CN101118195A - Brushless direct current electric power dynamometer machine - Google Patents
Brushless direct current electric power dynamometer machine Download PDFInfo
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Abstract
The present invention relates to a brushless direct current electric dynamometer, which aims at providing a direct current electric dynamometer with low cost, small size, and being suitable for a complex environment; the brushless direct current electric dynamometer of the present invention consists of a motor machinery part and a system part; the present invention is characterized in that a main machine part consists of two groups of bearings, a rocking arm extends out of one side of a casing, a tension and pressure sensor is arranged at the lower end of the rocking arm, and the dynamometer is horizontally arranged on an iron floor or a cement base seat; the control core of the brushless direct current electric dynamometer is that a single-chip microcomputer microprocessing system and a special-purpose motor drive a chip LM621, and because the motor part adopts the brushless structure, compared with the ordinary direct current dynamometer, the present invention has the advantages that the structure is simple, without wearing part, and the repair and the maintenance are simple and convenient.
Description
The technical field is as follows:
the invention discloses a brushless direct-current electric dynamometer, and relates to a direct-current electric dynamometer.
The background art comprises the following steps:
at present, the automobile industry in China is developing dramatically, an electric dynamometer is required to be used for engine emission tests, and a hydraulic dynamometer and an eddy current dynamometer cannot meet the requirements of the emission tests by a working condition method, so that the electric dynamometer has a very wide application market prospect. At present, the electric dynamometer can not be independently produced at home, and most of the electric dynamometer depends on import; the electric dynamometer comprises a direct current dynamometer and an alternating current dynamometer, the traditional direct current dynamometer is a common brush direct current motor, and the dynamometer has the advantages of large volume, large rotational inertia, low limit rotating speed, low manufacturing cost and low cost performance because an armature is arranged on a rotor.
The invention content is as follows:
the invention aims to provide a brushless direct current electric dynamometer, which has low cost and small volume and is suitable for complex environments. The brushless direct current electric dynamometer consists of a motor mechanical part and a system part; the electromechanical machine is similar to a brushless DC motor, and is characterized in that: the common brushless DC motor only has one set of rotating bearings for the rotation of the rotor, while the main machine part of the brushless DC dynamometer consists of two sets of bearings, wherein one set of bearings is the rotating bearing for the high-speed rotation of the rotor, the highest rotating speed of the bearings is 10000r/min, and the bearings are lubricated by high-speed lubricating grease; the other group of bearings are oscillating bearings, the excircle of each bearing is connected with a housing stator of the dynamometer, so that the stator part of the dynamometer can also rotate, the housing of the dynamometer does not rotate in actual use, a rocker arm extends out of one side of a shell, a pull pressure sensor is installed at the lower end of the rocker arm, the force sensor is used for detecting the torque of the tested power machine, and the accuracy of the torque can be calibrated through a set of correction devices. The pull pressure sensor can measure bidirectional acting force, namely upward pull force or downward pressure, and the direction of the force can be identified by a display symbol of the instrument (the downward pull force is positive, and the upward pull force is negative). Because the dynamometer has vibration in the actual operation engineering, the vibration source can be motive power machinery or can be from the dynamometer, so that a set of vibration reduction mechanism is added at the connecting end of the pull pressure sensor, the detected force display fluctuation is small, and the reading is convenient. In addition, the tension and pressure sensor can effectively avoid the damage caused by the impact of force, thereby improving the reliability of the system. The two ends of the output shaft of the brushless direct current dynamometer are provided with flange plates which are convenient for being connected with a tested prime motor. And the dynamometer is horizontally arranged on an iron floor or a cement machine base.
The direct current electric dynamometer mainly comprises three parts; they are respectively: the system comprises a singlechip system part, a brushless direct current motor special integrated circuit LM621 and a driving and alternating current/direct current power converter. The control core of the brushless DC electric dynamometer is a single chip microcomputer micro-processing system and a special motor driving chip LM621, and the control function of complex and various modes is completed through software programming, so that various requirements of users are well met. The brushless DC electric dynamometer of the invention has simple structure, no wearing parts and simple and convenient maintenance compared with the common DC dynamometer because the motor part adopts the brushless mechanism. Moreover, the control part adopts a high-performance singlechip system and a mature special integrated circuit technology, so that the reliability has sufficient material guarantee, and the control performance is excellent. The good technology and the fine process are added, and the system runs for a long time, so that the system has good reliability.
