruction, and the instruction speed is equal to the value of the second amplitude limiting signal.
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| CN112910331A (en) * | 2021-02-05 | 2021-06-04 | 合肥安迅精密技术有限公司 | Three-phase permanent magnet synchronous motor alternating current driver |
| CN113511590B (en) * | 2021-06-04 | 2023-07-11 | 北京自动化控制设备研究所 | Heavy-load zero-speed starting control method for electric hoisting device |
| CN114476864B (en) * | 2022-01-13 | 2024-05-10 | 北京精密机电控制设备研究所 | Control method of electromechanical servo flexible cable driving device |
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