CN104506016A - Permanent-magnetic-type slipping clutch and control method - Google Patents
Permanent-magnetic-type slipping clutch and control method Download PDFInfo
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- CN104506016A CN104506016A CN201410843043.6A CN201410843043A CN104506016A CN 104506016 A CN104506016 A CN 104506016A CN 201410843043 A CN201410843043 A CN 201410843043A CN 104506016 A CN104506016 A CN 104506016A
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Abstract
The invention relates to a permanent-magnetic-type slipping clutch and a control method. The permanent-magnetic-type slipping clutch comprises an outer rotor, an inner rotor, a triphase winding electric brush, an energy recovery device and a controller, the energy recovery device recovers slipping loss generated in a triphase winding and can be externally connected with other electric appliance equipment, and the controller controls on-off of each MOS (metal oxide semiconductor) tube in the energy recovery device. The control method includes that outputting of signals is controlled by aiming at coordinating speed adjusting performance and recovery performance of the permanent-magnetic-type slipping clutch. Power density of the slipping clutch is increased, rotational inertia of an output shaft is reduced, responsiveness is improved, and efficiency is improved; by the control method, power factor of the recovery device is improved, torque fluctuation of the slipping clutch is reduced, and output rotating speed characteristics of the permanent-magnetic-type slipping clutch are enhanced.
Description
Technical field
The present invention relates to power transmission field, be specifically related to a kind of magneto speed differential clutch and control method.
Background technology
Electromagnetic slip clutches (Electromagnetic Slipping Clutch, referred to as EMSC), also referred to as electromagnetic slip clutch, with its compact conformation, mechanical wearing and tearing, control convenient, electric current is little, can realize the advantages such as infinitely variable speeds is used widely, especially in the occasion that some electric power source cannot be applied, as fields such as engineering machinery, automobile, boats and ships.
EMSC is formed primarily of external rotor and internal rotor, and general external rotor is armature, and internal rotor is excitation winding.When prime mover drives internal rotor to rotate, the magnetic field that excitation winding is formed induces electromotive force in armature, produce eddy current, eddy current produces moment under the influence of a magnetic field and drives external rotor to rotate, the loss that eddy current in external rotor is formed finally dissipates with the form of heat energy, slip is higher, and reactive loss is larger, and efficiency is lower.Excitation winding needs exciting current in addition, therefore also there is excitation loss.The output speed of ESC is regulated by the electric current in excitation winding, and under a fixed load, the larger rotating speed of exciting current is higher, but the mechanical property of ESC self is softer, adopts closed-loop control during general use.
Because novel permanent magnetic material neodymium iron boron has the features such as high residual flux density, high-coercive force and high energy product, machine field extensively adopts magneto to replace excitation electromotor.In like manner, if replaced by the excitation winding permanent magnet in EMSC, form magneto speed differential clutch (Permanent-magnetic Slipping Clutch, referred to as PMSC), by being conducive to the power density improving EMSC, reducing the moment of inertia of output shaft, improving response; In addition, PMSC, without the need to structures such as excitation winding, brush, slip rings, makes overall structure simple, improves reliability of operation; There is not excitation loss in PMSC, and there is not the frictional dissipation between brush and slip ring, improves efficiency.But because excitation field is non-adjustable, the control of PMSC becomes difficulty.
Summary of the invention
The problems such as the power density for electromagnetic slip clutches is low, reactive loss is large, the present invention proposes a kind of magneto speed differential clutch, controlling difficult problem, the present invention proposes corresponding control method to solve magneto speed differential clutch.
For achieving the above object, the concrete technical scheme of the present invention is as follows: a kind of magneto speed differential clutch, comprises external rotor, internal rotor, three-phase windings brush, energy recycle device and controller; Wherein external rotor comprises iron core, three-phase windings, and outer rotor iron core is provided with T-shaped tooth and teeth groove, and three-phase windings adopts double-deck short distance, distributed winding, and the rotating shaft of external rotor is by the base of bearings in speed differential clutch; Internal rotor comprises iron core and permanent magnet, and permanent magnet is attached to internal rotor iron core surface, and permanent magnet adopts radial magnetizing, the magnetic pole that formation N pole and S replace extremely mutually, and the rotating shaft of internal rotor is by the inside of bearings in external rotor rotating shaft; Three-phase windings lead-out wire is connected with three-phase windings brush; Three-phase windings brush is connected with energy recycle device, energy recycle device for reclaiming the slip loss resulted from three-phase windings, energy recycle device other electric equipments external; Energy recycle device is connected with controller, and controller controls the break-make of each metal-oxide-semiconductor in energy recycle device according to the emf phase of three-phase windings, phase current and energy recycle device output end voltage.
