915 results about "Motor activation" patented technology

The invention relates to the technical field of single-phase asynchronous motors, and discloses a single-phase asynchronous motor starting control circuit based on an MCU and double silicon controlled rectifiers, which comprises an MCU control unit, a main silicon controlled rectifier, an auxiliary silicon controlled rectifier, an electricity metering chip and a protection circuit. Particularly, in a starting stage, the MCU control unit firstly sends a trigger signal to the auxiliary silicon controlled rectifier to enable the auxiliary silicon controlled rectifier to be in a conducting state, and the auxiliary silicon controlled rectifier is controllably connected with the starting winding to provide extra starting torque for the single-phase asynchronous motor; and after a starting condition is met, the MCU control unit sends a trigger signal to the main silicon controlled rectifier to enable the main silicon controlled rectifier to be in a conducting state, and the main silicon controlled rectifier is connected with the live wire to enable the single-phase asynchronous motor to enter a normal operation state. Thus, the starting winding is only electrified when necessary, energy loss caused by continuous heating of the PTC is avoided, and the overall energy efficiency of the system is improved.

A drink maker is described that includes a housing, a mixing vessel configured to be removably coupled to the housing and receive a drink product, a dasher configured to mix the drink product within the mixing vessel, a drive motor configured to drive the dasher, and a controller. The controller is configured to detect an unsafe condition associated with the drink maker and, in response to detection of the unsafe condition, execute at least one control action comprising at least one of: alerting a user of the drink maker, deactivating the drive motor, preventing activation of the drive motor, or any combination thereof.

The invention relates to the technical field of self-adaptive starting, and discloses a self-adaptive starting method and system based on voltage and current monitoring, and the method comprises the steps that an MCU (Microprogrammed Control Unit) triggers an auxiliary silicon controlled rectifier and a main silicon controlled rectifier through preset starting logic to start a motor, and carries out the high-frequency sampling of current and voltage data in real time; once starting failure is detected, short-time voltage sequences and short-time current sequences before and after a failure occurrence point can be automatically captured and stored. Then, key features are extracted from the sequences, and failure causes are determined through decision tree model analysis. And based on the analysis result and the current retry times, the MCU outputs a corresponding retry strategy to ensure that the motor can be successfully started or enter a safety mode. Thus, the reliability of motor starting is improved, subsequent fault diagnosis is supported through detailed data recording, and the maintainability and safety of the system are greatly improved.

The invention provides a motor drive control method and system for a high-speed hair dryer. The method comprises the following steps: acquiring a real-time sampling value of bus voltage; when the real-time sampling value reaches a preset voltage threshold value, performing vector operation on a torque current integral value of the motor current, and determining an initial position angle of a rotor; performing Clark transformation on the three-phase winding endpoint voltage according to the initial position angle of the rotor to generate a voltage component; determining a wind power interference coefficient of the torque current according to the voltage component, and determining a corresponding wind power state identifier in combination with a preset threshold value; configuring a sliding-mode observer according to a starting parameter group of a motor starting control mode corresponding to the wind power state identifier, and determining a rotor motion state parameter by performing phase tracking on output of the sliding-mode observer; and generating a three-phase pulse width modulation driving signal through the rotor motion state parameters to perform driving control on the motor. According to the scheme, the starting reliability and control precision of the motor can be remarkably improved, and the service life of the blowing cylinder is effectively prolonged.

A system for providing inrush current limiting for induction motor starting. The system utilizes a pre-start controller to initialize operation of a controller including multiple switches for controlling the voltage delivered to a motor having multiple phases. The pre-start controller activates each switch and determines whether a phase current flowing through the switches satisfies a threshold current. The switches are deactivated a phase current satisfies the threshold current. The pre-start controller determines an activation order for each phase and orders phases having higher phase currents higher in the order than lower phase currents, and determines an activation timing. Based on whether the highest phase current is positive or negative, the pre-start controller then activates, using a voltage at a corresponding angle and based on the activation order and activation timing, the phases to de-saturate the flux generated by the phase currents, thereby limiting an inrush current provided to the motor.

