CN117081463B - Damping motor driving control method and device - Google Patents
Damping motor driving control method and device Download PDFInfo
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- CN117081463B CN117081463B CN202311340059.0A CN202311340059A CN117081463B CN 117081463 B CN117081463 B CN 117081463B CN 202311340059 A CN202311340059 A CN 202311340059A CN 117081463 B CN117081463 B CN 117081463B
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- 238000013016 damping Methods 0.000 title claims abstract description 208
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000004590 computer program Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- 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
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The application discloses a damping motor drive control method and device, and relates to damping motor drive control technology; judging the current load of the controlled damping motor according to the running current data; if the current load of the controlled damping motor reaches the minimum preset threshold value, the damping size of the controlled damping motor is adjusted according to the preset load-damping corresponding relation, so that the controlled damping motor stably operates, and the problem that the motor is damaged due to the fact that the load of the controlled damping motor exceeds the limit in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of damping motor drive control, in particular to a damping motor drive control method and device.
Background
In the operation process of the damping motor, if a load reaches a certain value, the motor can be blocked, if the load current exceeds a rated current value, the motor can be blocked, if the motor is continuously blocked because of larger load, the motor can be damaged finally, and the use experience of the damping motor is greatly reduced.
Disclosure of Invention
The invention aims to solve the technical problem that the damping motor drive is used for motion control in the prior art, so that the closed-loop control is difficult to realize, and further provides a damping motor drive control method and device.
In order to solve the technical problems, the embodiment of the invention at least provides a damping motor driving control method and a damping motor driving control device.
In a first aspect, a disclosed embodiment of the present invention provides a method for controlling driving of a damping motor, including:
collecting running current data of a controlled damping motor in real time;
judging the current load of the controlled damping motor according to the running current data;
and if the current load of the controlled damping motor reaches the minimum preset threshold value, adjusting the damping of the controlled damping motor according to a preset load-damping corresponding relation, so that the controlled damping motor stably operates.
Optionally, the running current data of the controlled damping motor is collected in real time through a high-speed operational amplifier and a filter.
Optionally, the load-damping correspondence relationship is: the greater the load the greater the vibration and noise reduction of the motor during operation.
Optionally, the adjusting the damping of the controlled damping motor according to the preset load-damping correspondence relation includes: and increasing the damping of the controlled damping motor according to the range interval of the current load of the controlled damping motor and the load-damping corresponding relation.
Optionally, the damping of the controlled damping motor is adjusted according to a preset load-damping corresponding relation as follows: and adjusting the damping size of the controlled damping motor according to a preset load-damping corresponding relation until the current load of the controlled damping motor is smaller than the minimum preset threshold value.
Optionally, adjusting the damping of the controlled damping motor according to a preset load-damping corresponding relation further comprises; and stopping sending the pulse to the controlled damping motor if the controlled damping motor still has locked rotation after the maximum damping is increased.
In a second aspect, a disclosed embodiment of the invention provides a damped motor drive control device, comprising:
the current data acquisition module is used for acquiring the running current data of the controlled damping motor in real time and consists of an operational amplifier, a peripheral circuit of the operational amplifier and a sampling resistor;
the load calculation module is used for judging the current load of the controlled damping motor according to the running current data;
and the load adjustment module is used for adjusting the damping of the controlled damping motor according to a preset load-damping corresponding relation if the current load of the controlled damping motor reaches a minimum preset threshold value, so that the controlled damping motor stably operates.
In a third aspect, the disclosed embodiments of the invention also provide a computer device comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, or any of the possible implementations of the first aspect.
In a fourth aspect, the disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the first aspect, or any of the possible implementation manners of the first aspect.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
collecting running current data of a controlled damping motor in real time; judging the current load of the controlled damping motor according to the running current data; if the current load of the controlled damping motor reaches the minimum preset threshold value, the damping of the controlled damping motor is adjusted according to the preset load-damping corresponding relation, so that the controlled damping motor stably operates, and the response peak value of the system near the resonance frequency is restrained by using a damping increasing method.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a damping motor driving control method according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram showing the functional structure of a damping motor drive control device according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a computer device according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of another method for damping motor drive control provided by the disclosed embodiments of the invention;
fig. 5 is a schematic diagram of the correspondence relationship between acceleration, velocity and position in the method shown in fig. 4.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying summary.
