CN113629855A - Stage driving system and method based on redundancy control - Google Patents
Stage driving system and method based on redundancy control Download PDFInfo
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- CN113629855A CN113629855A CN202111072553.4A CN202111072553A CN113629855A CN 113629855 A CN113629855 A CN 113629855A CN 202111072553 A CN202111072553 A CN 202111072553A CN 113629855 A CN113629855 A CN 113629855A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/062—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for AC powered loads
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
-
- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
- Y04S20/20—End-user application control systems
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention provides a stage driving system and method based on redundancy control. The system comprises: the system also comprises a first brake control module connected between the output end of the power supply switcher and the power supply end of the first brake, and a second brake control module connected between the output end of the power supply switcher and the power supply end of the second brake, wherein the control ends of the first brake control module and the second brake control module are connected with the digital output ends of the main frequency converter and the standby frequency converter. The invention can realize the redundant control of the power supply and the frequency converter; the control of the main frequency converter and the standby frequency converter to the same brake can be realized, and the situation that the brake cannot be controlled after the frequency converters are switched can be avoided.
Description
Technical Field
The invention belongs to the technical field of stage driving systems, and particularly relates to a stage driving system and method based on redundancy control.
Background
At present, under the environment of explosive growth of various performances, in order to ensure smooth performance, the reliability requirement of people on a stage control system is continuously improved. The most important is a stage driving system consisting of a frequency converter, a motor and a band-type brake, which can directly determine whether a relevant mechanism can complete the response and stop of actions, and thus the performance and personnel safety are concerned.
The existing stage driving system is mainly composed of a single frequency converter, a motor, an encoder and a plurality of band-type brakes and is a single power supply circuit. The key factors are single-point configuration, and performance cannot be performed due to the fact that any one of the key factors breaks down, so that great hidden danger exists.
Aiming at the hidden danger of the current stage driving system, the invention provides a driving system framework configured by a redundant power supply scheme, a redundant frequency converter, an encoder and a motor.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a stage driving system and method based on redundant control.
In order to achieve the above object, the present invention adopts the following technical solutions.
In a first aspect, the present invention provides a stage driving system based on redundant control, including: the system also comprises a first brake control module connected between the output end of the power supply switcher and the power supply end of the first brake, and a second brake control module connected between the output end of the power supply switcher and the power supply end of the second brake, wherein the control ends of the first brake control module and the second brake control module are connected with the digital output ends of the main frequency converter and the standby frequency converter.
Further, the primary and backup power sources are from different mains supply points.
Furthermore, the first brake control module and the second brake control module are connected through a relay and a contactor, the contactor is connected in series with a power supply loop of the motor brake, the relay is connected in series with a control loop of the contactor, and a control end of the relay is connected with a digital output end of the frequency converter.
Furthermore, the main frequency converter and the standby frequency converter are both provided with two encoder interfaces which are respectively connected with an encoder, wherein one encoder is a standby encoder.
Furthermore, the system also comprises a fault detection module connected with the controller and used for automatically detecting the working states of the power supply and the frequency converter, and when the power supply and/or the frequency converter have faults, the controller outputs a control signal to realize redundancy control.
In a second aspect, the present invention provides a method for controlling by using the system, including the following steps:
under the action of the controller, the main power supply supplies power, the main frequency converter drives the main motor to work, and the main frequency converter controls the first brake and the second brake through the first brake control module and the second brake control module;
when the main power supply fails, the controller outputs a control signal to the control end of the power supply switcher to realize the switching between the main power supply and the standby power supply;
when the main frequency converter or the main motor breaks down, the main frequency converter and the main motor are switched with the standby frequency converter and the standby motor under the action of the controller, and the standby frequency converter controls the first brake and the second brake through the first brake control module and the second brake control module.
Further, the primary and backup power sources are from different mains supply points.
Furthermore, the first brake control module and the second brake control module are connected through a relay and a contactor, the contactor is connected in series with a power supply loop of the motor brake, the relay is connected in series with a control loop of the contactor, and a control end of the relay is connected with a digital output end of the frequency converter.
Furthermore, the main frequency converter and the standby frequency converter are both provided with two encoder interfaces which are respectively connected with an encoder, wherein one of the encoders is a main encoder, and the other encoder is a standby encoder.
Furthermore, the system also comprises a fault detection module connected with the controller and used for realizing fault identification by detecting the working states of the power supply and the frequency converter.
Compared with the prior art, the invention has the following beneficial effects.
According to the invention, by arranging the power supply switcher and adopting a redundant power supply scheme of the main power supply and the standby power supply, the autonomous switching after the single power supply line fails can be realized; through setting the main frequency converter and the standby frequency converter, the redundancy control of the frequency converters can be realized; the first brake control module and the second brake control module are respectively configured for the first brake and the second brake, and the control ends of the two modules are connected with the digital output ends of the main frequency converter and the standby frequency converter, so that the main frequency converter and the standby frequency converter can control the same brake, and the brake can be prevented from being controlled after the frequency converters are switched.
Drawings
Fig. 1 is a block diagram of a stage driving system based on redundant control according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of the first and second brake control modules.
Fig. 3 is a flowchart of a method for performing control by using the system according to an embodiment of the present invention.
In fig. 1, 1-controller, 2-power switch, 3-main frequency converter, 4-standby frequency converter, 5-main motor, 6-first brake, 7-second brake, 8-first brake control module, 9-second brake control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram of a control device of a stage driving motor 5 brake according to an embodiment of the present invention, and the system includes: controller 1, two inputs link to each other with main power supply and stand-by power supply respectively, power switch 2 that the control end links to each other with controller 1, by power switch 2 output power supply, main converter 3 and stand-by converter 4 that link to each other 5 with controller 1, the system is still including connecting the first braking control module 8 between power switch 2 output and the 6 power supply ends of first stopper to and connect the second braking control module 9 between power switch 2 output and the 7 power supply ends of second stopper, the control end of first braking control module 8 and second braking control module 9 all links to each other with the digital output of main converter 3 and stand-by converter 4.
In this embodiment, the system mainly includes a controller 1, a power switch 2, a main frequency converter 3, a standby frequency converter 4, a motor 5, a first brake 6, a second brake 7, a first brake control module 8, and a second brake control module 9. As shown in fig. 1, the controller 1 is connected to the control end of the power switch 2, the PN bus interfaces of the main converter 3 and the standby converter 4, respectively; the two input ends of the power supply switcher 2 are respectively connected with a main power supply and a standby power supply, and the output end V is connected with electric equipment, such as two frequency converters and two brake control modules; the input ends of the first brake control module 8 and the second brake control module 9 are connected with the output end V of the power switch 2, the output ends are respectively connected with the first brake 6 and the second brake 7, and the control ends are respectively connected with the digital output ends of the main frequency converter 3 and the standby frequency converter 4. Each module is described below.
The controller 1 is a control center of the system, and coordinates the work of each module by outputting various control signals. For example, the control signal is output to the power switch 2 to switch the main power supply and the standby power supply; and a control signal is output to the main frequency converter 3 or the standby frequency converter 4, and the main frequency converter 3 or the standby frequency converter 4 controls the on-off of the first brake control module 8 and the second brake control module 9 through the digital output end of the main frequency converter or the standby frequency converter, so that the first brake 6 and the second brake 7 are controlled. The controller 1 may be a programmable logic control unit PLC, or may also be a microprocessor or a single chip, which is not limited in this embodiment.
And a power switch 2 for switching between the main power supply and the standby power supply. The power switch 2 functions as an alternative analog switch or switch, and has two input terminals connected to the main power supply and the standby power supply, respectively, and an output terminal connected to the main power supply when the control terminal is at a high level and to the standby power supply when the control terminal is at a low level. When the controller 1 detects a power failure, it outputs a control signal to the control terminal of the power switch 2 to implement power switching. There is a dedicated dual power switch in the existing market, can automated inspection power failure and switch over automatically. Therefore, if such a dual power supply switch is used, the operation thereof may not be necessarily controlled by the controller 1.
The main frequency converter 3 and the standby frequency converter 4 are mainly used for driving a main motor 5 and a standby motor (for simplifying the figure 1, the standby motor connected with the standby frequency converter 4 is not shown in the figure 1) to work. The motor frequency converter is generally provided with various interfaces, such as: R/S/T input (connected with input power supply), U/V/W input (connected with motor), PN bus interface (connected with computer), coder interfaces 1 and 2 (connected with motor), and digital output (control interface). In the embodiment, the main frequency converter 3 and the standby frequency converter 4 are arranged, so that the redundancy control of the frequency converters can be realized, and the working reliability of the motor is improved.
