CN110748638B - PWM duty ratio control method, gear shifting method and gear shifting device of gear shifting motor - Google Patents
PWM duty ratio control method, gear shifting method and gear shifting device of gear shifting motor Download PDFInfo
- Publication number
- CN110748638B CN110748638B CN201810821811.6A CN201810821811A CN110748638B CN 110748638 B CN110748638 B CN 110748638B CN 201810821811 A CN201810821811 A CN 201810821811A CN 110748638 B CN110748638 B CN 110748638B
- Authority
- CN
- China
- Prior art keywords
- voltage value
- gear shifting
- pwm duty
- gear
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000006870 function Effects 0.000 claims description 35
- 230000003247 decreasing effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 abstract description 13
- 238000005516 engineering process Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0251—Elements specially adapted for electric control units, e.g. valves for converting electrical signals to fluid signals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0251—Elements specially adapted for electric control units, e.g. valves for converting electrical signals to fluid signals
- F16H2061/0255—Solenoid valve using PWM or duty-cycle control
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention relates to the field of automatic transmission vehicle control, in particular to a PWM duty ratio control method, a gear shifting method and a gear shifting device of a gear shifting motor. According to the invention, the position signals of the original gear, the target gear and the real-time gear are obtained, then the voltage values corresponding to the position signals of the gears are obtained, the output function is constructed according to the voltage values, and the output PWM duty ratio of the gear shifting motor is calculated, so that the gear shifting motor is controlled to output according to the calculated PWM duty ratio, and the smooth gear shifting of the vehicle is realized. The invention can realize efficient and stable gear shifting, solves the problems of slow gear shifting, gear shifting pause and the like caused by an unreasonable gear shifting mode, and avoids the damage to the gearbox possibly caused by unsmooth gear shifting in the gear shifting process.
Description
Technical Field
The invention relates to the field of automatic transmission vehicle control, in particular to a PWM duty ratio control method, a gear shifting method and a gear shifting device of a gear shifting motor.
Background
With the rapid development of the automobile industry, the automobile control field is more and more intelligent and simplified. The automatic driving technology and the internet of vehicles technology develop more and more powerfully in the field of automobiles, and the main purpose of the automatic driving technology and the internet of vehicles technology is to make drivers drive more conveniently and safely for more intellectualization and simplification.
In terms of the gear shifting mode, the manual transmission automobile occupies the leading position in the automobile industry, and with the appearance of the automatic transmission automobile, the automatic transmission automobile is more and more popular due to simple operation and convenience in driving, and the trend that the automatic transmission automobile replaces the manual transmission automobile slowly appears.
The method for controlling the gear shifting of the gearbox by the automatic transmission gearbox controller is multiple, and the good gear shifting mode can stably and quickly perform gear shifting work. The unreasonable gear shifting mode can cause the problems of slow gear shifting, gear shifting pause and the like.
Most of the existing automatic transmission gear shifting technologies are controlled by a table look-up method, and the relationship between a position signal of a gear shifting motor and the PWM duty ratio of the gear shifting motor is obtained through experiments, so that a corresponding relationship list is obtained. This kind of mode need carry out a large amount of experiments and summarize the experiment law, and this kind of mode still appears shifting easily moreover and responds untimely, and the position of shifting is not accurate appears and is suddenly frustrated and feel, also can cause the damage of certain degree to the gearbox.
Disclosure of Invention
The invention aims to provide a PWM duty ratio control method, a gear shifting method and a device of a gear shifting motor, which are used for solving the problems that an automatic transmission controller is inaccurate in control when shifting gears, errors are easy to occur, and damage is caused to a transmission.
In order to achieve the above object, the present invention provides a method for controlling a shift motor to output a PWM duty ratio, comprising the steps of:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
and constructing an output function, so that the output PWM duty ratio of the gear shifting motor is increased and then decreased in the process of changing the real-time voltage value from the first voltage value to the second voltage value.