Description of the drawings:
FIG. 1 is a block diagram of a position PID control algorithm program of a brushless DC electric dynamometer.
The specific implementation mode is as follows:
the brushless DC electric dynamometer consists of a mechanical part and a system part of a motor.
1. The invention relates to a mechanical part of a brushless direct current electric dynamometer machine, which comprises the following steps: the main machine part of the brushless DC dynamometer consists of two groups of bearings, wherein one group of bearings are rotating bearings used for high-speed rotation of a rotor, the maximum rotating speed of the bearings is 10000r/min, and the bearings are lubricated by high-speed lubricating grease; the other group of bearings are oscillating bearings, the excircle of each bearing is connected with a housing stator of the dynamometer, so that the stator part of the dynamometer can also rotate. The pulling and pressing force sensor can measure bidirectional acting force, namely upward pulling force and downward pressing force, and the direction of the force can be identified through the display symbols of the instrument (the downward pressing force is positive, and the upward pulling force is negative). Because the dynamometer has vibration in actual operation engineering, the vibration source can be original power machinery or can be from the dynamometer, so that a set of vibration reduction mechanism is added at the connecting end of the tension pressure sensor, the detected force display fluctuation is small, and the reading is convenient. In addition, the tension and pressure sensor can effectively avoid the damage caused by the impact of force, thereby improving the reliability of the system. The two ends of the output shaft of the brushless direct current dynamometer are provided with flange plates which are convenient for being connected with a tested prime motor. And the dynamometer is horizontally arranged on an iron floor or a cement machine base.
2. The system part of the brushless direct current electric dynamometer of the invention comprises:
(1) single chip computer system part
The direct current electric dynamometer system is a complex measurement and control system which is formed by taking a microprocessor MCU as a core, and has the main tasks of: and measuring and displaying the rotating speed, the torque, the temperature, the pressure and the power. And finishing the closed-loop control of the dynamometer. The mechanical and electrical safety protection functions of the dynamometer are completed, and when abnormity occurs, protection is output in time and alarm is prompted. Communication function, and interaction function with peripheral devices. The UART port can be communicated with the upper microcomputer so as to complete automatic working condition tests with the rack system.
The invention can adopt a singlechip MSC1210, and the microprocessor has rich resources and very strong functions, and is particularly suitable for the technical requirements of the system; it has 2 UART ports, allows to program in the system, DOWNLOADs the program software through DOWNLOAD, does not need special programmer to modify the program, can use KEIL or MEDWIN integrated development environment to carry on the software debugging. The following description will focus on the digital PID controller. A controller in which a controlled object is controlled by a controlled variable constituted by linearly combining a proportion (P), an integral (I) and a derivative (D) of a deviation is called a PID controller.
The PID controller is a controller which has mature technology and is most widely applied in a control system. The device has simple structure, easy parameter adjustment and no need of precise mathematical model, thus having wide application in industry.
Analog PID controller
In the conventional analog control system, the given rotation speed is set to n i (t) actual rotational speed n o (t), the difference e (t)
e(t)＝n i (t)-n o (t)
e (t) is used as the input of the PID controller, u (t) is used as the output of the PID controller, and the analog PID control output is as follows:
u(t)＝K P [e(t)+1/T I ∫e(t)dt+T D ·de(t)/dt]+u O (1-1)
in the formula: k P -the scaling factor T I Integration constant T D -a differential constant u 0 Control constants
As the computer enters the control field, the analog PID controller can realize PID control by software through proper conversion, namely a digital PID controller.
Digital PID control algorithm
The digital PID control algorithm can be classified into a position type PID control algorithm and an incremental type PID control algorithm.
Position type PID control algorithm
We transform the formula (1-1) to obtain a discrete PID expression as
Is further transformed into
In the formula: k-sample number k =0,1, 2.;
u k -the computer output value at the kth sampling instant;
e k -input offset value at kth sampling instant;
u k-1 -computer output value at sampling instant k-1;
K I -an integration factor, K I ＝K P ·T/T I
K D -a differential coefficient, K D ＝K P ·T D /T；
u o -initial value at PID control;
the equations (1-2) and (1-3) are called position-based PID control algorithms. In actual engineering, incremental PID algorithms are more common.
Incremental PID control algorithm
Incremental PID refers to the increment Δ u in which the output of the digital controller is only the controlled quantity k Incremental PID algorithm:
and (3) obtaining the computer output value of the k-1 sampling time by the formula (1-2):
subtracting the formula (1-4) from the formula (1-2), and sorting to obtain
Δu k ＝u k -u k-1 ＝K P [e k -e k-1 +(T/T I )e k +(T D /T)(e k -2e k-1 +e k-2 )]
＝Ae k +Be k-1 +Ce k-2 (1-5)
Wherein A = K P (1+T/T I +T D /T)
B＝-K P (1+2T D /T)
C＝K P ·T D /T
We can further work up to obtain the following forms
Δu k ＝K P (Δe k +T/T I ×e k +T D /T×Δ 2 e k )
＝K P (Δe k +I×e k +D×Δ 2 e k )(1-6)
Wherein I = T/T I
D＝T D /T
Δe k ＝e k -e k-1
Δ 2 e k ＝Δe k -Δe k-1 ＝e k -2e k-1 +e k-2
The incremental type can be seen from the formula (1-5), when the period T is adopted for determination, the calculation process is simpler by setting A, B and C, and the real-time control requirement of control can be well met.
In practical engineering application, the position PID algorithm is obtained by further converting the incremental PID algorithm
u k ＝u k-1 +Δu k (1-7)
Δu k ＝Ae k +Be k-1 +Ce k-2 (1-8)
The system selects a position type PID control algorithm, the algorithm is based on equations (1-7) and (1-8), and a program block diagram is shown in figure 1. Entry parameters of the program: set value r, measured value y, deviation e k-1 、e k-2 Output value u k-1 Each parameter of the four parameters occupies 2 bytes, and the parameters are shaped, so that the calculation speed of the system can be greatly improved. The multiplication operation adopts double bytes to multiply double bytes, and the addition adopts 32BIT signed additionAnd (4) carrying out arithmetic operation.
Tuning of PID parameters
The proportion link P has the following functions: the controller immediately generates a control action to change the control amount in a direction of reducing the deviation once the deviation is generated in response to the deviation e instantaneously. The strength of the control action depends on the proportionality coefficient K P ，K P The larger the control, the stronger the control, but too large a K P This can lead to system oscillations that can destabilize the system.
The function of the integration link I is as follows: the accumulation of the deviation is taken as the output, in the control engineering, as long as the deviation exists, the output of the integral link is not only increased until the deviation e is close to zero, so the function of the integral link is mainly to eliminate the static error. The function of integration can effectively eliminate static errors, but also can reduce the response speed of the system and increase the overshoot of the system, so that the parameter size of the integration link I needs to be reasonably selected and adjusted.
The function of the differential element D is as follows: mainly to prevent variation of the deviation; it is controlled according to the variation trend of the deviation. The faster the deviation changes, the larger the output of the derivative controller, and can be corrected before the deviation value becomes larger. The introduction of differential action is helpful to reduce overshoot, overcome oscillation and stabilize the system, and is particularly beneficial to high-order systems, so that the response speed of the system is accelerated. The effect of differentiation is sensitive to signal noise, which results in unstable system control. Therefore, the size of the differential link is very important for the stability of the control system, and an appropriate value needs to be obtained, and the control effect of the system is not utilized when the differential link is too large or too small.
In the digital PID controller, the sampling period is selected, theoretically, the smaller the sampling period is, the better the sampling period is, but in practical application, due to the limitation of acquisition precision, the undersized sampling period, the values of the two sampled signals are very close to each other, so that the integral effect is weakened, and the static error cannot be eliminated. Therefore, the selection of the sampling period is comprehensively considered according to the specific situation of system control.
The sampling period should satisfy Shannon (Shannon) theorem:
T＜1/2f max
in the formula f max -the highest frequency of the sampled signal;
selection of the actual application sampling period, pair f max ' is amplified 4-6 times;
the digital PID controller has two parameter selection and debugging methods:
first method trial and error method
The method is frequently used in practical engineering, and the sequence of the test method is as follows:
firstly, proportion → then integration → then differentiation, and the debugging is repeated until a satisfactory result is achieved. The method comprises the following specific steps:
firstly, only the proportion part is adjusted, the proportion coefficient is changed from small to large, and the response of the system to the German equation is observed until a response curve with quick response and small overshoot is obtained. If the static error of the system is in the allowable range and the response curve of 1/4 attenuation degree is reached (when the maximum overshoot is attenuated to 1/4, the allowable static error range is reached), only the integration and differentiation links are required to be adjusted. The scaling factor may be approximately determined.
The static error of the system generally requires an integration element. Giving a larger value, slightly reducing the proportional coefficient obtained in the last step of adjustment (for example, taking 80% of the original value), then gradually reducing the integral constant to carry out a fitting test, and further debugging the proportional coefficient and the integral constant according to the obtained response curve until satisfactory dynamic performance is obtained.
If the proportional-integral element is used, although the static error is eliminated, the dynamic quality of the system is still unsatisfactory, and a differential element is added. A smaller value of the differential constant is given, then the differential constant is gradually increased to carry out a compact test, and the proportional coefficient and the integral constant are correspondingly changed until satisfactory dynamic performance is obtained.
Note that: the control actions of proportion, integral and differential are mutually overlapped, and the action reduction of a certain link can be usually compensated by the action increase of other links, so that the parameter combination which can achieve a satisfactory effect is not unique.
Second empirical method
The PID parameters are determined by a test-and-error method through repeated tests, in order to reduce the times of the test-and-error and improve the working efficiency, the experience of others can be used for reference, a small number of tests are performed in advance according to certain requirements to obtain a plurality of reference parameters, and then the PID control parameters are derived by the reference parameters according to an experience formula, namely the experience method.
The critical ratio method is an empirical method. The method comprises the steps of firstly selecting a controller as a pure proportional controller, forming a closed loop, changing a proportional coefficient to enable the response of a system to step input to reach a critical state, recording the proportional coefficient Kr and a critical oscillation period Tr, and obtaining a nontypal PID control parameter from the two parameters according to an empirical formula provided by Ziegle-Nichole, as shown in the following table 1.
Table 1: analog controller parameters determined by critical ratio method
| Controller type | K P | T I | T D |
| P | 0.5Kr | ||
| PI | 0.45Kr | 0.85Tr | |
| PID | 0.6Kr | 0.5Tr | 0.12Tr |
The critical ratio method is for an analog PID controller, and for a digital PID controller, the same method is also applicable as long as the sampling period is small. In the control of the dynamometer, parameters obtained by a critical proportion method are used as a basis, and a test method is used for further improvement, so that a satisfactory effect is obtained.
The invention has the detection function of the singlechip system board of the brushless DC motor
Engine speed, the rotational speed of engine is measured with hall formula sensor, and detection range: 1-10000r/min, and the precision is 0.1% +/-1 character, and is characterized in that: the Hall type sensor is selected, the distance between the rotating flywheel and the sensing point of the sensor is 4-10 mm, the range is wide, the distance is long, the amplitude of a detection output signal is large, and the anti-interference capability is strong.
The torque of engine chooses the pressure sensor (taking temperature compensation) that draws of strain gauge for use, and measuring range: 0-500N.m, precision: 0.3 percent.
The exhaust temperature of the engine selects a K-type thermocouple, and the detection range is as follows: 0-1000 deg.C, 1% precision, and environmental temperature compensation.
The engine output power is obtained by calculating the output power value of the engine from the detected rotation speed and torque values.
The single chip system board of the brushless DC motor has the control function
Constant rotating speed control, the rotating speed setting of the engine is given by a potentiometer, the feedback signal is the rotating speed of the engine, the rotating speed of the engine is adjusted by controlling the armature current of the dynamometer, and a control strategy is as follows: and the output of the digital PID control is output to the module by PWM so as to control the driving circuit.
Constant torque control, the torque setting of the engine is given by a potentiometer, the feedback signal is the torque of the engine, the rotating speed of the engine is adjusted by controlling the armature current of the dynamometer, and a control strategy is as follows: and (4) digital PID control, wherein the output is output to the module by PWM so as to control the output of the module.
And the state I/O control is designed to protect the engine and the dynamometer system to work safely and reliably.
(2) The invention is brushless DC motor special integrated circuit LM621 and drive, AC/DC power converter
The main principle of motor control of the DC electric dynamometer system is to adopt a three-phase star-connected full-bridge driving mode
The application specific integrated circuit LM621 is adapted to three-phase or four-phase brushless dc motor control. The three-phase brushless direct current motor can be driven in a full-bridge or half-bridge mode, and is in an angular or star-shaped connection mode; the four-phase brushless DC motor is driven by a half-bridge. The output of the power supply provides 35mA base current which can directly drive a bipolar transistor or a power MOSFET; the Hall position sensor for the motor is required to be directly connected with an external PWM signal interface, so that the speed regulation function is realized; the steering control function, the dead zone adjusting function, the overcurrent protection function and the undervoltage protection function are provided. The LM621 chip is packaged in a dual in-line mode and is provided with 18 pins.
