CN103790650B - The electromagnetic levitation type aeroengine rotor assembling device optimized based on concentricity - Google Patents
The electromagnetic levitation type aeroengine rotor assembling device optimized based on concentricity Download PDFInfo
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- CN103790650B CN103790650B CN201410052237.4A CN201410052237A CN103790650B CN 103790650 B CN103790650 B CN 103790650B CN 201410052237 A CN201410052237 A CN 201410052237A CN 103790650 B CN103790650 B CN 103790650B
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- 238000005339 levitation Methods 0.000 title claims abstract description 8
- 238000007667 floating Methods 0.000 claims description 42
- 239000000725 suspension Substances 0.000 claims description 19
- 238000003825 pressing Methods 0.000 claims description 13
- 230000003340 mental Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 abstract description 9
- 238000005457 optimization Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 5
- 239000000284 extract Substances 0.000 abstract description 2
- 238000005070 sampling Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000037250 Clearance Effects 0.000 description 3
- 230000035512 clearance Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001808 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000002068 genetic Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000000644 propagated Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000005482 strain hardening Methods 0.000 description 1
Abstract
Electromagnetic levitation type aeroengine rotor assembly method based on concentricity optimization and device belong to mechanical assembly technique.Its measuring method and device are to float rotary axis system based on magnetic to determine rotative benchmark；The angle location of turntable is determined according to photoelectric encoder；Based on four gauge head measurement apparatus, extract radial error and the heeling error of axial fitting surface of rotor radial fitting surface, obtain this rotor on after assembling rotor coaxial degree affect weights；Respectively measure assembling needed for whole rotors, obtain each rotor on assembling after rotor coaxial degree affect weights；The weights of each rotor are carried out vector optimization, obtains the angle of assembling of each rotor.The present invention can effectively solve the problem that after aeroengine rotor assembles, axiality is low, and after having rotor assembling, axiality is high, reduction is vibrated, be easily installed, flexibility ratio is high, improve the feature of engine performance.
Description
Technical field
The invention belongs to mechanical assembly technique, relate generally to a kind of electromagnetic levitation type aviation optimized based on concentricity
Engine rotor assembling device.
Background technology
Aero-engine assembling is the final tache in aero-engine manufacture process, is also of paramount importance system
Make one of link.Under existing Aeroengine Design scheme and process technology level conditions, the matter of assembling
Amount and work efficiency have material impact for quality, performance and the production efficiency of electromotor.So in assembling
During to improve the axiality of rotor after installation as far as possible, and then reduce the vibration of aero-engine, change
The performance of kind aero-engine.But, in reality produces, the assembling of aero-engine is complete hand assembled,
The height of assembly precision and operating experience and the technical merit of whether stablizing the assembler that places one's entire reliance upon, lack
A kind of high speed effectively instructs the method that aeroengine rotor assembles, and then improves efficiency of assembling, reduces boat
Empty engine luggine, improves the performance of aero-engine.
Along with aero-engine assembling measuring technology increasingly comes into one's own, aero-engine assembling measuring technology
Increasingly come into one's own, and become the focus of research.Increasing research worker is for aero-engine
Rotor has carried out deep discussion, and Rools-Royce proposes a kind of scheme (System and method for
improving the damage tolerance of a rotor assembly.European Patent Publication No:
EP2525049A2), mainly by each sub-test system being obtained the stress signal of rotor each position, main system
The signal that each subsystem gathers is analyzed, damages the Parameter analysis impact on assembling from the appearance of each rotor, enter
And improve the assembling of aeroengine rotor.The method there is a problem in that does not analyzes rotor
The geometric sense aspect impact on assembling, it is impossible to improve the geometric sense impact on assembling.