The utility model discloses an electric pedal sand spraying testing device. The technical scheme is characterized in that the electric pedal sand spraying testing device comprises a box body; an upper plate and a lower plate are arranged in the box body; a fixing block is arranged below the lower plate; a motor is arranged on the fixed block; a driving rod and a driven rod are further arranged on the fixed block; the driving rod and the driven rod are respectively connected with the fixed block and the connecting rod; a pedal body is arranged on the connecting rod; a sediment box is arranged in the box body; a pump body is arranged in the sediment box; the pump body is connected with a pipeline, the motor is started to drive the driving rod to rotate, the driving rod rotates to drive the connecting rod to move, and after the connecting rod moves, the pedal body can stretch out and retract to simulate stretching out and retracting of the pedal body on the road surface. After the pump body is started, silt is sprayed to the pedal body, the motor, the driving rod, the driven rod and the connecting rod through a pipeline, so that silt prevention detection is carried out on the motor and the pedal body; the sand-proof performance of the automobile pedal is convenient to detect.

The roller washing machine is characterized in that after a dewatering signal is received, a motor is controlled to be started, the motor raises the rotating speed of a roller to a first rotating speed at a first acceleration, and in the process that the motor raises the rotating speed of the roller to the first rotating speed at the first acceleration, a first detection device obtains the vibration displacement of an outer roller and records the vibration displacement as detection vibration displacement E; the corrected vibration displacement E'is obtained according to the detection vibration displacement E, the first vibration displacement Ai and the second vibration displacement Bi, and when E < = A1, E '= E + (A1-B1), Ailt; when E < = Ai + 1, E '= E + (Ai-Bi); whether the corrected vibration displacement E'is larger than the maximum vibration displacement limit value or not is judged, if not, the motor raises the rotating speed of the roller to the rotating speed N, and if yes, the motor decreases the rotating speed to 0, and the clothes in the roller are shaken to be scattered; the precision of vibration displacement in a low-speed transient state can be improved, the success rate of dehydration completion can be improved, and the dehydration time can be shortened.

An offline flux-linkage and moment-of-inertia identification method for a permanent magnet synchronous motor, the method comprising: on the premise that a pole-pair number Pn, a stator resistance Rs, and a stator inductance Ls of a motor are known, tuning PI parameters of a current loop and a speed loop; in a dual closed-loop mode for current and speed, identifying the flux linkage of the motor by using a recursive least squares method with a forgetting factor; in a current closed-loop mode, injecting a low-frequency current signal having progressively increasing amplitude and frequency, and determining a current magnitude required to start the motor and rotate same to a preset rotation speed threshold; and using acceleration / deceleration methods to identify the moment of inertia of the motor, wherein the motor is rotated forward and backward and identification is performed multiple times, and a median value is obtained by ranking to improve identification accuracy. The flux-linkage and moment-of-inertia identification processes are simple, stable, and reliable, the accuracy of identification results is high, one-click parameter identification can be achieved, and the method has a wide range of applications and is applicable to permanent magnet synchronous motors with various parameters.

The utility model relates to the technical field of bolt tightening equipment, in particular to a bolt tightening mechanism. The mechanism comprises a driving mechanism, a rotating part, a protective sleeve and an assembling auxiliary part, wherein the driving mechanism consists of a motor and a rotating shaft; one end of the rotating piece is fixed with the rotating shaft, and the other end is provided with a limiting hole matched with the bolt; the protective sleeve surrounds the rotating piece and the rotating shaft and is detachably connected with the driving mechanism. The rotating part further comprises an outer sleeve, a guide plate and a clamping assembly, flexible adjustment of the clamping assembly is achieved through a guide through groove and an elastic part, the rotating part can be matched with various special-shaped bolt heads, the assembling auxiliary part comprises an auxiliary part body and a shaft hole, the far end of the shaft hole can contain a nut and can be matched with a bolt, and the bolt can be driven to rotate when the motor is started. And the bolt is screwed on the nut. The bolt tightening device achieves the technical effects of improving the bolt tightening efficiency and adapting to various bolt heads.

The invention relates to the technical field of automatic control of tool magazines, in particular to a storage tool magazine multi-motor load control method and a storage medium, and the method comprises the steps: collecting the operation data of a first motor, a second motor and at least one redundant motor in a storage tool magazine in real time, generating a first dynamic load index of the first motor and a second dynamic load index of the second motor; establishing a control strategy based on the first dynamic load index and the second dynamic load index; when the first dynamic load index exceeds the limit and the second dynamic load index is lower than a safety threshold value, a task migration rule is triggered, and sub-task distribution is dynamically adjusted; when the first dynamic load index and the second dynamic load index both exceed the limit, a redundant motor activation rule is triggered, and a high-load task is distributed to the redundant motor. According to the invention, the problems of low efficiency and equipment overload risks caused by uneven load distribution of a traditional storage tool magazine multi-motor system are effectively solved.