The control mode selected by the system is as follows: three-phase full-bridge drive, star connection, 30-degree pitch angle and two-two conduction mode reversing logic. The dead zone design time is 4.8 mu s, the over-current protection function is arranged, the single chip microcomputer outputs a PWM signal, real-time control is completed by the LM621, and the single chip microcomputer is interfered only by speed regulation and steering change, so that the single chip microcomputer has sufficient time to do other work. Thereby improving system reliability.
The speed regulation control of the motor plays an important role in the performance of a driving circuit for a long time; in recent years, power electronic switching devices have been developed very rapidly, and new switching devices have been continuously developed, which have more excellent performance. Currently, the commonly used electronic power switching devices include: a turn-off transistor (GTO), a power transistor (GTR), a field effect transistor (MOSEFET), an Insulated Gate Bipolar Transistor (IGBT); the MOSFET switch tube has advantages in medium and small power; GTR and IGBT dominate medium and large power.
The drive circuit part of the system selects a MOSFET and an IGBT switch tube.
A power field effect transistor (MOSFET) is a unipolar device that conducts only one type of carrier, requiring a small gate drive current and can be considered a voltage driven device. It is characterized in that: the switch has the advantages of high switching speed, low loss, low driving power, no secondary breakdown and the like, and is widely applied in many fields at present. When the power of the motor is not more than 20KW, a MOSFET switching tube such as 2SK313 manufactured by Hitachi corporation can be selected.
An insulated bipolar transistor IGBT (abbreviated as insulated gate bipolar transistor) is a composite switching device formed by combining MOSFET and GTR technologies, and is characterized in that: the inverter has the advantages of high voltage resistance, large conduction current, small driving power and the like, and is widely applied to various inverter technologies. A special driving integrated circuit is selected for the IGBT generally, M57962L is selected for a control system, the IGBT with 400A/600V or 200A/1400V can be driven, and the highest using frequency is 20kHz.
The main performances of the brushless DC dynamometer control system are as follows:
power range of 20-150 KW rotating speed of 0-8000 r/min
Constant rotating speed control precision +/-5 r/min
Constant torque control accuracy 0.4%
Rotation speed measurement accuracy 0.1%
Torque measurement accuracy 0.3%
The relative humidity is less than or equal to 80 percent at the temperature of between 20 ℃ below zero and 65 ℃ under the working environment
The dynamometer can work in four quadrants, and the electric energy generated when the dynamometer works in 2 and 4 quadrants can be fed back to a power grid or can be consumed by a load resistor.
The invention discloses a parameter measuring method when a brushless direct current dynamometer is used, which comprises the following steps:
1. rotational speed measurement
There are two measurement methods for the rotation speed, one is a frequency method, and the other is a periodic method.
Frequency method: the number of pulses of the signal per unit time is measured. The common measuring method is a frequency method, generally the measuring method is that a fluted disc with 60 teeth or 120 teeth is embedded on a main shaft of the dynamometer, the fluted disc and a rotor synchronously rotate, a magnetoelectric sensor is installed on a bearing seat at the outer end of the fluted disc, the magnetoelectric sensor induces a sine wave signal when the fluted disc rotates, and if the number of the teeth is 60, the main shaft rotates for one circle and then outputs a 60 sine wave signal. And (3) setting the tooth number of the fluted disc as K, the output signal frequency of the magnetoelectric sensor as f (unit: hz), and the rotating speed n (unit: r/min) of the dynamometer:
n＝60f/K
when the tooth number K =60, n = f; the number of teeth K =120, n = f/2
This measurement method is a common method for detecting the engine speed at present. The measurement range is as follows: 100-10000r/min. The disadvantages are as follows: the ultra-low rotating speed cannot be measured, and the sensor is easy to be interfered due to weak signals at low speed.
A periodic method: the rotation speed of the rotating body is indirectly measured by measuring the time taken by the rotating body to rotate for one circle and then calculating. The method generally needs a singlechip or an MCU microprocessor to carry out indirect measurement through calculation, and is characterized by wide measurement range and high precision; the measurement range is as follows: 0.1-10000; the measuring sensor can be a Hall sensor or a photoelectric sensor.