Xi'an Communications University proposes a kind of method for testing assembly performance of rotor of aircraft engine (a kind of aeroplane engine
Machine rotor assembly performance detection method.Publication number: CN101799354A).The method is initially with vibrator
Exciting aeroengine rotor, utilizes vibrating sensor and signal acquiring system software to obtain a multicarrier coupling
The impulse response signal of the aeroengine rotor closed；Then the aviation to the multicarrier coupling obtained
The impulse response signal of engine rotor uses dual-tree complex wavelet transform method to be analyzed, it is thus achieved that eight single loads
The impulse response subsignal of the aeroengine rotor of ripple；The finally aviation to eight single carriers obtained is sent out
The impulse response subsignal of motivation rotor extracts average assembly performance index, if the average assembly performance of gained refers to
Scale value is more than or equal to 10, then judge that the assembling of this aeroengine rotor is qualified, if the meansigma methods of gained is less than
10, then judge defective, need to do over again rebuilding.The method there is a problem in that not to aeroplane engine
Machine rotor assembling is instructed.
Luoxin Precision Parts (shanghai) Co., Ltd. proposes one measurement axiality equipment, and (a kind of axiality is surveyed
Amount instrument.Publication number: CN202024752U).This device includes a pair be arranged on apparatus subject by synchronizing
The transmission main shaft that mechanism's Synchronization Control rotates, this transmission main shaft the inner is correspondingly arranged on measurement head and location respectively
Datum level；Above position, there is transducer probe assembly between described measurement head.It mainly solves existing accurate zero
The axiality of part, the measurement beated.The method there is a problem in that the axiality only measuring measured piece,
Do not solve the problem of axiality difference after rotor assembles.
Liming Aeroplane Engine (Group) Co., Ltd., Shenyang City proposes a kind of gap measuring method and (starts
Machine rotor blade tip radial clearance contactless measurement.Publication number: CN102175135A).The method is adopted
Using capacitance measurement technology, measuring process is as follows, and first assembling measurement system, calibration sensor, determine leaf
Relation between point radial clearance and voltage, then sensor is fixed on blade, finally measure electromotor and turn
Cotyledon point radial clearance.The method there is a problem in that during not accounting for rotor assembling axially mounted
Impact after rotor assembles.
The test of aero-engine assembling, to liking stators and rotor, meets requirement in component processing precision
Under conditions of, final inspection is by installing the Determines after coordinating, and the index of evaluation is mainly rotor after assembling
Axiality parameter.Engine rotation produces high pressure, and its rotor is by multiple single part groups combined
Become, ideal when the gyroaxis of each parts and the dead in line of whole electromotor.High-performance enginer work
High speed rotating speed when making is more than 10000rpm, and single part axially or radially beat will necessarily cause the turbine disk
Center deviation engine rotation axis, can produce the biggest centrifugal force in such a situa-tion, cause rotor
The imbalance rotated, causes engine luggine, hereby it is ensured that the axiality after the assembling of each parts is the weight installed
Point and difficult point.
One Model Mounting not using axiality optimization method, all parts axially and radially due to processing
Precision restriction existence is beated, eccentric, inclination equal error.If directly assembled randomly, it is possible to shape
Become to be similar to the bending situation of " Fructus Musae ", i.e. upper component have accumulated bias or the inclination of following all parts
Error, beat overall after causing assembling is huge with inclination, causes engine rotor axiality excessively poor, difficult
In satisfied use requirement.
At present, domestic engine assembly still uses traditional assembly method, tests manually with amesdial
It is main.According to assembled in sequence electromotor from top to bottom, measure after assembling parts, it is ensured that every
Entirety after secondary increase parts disclosure satisfy that the threshold condition of axiality, the most upwards installs another parts.
Every time using previous parts as benchmark, the axiality of final requirement entirety is within the specific limits.This side
Method takes a substantial amount of time, and the probability done over again is big, affects very much efficiency and the one-time success rate of installation,
The most successfully assembling needs 4 to 5 days.And, because not being optimum assembling position, it usually needs
Dismounting 4 to 5 times, in addition it is also necessary to workman assembles with rich experiences, assembling is required for experiencing hot-working every time
And cold working.So current aerospace engine assembly method installation effectiveness is low, it is difficult to install, and after assembling
Axiality is poor, affects engine performance.
Summary of the invention
The deficiency existed for above-mentioned prior art, proposes a kind of electromagnetic levitation type aviation optimized based on concentricity
Engine rotor assembling device, to solve the problem that after aeroengine rotor assembles, axiality is low, reaches to turn
After son assembling, axiality is high, reduction is vibrated, be easily installed, flexibility ratio is high, improve the purpose of engine performance.
The object of the present invention is achieved like this:
The structure of a kind of electromagnetic levitation type aeroengine rotor based on concentricity optimization assembling device is magnetic floating axle
System is nested on base central position, described magnetic floating axle system by platen on Magnetic suspension spindle, workbench, magnetic floating axle,
Magnetic floating axle pressing disc, photoelectric encoder, photoelectric encoder code-disc, upper permanent magnet, lower permanent magnet, upper coil
Constituting with lower coil, described workbench is arranged on magnetic floating axle on platen upper end, platen configuration on magnetic floating axle
On Magnetic suspension spindle upper end, Magnetic suspension spindle is arranged on magnetic floating axle pressing disc upper end, photoelectric encoder code
Dish is nested on magnetic floating axle pressing disc outer shroud, and photoelectric encoder fits over base central position lower inside admittedly, and
Being positioned at outside photoelectric encoder code-disc, upper permanent magnet is enclosed within Magnetic suspension spindle outer shroud, and is fixed on magnetic floating axle
Platen bottom, snare of reaching the standard grade is on Magnetic suspension spindle outer shroud, and is fixed on base interior, under upper permanent magnet
At side 5-10cm；Lower permanent magnet is enclosed within Magnetic suspension spindle outer shroud, and is fixed on magnetic floating axle pressing disc upper end,
Lower coil is enclosed within Magnetic suspension spindle outer shroud, and is fixed on base interior, above lower permanent magnet at 5-10cm；
Regulation of mental activities adjusts the workbench that inclines to be arranged on magnetic floating axle system center, and three-jaw fluid-pressure chuck is arranged in regulation of mental activities and adjusts work of inclining
On station center；Gate left column and gate right column are symmetrically distributed in the both sides of magnetic floating axle system and are fixedly mounted with
On pedestal, gate crossbeam two ends are connected with gate left column upper end and gate right column upper end；Left in gate
Adjustably suit upper left mast connector and lower-left mast connector is may move the most successively on column, left
Upper horizontal measuring staff horizontal nest is on the mast connector of upper left, and upper lever formula inductance sensor is laterally surveyed with upper left
Bar is connected；Lower-left horizontal measuring staff horizontal nest on the mast connector of lower-left, lower lever inductance sensor with
The horizontal measuring staff in lower-left is connected；Gate right column may move adjustably suit upper right mast the most successively
Connector and bottom right mast connector, upper right horizontal measuring staff horizontal nest, on upper right mast connector, is above stretched
Contracting formula inductance sensor is connected with the horizontal measuring staff of upper right；Bottom right horizontal measuring staff horizontal nest connects at bottom right mast
On part, under telescopic inductance sensor and the horizontal measuring staff in bottom right be connected.
Compared with prior art, the invention have the characteristics that
The present invention can obtain the axiality weights of each rotor by the concentricity and perpendicularity measuring each rotor,
Again the axiality weights of each rotor are carried out vector optimization, just can obtain instructing setting angle, save 40% peace
ETL estimated time of loading and expense, the once mounting success rate of 98%, measurable installation progress, improve engine stabilization,
Reduce engine luggine, save engine fuel consumption, reduce CO2Discharge, reduces engine noise and pollutes.
Accompanying drawing illustrates:
Fig. 1 is four gauge head measurement apparatus structural representations
Fig. 2 is magnetic floating axle architecture schematic diagram
Piece number in figure: 1 pedestal, 2 magnetic floating axle systems, 2a Magnetic suspension spindle, 2b workbench, 2c magnetic floats
Platen on axle, 2d magnetic floating axle pressing disc, 2e photoelectric encoder, 2f photoelectric encoder code-disc, 2g1
Upper permanent magnet, permanent magnet under 2g2, the upper coil of 2h1,2h2 lower coil, 3 regulation of mental activities adjust and incline workbench,
4 three-jaw fluid-pressure chucks, 5a gate left column, 5b gate right column, 5c gate crossbeam, 6a is left
The most horizontal measuring staff, the horizontal measuring staff in 6b bottom right, the horizontal measuring staff in 6c upper left, the horizontal measuring staff of 6d upper right, 7a
Lower-left mast connector, 7b bottom right mast connector, 7c upper left mast connector, 7d upper right mast
Connector, lever inductance sensor under 8a, 8b upper lever formula inductance sensor, telescopic electricity under 9a
Propagated sensation sensor, the upper telescopic inductance sensor of 9b.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail:
A kind of electromagnetic levitation type aeroengine rotor assembling device optimized based on concentricity, described method and apparatus
It is: three-jaw fluid-pressure chuck 4 is arranged in regulation of mental activities tune and inclines on workbench 3 center.Gate left column 5a and door
Type right column 5b is symmetrically distributed in the both sides of magnetic floating axle system 2 and is packed on pedestal 1, gate crossbeam 5c two
End is connected with gate left column 5a upper end and right column 5b upper end.Gate left column 5a depends on from top to bottom
Secondary removable adjustably suit upper left mast connector 7c and lower-left mast connector 7a, upper left horizontal measuring staff 6c
Horizontal nest on the mast connector 7c of upper left, upper lever formula inductance sensor 8b and upper left horizontal measuring staff 6c
It is connected；Lower-left horizontal measuring staff 6a horizontal nest on the mast connector 7a of lower-left, lower lever inductance sensor
8a and lower-left horizontal measuring staff 6a is connected.Gate right column 5b may move the most successively and adjustably overlap
Dress upper right mast connector 7d and bottom right mast connector 7b, upper right horizontal measuring staff 6d horizontal nest is in upper right
On mast connector 7d, upper telescopic inductance sensor 9b and upper right horizontal measuring staff 6d is connected；Bottom right is horizontal
Measuring staff 6b horizontal nest on the mast connector 7b of bottom right, under telescopic inductance sensor 9a horizontal with bottom right
Measuring staff 6b is connected.Magnetic floating axle system 2 is nested on pedestal 1 center, and described magnetic floating axle system 2 is floating main by magnetic
Platen 2c, magnetic floating axle pressing disc 2d, photoelectric encoder 2e, photoelectricity on axle 2a, workbench 2b, magnetic floating axle
Encoder code disc 2f, upper permanent magnet 2g1, lower permanent magnet 2g2, upper coil 2h1 and lower coil 2h2 are constituted,
Described workbench 2b is arranged on magnetic floating axle on platen 2c upper end, on magnetic floating axle platen 2c be arranged in magnetic float
On main shaft 2a upper end, Magnetic suspension spindle 2a is arranged on magnetic floating axle pressing disc 2d upper end, photoelectric encoder
Code-disc 2f is nested on magnetic floating axle pressing disc 2d outer shroud, and photoelectric encoder 2e fits over pedestal 1 center admittedly
Lower inside, and it is positioned at outside photoelectric encoder code-disc 2f, photoelectric encoder 2e is arranged in pedestal 1 centre bit
Putting lower inside, and be positioned at outside photoelectric encoder code-disc 2f, upper permanent magnet 2g1 is enclosed within Magnetic suspension spindle 2a
On outer shroud, and being fixed on platen 2c bottom on magnetic floating axle, upper coil 2h1 is enclosed within Magnetic suspension spindle 2a outer shroud,
And it is internal to be fixed on pedestal 1, below upper permanent magnet 2g1 at 5-10cm；Lower permanent magnet 2g2 is enclosed within magnetic and floats