A first brake control module 8 and a second brake control module 9 for controlling the supply of power to the first brake 6 and the second brake 7, respectively. In the stage driving system, once the band-type brakes are closed, no matter the main loop or the standby loop, the braking force is applied to the executing mechanism, so that the executing mechanism cannot normally operate, and therefore, the control of the multiple band-type brakes is not divided into the main loop and the standby loop. The specific implementation method is that a control line is respectively led out from the digital output interface ends of the main frequency converter 3 and the standby frequency converter 4 and is connected to the control ends of the first brake control module 8 and the second brake control module 9, so that the two frequency converters can control the disconnection and connection of the first brake control module 8 and the second brake control module 9, the first brake 6 and the second brake 7 can be controlled, and the problem that a plurality of brakes cannot be controlled after the frequency converters are switched can be avoided.
As an alternative embodiment, the primary and backup power sources are from different mains supply points.
This embodiment shows a technical scheme that main power supply and stand-by power supply are connected with the commercial power. In the prior art, in order to facilitate power connection, a main power supply and a standby power supply are generally connected to the same commercial power supply point. In this case, if the final-stage system is short-circuited, all the circuit breakers of the main/standby power supply circuit are tripped simultaneously, and normal power supply cannot be performed even if power supply switching is performed. Therefore, the main power supply and the standby power supply of the embodiment are respectively connected with different commercial power supply points, and the reliability of power supply is improved.
As an alternative embodiment, the two first brake control modules 8 and the second brake control module 9 are both connected by a relay and a contactor, the contactor is connected in series in the power supply loop of the brake, the relay is connected in series in the control loop of the contactor, and the control end of the relay is connected with the digital output end of the frequency converter.
The embodiment provides a technical scheme of a first brake control module 8 and a second brake control module 9. In this embodiment, the two brake control modules adopt the same hardware structure, and each brake control module is composed of a contactor and a relay, as shown in fig. 2. Because the driving current of the brake is large, the relay with small working current cannot be directly used for power supply control, so that the contactor with large working current is selected to control the on-off of the power supply of the brake; and a relay is used for controlling the on-off of the power supply at the control end of the contactor, and the control end of the relay is connected with a digital output interface of the frequency converter.
As an alternative embodiment, the main frequency converter 3 and the standby frequency converter 4 are both provided with two encoder interfaces, which are respectively connected with an encoder, wherein one of the encoders is a main encoder, and the other encoder is a standby encoder.
The embodiment provides a technical scheme for redundancy control of the encoder. In this embodiment, the main frequency converter 3 and the standby frequency converter 4 are both provided with two encoder interfaces, the two encoder interfaces are respectively connected with an encoder, that is, a main encoder and a standby encoder (not shown in fig. 1), the standby encoder does not work when the main encoder works, and when the main encoder fails, the standby encoder is switched.
As an optional embodiment, the system further includes a fault detection module connected to the controller 1, and configured to implement fault identification by detecting operating states of the power supply and the frequency converter.
In this embodiment, a fault detection module connected to the controller 1 is provided for performing fault detection. Some faults can be detected according to the state or fault information of the detected equipment, for example, fault information can be reported through a PN bus after a frequency converter has a fault; or a sensor is arranged, for example, a current sampling resistor is arranged in a power supply loop, and whether the power supply is normal or not is judged according to the voltage on the resistor.
Fig. 3 is a flowchart of a method for performing control by using the system according to an embodiment of the present invention, where the method includes the following steps:
step 101, under the action of the controller 1, a main power supply supplies power, the main frequency converter 3 drives the main motor 5 to work, and the main frequency converter 3 controls the first brake 6 and the second brake 7 through the first brake control module 8 and the second brake control module 9;
102, when the main power supply fails, the controller 1 outputs a control signal to a control end of the power supply switcher 2 to realize the switching between the main power supply and the standby power supply;
103, when the main frequency converter 3 or the main motor 5 has a fault, the main frequency converter 3, the main motor 5, the standby frequency converter 4 and the standby motor are switched under the action of the controller 1, and the main frequency converter 4 controls the first brake 6 and the second brake 7 through the first brake control module 8 and the second brake control module 9.
Compared with the technical solution of the system embodiment shown in fig. 1, the method of this embodiment has similar implementation principle and technical effect, and is not described herein again. The same applies to the following embodiments, which are not further described.
As an alternative embodiment, the primary and backup power sources are from different mains supply points.
As an alternative embodiment, the first brake control module 8 and the second brake control module 9 are both connected by a relay and a contactor, the contactor is connected in series in the power supply loop of the brake, the relay is connected in series in the control loop of the contactor, and the control end of the relay is connected with the digital output end of the frequency converter.
As an alternative embodiment, the main frequency converter 3 and the standby frequency converter 4 are both provided with two encoder interfaces, which are respectively connected with an encoder, wherein one of the encoders is a main encoder, and the other encoder is a standby encoder.