The measuring method comprises the following steps: the output signal of the sensor is connected to an INT0 fracture of the single chip microcomputer through shaping processing, the time t of one-circle rotation of the measurement dynamometer is interrupted, k is the number of time units, tau is a time unit, the unit is mus for the machine period of the single chip microcomputer, the measured rotating speed is n (r/min), and the calculating method comprises the following steps:
t＝k×τ
n＝60/t＝60/kτ
n =60/k τ =60000000/k when τ =1 μ s
The measuring method is frequently used in a microcomputer control system and is characterized by high measuring precision and wide range. The system adopts the measurement method.
2. Torque measurement
The tension and pressure sensor is arranged on the shell of the dynamometer, the torque (also called torque) of the dynamometer can be indirectly measured by detecting force, because the torque and the rotating speed of the dynamometer need to be measured when the power of the engine is measured, the torque is equal to the product of the force and the moment, and the moment is the vertical distance from the central line of the shaft to the sensor and is a constant; let the moment be T (unit: N.m), the force f (unit: N) applied to the sensor, and the moment be L (unit: m)
T = L · f = C · f C: is a constant number
In an actual measurement system, a constant C is obtained by measuring the moment through a set of calibration device, and the calibration device comprises a calibration force arm, a tray, a weight and the like. Dynamometer torque calibration is typically required to be performed periodically. Its accuracy is critical to the accuracy of the power measurement.
3. Power measurement
It is known that the power is measured by detecting the rotational speed and the torque, and calculating from the formula by assuming that the rotational speed is N (unit: r/min), the torque is T (unit: N.m), and the power is P (unit: kw)
P＝n·T/9550
Its measurement accuracy depends on n, T, whereas the accuracy of n is higher, 0.1% F.S, and therefore mainly depends on T, its accuracy is typically 0.4% F.S.
Claims (1)
1. The brushless direct current electric dynamometer consists of a motor mechanical part and a system part; the method is characterized in that: the mechanical part of the direct current power measuring machine consists of two groups of bearings, wherein one group of bearings are rotating bearings used for high-speed rotation of a rotor, the maximum rotating speed of the bearings is 10000r/min, and the bearings are lubricated by high-speed lubricating grease; the other group of bearings are oscillating bearings, the excircle of each bearing is connected with a shell stator of the dynamometer, so that the stator part of the dynamometer can also rotate, a set of damping mechanisms is added at the connecting end of the tension pressure sensor, flange plates are arranged at two ends of an output shaft of the brushless direct current dynamometer, and the dynamometer is horizontally arranged on an iron floor or a cement machine base; the partial control core of the direct current electric dynamometer system is composed of a single chip microcomputer micro-processing system and a special motor driving chip LM 621.
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| CN102128949A (en) * | 2010-12-21 | 2011-07-20 | 海尔集团公司 | Method and module for determining rotation speed of motor |
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| CN102128949A (en) * | 2010-12-21 | 2011-07-20 | 海尔集团公司 | Method and module for determining rotation speed of motor |
| CN102353489A (en) * | 2011-07-21 | 2012-02-15 | 凯迈(洛阳)机电有限公司 | Method for testing double-direction torque of eddy current dynamometer |
| CN102353489B (en) * | 2011-07-21 | 2013-05-08 | 凯迈(洛阳)机电有限公司 | Method for testing double-direction torque of eddy current dynamometer |
| CN104796231A (en) * | 2015-05-05 | 2015-07-22 | 北京广利核***工程有限公司 | Asynchronous serial physical deformation signal identification method |
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| CN107014532A (en) * | 2017-05-17 | 2017-08-04 | 山东建筑大学 | A kind of theoretical zero error dynamometer machine |
| CN107014532B (en) * | 2017-05-17 | 2019-07-12 | 山东建筑大学 | A kind of theory zero error dynamometer machine |
| CN107449961A (en) * | 2017-09-13 | 2017-12-08 | 中国船舶重工集团公司第七0三研究所 | A kind of through-flow structure of novel hydropower dynamometer |
| CN107449961B (en) * | 2017-09-13 | 2023-05-26 | 中国船舶重工集团公司第七0三研究所 | Novel hydraulic dynamometer through-flow structure |
| CN109976405A (en) * | 2019-03-12 | 2019-07-05 | 厦门理工学院 | A kind of ceramic kiln temperature composite control method, equipment and system |
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