On main shaft 2a outer shroud, and being fixed on magnetic floating axle pressing disc 2d upper end, lower coil 2h2 is enclosed within Magnetic suspension spindle
On 2a outer shroud, and it is internal to be fixed on pedestal 1, above lower permanent magnet 2g2 at 5-10cm.Magnetic floating axle system 2
Drive measured rotor at the uniform velocity rotate with the speed of 6～10r/min, under telescopic inductance sensor 9a at tested turn
Carrying out equal interval sampling on the axially mounted datum level of son, lower lever inductance sensor 8a is in measured rotor
Radially carrying out equal interval sampling on datum clamp face, sampling number should meet often 1000～2000 points of circle, will
Sampled data on the radial direction datum clamp face of measured rotor passes through Least Square Circle matching, assesses offset,
The axially mounted datum level of measured rotor is up-sampled data and passes through least square plane matching, assess inclination
Amount；Regulation of mental activities adjusts the workbench 3 that inclines to be arranged on magnetic floating axle system 2 center, according to size and the angle of offset
Degree, regulation regulation of mental activities is adjusted and is inclined workbench 3 until meeting the size of radial reference face offset at 0～3 μ m
In；Size according to tilt quantity and angle, regulation regulation of mental activities is adjusted and is inclined workbench 3 until meeting axial datum level and inclining
The size of gradient is 0～2 " in the range of, upper right mast connector 7d is vertically nested in gate right column 5b's
Upside, upper right horizontal measuring staff 6d horizontal nest is on upper right mast connector 7d, and upper telescopic inductance senses
Device 9b and upper right horizontal measuring staff 6d is connected, by the axial peace of upper telescopic inductance sensor 9b with measured rotor
Dress measuring surface contact, upper left mast connector 7c is vertically nested in the upside of gate left column 5a, and upper left is horizontal
Measuring staff 6c horizontal nest is on the mast connector 7c of upper left, and formula inductance sensor 8b is horizontal with upper left for upper lever
Measuring staff 6c is connected, and upper lever formula inductance sensor 8b installs measuring surface with the radial direction of measured rotor and contacts；Magnetic
Floating axle system 2 at the uniform velocity rotates with the speed of 6～10r/min, and upper telescopic inductance sensor 9b is in measured rotor
Equal interval sampling in axially mounted measuring surface, upper lever formula inductance sensor 8b installs in the radial direction of measured rotor
Equal interval sampling in measuring surface；Sampling number should meet often 1000～2000 points of circle；By upper lever formula inductance
Sensor 8b and comments by Least Square Circle matching in the data of the radial direction installation measuring surface up-sampling of measured rotor
Make concentricity；By upper telescopic inductance sensor 9b measured rotor axially mounted measuring surface up-sample
Data are by least square plane matching and assess perpendicularity, in conjunction with radius and this of axially mounted measuring surface
Measured rotor and the final difference in height assembling rotor, obtain this rotor to the impact power of rotor coaxial degree after assembling
Value；Measure the whole rotors needed for assembling respectively, obtain each rotor to the impact power of rotor coaxial degree after assembling
Value；Use genetic algorithm to carry out vector optimization the weights of each rotor, obtain the angle of assembling of each rotor, turn
The calculation affecting weights of sub-axiality is:In formula: C represents quilt
Survey rotor radial and the concentricity of measuring surface be installed,Represent the eccentric angle radially installing the measuring surface matching center of circle, H
Representing measured rotor and the final difference in height assembling rotor, R represents the radius of axially mounted measuring surface, and P represents
The perpendicularity of the axially mounted measuring surface of measured rotor, θ represents the fit Plane peak institute of axially mounted measuring surface
Angle.