Further, the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
The invention also provides a gear shifting method based on the PWM duty ratio output by the gear shifting motor, which comprises the following steps:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
constructing an output function, and enabling the output PWM duty ratio of the gear shifting motor to be increased and then reduced in the process that the real-time voltage value is changed from the first voltage value to the second voltage value;
and controlling the output of the gear shifting motor according to the PWM duty ratio of the gear shifting motor and finishing the gear shifting process of the vehicle.
Further, the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
The invention also provides a device for controlling the gear shifting motor to output the PWM duty ratio, which comprises a processor and a memory, wherein the memory stores instructions for realizing the following method by the processor:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
and constructing an output function, so that the output PWM duty ratio of the gear shifting motor is increased and then decreased in the process of changing the real-time voltage value from the first voltage value to the second voltage value.
Further, the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
The invention also provides a gear shifting device based on the output PWM duty ratio of the gear shifting motor, which comprises a processor and a memory, wherein the memory stores instructions for realizing the following method by the processor:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
constructing an output function, and enabling the output PWM duty ratio of the gear shifting motor to be increased and then reduced in the process that the real-time voltage value is changed from the first voltage value to the second voltage value;
and controlling the output of the gear shifting motor according to the PWM duty ratio of the gear shifting motor and finishing the gear shifting process of the vehicle.
Further, the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
The invention has the beneficial effects that: the method comprises the steps of obtaining position signals of an original gear, a target gear and a real-time gear, then obtaining voltage values corresponding to the position signals of the gears, constructing an output function according to the voltage values, and calculating the output PWM duty ratio of a gear shifting motor, so that the gear shifting motor is controlled to output according to the calculated PWM duty ratio, and smooth gear shifting of a vehicle is achieved.
The invention can realize efficient and stable gear shifting, solves the problems of slow gear shifting, gear shifting pause and the like caused by an unreasonable gear shifting mode, and avoids the damage to the gearbox possibly caused by unsmooth gear shifting in the gear shifting process.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a graph of an output function in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The application of current automatic gear car is more and more extensive, also more and more receive attention to the control research of automatic gear vehicle, conventional selector generally promotes or stimulates the automatic gear derailleur rocking arm through the cable and realizes shifting, along with the continuous development of automotive industry, more and more automobile uses the drive-by-wire selector, different with conventional selector, the drive-by-wire selector adopts the gear motor directly to promote or stimulates the automatic gear derailleur rocking arm and realizes shifting, the rocking arm through the automatic gear derailleur carries out the displacement, thereby realize that the vehicle shifts.
The invention provides a PWM duty ratio control method, a gear shifting method and a device of a gear shifting motor, aiming at the problem that a gear shifting process is interrupted and damaged due to product errors, mechanical errors, installation errors and the like when an automatic gear transmission controller shifts gears.
As shown in fig. 1, which is a flowchart of the method of the present invention, a transmission controller TCU receives information sent by a vehicle control unit HCU through a CAN bus, when a shift instruction is received and the vehicle meets a shift condition, an output function is constructed through a voltage value corresponding to a gear position signal detected by a position sensor, an output PWM duty ratio of a shift motor is calculated according to the output function, so that the PWM duty ratio of the shift motor is output according to a trend of increasing and then decreasing, and the PWM output of the shift motor is stopped until a target gear is reached.
One specific example is given below.
The process of controlling the output PWM duty cycle in this embodiment includes: the voltage value of the original gear position signal is u1, the voltage value of the target gear position signal is u2, the voltage value corresponding to the gear position signal in the gear shifting process is ux, and the PWM duty ratio value output by the gear shifting motor is F (u). In this embodiment, the shift motor PWM duty ratio f (u) and the corresponding function selection function value of the gear position signal voltage value (ux) are the upward convex functions with the function value increasing first and then decreasing, and there are various implementation manners for such upward convex functions, for example, one of the functions shown in formula (1):
F(u)＝100sin(|ux-u1|*π/(|u2-u1|)) (1)
as shown in fig. 2, it can be seen that, in the process of changing ux from u1 to u2, the relationship curve between the PWM duty ratio and the voltage value is the first half cycle of the sine wave, in other embodiments, the equation (1) may be equivalently transformed or other calculation methods may be used, that is, the relationship curve between the PWM duty ratio and the voltage value may have other waveform forms according to the transformed equation, and is not limited to the first half cycle of the sine wave given here, or may use other upward convex functions in which the function value is gradually increased and then gradually decreased, and the increase and decrease here may also be variable, for example, the value of the function in equation (1) is first rapidly increased and then the increase speed is decreased; when the function value is reduced, the function value is firstly reduced slowly, and finally reduced quickly.
