CN111123011B - Electronic load device and parallel operation system thereof - Google Patents
Electronic load device and parallel operation system thereof Download PDFInfo
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- CN111123011B CN111123011B CN201911390603.6A CN201911390603A CN111123011B CN 111123011 B CN111123011 B CN 111123011B CN 201911390603 A CN201911390603 A CN 201911390603A CN 111123011 B CN111123011 B CN 111123011B
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses an electronic load device and a parallel operation system thereof, and belongs to the technical field of power electronic testing. The electronic load device includes: the power module is connected with the object to be detected and used for carrying the object to be detected to absorb the power of the object to be detected; the sampling circuit is used for sampling the current sucked into the object to be detected by the power module, and obtaining a sampling value of the current sucked into the object to be detected by the power module; and the control loop controls the power module to absorb the power of the object to be detected according to a current set value, one part of the current set value is subjected to digital-to-analog conversion through a digital-to-analog converter to obtain static pull-load analog voltage, the other part of the current set value and the current sample value are subjected to error amplification adjustment and another digital-to-analog converter to obtain dynamic pull-load analog voltage, and the static pull-load analog voltage and the dynamic pull-load analog voltage are synthesized and then output to control the analog voltage of the power module. The invention can realize the parallel connection of more slaves so as to increase the expansion power.
Description
The patent application is based on the patent application number 2016108222733 and creates a divisional application named as an electronic load parallel operation system and method.
Technical Field
The invention discloses an electronic load parallel operation system and method, and belongs to the technical field of power electronic testing.
Background
The electronic load can simulate a load in a real environment, such as an electric appliance, and is a "load" function realized by an electronic device, and specifically, the electronic load is a device for enabling a power tube to dissipate power and consume electric energy by controlling the conduction quantity of an MOSFET or a transistor of an internal power device. The method is widely applied to the fields of LED driving, power module testing, charger production, UPS production and the like.
At present, the electronic load only realizes the working modes of constant voltage, constant current, constant resistance and constant power in a single machine, and along with the increase of the high-power demand of the electronic load in the market, a plurality of electronic loads are required to be connected in parallel to commonly distribute power. The existing load parallel operation scheme is shown in fig. 1, wherein a power module of a slave is connected to a power module of a host in parallel, the host comprises a sampling resistor, a power module and an error amplifier, the slave only comprises the power module, currents sampled by the master and the slave are summarized to the sampling resistor of the host, and a power module driving signal of the slave is completely given by the host, namely, the slave completely depends on the host to work. The parallel operation mode shown in fig. 1 has the following defects: (1) The slave completely depends on the operation of the master, and the slave is only equivalent to the expansion of the power module and does not have the capability of independent operation; (2) The current flow direction in the parallel operation system is more chaotic, which is not beneficial to load stabilization; (3) By such a parallel operation mode, system stability becomes worse as the number of extended slaves increases, and power extension capability is limited.
Disclosure of Invention
Aiming at the defects of the background technology, the invention provides an electronic load parallel operation system and method, and a slave machine can realize the synchronous load with a host machine by analyzing a parallel operation signal sent by the host machine, can not completely rely on the work of the host machine, realizes the parallel operation of an electronic load, and solves the technical problems that the slave machine in the existing parallel operation scheme does not have independent working capacity and has limited power expansion capacity.
The invention adopts the following technical scheme for realizing the purposes of the invention:
an electronic load parallel operation system, comprising: the host computer comprises a main power module for absorbing the power of the object to be detected, and the slave computers comprise slave power modules for absorbing the power of the object to be detected,
the host machine corrects the current sampling value sucked into the object to be detected by the main power module according to the current setting value to control the main power module and outputs parallel operation signals including but not limited to driving signals and on-load synchronous signals in real time according to the current setting value,
the slave receives the parallel operation signal output by the host and analyzes the current set value, and corrects the current sample value sucked into the object to be tested from the power module according to the analyzed current set value so as to control the slave power module.
Further, in the electronic load parallel operation system, the current set value is a set value when the host machine works at a constant current, or a current equivalent value of the set value when the host machine works at a constant voltage/a constant resistance/a constant power.