Claims (1)
1. the electromagnetic levitation type aeroengine rotor assembling device optimized based on concentricity, is characterized in that magnetic floating axle
System (2) be nested on pedestal (1) center, described magnetic floating axle system (2) by Magnetic suspension spindle (2a),
Platen (2c) on workbench (2b), magnetic floating axle, magnetic floating axle pressing disc (2d), photoelectric encoder (2e),
Photoelectric encoder code-disc (2f), upper permanent magnet (2g1), lower permanent magnet (2g2), upper coil (2h1)
Constituting with lower coil (2h2), described workbench (2b) is arranged in platen (2c) upper end on magnetic floating axle
On, on magnetic floating axle, platen (2c) is arranged on Magnetic suspension spindle (2a) upper end, Magnetic suspension spindle (2a)
Being arranged on magnetic floating axle pressing disc (2d) upper end, photoelectric encoder code-disc (2f) is nested in magnetic floating axle
On pressing disc (2d) outer shroud, photoelectric encoder (2e) fits over pedestal (1) center lower inside admittedly,
And it is outside to be positioned at photoelectric encoder code-disc (2f), upper permanent magnet (2g1) is enclosed within Magnetic suspension spindle (2a) outer shroud
On, and it being fixed on platen (2c) bottom on magnetic floating axle, upper coil (2h1) is enclosed within Magnetic suspension spindle (2a)
On outer shroud, and it is internal to be fixed on pedestal (1), at the 5-10cm of upper permanent magnet (2g1) lower section；Under forever
Magnet (2g2) is enclosed within Magnetic suspension spindle (2a) outer shroud, and is fixed on magnetic floating axle pressing disc (2d) upper end
Portion, lower coil (2h2) is enclosed within Magnetic suspension spindle (2a) outer shroud, and it is internal to be fixed on pedestal (1),
At the 5-10cm of lower permanent magnet (2g2) top；Regulation of mental activities adjusts the workbench (3) that inclines to be arranged in magnetic floating axle system (2)
On center, three-jaw fluid-pressure chuck (4) is arranged in regulation of mental activities tune and inclines on workbench (3) center；
Gate left column (5a) and gate right column (5b) are symmetrically distributed in the both sides of magnetic floating axle system (2) and consolidate
Being contained on pedestal (1), gate crossbeam (5c) two ends are stood with gate left column (5a) upper end and the gate right side
Post (5b) upper end is connected；Gate left column (5a) may move the most successively and be adjustably set with
Upper left mast connector (7c) and lower-left mast connector (7a), upper left horizontal measuring staff (6c) level is embedding
It is enclosed within upper left mast connector (7c), upper lever formula inductance sensor (8b) and the horizontal measuring staff in upper left
(6c) it is connected；Lower-left horizontal measuring staff (6a) horizontal nest on lower-left mast connector (7a), under
Lever inductance sensor (8a) is connected with the horizontal measuring staff in lower-left (6a)；At gate right column (5b)
On the most removable adjustably suit upper right mast connector (7d) and bottom right mast connector
(7b), upper right horizontal measuring staff (6d) horizontal nest is in upper right mast connector (7d), upper telescopic
Inductance sensor (9b) is connected with the horizontal measuring staff of upper right (6d)；Bottom right horizontal measuring staff (6b) level is embedding
Be enclosed within bottom right mast connector (7b), under telescopic inductance sensor (9a) and the horizontal measuring staff in bottom right
(6b) it is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410052237.4A CN103790650B (en) | 2014-02-14 | The electromagnetic levitation type aeroengine rotor assembling device optimized based on concentricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410052237.4A CN103790650B (en) | 2014-02-14 | The electromagnetic levitation type aeroengine rotor assembling device optimized based on concentricity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103790650A CN103790650A (en) | 2014-05-14 |
| CN103790650B true CN103790650B (en) | 2016-11-30 |
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| CN103790649A (en) * | 2014-02-14 | 2014-05-14 | 哈尔滨工业大学 | Assembling method and device for aero-engine rotors of movable double-stand-column structure |
| CN103790652A (en) * | 2014-02-14 | 2014-05-14 | 哈尔滨工业大学 | Aircraft engine rotor air floating assembling method and device based on optical-electricity encoder angle measuring |
| CN103790646A (en) * | 2014-02-14 | 2014-05-14 | 哈尔滨工业大学 | Aircraft engine rotor electric driving magnetic levitation assembling method and device based on optical-electricity encoder angle measuring |
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