The correspondence in fig. 2 can be divided into three processes: a starting process, an intermediate process and an ending process.
Starting: when the gear is shifted from the original gear to the target gear, the output PWM duty ratio is gradually increased from small to large, and when the gear is near the original gear, the PWM duty ratio is gradually increased from small to large, so that the gear shifting motor is slowly pushed to act, and the impact force during gear shifting starting is reduced.
The intermediate process comprises the following steps: when the gear position is in the middle position, the PWM duty ratio of the output gear shifting motor is gradually increased, so that the gear shifting execution speed is increased.
And (4) ending the process: the PWM duty ratio of output reduces gradually when keeping off a position and being close to the target position to make the gentle target position of going of gear's gear, in order to prevent that too big impact force from causing the damage to dialling tooth, teeth of a cogwheel, avoid causing the problem of gear top tooth of shift motor simultaneously.
The relation function of the PWM duty ratio of the shift motor and the voltage value of the gear position signal is not limited to the function form provided by the present invention, and in other embodiments, the function relation provided by the present invention may be equivalently modified, or other function forms may be adopted, and the technical scheme formed in this way is formed by performing fine adjustment on the above embodiment, and this technical scheme still falls within the protection scope of the present invention.
Claims (8)
1. A method for controlling a shift motor to output a PWM duty cycle, comprising the steps of:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
and constructing an output function, so that the output PWM duty ratio of the gear shifting motor is increased and then decreased in the process of changing the real-time voltage value from the first voltage value to the second voltage value.
2. The method of controlling the output PWM duty cycle of a shift motor according to claim 1, wherein: the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
3. A gear shifting method based on PWM duty ratio output by a gear shifting motor is characterized by comprising the following steps:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
constructing an output function, and enabling the output PWM duty ratio of the gear shifting motor to be increased and then reduced in the process that the real-time voltage value is changed from the first voltage value to the second voltage value;
and controlling the output of the gear shifting motor according to the PWM duty ratio of the gear shifting motor and finishing the gear shifting process of the vehicle.
4. The shifting method based on the output PWM duty ratio of the shifting motor according to claim 3, characterized in that: the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
5. An apparatus for controlling a shift motor to output a PWM duty cycle, comprising a processor and a memory, characterized in that: the memory stores instructions for the processor to implement the method of:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
and constructing an output function, so that the output PWM duty ratio of the gear shifting motor is increased and then decreased in the process of changing the real-time voltage value from the first voltage value to the second voltage value.
6. The apparatus for controlling output PWM duty ratio of shift motor according to claim 5, wherein: the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
7. A gearshift based on shift motor output PWM duty cycle, includes processor and memory, its characterized in that: the memory stores instructions for the processor to implement the method of:
acquiring a first voltage value corresponding to an original gear position signal and a second voltage value corresponding to a target gear position signal, and detecting a real-time voltage value corresponding to the gear position signal in the gear shifting process;
constructing an output function, and enabling the output PWM duty ratio of the gear shifting motor to be increased and then reduced in the process that the real-time voltage value is changed from the first voltage value to the second voltage value;
and controlling the output of the gear shifting motor according to the PWM duty ratio of the gear shifting motor and finishing the gear shifting process of the vehicle.