Example 1
As shown in fig. 1, a flow chart of a damping motor driving control method according to an embodiment of the present disclosure includes:
s11: and collecting the running current data of the controlled damping motor in real time.
In some embodiments, the operating current data of the controlled damping motor is collected in real time through a high-speed operational amplifier and a filter.
S12: and judging the current load of the controlled damping motor according to the running current data.
Specifically, S12 includes:
and increasing the damping of the controlled damping motor according to the range interval of the current load of the controlled damping motor and the load-damping corresponding relation.
S13: if the current load of the controlled damping motor reaches the minimum preset threshold value, the damping size of the controlled damping motor is adjusted according to the preset load-damping corresponding relation until the current load of the controlled damping motor is smaller than the minimum preset threshold value, so that the controlled damping motor stably operates, after the current load is increased to the maximum damping, the controlled damping motor still generates locked rotation, and then pulse transmission to the controlled damping motor is stopped.
Wherein, the load-damping correspondence is: the greater the load the greater the vibration and noise reduction of the motor during operation.
It can be understood that the technical scheme provided by the embodiment collects the running current data of the controlled damping motor in real time; judging the current load of the controlled damping motor according to the running current data; if the current load of the controlled damping motor reaches the minimum preset threshold value, the damping of the controlled damping motor is adjusted according to the preset load-damping corresponding relation, so that the controlled damping motor stably operates, and the response peak value of the system near the resonance frequency is restrained by using a damping increasing method.
Example 2
As shown in fig. 2, an embodiment of the present invention further provides a damping motor driving control device, which includes:
and the current data acquisition module 21 is used for acquiring the running current data of the controlled damping motor in real time.
In some alternative embodiments, the current data acquisition module 21 may acquire the operating current data of the controlled damping motor in real time through a high-speed operational amplifier and a filter.
The load calculation module 22 is used for judging the current load of the controlled damping motor according to the running current data. Specifically, the load calculation module 22 increases the damping of the controlled damping motor according to the load-damping correspondence according to the range interval in which the current load of the controlled damping motor is located.
The load adjustment module 23 is configured to adjust the damping of the controlled damping motor according to a preset load-damping correspondence if the current load of the controlled damping motor reaches a minimum preset threshold, until the current load of the controlled damping motor is smaller than the minimum preset threshold, so that the controlled damping motor stably operates, and stop sending the pulse to the controlled damping motor if the current load of the controlled damping motor still has locked rotation after the current load of the controlled damping motor increases to the maximum damping.
It can be understood that the technical scheme provided by the embodiment collects the running current data of the controlled damping motor in real time; judging the current load of the controlled damping motor according to the running current data; if the current load of the controlled damping motor reaches the minimum preset threshold value, the damping of the controlled damping motor is adjusted according to the preset load-damping corresponding relation, so that the controlled damping motor stably operates, and the response peak value of the system near the resonance frequency is restrained by using a damping increasing method.
Example 3
Based on the same technical concept, the embodiment of the application further provides a computer device, which comprises a memory 1 and a processor 2, as shown in fig. 3, the memory 1 stores a computer program, and the processor 2 implements the damping motor driving control method according to any one of the above when executing the computer program.
The memory 1 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 1 may in some embodiments be an internal memory unit of a damped motor drive control system, such as a hard disk. The memory 1 may in other embodiments also be an external memory device of a damped motor drive control system, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like. Further, the memory 1 may also comprise both an internal memory unit of the damping motor drive control system and an external memory device. The memory 1 may be used not only for storing application software installed in the damping motor drive control system and various kinds of data, such as codes of damping motor drive control programs, etc., but also for temporarily storing data that has been output or is to be output.
The processor 2 may in some embodiments be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip for running program code or processing data stored in the memory 1, e.g. executing a damping motor drive control program or the like.
It can be understood that the technical scheme provided by the embodiment collects the running current data of the controlled damping motor in real time; judging the current load of the controlled damping motor according to the running current data; if the current load of the controlled damping motor reaches the minimum preset threshold value, the damping of the controlled damping motor is adjusted according to the preset load-damping corresponding relation, so that the controlled damping motor stably operates, and the response peak value of the system near the resonance frequency is restrained by using a damping increasing method.
In order to facilitate the reader to understand the technical solutions of the embodiments of the present invention, the following describes in detail the technical details in the above solutions by way of specific examples, and fig. 4 shows another damping motor driving control method, which includes the following procedures:
1. fast sampling of motor current is achieved by using high speed op-amps and filters.