The invention belongs to the field of motor control, and relates to a liquid cooling pump motor low-temperature starting method. After the liquid cooling pump receives a starting instruction, motor parameters are collected and judged, starting parameters at different temperatures are set, two-time pre-positioning, given-angle open-loop acceleration and closed-loop synchronization stages of a motor rotor are sequentially executed according to the corresponding starting parameters, and the motor is controlled to be started and run according to a rotating speed instruction. Wherein double closed-loop control of rotating speed closed-loop and current closed-loop is performed in the closed-loop synchronization stage, and rotating speed closed-loop control is performed by calculating and feeding back the actual rotating speed of the motor through the rotating speed of the motor. And if the generator overcurrent protection is triggered in any step of two-time pre-positioning, given-angle open-loop acceleration and closed-loop synchronization stages of the rotor, resetting the starting parameters, and starting the motor again for testing. Normal starting and working functions of the liquid cooling pump motor in a low-temperature environment can be realized, and the problem of starting failure or stalling caused by a traditional motor starting mode can be solved.

The utility model discloses an openable motor coupling protective cover, which relates to the technical field of protective covers, and comprises a protective cover body, a positioning base is arranged at the bottom of the protective cover body, a positioning through hole is arranged on the positioning base, an access hole is arranged at the upper end of the protective cover body, a cover body assembly is arranged in the access hole, and the cover body assembly is arranged on the protective cover body. The cover body assembly comprises a protective cover cap movably installed on the protective cover body, a net opening is formed in the protective cover cap, a protective net is arranged in the net opening, a positioning supporting foot is fixedly installed on one side of the protective cover cap, a limiting clamping groove is formed in the tail end of the positioning supporting foot, an electromagnet is connected into the limiting clamping groove, and the protective cover cap is fixedly installed on the protective cover body. A sensor is arranged at the edge of the protective cover cap, a limiting mechanism is fixedly installed on the front surface of the protective cover body, according to the openable motor coupler protective cover, through cooperative use of an electromagnet and the limiting mechanism, a user can be prevented from opening the protective cover cap when a motor is started, and the use safety is improved.

The invention discloses a nail gun. The nail gun comprises a shell; the motor is arranged in the shell; the percussion assembly is arranged in a nailing period, can move from an initial position to a percussion position so as to knock out a nail to a workpiece, and can move from the percussion position to the initial position; the at least one light-emitting device is arranged on the shell; the first control circuit is configured to independently control the light-emitting device to work at least when the motor is not started; the light-emitting control switch is connected with the first control circuit; and the controller controls operation of the motor, and the controller is configured to receive a signal indicating that the motor is powered on and the light-emitting control switch is triggered and control starting of the motor.

The invention discloses a motor air cooling system, a system using method and a motor, and relates to the technical field of motor cooling. The invention aims to solve many defects existing in a traditional single cooling mode. A plurality of inner blades and a plurality of outer blades are evenly fixed to the inner wall and the outer wall of a sleeve in the circumferential direction and are close to one end of the sleeve. The axial length of the sleeve is larger than that of a permanent magnet of the motor. When the motor is started, the rotating shaft can drive the sleeve to rotate, then the multiple blades of the motor air cooling system drive air to flow into the motor from the air inlet, multiple air channels are formed in the motor, the air flows out from the air outlet, and cooling of the motor is achieved.

The invention provides a working procedure and working hour splitting method and system, electronic equipment and a storage medium. The working procedure and working hour splitting method comprises the steps of obtaining event data of Internet of Things sewing equipment; based on the event data, acquiring a plurality of relatively long downtime intervals in a specific time period; for each long downtime interval, event data of finishing sewing of the last garment by the employee is screened out, and an event data set is formed; the event data set comprises event data of motor starting, motor stopping and preset thread trimming times; based on all the event data sets, obtaining data of working hours of the splitting process; and based on the data of the working hours of the splitting process, splitting event data of preset thread trimming times to obtain the working hours of the employees for completing a single process. According to the method, refined splitting of single-process working hours can be realized, and the problem of out-of-order process data caused by rework or low proficiency of staff is solved. In addition, only the number of times of thread trimming needed to be split needs to be provided, and the difficulty of scheme application is reduced.

The utility model relates to the technical field of constructional engineering foundation detection, and discloses a fixing device for constructional engineering foundation detection, which comprises a base, and the inner side of the base is provided with a limiting hole. According to the fixing device for construction engineering foundation detection, a user fixes the position of the base through a limiting hole, when the height of the device needs to be adjusted, the user can adjust the position of a telescopic rod on the inner side of a positioning rod, then a fastening screw is in threaded connection with the positioning rod and is embedded into the inner side of a side clamping hole, and the telescopic rod is limited; when the position of the rammer needs to be adjusted, a servo motor is started to drive a ball screw to rotate, so that a ball nut and the rammer move left and right, the position of the rammer is adjusted, an oil pressure device is started to drive an oil pressure push rod to stretch out and draw back, and the rammer repeatedly hammers the foundation pavement; and detecting the hardness of the pavement by observing the settlement of the hammered pavement.

A shoe cleaning mat including a housing assembly, a cleaning assembly and an electronic assembly. The housing assembly includes a housing having an opening in a top wall thereof. The cleaning assembly includes brushes equidistantly disposed within the housing. The brushes are connected therebetween through a shaft. The electronic assembly includes a motor, a battery and a sensor. The battery provides power to the motor and the sensor. The sensor is attached to a periphery of the opening of the housing. The motor is actuated when the sensor detects motion. The motor is actuated to move the movable base moving the brushes to clean a shoe introduced through the opening of the housing.

The invention relates to the technical field of insulating rod auxiliary equipment, and particularly discloses an insulating rod auxiliary fastening method and device. The method comprises the steps that a rotating handle on the insulating rod is clamped through a clamping device, and the clamping device comprises a clamping assembly used for clamping the rotating handle, a transmission assembly used for driving the rotating handle to rotate and an output motor used for controlling starting and stopping of the transmission assembly; controlling an output motor to start, and acquiring a real-time current value of the output motor; when the real-time current value is larger than or equal to the preset current value, the output motor is controlled to be According to the scheme, the clamping device can clamp the rotating handle and drive the rotating handle to rotate, the operation burden of a worker is reduced, the risk that the insulating rod slips out of the hand is reduced, meanwhile, whether the conductor end is clamped by the insulating rod or not is judged by obtaining the real-time current value, the accuracy of judging whether the insulating rod is clamped or not by the worker can be improved, and the working efficiency is improved. The problems that in the operation process, the risk that the insulating rod slips out of the hand is high and the accuracy of judging whether the insulating rod is clamped is low are solved.

A motorized roller blade device for automatically urging rollerblades along a support surface includes a rollerblade and a pair of motors each integrated into a respective one of a plurality of rollers of the rollerblade. Each of the pair of motors rotates the respective roller when the pair of motors is turned on to facilitate the rollerblade to be driven along the support surface. A control unit is mounted to the boot for actuating or de-actuating each of the pair of motors. A remote control is held by the user of the rollerblade and the remote control is in remote communication with the control unit for remotely actuating or de-actuating the pair of motors to facilitate the user to remotely control the pair of motors.

The invention discloses a split type stay wire window breaker and an automobile. The problem that manual window breaking efficiency is low is solved. When receiving an external trigger signal, the controller immediately controls the stay wire motor to start. The stay wire motor firstly pulls out the safety clamp spring through the safety clamp spring stay wire, so that the safety pin is not fixed. And then, the stay wire motor enables the safety pin to rotate through the safety pin stay wire. Rotation of the safety pin triggers the limiting mechanism to be unlocked and enables the limiting mechanism to be separated from the side groove of the window breaking ejector pin. At the moment, the window breaking ejector pin rapidly impacts the automobile window glass through the first through hole in the top of the shell under the action of the window breaking spring (the window breaking spring is in a compressed state), and people in the automobile can escape conveniently or people outside the automobile can be rescued conveniently due to breaking of the automobile tempered glass. And the quick window breaking function under the emergency condition is achieved. The limiting mechanism can effectively prevent the safety pin from being released under the bumpy road condition, so that glass is broken, and the window breaker provides precious escape time for people in a vehicle.