As a further optimization scheme of the electronic load parallel operation system, the host further comprises:
the non-inverting input end of the main error amplifier is connected with a current set value, the inverting input end of the main error amplifier is connected with a current sampling value of an object to be tested sucked by the main power module, the static pull-load analog voltage of the host is determined according to the current set value, the current sampling value of the object to be tested sucked by the main power module is corrected according to the current set value to determine the dynamic pull-load analog voltage of the host, and the analog voltage loaded on the main power module is output.
Still further, the main error amplifier in the electronic load parallel operation system includes:
one input end of the subtracter is connected with a current set value, the other input end of the subtracter is connected with a current sampling value of the object to be tested sucked by the main power module, and the subtracter outputs a main current correction value after making a difference between the current set value and the current sampling value of the object to be tested sucked by the main power module;
PID, its input end connects with the output end of subtracter, outputs PID regulating value after PID regulating the main current correcting value; the method comprises the steps of,
the input end of the dynamic DAC is connected with the output end of the PID, and digital-to-analog conversion is carried out on the PID regulating value to obtain the analog voltage of the dynamic pulling load of the host;
the static DAC performs digital-to-analog conversion on the current set value of the input end of the static DAC to obtain the analog voltage of the static pull load of the host;
and one input end of the adder is connected with the output end of the static DAC, the other input end of the adder is connected with the output end of the dynamic DAC, and the adder synthesizes the analog voltage of the static pull load of the host and the analog voltage of the dynamic pull load of the host and outputs the analog voltage loaded on the main power module.
As a further optimization scheme of the electronic load parallel operation system, the slave comprises:
the input end of the analog-to-digital converter is connected with the parallel operation signal, and the parallel operation signal is analyzed and then a current set value is output;
the non-inverting input end of the slave error amplifier is connected with a current set value, the inverting input end of the slave error amplifier is connected with a current sampling value sucked into the object to be tested by the slave power module, the analog voltage which is statically pulled by the slave is determined according to the current set value, the current sampling value sucked into the object to be tested by the slave power module is corrected according to the current set value so as to determine the analog voltage which is dynamically pulled by the slave power module, and the analog voltage which is loaded on the slave power module is output.
Still further, the slave in the electronic load parallel operation system includes:
the input end of the analog-to-digital converter is connected with the analog voltage of the static pull load of the host, and the analog voltage of the static pull load of the host is converted into a current set value in an analog-to-digital mode;
the non-inverting input end of the slave error amplifier is connected with a current set value, the inverting input end of the slave error amplifier is connected with a current sampling value sucked into the object to be tested by the slave power module, the analog voltage which is statically pulled by the slave is determined according to the current set value, the current sampling value sucked into the object to be tested by the slave power module is corrected according to the current set value so as to determine the analog voltage which is dynamically pulled by the slave power module, and the analog voltage which is loaded on the slave power module is output.
The electronic load parallel operation method is realized by adopting the electronic load parallel operation system, and the parallel operation method specifically comprises the following steps of:
the host machine calibrates the current set value to obtain the analog voltage of the characterization parallel operation signal: volt1=is×mx1+mb1,
the slave machine calibrates the analog voltage of the characterization parallel operation signal sent by the host machine to determine a current set value: volt1=adc Code ×Mx2+Mb2，
Combining the master calibration factor and the slave calibration factor to make the master load current and the slave load current consistent:
wherein Volt1 Is the analog voltage representing the parallel operation signal, is the current set value, mx1 and Mb1 are the scaling factor and bias factor calibrated by the host respectively, and ADC Code For the code value obtained by the analog voltage of the parallel operation signal of the slave machine detection characterization, mx2 and Mb2 are respectively the scaling factor and the offset factor of the slave machine calibration, and Mx and Mb are respectively the scaling factor combination value and the offset factor combination value.
The electronic load parallel operation method is realized by adopting the electronic load parallel operation system, and the parallel operation method specifically comprises the following steps of:
the voltage set point is converted into the current set point by adopting a voltage-to-current loop,
the host machine calibrates the current set value to obtain the analog voltage of the characterization parallel operation signal: volt1=is×mx1+mb1,
the slave machine calibrates the analog voltage of the characterization parallel operation signal sent by the host machine to determine a current set value: volt1=adc Code ×Mx2+Mb2，
Combining the master calibration factor and the slave calibration factor to make the master load current and the slave load current consistent:
wherein Volt1 Is the analog voltage representing the parallel operation signal, is the current set value, mx1 and Mb1 are the scaling factor and bias factor calibrated by the host respectively, and ADC Code For the code value obtained by the analog voltage of the parallel operation signal of the slave machine detection characterization, mx2 and Mb2 are respectively the scaling factor and the offset factor of the slave machine calibration, and Mx and Mb are respectively the scaling factor combination value and the offset factor combination value.
The electronic load parallel operation method is realized by adopting the electronic load parallel operation system, and the parallel operation method specifically comprises the following steps of:
converting the resistance set value into a current set value according to the relation between the resistance set value and the real-time sampling voltage of the host,
the host machine calibrates the current set value to obtain the analog voltage of the characterization parallel operation signal: volt1=is×mx1+mb1,
the slave machine calibrates the analog voltage of the characterization parallel operation signal sent by the host machine to determine a current set value: volt1=adc Code ×Mx2+Mb2，
Combining the master calibration factor and the slave calibration factor to make the master load current and the slave load current consistent:
wherein Volt1 Is the analog voltage representing the parallel operation signal, is the current set value, mx1 and Mb1 are the scaling factor and bias factor calibrated by the host respectively, and ADC Code For the code value obtained by the analog voltage of the parallel operation signal of the slave machine detection characterization, mx2 and Mb2 are respectively the scaling factor and the offset factor of the slave machine calibration, and Mx and Mb are respectively the scaling factor combination value and the offset factor combination value.
The electronic load parallel operation method is realized by adopting the electronic load parallel operation system, and the parallel operation method specifically comprises the following steps of:
converting the power set point into a current set point according to the relation between the power set point and the real-time sampling voltage of the host,
the host machine calibrates the current set value to obtain the analog voltage of the characterization parallel operation signal: volt1=is×mx1+mb1,
the slave machine calibrates the analog voltage of the characterization parallel operation signal sent by the host machine to determine a current set value: volt1=adc Code ×Mx2+Mb2，
Combining the master calibration factor and the slave calibration factor to make the master load current and the slave load current consistent:
wherein Volt1 Is the analog voltage representing the parallel operation signal, is the current set value, mx1 and Mb1 are the scaling factor and bias factor calibrated by the host respectively,ADC Code for the code value obtained by the analog voltage of the parallel operation signal of the slave machine detection characterization, mx2 and Mb2 are respectively the scaling factor and the offset factor of the slave machine calibration, and Mx and Mb are respectively the scaling factor combination value and the offset factor combination value.
Furthermore, in the electronic load parallel operation system, a parallel operation signal is transmitted to each slave machine through the CAN.
The invention adopts the technical scheme and has the following beneficial effects:
(1) The slave in the parallel operation system is provided with a voltage and current sampling circuit and an error loop, and the slave power module is not directly controlled by the host, so that the slave can work independently of the host, and the phenomenon of signal crosstalk does not exist in the parallel operation system, thereby being beneficial to the stability of a control loop of the whole system, being capable of realizing the parallel connection of more slaves and increasing the expansion power;
(2) The parallel operation method comprises parallel operation modes corresponding to different working modes of the system, a host generates parallel operation signals according to current set values and calibrates the current set values to obtain parallel operation signals, a slave acquires the parallel operation signals in real time and calibrates the parallel operation signals to analyze signals similar to the current set values of the host, and the calibration coefficients of the host and the slave are combined to enable load currents of the master and the slave to be consistent, so that current balance between the master and the slave is ensured, and a simple and feasible scheme is provided for parallel operation of electronic loads.
Drawings
Fig. 1 is a block diagram of a conventional parallel operation mode.
FIG. 2 is a block diagram of the parallel operation mode of the present invention.
Fig. 3 is an electronic load parallel operation system according to the present invention.
Fig. 4 is a block diagram of a host in a constant flow mode parallel operation.