8. The shifting apparatus for outputting the PWM duty ratio based on the shifting motor according to claim 7, wherein: the output function is:
F(u)＝100sin(|ux-u1|*π/(|u2-u1|))
wherein u1 is the first voltage value, u2 is the second voltage value, ux is the real-time voltage value, and F (u) is the shift motor PWM duty cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810821811.6A CN110748638B (en) | 2018-07-24 | 2018-07-24 | PWM duty ratio control method, gear shifting method and gear shifting device of gear shifting motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810821811.6A CN110748638B (en) | 2018-07-24 | 2018-07-24 | PWM duty ratio control method, gear shifting method and gear shifting device of gear shifting motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110748638A CN110748638A (en) | 2020-02-04 |
| CN110748638B true CN110748638B (en) | 2021-09-10 |
Family
ID=69275511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810821811.6A Active CN110748638B (en) | 2018-07-24 | 2018-07-24 | PWM duty ratio control method, gear shifting method and gear shifting device of gear shifting motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110748638B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113757358B (en) * | 2021-08-05 | 2023-05-09 | 东风汽车集团股份有限公司 | Vehicle and gear shifting control method, device and system of double-clutch automatic gearbox of vehicle |
| CN114995261A (en) * | 2022-07-07 | 2022-09-02 | 中国航发中传机械有限公司 | A transmission data acquisition control device and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000266171A (en) * | 1999-03-16 | 2000-09-26 | Bridgestone Cycle Co | Automatic transmission for bicycle |
| JP4400840B2 (en) * | 2000-03-01 | 2010-01-20 | 本田技研工業株式会社 | Electric bicycle |
| JP2008185187A (en) * | 2007-01-31 | 2008-08-14 | Yamaha Motor Co Ltd | Transmission, vehicle equipped with it, control device of gear ratio change mechanism, and its control method |
| KR20130064916A (en) * | 2011-12-09 | 2013-06-19 | 현대자동차주식회사 | Shifting system for shift by wire |
| CN102832881A (en) * | 2012-08-31 | 2012-12-19 | 郑州春泉暖通节能设备有限公司 | Simple motor gear identification method and device based on potential transformation technology |
| CN107120428B (en) * | 2017-05-17 | 2019-03-29 | 清华大学 | A kind of automatic mechanical transmission shift control method and device |
-
2018
- 2018-07-24 CN CN201810821811.6A patent/CN110748638B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110748638A (en) | 2020-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103277503B (en) | Automatic speed changing vehicle driver forces identifying method and the identification system of downshift intention | |
| CN110748638B (en) | PWM duty ratio control method, gear shifting method and gear shifting device of gear shifting motor | |
| CN105437975B (en) | Display control unit for instrument | |
| KR101860192B1 (en) | Driving force control system for vehicle | |
| CN108458098B (en) | Automobile gear shifting control method and device, controller and automobile | |
| CN106907474A (en) | A kind of process for gear | |
| DE19983049T1 (en) | Control method for a shift-by-wire vehicle transmission | |
| CN100497905C (en) | Protection control method for preventing low-gear operation of automobile | |
| RU2012131046A (en) | METHOD OF TRANSMISSION CONTROL WITH MULTIPLE CLUTCHES | |
| CN100434763C (en) | Gear shifting control method of mixed power automobile | |
| RU2012114596A (en) | METHOD FOR GEARBOX CONTROL | |
| CN204099567U (en) | A kind of semi-automatic shift gears control gear being applicable to manual-gear vehicle | |
| CN106564492A (en) | Method, device and TCU for controlling shifting rotation speed | |
| JP6350595B2 (en) | Meter display control device | |
| JPWO2011104852A1 (en) | Vehicle control system and vehicle control method | |
| CN108501765B (en) | Gear shifting control method and device for electric automobile and vehicle | |
| JPH09503280A (en) | Method of controlling a vehicle driveline including a continuously variable transmission | |
| CN111605409B (en) | New energy automobile driving system tooth system control method | |
| CN107191587B (en) | Transmission gear shifting method and device | |
| CN108825771A (en) | A kind of electronics gear switching method, device and automobile | |
| CN106976456B (en) | Hybrid-vehicle control method and device | |
| CN106641220A (en) | Speed changing and gear shifting method for electric vehicle | |
| CN108454613B (en) | Hybrid electric vehicle and gear shifting control method for hybrid electric vehicle | |
| CN211195864U (en) | Device with MT shifts prompt facility | |
| CN109667925A (en) | A kind of more shift mode control switching methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |