I-MICROCHIP v4.2 Umhlahlandlela Womsebenzisi we-Speed ID IQ PI

Isilawuli se-PI yisilawuli se-closed-loop esisetshenziswa kakhulu ukulawula isistimu ye-oda lokuqala. Umsebenzi oyisisekelo wesilawuli se-PI ukwenza isilinganiso sempendulo ukuze ulandelele okokufaka kwereferensi. Isilawuli se-PI senza lesi senzo silawula okukhiphayo kuze kube yilapho iphutha phakathi kwereferensi namasiginali wempendulo iba uziro.

Kunezingxenye ezimbili ezifaka isandla ekuphumeni: ithemu yokulingana kanye nethemu ehlangene, njengoba kuboniswe esithombeni esilandelayo. Itemu elilinganiselwe lincike kuphela kunani elisheshayo lesignali yephutha, kuyilapho ithemu elihlanganisiwe lincike kumanani amanje nawangaphambilini wephutha.

Umfanekiso 1. Isilawuli se-PI Kusizinda Esiqhubekayo

Lapho,
y (t) = Ukukhishwa kwesilawuli se-PI
e (t) = inkomba (t) – impendulo (t) iyiphutha phakathi kwereferensi nempendulo
Ukuze usebenzise isilawuli se-PI esizindeni sedijithali, kufanele kuqashelwe. Ifomu elihlukanisiwe lesilawuli se-PI elisuselwe endleleni yokubamba i-oda elinguziro liboniswa esithombeni esilandelayo.

Umfanekiso 2. Isilawuli se-PI esisekelwe kuZero Order Hold Method

Isifinyezo

Izici (Buza Umbuzo)
Isilawuli se-Speed ID IQ PI sinezici ezibalulekile ezilandelayo:

Ibala i-d-axis yamanje, i-q-axis yamanje, nesivinini semoto

I-algorithm yesilawuli se-PI isebenza ngepharamitha eyodwa ngesikhathi
I-automatic anti-windip kanye nemisebenzi yokuqalisa ifakiwe

Ukuqaliswa kwe-IP Core ku-Libero Design Suite (Buza Umbuzo)
I-IP core kufanele ifakwe kukhathalogi ye-IP yesofthiwe ye-Libero SoC. Lokhu kwenziwa ngokuzenzakalelayo ngomsebenzi wokubuyekeza Ikhathalogi ye-IP kusofthiwe ye-Libero SoC, noma umongo we-IP ungalandwa mathupha kukhathalogi. Uma i-IP core isifakiwe Kukhathalogi ye-IP yesofthiwe ye-Libero SoC, umongo ungalungiswa, ukhiqizwe, futhi uqiniswe ngaphakathi kwethuluzi le-SmartDesign ukuze lifakwe ohlwini lwephrojekthi ye-Libero.

Ukusetshenziswa Kwedivayisi kanye nokusebenza

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Ithebula elilandelayo libonisa ukusetshenziswa kwedivayisi esetshenziselwa Isilawuli se-Speed ID IQ PI.
Ithebula 1. Ukusetshenziswa kwe-Speed ID IQ PI Controller

Okubalulekile:

Idatha kuthebula elandulelayo ithwetshulwa kusetshenziswa izilungiselelo ezijwayelekile zokuhlanganisa nesakhiwo. Umthombo wewashi lereferensi le-CDR usethelwe kokuthi Kunikezelwe namanye amanani wokumisa engashintshiwe.

Iwashi liboshelwe ku-200 MHz ngenkathi isebenzisa ukuhlaziya isikhathi ukuze kuzuzwe izinombolo zokusebenza.

1. Incazelo Esebenzayo (Buza Umbuzo)

Lesi sigaba sichaza imininingwane yokusetshenziswa kwesilawuli se-Speed ID IQ PI.
Isibalo esilandelayo sibonisa umdwebo webhulokhi yeleveli yesistimu ye-Speed ID IQ PI Controller.
Umfanekiso 1-1. I-System-Level Block Diagram ye-Speed ID IQ PI Controller

Qaphela: Isilawuli se-Speed ID IQ PI sisebenzisa i-algorithm yesilawuli se-PI amanani amathathu—d-axis current, q-axis current, nesivinini semoto. Ibhulokhi yakhelwe ukunciphisa ukusetshenziswa kwezinsiza zehadiwe. Ibhulokhi ivumela i-algorithm yesilawuli se-PI ukuthi isetshenziswe ipharamitha eyodwa ngesikhathi.

1.1 I-Anti-Windup kanye Nokuqaliswa (Buza Umbuzo)
Isilawuli se-PI sinemikhawulo encane nephezulu yokukhipha ukugcina okukhiphayo ngaphakathi kwamanani angokoqobo. Uma isignali yephutha elingelona uziro iqhubeka isikhathi eside, ingxenye ebalulekile yesilawuli ilokhu ikhula futhi ingase ifinyelele inani elikhawulelwe ngobubanzi bayo bebhithi. Lesi simo sibizwa ngokuthi i-integrator windup futhi kufanele igwenywe ukuze kube nempendulo efanele eguqukayo. I-IP yesilawuli se-PI inomsebenzi we-anti-windup ozenzakalelayo, okhawulela isihlanganisi ngokushesha nje lapho isilawuli se-PI sifinyelela ekugcwaliseni.

Kwezinye izinhlelo zokusebenza, ezifana nokulawulwa kwezimoto, kubalulekile ukuqalisa isilawuli se-PI enanini elifanele ngaphambi kokusivumela. Ukuqalisa isilawuli se-PI kube nenani elihle kugwema imisebenzi entengantengayo. Ibhulokhi ye-IP inokufaka kokunika amandla noma ukukhubaza isilawuli se-PI. Uma kukhutshaziwe, okukhiphayo kuyalingana nokokufaka kweyunithi, futhi uma le nketho inikwe amandla,
okukhiphayo yinani elibaliwe le-PI.

1.2 Ukwabelana Ngesikhathi Kwesilawuli se-PI (Buza Umbuzo)
Ku-algorithm ye-Field Oriented Control (FOC), kukhona izilawuli ezintathu ze-PI ze-Speed, i-d-axis i-ID yamanje, kanye ne-q-axis yamanje ye-Iq. Okokufaka kwesilawuli esisodwa se-PI kuncike ekuphumeni kwesinye isilawuli se-PI, ngakho-ke zenziwa ngokulandelana. Nganoma isiphi isikhathi, kunesibonelo esisodwa kuphela sesilawuli se-PI esisebenzayo. Njengomphumela, esikhundleni sokusebenzisa izilawuli ezintathu ezihlukene ze-PI, isilawuli se-PI esisodwa yisikhathi okwabelwana ngaso se-Speed, i-Id, ne-Iq ukuze kusetshenziswe izisetshenziswa ngokugcwele.

Imojuli ye-Speed_Id_Iq_PI ivumela ukwabelana kwesilawuli se-PI ekuqaleni nokwenza amasignali ngayinye Yesivinini, i-Id, ne-Iq. Amapharamitha wokushuna i-Kp, i-Ki, kanye nemikhawulo encane nephezulu yesibonelo ngasinye sesilawuli ingalungiselelwa ngokuzimela ngokokufaka okuhambisanayo.

2. Amapharamitha we-Speed ID IQ PI Controller kanye ne-Interface Signals (Buza Umbuzo)

Lesi sigaba sidingida amapharamitha kusilungiselelo se-Speed ID IQ PI Controller GUI kanye namasiginali we-I/O.

2.1 Izilungiselelo zokucushwa (Buza umbuzo)
Ithebula elilandelayo libonisa incazelo yemingcele yokumisa esetshenziswa ekusetshenzisweni kwezingxenyekazi zekhompuyutha zesilawuli se-Speed ID IQ PI. Lawa amapharamitha ajwayelekile futhi angahluka ngokwesidingo sohlelo lokusebenza.

Ithebula 2-1. Ipharamitha yokucushwa

2.2 Okokufaka kanye Nezimpawu Zokuphuma (Buza Umbuzo)
Ithebula elilandelayo libonisa izimbobo zokufaka neziphumayo ze-Speed ID IQ PI Controller.

Ithebula 2-2. Okokufaka kanye Nemiphumela Yesilawuli se-Speed ID IQ PI

3. Imidwebo Yesikhathi (Buza Umbuzo)

Lesi sigaba sidingida imidwebo yesikhathi ye-Speed ID IQ PI Controller.
Isibalo esilandelayo sibonisa umdwebo wesikhathi we-Speed ID IQ PI Controller.

Umfanekiso 3-1. I-Speed ID ye-IQ PI Controller Time Diagram

4. I-Testbench

(Buza umbuzo)
Ibhentshi lokuhlola elihlanganisiwe lisetshenziselwa ukuqinisekisa nokuhlola Isilawuli se-Speed ID IQ PI esibizwa ngokuthi ibhentshi lokuhlola lomsebenzisi. I-Testbench ihlinzekwa ukuhlola ukusebenza kwe-Speed ID IQ PI Controller IP.

4.1 Ukulingisa (Buza Umbuzo)
Izinyathelo ezilandelayo zichaza indlela yokulingisa umongo usebenzisa i-testbench:
1. Yiya kuthebhu Yekhathalogi ye-Libero SoC, nweba i-Solutions-MotorControl, chofoza kabili Isilawuli se-Speed ID IQ PI, bese uchofoza KULUNGILE. Amadokhumenti ahlotshaniswa ne-IP afakwe ohlwini ngaphansi kokuthi Amadokhumenti.

Okubalulekile: Uma ungayiboni ithebhu Yekhathalogi, zulazula uye ku View > Imenyu yeWindows bese uchofoza Ikhathalogi ukuze uyenze ibonakale.

Umfanekiso 4-1. I-Speed ID IQ PI Controller IP Core kukhathalogi ye-Libero SoC

2. Kuthebhu ye-Stimulus Hierarchy, khetha i-testbench (speed_id_iq_pi_controller_tb.v), chofoza kwesokudla bese uchofoza okuthi Lingisa I-Pre-Synth Design > Vula Ngokusebenzisana.
Okubalulekile: Uma ungayiboni ithebhu ye-Stimulus Hierarchy, zulazula uye ku View > Imenyu yeWindows bese uchofoza I-Stimulus Hierarchy ukuze uyenze ibonakale.

Umfanekiso 4-2. Idizayini yokulingisa yangaphambi kokwenziwa

I-ModelSim ivula nge-testbench file, njengoba kuboniswe emfanekisweni olandelayo.

Umfanekiso 4-3. Iwindi lokulingisa le-ModelSim

Okubalulekile: Uma ukulingisa kuphazamiseka ngenxa yomkhawulo wesikhathi sokusebenza oshiwo ku-.do file, sebenzisa umyalo we-run -all ukuze uqedele ukulingisa.

5. Umlando Wokubuyekeza (Buza Umbuzo)

Umlando wokubuyekeza uchaza izinguquko ezisetshenziswe kudokhumenti. Izinguquko zifakwe ohlwini ngokubukeza, kuqala ngokushicilelwa kwamanje.

Ithebula 5-1. Umlando Wokubuyekeza

Ukusekelwa kwe-Microchip FPGA

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Iqembu lemikhiqizo ye-Microchip FPGA lisekela imikhiqizo yalo ngezinsizakalo ezahlukahlukene zokusekela, kufaka phakathi Isevisi Yamakhasimende,
I-Customer Technical Support Centre, a webindawo, kanye namahhovisi okuthengisa emhlabeni wonke. Amakhasimende aphakanyiswa ukuthi avakashele izinsiza ze-inthanethi ze-Microchip ngaphambi kokuxhumana nosekelo njengoba kungenzeka ukuthi imibuzo yawo isiphenduliwe.

Xhumana Nesikhungo Sosizo Lobuchwepheshe ngokusebenzisa i webisayithi ku-www.microchip.com/support. Yisho inombolo Yengxenye Yedivayisi ye-FPGA, khetha isigaba samacala afanelekile, bese ulayisha idizayini files ngenkathi udala ikesi lokusekela lobuchwepheshe. Xhumana Nesevisi Yekhasimende ukuze uthole ukwesekwa kwemikhiqizo okungeyona eyobuchwepheshe, njengezintengo zomkhiqizo, ukuthuthukiswa komkhiqizo, ulwazi lokubuyekeza, isimo soku-oda, nokugunyazwa.

Ukusuka eNyakatho Melika, shayela u-800.262.1060
Kuwo wonke umhlaba, shayela ku-650.318.4460
Ifeksi, noma yikuphi emhlabeni, 650.318.8044

Ulwazi lwe-Microchip

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I-Microchip Webindawo (Buza umbuzo)
I-Microchip inikeza ukusekelwa kwe-inthanethi nge-ethu webisayithi ku-www.microchip.com/. Lokhu webindawo isetshenziselwa ukwenza files kanye nolwazi olutholakala kalula kumakhasimende. Okunye okuqukethwe okutholakalayo kuhlanganisa:

Ukusekelwa Komkhiqizo - Amashidi wedatha kanye nephutha, amanothi ohlelo lokusebenza kanye ne-sampizinhlelo, izinsiza zokuklama, imihlahlandlela yabasebenzisi kanye nemibhalo yokwesekwa kwezingxenyekazi zekhompuyutha, ukukhishwa kwesofthiwe yakamuva kanye nesofthiwe efakwe kungobo yomlando
Ukusekelwa Okujwayelekile Kwezobuchwepheshe - Imibuzo Evame Ukubuzwa (FAQs), izicelo zokusekelwa kwezobuchwepheshe, amaqembu ezingxoxo eziku-inthanethi, ukufakwa kuhlu kwamalungu ohlelo lukazakwethu we-Microchip design
Ibhizinisi le-Microchip - Isikhethi somkhiqizo nemihlahlandlela yoku-oda, ukukhishwa kwakamuva kwabezindaba kwe-Microchip, uhlu lwamasemina nemicimbi, uhlu lwamahhovisi okuthengisa e-Microchip, abasabalalisi nabamele imboni

Isevisi yesaziso sokushintsha umkhiqizo

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Isevisi yesaziso sokushintsha umkhiqizo we-Microchip isiza ukugcina amakhasimende enolwazi ngemikhiqizo ye-Microchip. Ababhalisile bazothola isaziso se-imeyili noma nini lapho kukhona izinguquko, izibuyekezo, izibuyekezo noma iziphambeko ezihlobene nomndeni womkhiqizo othile noma ithuluzi lokuthuthukisa elithandwayo.

Ukuze ubhalise, yiya ku-www.microchip.com/pcn bese ulandela imiyalelo yokubhalisa.

Ukwesekwa Kwamakhasimende (Buza Umbuzo)

Abasebenzisi bemikhiqizo ye-Microchip bangathola usizo ngeziteshi ezimbalwa:

Umsabalalisi noma Ummeleli
Ihhovisi Lokuthengisa Lendawo
I-Embedded Solutions Engineer (ESE)

Ukusekela kwezobuchwepheshe

Amakhasimende kufanele athinte umsabalalisi wawo, ummeleli noma i-ESE ukuze bathole ukwesekwa. Amahhovisi okuthengisa endawo nawo ayatholakala ukuze asize amakhasimende. Uhlu lwamahhovisi okuthengisa nezindawo lufakiwe kulo mbhalo.

Ukwesekwa kwezobuchwepheshe kuyatholakala nge- webindawo ku: www.microchip.com/support

Isici Sokuvikela Ikhodi Yamadivayisi e-Microchip (Buza Umbuzo)

Qaphela imininingwane elandelayo yesici sokuvikela ikhodi emikhiqizweni ye-Microchip:

Imikhiqizo ye-Microchip ihlangabezana nokucaciswa okuqukethwe ku-Microchip Data Sheet yayo.

I-Microchip ikholelwa ukuthi umkhaya wayo wemikhiqizo uvikelekile uma usetshenziswa ngendlela ehlosiwe, ngaphakathi kwezicaciso zokusebenza, nangaphansi kwezimo ezivamile.
Amanani e-Microchip futhi avikela ngokunamandla amalungelo ayo okuvikela ubunikazi bokusungula. Imizamo yokwephula izici zokuvikela ikhodi yomkhiqizo we-Microchip inqatshelwe ngokuphelele futhi ingase yephule uMthetho we-Digital Millennium Copyright Act.
I-Microchip nanoma yimuphi omunye umkhiqizi we-semiconductor ongaqinisekisa ukuphepha kwekhodi yayo. Ukuvikelwa kwekhodi akusho ukuthi siqinisekisa ukuthi umkhiqizo “awunakunqamuka”. Ukuvikelwa kwekhodi kuhlala kuvela njalo. I-Microchip izinikele ekuthuthukiseni ngokuqhubekayo izici zokuvikela ikhodi zemikhiqizo yethu.