Fig. 5 is a block diagram of a slave when the parallel operation is in the constant flow mode.
FIG. 6 is a block diagram of a host during parallel operation in a constant power/constant resistance mode.
FIG. 7 is a block diagram of a host during constant voltage parallel operation current spreading.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings.
As shown in FIG. 3, the electronic load parallel operation system of the invention tests an object to be tested, wherein the object to be tested can be a power supply, a battery, a power supply system and the like, and the electronic load system comprises a master machine and a plurality of slave machines. Referring to fig. 4 to fig. 7, the host corrects the current drawn by the host according to the current set value to control the main power module to draw the power on the object to be tested, and outputs parallel signals including but not limited to a driving signal and a load synchronization signal in real time according to the current set value. The slave analyzes a current set value from the received parallel operation signal, and corrects the current absorbed by the slave according to the current set value so as to control the slave power module to absorb the power on the object to be detected. The parallel operation signal comprises Analog driving signals and ON/OFF signals which are transmitted through the CAN. The ON/OFF signal is used for ON-load synchronization of the master and slave. The Analog drive signal is transmitted from the host to the slave through the CAN, the drive signal contains information of the current set value of the host, and the slave CAN obtain the current set value in real time by interpreting the signal. The current set value is the set value when the host machine works with constant current, or the current equivalent value of the set value when the host machine works with constant voltage/constant resistance/constant power.
The slave of the electronic load parallel operation system does not need to depend on the host completely, as shown in fig. 2, a voltage and current sampling circuit and an error ring of the slave are designed, the host is provided with a sampling resistor RS for detecting the current sucked by a main power module, and the slave is provided with a sampling resistor RS_N for detecting the current sucked by a slave power module. In order to ensure the normal operation of the whole parallel operation system, the slave machine needs to acquire the current set value of the host machine in real time, and in consideration of the defect that the speed of communication modes such as RS232, 485, CAN and the like is obviously insufficient when the load is dynamically and rapidly pulled, the invention adopts the DAC to convert the current set value into the static pulling analog voltage of the host machine, the slave machine CAN analyze the current set value in real time by sampling the analog voltage of the static pulling analog voltage of the host machine output by the ADC and analyzing the DAC, and the current balance between the master machine and the slave machine CAN be ensured, so that the master machine CAN operate simultaneously like a single machine.
The working modes of the electronic load parallel operation system can be the following working modes: constant Voltage (CV)/Constant Current (CC)/Constant Resistance (CR)/Constant Power (CP). In the above modes, the master is a constant voltage/constant current/constant resistance/constant power mode and the slave is a constant current mode, respectively. When the master machine and the slaves of the electronic load parallel operation system are arranged in the same electronic load rack to form a whole machine, the electronic load parallel operation system is shaped like a single electronic load.
Electronic load parallel operation mode under constant current mode
The host in CC mode, as shown in fig. 2 and 4, includes: a main error amplifier, a main power module and a host sampling circuit. The host sampling circuit detects the current absorbed by the main power module through the sampling resistor RS, and then converts the analog value of the current absorbed by the main power module into a digital value through the ADC, so as to obtain a sampling value of the current absorbed by the main power module into the object to be detected. The main error amplifier determines the analog voltage of the static pulling load of the host according to the current set value, corrects the current sampling value of the object to be tested sucked into the main power module according to the current set value to determine the analog voltage of the dynamic pulling load of the host, and outputs the analog voltage loaded on the main power module; the main error amplifier includes: subtractor, PID, dynamic DAC, static DAC, adder. One input end of the subtracter is connected with a current set value, the other input end of the subtracter is connected with a sampling value of the current of the object to be tested, the input end of the PID is connected with the output end of the subtracter, the input end of the dynamic DAC is connected with the output end of the PID, the input end of the static DAC is connected with the current set value, one input end of the adder is connected with the output end of the static DAC, and the other input end of the adder is connected with the output end of the dynamic DAC. The subtracter outputs a main current correction value after making a difference between a current set value and a sampling value of the current of the object to be tested sucked by the main power module, the PID is used for carrying out PID adjustment on the main current correction value and outputting a PID adjustment value, the dynamic DAC is used for carrying out digital-to-analog conversion on the PID adjustment value to obtain an analog voltage dynamically pulled by the host, the static DAC is used for carrying out digital-to-analog conversion on the current set value to obtain an analog voltage statically pulled by the host, the adder is used for synthesizing the analog voltage statically pulled by the host and the analog voltage dynamically pulled by the host and outputting the analog voltage loaded on the main power module, and the main power module is controlled to absorb the power of the object to be tested.