2. The magnitude of the load is determined based on the current of the motor.
3. The current threshold is set in the singlechip program, for example, the detected current range is set to be 5 gears, namely 0.5, 1, 1.2, 1.5, 2A and 5 gears respectively, and the larger the load is, the larger the current is, the corresponding damping value of each current gear to be regulated is, and the current of 0.5A corresponds to the damping coefficient of 0.5N (m/s) and is in a proportional relation.
4. Under the condition of larger load, the motor current can continuously become larger, according to whether the detected motor current increases damping, when the current exceeds the maximum setting range 2A, the current is directly increased to the maximum damping, and the motor stops transmitting pulses when the phenomenon of locked rotor still occurs.
5. When the current is continuously high, the motor can be possibly damaged, the motor rotating speed at the moment cannot be too high, and the stabilizing effect is achieved by reducing the motor rotating speed and increasing the damping until the motor can drive a load.
6. When the motor current is reduced from large to small, the rotating speed of the motor is slowly recovered to the normal set rotating speed, and the damping is reduced to the normal state.
7. In order to prevent the motor from losing and overshooting as much as possible, acceleration and deceleration are used in the starting and stopping processes of the motor, and in the acceleration and deceleration stage, the corresponding relationship between the acceleration and the speed and the position is shown in fig. 5.
According to the method, a plurality of levels for adjusting the damping are provided according to different current magnitude change intervals, the set current interval threshold corresponds to the damping, and the larger the current is, the larger the damping is adjusted.
When the load of the damping motor is large, the current is large, and the method for increasing the damping and reducing the rotating speed of the motor according to the change of the current is adopted to increase the torque of the motor, so that the motor can drive the load. The damping motor has a good buffering effect according to the running speed and the load change of the motor, so that the motor is gentle and stable. The motor is electrified to run, the size of the load is judged through the size of the current, when the load is large, the motor can be increased to automatically increase the motor torque in a damping increasing mode, when the load is small, and when the detected current is not larger than a set threshold value, the motor rotating speed can be restored to a normal state.
The scheme is simple to control and easy to realize, and the load position has no feedback to the control circuit. For a damped motor, the input of the control pulses does not depend on the position of the rotor, but rather the control pulses are issued according to a fixed law. When pulses are supplied to the drive, too many pulses are sent by the control system in too short a time, i.e. the pulse frequency is too high, which will cause the damping motor to stall. Acceleration and deceleration methods are generally adopted. That is, in starting the damper motor, the pulse frequency at the time of deceleration needs to be gradually reduced in order to give a gradually increased pulse frequency. The acceleration process is that the acceleration curve is composed of a basic frequency (lower than the highest frequency of the direct start of the stepping motor) and a jump frequency (gradually accelerating frequency) (the speed-down process is reverse). The jump frequency refers to the frequency of the stepping motor which is gradually increased on the basis of the frequency, and the frequency cannot be too large, otherwise, the locked rotor and the step loss can be generated.
When the sudden speed of the motor is reduced, the damping is increased, the vibration is rapidly damped, and in the running process, the damping can be adaptively increased, so that the damping is always kept within a certain limit, the overload impact load is avoided, and the device is mainly used for eliminating the gravity acceleration of the gravity load, so that the load can run stably and slowly.
The disclosed embodiments also provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the damping motor drive control method in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The computer program product of the damping motor driving control method provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, and instructions included in the program code are used to execute steps of the damping motor driving control method in the above method embodiment, specifically, refer to the above method embodiment, and are not repeated herein.
The disclosed embodiments also provide a computer program which, when executed by a processor, implements any of the methods of the previous embodiments. The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" means at least two.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (6)
1. A damping motor drive control method, characterized by comprising:
collecting running current data of a controlled damping motor in real time;
judging the current load of the controlled damping motor according to the running current data;
if the current load of the controlled damping motor reaches the minimum preset threshold value, adjusting the damping of the controlled damping motor according to the preset load-damping corresponding relation so as to ensure that the controlled damping motor stably operates;
the adjusting the damping of the controlled damping motor according to the preset load-damping corresponding relation comprises the following steps:
increasing the damping of the controlled damping motor according to the range interval of the current load of the controlled damping motor and the load-damping corresponding relation;
if the controlled damping motor still has locked rotor after the maximum damping is increased, stopping sending the pulse to the controlled damping motor;
the damping of the controlled damping motor is adjusted according to a preset load-damping corresponding relation, and the damping is as follows: and adjusting the damping size of the controlled damping motor according to a preset load-damping corresponding relation until the current load of the controlled damping motor is smaller than the minimum preset threshold value.