Isaziso Somthetho

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Lokhu kushicilelwa kanye nolwazi olulapha kungasetshenziswa kuphela emikhiqizweni ye-Microchip, okuhlanganisa ukuklama, ukuhlola, nokuhlanganisa imikhiqizo ye-Microchip nohlelo lwakho lokusebenza. Ukusetshenziswa kwalolu lwazi nganoma iyiphi enye indlela kwephula le migomo. Ulwazi olumayelana nezinhlelo zokusebenza zedivayisi lunikezwa ukuze kube lula kuwe futhi lungase luthathelwe indawo yizibuyekezo. Kuyisibopho sakho ukuqinisekisa ukuthi isicelo sakho sihlangabezana nezicaciso zakho. Xhumana nehhovisi lakho lendawo yokuthengisa leMicrochip ukuze uthole ukwesekwa okwengeziwe noma, thola ukwesekwa okwengeziwe kokuthi www.microchip.com/en-us/support/design-help/client-support-services.

LOLU LWAZI LUNIKEZWA YI-MICROCHIP “NJENGOBA LUKHO”. I-MICROCHIP AYIKUMELELI NOMA IZIQINISEKISO ZANOMA YILUPHI UHLOBO NOMA KUCHAZEKILE NOMA OKUSHIWO, OKUBHALWE NOMA OKUSHIWO, OKUMTHETHO NOMA OKUNYE, OKUPHATHELENE NOLWAZI KUBANDAKANYA KODWA AKUkhawulelwe KUNOMA YILUPHI ISIQINISEKISO, UKWENZA, UKWENZA, UKWENZA, UKWENZA. NGENHLOSO ETHILE, NOMA IZIQINISEKISO EZIPHATHELENE NEsimo, IKHWALITHI, NOMA UKUSEBENZA KWAYO.

AKUKHO MCIMBI ONGAZOBA NESIbophezelo I-MICROCHIP NGANOMA YILUPHI ULWAZI , ESIKHETHEKILE, ESIJEZISO, ISENZAKALO, NOMA OKULANDELAYO, UMONAKALO, Izindleko, NOMA Izindleko zanoma yiluphi uhlobo oluhlotshaniswa noLWAZI NOMA UKUSETSHENZISWA KWALO, NOMA KUBE NEZINTO EZIPHUMAYO, OKUNGENZEKA NOMA UMONAKALO UNGABONAKALA. NGENXA ESIPHELELE NGENXA YOKUMTHETHO, ISIBOPHO SE-MICROCHIP SONKE KUZO ZONKE IZINKINGA NGANOMA YIYIPHI INDLELA EPHATHANA NOLWAZI NOMA UKUSETSHENZISWA KWALO NGEKE KWEQE INANI LEZINKOKHELO, UMA LIKHONA, OYIKHOKHE NGOKUQONDILE UKUZE UKWAZISE.

Ukusetshenziswa kwamadivayisi e-Microchip ekusekeleni impilo kanye/noma izicelo zokuphepha kusengozini yomthengi ngokuphelele, futhi umthengi uyavuma ukuvikela, ukunxephezela nokubamba i-Microchip engenabungozi kunoma yimuphi nanoma yimuphi umonakalo, izimangalo, amasudi, noma izindleko ezibangelwa ukusetshenziswa okunjalo. Awekho amalayisensi adluliswayo, ngokusobala noma ngenye indlela, ngaphansi kwanoma imaphi amalungelo empahla yengqondo ye-Microchip ngaphandle kwalapho kushiwo ngenye indlela.

Izimpawu zokuhweba

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Igama le-Microchip nelogo, ilogo ye-Microchip, i-Adaptec, i-AVR, ilogo ye-AVR, i-AVR Freaks, i-BesTime, i-BitCloud,
CryptoMemory, CryptoRF, dsPIC, flexPWR, HELDO, IGLOO, JukeBlox, KeeLoq, Kleer, LANCheck, LinkMD,
i-maXStylus, i-maXTouch, i-MediaLB, i-megaAVR, i-Microsemi, ilogo ye-Microsemi, ININGI, Ilogo ENINGI, i-MPLAB, i-OptoLyzer,
I-PIC, picoPower, PICSTART, PIC32 logo, PolarFire, Prochip Designer, QTouch, SAM-BA, SenGenuity, SpyNIC, SST,
Ilogo ye-SST, SuperFlash, Symmetricom, SyncServer, Tachyon, TimeSource, tinyAVR, UNI/O, Vectron, kanye ne-XMEGA kukhona
izimpawu zokuthengisa ezibhalisiwe ze-Microchip Technology Incorporated e-USA nakwamanye amazwe.

AgileSwitch, APT, ClockWorks, The Embedded Control Solutions Company, EtherSynch, Flashtec, Hyper Speed
Control, HyperLight Load, Libero, motorBench, mTouch, Powermite 3, Precision Edge, ProASIC, ProASIC Plus,
Ilogo ye-ProASIC Plus, i-Quiet- Wire, i-SmartFusion, i-SyncWorld, i-Temux, i-TimeCesium, i-TimeHub, i-TimePictra, i-TimeProvider,
I-TrueTime, ne-ZL yizimpawu zokuthengisa ezibhalisiwe ze-Microchip Technology Incorporated e-USA

Ukucindezelwa kokhiye abaseduze, i-AKS, i-Analog-for-the-Digital Age, Noma iyiphi i-Capacitor, i-AnyIn, AnyOut, Ukushintsha Okungeziwe,
BlueSky, BodyCom, Clockstudio, CodeGuard, CryptoAuthentication, CryptoAutomotive, CryptoCompanion,
CryptoController, dsPICDEM, dsPICDEM.net, Dynamic Average Matching, DAM, ECAN, Espresso T1S,

I-EtherGREEN, GridTime, IdealBridge, In-Circuit Serial Programming, ICSP, INICnet, Intelligent Paralleling, IntelliMOS,
Ukuxhumana kwe-Inter-Chip, i-JitterBlocker, i-Knob-on-Display, i-KoD, i-maxCrypto, i-maxView, memBrain, Mindi, MiWi, MPASM,
I-MPF, ilogo eqinisekisiwe ye-MPLAB, i-MPLIB, i-MPLINK, i-MultiTRAK, i-NetDetach, i-Omniscient Code Generation, i-PICDEM,
PICDEM.net, PICkit, PICtail, PowerSmart, PureSilicon, QMatrix, REAL ICE, Ripple Blocker, RTAX, RTG4, SAM ICE, Serial Quad I/O, simpleMAP, SimpliPHY, SmartBuffer, SmartHLS, SMART-IS, storClad, SQI, SuperSwitcher ,
SuperSwitcher II, Switchtec, SynchroPHY, Total Endurance, Trusted Time, TSHARC, USBCheck, VariSense,
VectorBlox, VeriPHY, ViewI-Span, i-WiperLock, i-XpressConnect, ne-ZENA izimpawu zokuthengisa ze-Microchip Technology

Ifakwe e-USA nakwamanye amazwe.
I-SQTP iwuphawu lwesevisi lwe-Microchip Technology Incorporated e-USA
Ilogo ye-Adaptec, Frequency on Demand, Silicon Storage Technology, ne-Symmcom izimpawu zokuthengisa ezibhalisiwe ze-Microchip Technology Inc. kwamanye amazwe.
I-GestIC inguphawu lokuthengisa olubhalisiwe lwe-Microchip Technology Germany II GmbH & Co. KG, inkampani ephethwe yi-Microchip Technology Inc., kwamanye amazwe.
Zonke ezinye izimpawu zokuthengisa ezishiwo lapha ziyimpahla yezinkampani zazo.
© 2023, Microchip Technology Incorporated kanye nezinkampani ezingaphansi kwayo. Wonke Amalungelo Agodliwe.
ISBN: 978-1-6683-2179-9

Uhlelo Lokuphatha Ikhwalithi

(Buza umbuzo)
Ukuze uthole ulwazi mayelana ne-Microchip's Quality Management Systems, sicela uvakashele ku-www.microchip.com/quality.

Ukuthengisa Nesevisi Yomhlaba Wonke

Funda okwengeziwe ngale Manuwali & Landa i-PDF:

Amadokhumenti / Izinsiza

I-MICROCHIP v4.2 Isilawuli se-Speed ID IQ PI [pdf] Umhlahlandlela Womsebenzisi
v4.2 I-Speed ID IQ PI Controller, v4.2, Isilawuli se-Speed ID IQ PI, Isilawuli se-IQ PI, Isilawuli se-PI, Isilawuli

Izithenjwa

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