As an optional embodiment, the system further includes a fault detection module connected to the controller 1, and configured to implement fault identification by detecting operating states of the power supply and the frequency converter.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A stage drive system based on redundant control, comprising: the system also comprises a first brake control module connected between the output end of the power supply switcher and the power supply end of the first brake, and a second brake control module connected between the output end of the power supply switcher and the power supply end of the second brake, wherein the control ends of the first brake control module and the second brake control module are connected with the digital output ends of the main frequency converter and the standby frequency converter.
2. A stage drive system based on redundant control according to claim 1, wherein the primary and backup power sources are from different mains power supply points.
3. A stage driving system based on redundant control according to claim 1, wherein the first brake control module and the second brake control module are connected by a relay and a contactor, the contactor is connected in series with a power supply circuit of the motor brake, the relay is connected in series with a control circuit of the contactor, and a control end of the relay is connected with a digital output end of the frequency converter.
4. A stage drive system based on redundant control according to claim 1, wherein the main and standby frequency converters are each provided with two encoder interfaces, each connected to one encoder, wherein one encoder is a standby encoder.
5. A stage drive system based on redundant control according to claim 1, further comprising a fault detection module coupled to the controller for performing fault identification by detecting operating conditions of the power supply and the frequency converter.
6. A method of controlling using the system of claim 1, comprising the steps of:
under the action of the controller, the main power supply supplies power, the main frequency converter drives the main motor to work, and the main frequency converter controls the first brake and the second brake through the first brake control module and the second brake control module;
when the main power supply fails, the controller outputs a control signal to the control end of the power supply switcher to realize the switching between the main power supply and the standby power supply;
when the main frequency converter or the main motor breaks down, the main frequency converter and the main motor are switched with the standby frequency converter and the standby motor under the action of the controller, and the standby frequency converter controls the first brake and the second brake through the first brake control module and the second brake control module.
7. The method of claim 6, wherein the primary and backup power sources are from different mains power supply points.
8. The method according to claim 6, wherein the first brake control module and the second brake control module are connected by a relay and a contactor, the contactor is connected in series with a power supply loop of the motor brake, the relay is connected in series with a control loop of the contactor, and a control end of the relay is connected with a digital output end of the frequency converter.
9. The method of claim 6, wherein the main and backup converters are each provided with two encoder interfaces, one encoder being connected to each of the main and backup converters.
10. The method of claim 6, wherein the system further comprises a fault detection module coupled to the controller for performing fault identification by detecting an operating state of the power supply and the frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111072553.4A CN113629855A (en) | 2021-09-14 | 2021-09-14 | Stage driving system and method based on redundancy control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111072553.4A CN113629855A (en) | 2021-09-14 | 2021-09-14 | Stage driving system and method based on redundancy control |
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| CN113629855A true CN113629855A (en) | 2021-11-09 |
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| CN202111072553.4A Pending CN113629855A (en) | 2021-09-14 | 2021-09-14 | Stage driving system and method based on redundancy control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117170218A (en) * | 2023-10-08 | 2023-12-05 | 北京金东高科科技有限公司 | Stage mechanical switching control safety detection device and use method |
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| CN206057956U (en) * | 2016-09-14 | 2017-03-29 | 广州联创舞台设备有限公司 | A kind of stage electric control system |
| CN206389177U (en) * | 2016-10-17 | 2017-08-08 | 亿泰兴电子股份有限公司 | The power supply unit of dual input power supply |
| CN110703675A (en) * | 2019-09-20 | 2020-01-17 | 浙江大丰实业股份有限公司 | Brake control method, brake control device, computer equipment and storage medium |
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2021
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| CN1040327A (en) * | 1988-08-15 | 1990-03-14 | 朱潮鸣 | Elevator stage and control system thereof |
| CN101634855A (en) * | 2009-08-07 | 2010-01-27 | 总装备部工程设计研究总院 | Redundancy backup control system of ground equipment for opening ceremony and closing ceremony of large-scale sports meeting |
| CN102142800A (en) * | 2010-12-14 | 2011-08-03 | 深圳华强数码电影有限公司 | Stage synchronous lift control system and method |
| CN206057956U (en) * | 2016-09-14 | 2017-03-29 | 广州联创舞台设备有限公司 | A kind of stage electric control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117170218A (en) * | 2023-10-08 | 2023-12-05 | 北京金东高科科技有限公司 | Stage mechanical switching control safety detection device and use method |
| CN117170218B (en) * | 2023-10-08 | 2024-08-16 | 北京金东高科科技有限公司 | Stage mechanical switching control safety detection device and use method |
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