2. The method of claim 1, wherein the operating current data of the controlled damping motor is collected in real time through a high-speed operational amplifier and a filter.
3. The damping motor drive control method according to claim 2, wherein the load-damping correspondence relationship is: the greater the load the greater the vibration and noise reduction of the motor during operation.
4. A damping motor drive control device, comprising:
the current data acquisition module is used for acquiring the running current data of the controlled damping motor in real time and consists of an operational amplifier, a peripheral circuit of the operational amplifier and a sampling resistor;
the load calculation module is used for judging the current load of the controlled damping motor according to the running current data;
the load adjustment module is used for adjusting the damping size of the controlled damping motor according to a preset load-damping corresponding relation if the current load of the controlled damping motor reaches a minimum preset threshold value, so that the controlled damping motor stably operates, and the adjusting the damping size of the controlled damping motor according to the preset load-damping corresponding relation comprises the following steps: increasing the damping of the controlled damping motor according to the range interval of the current load of the controlled damping motor and the load-damping corresponding relation; if the controlled damping motor still has locked rotor after the maximum damping is increased, stopping sending the pulse to the controlled damping motor, and adjusting the damping of the controlled damping motor according to the preset load-damping corresponding relation to be as follows: and adjusting the damping size of the controlled damping motor according to a preset load-damping corresponding relation until the current load of the controlled damping motor is smaller than the minimum preset threshold value.
5. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the damped motor drive control method according to any one of claims 1 to 3.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the damping motor drive control method according to any one of claims 1 to 3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311340059.0A CN117081463B (en) | 2023-10-17 | 2023-10-17 | Damping motor driving control method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311340059.0A CN117081463B (en) | 2023-10-17 | 2023-10-17 | Damping motor driving control method and device |
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| CN117081463A CN117081463A (en) | 2023-11-17 |
| CN117081463B true CN117081463B (en) | 2024-02-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6040676A (en) * | 1996-01-31 | 2000-03-21 | Parker-Hannifin Corporation | Passive electronic damping for step motor |
| CN103022976A (en) * | 2012-12-13 | 2013-04-03 | 广州三晶电气有限公司 | Frequency converter output short circuit protection circuit and protection method |
| CN104941115A (en) * | 2014-03-25 | 2015-09-30 | 汎信工业股份有限公司 | Training body-building machine for simulating load force |
| CN109888736A (en) * | 2019-04-08 | 2019-06-14 | 美平电器制品（深圳）有限公司 | Motor protection method, device, cook's machine and its storage medium |
| CN215961964U (en) * | 2021-08-10 | 2022-03-08 | 河南翔宇医疗设备股份有限公司 | Rehabilitation training device |
| CN116628997A (en) * | 2023-05-29 | 2023-08-22 | 中国第一汽车股份有限公司 | Method, device, equipment, medium and system for determining damping value of shock absorber |
-
2023
- 2023-10-17 CN CN202311340059.0A patent/CN117081463B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6040676A (en) * | 1996-01-31 | 2000-03-21 | Parker-Hannifin Corporation | Passive electronic damping for step motor |
| CN103022976A (en) * | 2012-12-13 | 2013-04-03 | 广州三晶电气有限公司 | Frequency converter output short circuit protection circuit and protection method |
| CN104941115A (en) * | 2014-03-25 | 2015-09-30 | 汎信工业股份有限公司 | Training body-building machine for simulating load force |
| CN109888736A (en) * | 2019-04-08 | 2019-06-14 | 美平电器制品（深圳）有限公司 | Motor protection method, device, cook's machine and its storage medium |
| CN215961964U (en) * | 2021-08-10 | 2022-03-08 | 河南翔宇医疗设备股份有限公司 | Rehabilitation training device |
| CN116628997A (en) * | 2023-05-29 | 2023-08-22 | 中国第一汽车股份有限公司 | Method, device, equipment, medium and system for determining damping value of shock absorber |
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| CN117081463A (en) | 2023-11-17 |
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