As shown in fig. 2 and 5, the slave chassis diagram in CC mode includes: the system comprises an analog-to-digital converter, a slave error amplifier, a slave power module and a slave sampling circuit. The input end of the analog-digital converter is connected with a parallel signal, the non-inverting input end of the error amplifier is connected with a current set value, and the inverting input end of the error amplifier is connected with a current sampling value sucked into the object to be tested from the power module. The input end of the slave sampling circuit is connected with the output end of the slave power module, current sucked by the slave power module is collected through a sampling resistor RS_N, then an analog value of the current sucked by the slave power module is converted into a digital value through an ADC, and then a current sampling value of an object to be detected sucked by the slave power module is obtained. The analog-to-digital converter analyzes the parallel operation signal and then outputs a current set value, the slave error amplifier determines the analog voltage of the slave static pull load according to the current set value, and corrects the current sampling value sucked into the object to be tested by the slave power module according to the current set value to determine the analog voltage of the slave dynamic pull load, outputs the analog voltage loaded on the slave power module and controls the slave power module to absorb the power of the object to be tested.
If the current set value Is, the host sends an analog quantity Volt1 of the characterization parallel operation signal of the slave:
Volt1＝Is×Mx1+Mb1 ①
meanwhile, the slave machine samples an analog quantity Volt1 of a characteristic parallel operation signal sent by the host machine through the ADC:
Volt1＝ADC Code ×Mx2+Mb2 ②
two formulas (1) and (2) are combined, and it can be seen that:
Is×Mx1+Mb1＝ADC Code ×Mx2+Mb2，
that is to say,
order the
The method can obtain:
the slave can calculate the current value Is set by the host in real time by calculating Mx and Mb, wherein Mx1 and Mb1 are respectively the calibrated ratios of the hostExample coefficient and offset coefficient, ADC Code For the code value obtained by the analog voltage of the parallel operation signal of the slave machine detection characterization, mx2 and Mb2 are respectively the scaling factor and the offset factor of the slave machine calibration, and Mx and Mb are respectively the scaling factor combination value and the offset factor combination value.
And during parallel operation, the host computer sends the calibrated proportion coefficient Mx1 and the offset coefficient Mb1 to each slave computer through the CAN network, and the slave computer obtains a proportion coefficient combination value Mx and an offset coefficient combination value Mb by combining the coefficient of the host computer and the calibrated proportion coefficient Mx2 and the offset coefficient Mb2 of the host computer. Therefore, the slave can obtain the set current value of the host in real time through the high-speed ADC, so that the slave carries the same current value as the host, and the parallel operation current expansion of the CC mode is finally realized.
Electronic load parallel operation mode under constant power/constant resistance mode
As shown in fig. 6, a calculation unit for converting a constant resistance/constant power into a current set value according to a host voltage sampling value is first added to the host frame of fig. 4. The system is set under a resistor working mode: the host converts the resistance set value into a current set value according to the relation between the resistance set value and the real-time sampling voltage of the host, and then the parallel connection of a plurality of loads is realized by referring to a parallel connection mode of the system in a constant current mode. The system is in a fixed power working mode: the host converts the power set value into a current set value according to the relation between the power set value and the real-time sampling voltage of the host, and then the parallel connection of a plurality of loads is realized by referring to a parallel connection mode of the system in a constant current mode.
The real-time voltage sampling of the host is obtained by sampling the voltage of the object to be detected loaded at the input end of the electronic load or the voltage of the output end of the object to be detected. The sampling current of the host is obtained through a host sampling resistor RS, and the sampling current of the slave is obtained through a slave sampling resistor RS_N.