The present invention relates to a brushless motor controller fault diagnosis method, comprising the following steps: Step S1, diagnosing whether inverter circuits Q1, Q2, Q3, Q4, Q5, and Q6 are short-circuited; Step S2, diagnosing whether inverter circuit Q1 is controllable; Step S3, diagnosing whether inverter circuit Q3 is controllable; Step S4, diagnosing whether inverter circuit Q5 is controllable; Step S5, diagnosing whether inverter circuit Q2 is controllable and whether motor phase lines U and V are open-circuited; Step S6, diagnosing whether inverter circuit Q4 is controllable and whether motor phase lines V and W are open-circuited; Step S7, diagnosing whether inverter circuit Q6 is controllable and whether motor phase lines U and W are open-circuited. The present invention also provides a diagnostic device for implementing the diagnostic method. The diagnostic method proposed in the present invention completes the diagnosis before the motor is started. Regarding detecting whether the MOSFET is short-circuited, the present invention does not cause impact on the MOSFET, reduces motor vibration, and improves system reliability and diagnostic stability.

The invention discloses a motor and a control method and device thereof, a fan, an air conditioner, a storage medium and a computer program product, and the method comprises the steps: taking the preset starting current of the motor as the current starting current of the motor in the starting stage of the motor under the condition that the motor is started for the first time; controlling the motor to start with the current starting current of the motor; in the process of starting with the current starting current of the motor, current interference parameters of the motor are obtained; wherein the current interference parameter of the motor is a parameter of a signal which is detected from a power supply side of a three-phase stator winding of the motor and has interference on the current starting current of the motor; and controlling the starting process of the motor according to the current starting current of the motor and the current interference parameter of the motor. According to the scheme, the current starting current of the motor is automatically adjusted by detecting the current interference signal of the motor, interference is reduced, and the motor starting success rate is increased.

To provide a rotary massager equipped with a rotation mechanism. [Solution] The rotary massager has a drive motor fixed to the lower end of the interior of a housing 1, and a first transmission mechanism connected to the output end of the drive motor. The first transmission mechanism is connected to a second transmission mechanism, which is connected to a massage rod 13. The housing is connected to a connecting plate 12, which has at least one massage rod mounted on it, and the number and position of the massage rods can be replaced or adjusted. When the drive motor is started, the rotating shaft rotates, which in turn rotates the first gear mechanism. This drives a face gear 6, which rotates a rotary gear 8 together with the face gear, which then rotates a sun gear 9, which is driven by the rotary gear to rotate. This expands the massage area, improving the user's experience and reducing fatigue.

The utility model provides a magnetic coupling which comprises a first rotating piece (10), a second rotating piece (20) and a magnetic adjusting mechanism. The first rotating piece is provided with a plurality of first magnets (12) arranged around a first axis (R1). A plurality of second magnets (22) which are distributed around a second axis (R2) are arranged on the second rotating piece, the second rotating piece and the first rotating piece are arranged at intervals, the first axis and the second axis are parallel or overlapped, and when one of the first rotating piece and the second rotating piece rotates, the second magnets (22) are arranged around the second axis (R2). Magnetic force between the first magnets and the second magnets can drive the other one of the first rotating part and the second rotating part to rotate synchronously. The magnetic force adjusting mechanism can adjust the magnetic force between the first magnets and the second magnets. The magnetic coupling can be used in cooperation with the motor and adjust the load, shortens the starting acceleration time of the motor, reduces the starting temperature of the motor, and protects the motor.

The utility model belongs to the technical field of valve pressure testing equipment, in particular to a valve pressure testing machine, which comprises an equipment main body, a control panel, a first motor and a water storage tank, the control panel is arranged at the side end of the equipment main body, the first motor is arranged at the side end of the equipment main body, and the water storage tank is arranged at the same side of the equipment main body. According to the utility model, the sealing test mechanism, the screw rod, the ball movable cover, the main shaft position control disc and the limiting rod are arranged, a valve structure to be tested is placed between the sealing test mechanism and the ball movable cover after the water storage tank is filled with water, the second motor is started at the moment, and the second motor drives the ball movable cover to move while driving the screw rod to rotate; when a valve structure is clamped at the side end of the sealing test mechanism, gas is injected into the valve through the gas injection port, at the moment, the first motor is started and drives the main shaft position control disc to rotate through the driving gear, and after the sealing test mechanism sinks underwater, an operator judges the sealing performance of the valve by observing the floating condition of bubbles.

The invention relates to the technical field of gun trigger locks, in particular to a gun trigger lock, in a locking state, a user uses fingerprints set in a fingerprint module on a circuit board by himself to unlock the lock, in the locking state, a supporting rod of a cam faces downwards and is not in contact with a spring bolt piece, and in the locking state, the supporting rod of the cam is not in contact with the spring bolt piece. The lock tongue head of the lock tongue piece extends into the lock hook side clamping groove of the lock hook piece, so that the lock hook piece cannot be pulled out, connection of the upper shell and the lower shell of the lock is achieved, a locked object located between the upper shell and the lower shell cannot be separated out, and the locking function is achieved. In the unlocking state, after fingerprint recognition succeeds, the motor is started, the cam is driven to rotate, the first matching inclined face on the cam abuts against the second matching inclined face on the vertical push plate, the spring bolt piece is driven to be away from the lock hook side clamping groove, the spring bolt is made to be separated from the lock hook side clamping groove, separation of the upper shell and the lower shell is achieved, and the gun trigger lock is opened.

The invention relates to the technical field of motor control, in particular to an electric bed motor control method and an electric bed, and the method comprises the steps: sampling a current ripple signal, carrying out the spectrum analysis of the current ripple signal, extracting a load resonant frequency, generating an anti-phase harmonic current, and injecting the anti-phase harmonic current into a motor winding at the starting moment of a motor; damping harmonic waves are injected into the motor winding in the motor pre-braking stage, and phase-synchronous reverse currents are injected into the motor winding in the motor main braking stage. Low-impact control over starting and stopping of the electric bed is achieved through an electromechanical energy hedging mechanism, and an existing electric bed electromechanical framework is compatible; at the starting moment of the motor, high-frequency resonance excitation force can be neutralized by injecting anti-phase harmonic current; kinetic energy is dissipated through damping harmonic waves in the pre-braking stage, and current reverse locking is applied in the main braking stage, so that the in-place residual amplitude approaches zero; and dynamic tuning control parameters are analyzed based on a real-time spectrum, so that the start-stop time under a variable load is relatively constant, and the problems of light-load overshoot and heavy-load hysteresis are solved.

The utility model discloses a handheld tool for aircraft maintenance, which comprises a shell and a motor, the motor is fixedly mounted in the shell, the output end of the motor is connected with a screwdriver blade through a connector, and a track is fixedly mounted on the outer surface of the shell. The screw driver has the advantages that the suction cup and the connecting rod are adopted, when the aircraft shell is overhauled and disassembled, the screw driver head can be inserted into a cutter groove of a screw cap of the aircraft shell, then the suction cup and the surface of the aircraft shell are adsorbed and fixed, the motor can be started to drive the screw driver head to rotate, and then a screw is disassembled; the connecting rod and the suction cup resist torsion generated during rotation, workers are prevented from slipping out of the hands, maintenance and disassembly by the workers are greatly facilitated, use convenience is improved, meanwhile, the characteristic that the surface of an airplane shell is smooth is utilized, the suction cup is adopted for fixing, mounting and disassembly are convenient, fixing stability is high, the workers do not need to tightly abut against the device vigorously, and use is convenient. The use is more flexible and labor-saving.

The invention discloses a propulsion device for a ship, and belongs to the field of ship propulsion. Comprising a shell, and a driving mechanism is arranged in the shell; a water cooling mechanism is embedded in the lower surface of the shell; a propelling mechanism is arranged on the right side of the shell; a guide mechanism is arranged at the position, located above the driving mechanism, in the shell; the driving mechanism comprises a shaft rod, the upper surface of the shaft rod is fixedly connected with a connecting rod, and two movable grooves are formed in the upper surface of the connecting rod; in the extending or shortening process of the electric push rod, one of the two motors is located on the left and the other is located on the right, and the propelling mechanism is controlled to be started and the ship is controlled to be propelled by controlling the motor on the right to be started; by means of the mode, the electric push rod only needs to contract and is matched with two motors for alternate use, and the problem that in the prior art, the motors are prone to being damaged in the long-term operation state due to single-motor driving propelling can be solved.