Electronic load parallel operation mode under constant voltage mode
As shown in fig. 7, a voltage-to-current loop for converting a constant voltage into a current set value according to a host voltage sampling value is added to the host frame of fig. 4. The host adopts a voltage-to-current loop to convert a voltage set value into a current set value, and then a parallel operation mode under a constant current mode of the system is referred to, so that a plurality of loads are connected in parallel.
Claims (4)
1. An electronic load device, comprising:
the power module is connected with the object to be detected and used for carrying the object to be detected to absorb the power of the object to be detected;
the sampling circuit is used for sampling the current sucked into the object to be detected by the power module, and obtaining a sampling value of the current sucked into the object to be detected by the power module;
the control loop controls the power module to absorb the power of the object to be detected according to a current set value, one part of the current set value is subjected to digital-to-analog conversion through a digital-to-analog converter to obtain static pull-load analog voltage, the other part of the current set value and the current sample value are subjected to error amplification adjustment and another digital-to-analog converter to obtain dynamic pull-load analog voltage, and the static pull-load analog voltage and the dynamic pull-load analog voltage are synthesized and then output to control the analog voltage of the power module;
the control loop includes:
one input end of the subtracter is connected with a current set value, the other input end of the subtracter is connected with a current sampling value of the power module sucked into the object to be tested, and the subtracter outputs a current correction value after the difference between the current set value and the current sampling value of the power module sucked into the object to be tested;
PID, its input end connects with the output end of subtracter, outputs PID regulating value after PID regulating the current correction value; the method comprises the steps of,
the input end of the dynamic DAC is connected with the output end of the PID, and digital-to-analog conversion is carried out on the PID regulating value to obtain the analog voltage of dynamic pulling load;
the static DAC performs digital-to-analog conversion on a current set value of an input end of the static DAC to obtain static pull-up analog voltage;
and one input end of the adder is connected with the output end of the static DAC, the other input end of the adder is connected with the output end of the dynamic DAC, and the adder synthesizes the static pull-up analog voltage and the dynamic pull-up analog voltage and then outputs the analog voltage loaded on the power module.
2. The parallel operation system of an electronic load device according to claim 1, comprising: the system comprises a host machine and a plurality of slaves, wherein the host machine comprises a main power module for absorbing the power of an object to be detected, the slaves comprise slave power modules for absorbing the power of the object to be detected, the host machine corrects the current sampling value of the object to be detected absorbed by the main power module according to a current set value so as to control the main power module, and outputs parallel machine signals comprising but not limited to driving signals and carrying synchronous signals in real time according to the current set value, the slaves receive the parallel machine signals output by the host machine and analyze the current set value, and the slave power module corrects the current sampling value of the object to be detected absorbed by the slave power module according to the analyzed current set value so as to control the slave power module.
3. The parallel operation system of the electronic load device according to claim 2, wherein the current setting value of the input end of the host static DAC is converted into a static pull-load analog voltage by digital-to-analog conversion, and the input end of the slave analog-to-digital converter is connected with the host static pull-load analog voltage to convert the host static pull-load analog voltage into the current setting value.
4. The parallel operation system of an electronic load device according to claim 2, wherein the parallel operation signal is transmitted to each slave machine through CAN.
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| CN109100661A (en) * | 2018-09-12 | 2018-12-28 | 北京大华无线电仪器有限责任公司 | A kind of high power DC electronic load |
| CN109061538B (en) * | 2018-09-12 | 2021-02-19 | 北京大华无线电仪器有限责任公司 | Calibration method of high-power electronic load |
| WO2020062138A1 (en) | 2018-09-29 | 2020-04-02 | Oppo广东移动通信有限公司 | Adapter testing apparatus and method, and computer storage medium |
| CN109412392B (en) * | 2018-11-16 | 2020-10-09 | 蔡晓 | Multichannel power supply parallel operation system and method |
| CN109374935A (en) * | 2018-11-28 | 2019-02-22 | 武汉精能电子技术有限公司 | A kind of electronic load parallel operation method and system |
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| CN111123011A (en) | 2020-05-08 |
| CN107817393B (en) | 2020-05-15 |
| CN107817393A (en) | 2018-03-20 |
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