Further, above-mentioned energy recycle device comprises filter inductance, three-phase commutation bridge, filter capacitor, voltage regulator circuit and super capacitor; Wherein between three-phase commutation bridge with three-phase windings brush, each phase is all in series with filter inductance, is often connected respectively by voltage sensor between filter inductance with three-phase windings brush; Three-phase commutation bridge is made up of metal-oxide-semiconductor, and three-phase commutation bridge is often connected respectively by current sensor with filter inductance; Filter capacitor is parallel between the DC output end of three-phase commutation bridge and ground, is connected to voltage sensor between filter capacitor and voltage regulator circuit, for measuring the direct voltage that three-phase commutation bridge exports; Super capacitor is in parallel with voltage regulator circuit; Voltage regulator circuit is for regulating the charging voltage of super capacitor, when rated voltage higher than super capacitor of the output voltage of three-phase commutation bridge, voltage regulator circuit plays hypotensive effect, when the output voltage of three-phase commutation bridge is lower than the terminal voltage that super capacitor is real-time, the effect of voltage regulator circuit raising voltage.
Further, above-mentioned controller comprises power circuit, Signal-regulated kinase, single-chip microcomputer and driver module, and wherein power circuit produces the voltage needed for each module of controller; Signal-regulated kinase receives the direct voltage and power output end voltage that export from the three-phase current of the three-phase electromotive force of three-phase windings, three-phase windings, energy recycle device, and carries out filtering and level conversion to signal; Single-chip microcomputer calculates output signal according to the control strategy of the input signal after conditioning and setting; Driver module is for exporting the gate drive signal of each metal-oxide-semiconductor.
Further, above-mentioned voltage regulator circuit comprises metal-oxide-semiconductor T7, diode D1, inductance L 1, metal-oxide-semiconductor T8, diode D2; Wherein the drain electrode of metal-oxide-semiconductor T7 is connected with DC output end, source electrode is connected with one end of inductance L 1, between the source electrode that diode D1 is connected anti-parallel to metal-oxide-semiconductor T2 and ground, the other end of inductance L 1 is connected with the anode of diode D2, the drain electrode of metal-oxide-semiconductor T8 is connected with the anode of diode D2, and source electrode is connected to ground; The negative electrode of diode D2 is the power output end of energy recycle device, and power output end is that controller is powered.
The invention allows for a kind of control method of magneto speed differential clutch, comprise the steps:
1) three-phase electromotive force ea, eb, ec calculates electrical degree θ by PLL phase-locked loop module, is tied to the conversion of rotating coordinate system for position fixing;
2) three-phase electromotive force ea, eb, ec obtains ed, the eq under rotating coordinate system by Clark-Park conversion, and three-phase current ia, ib, ic obtain id, iq under rotating coordinate system by Clark-Park conversion;
3) phase voltage ud and the uq of rectifier bridge under rotating coordinate system is calculated;
4) according to phase voltage ud and the uq of rectifier bridge, by output pwm signal: * PWM1, * PWM2, * PWM3 after SVPWM module, and the logical inverse signal of each pwm signal :/* PWM1 ,/* PWM2 ,/* PWM3;
5) the duty ratio D1 of * PWM4 signal and the duty ratio D2 of * PWM5 signal is calculated according to the value of Udc;
6) * PWM4 and * PWM5 signal is exported respectively according to duty ratio D1 and D2.
Above-mentioned steps 3) in the computational process of phase voltage ud and uq as follows:
3.1) the desired value id*=0 of id is set;
3.2) the desired value n* of the output speed of speed differential clutch and the difference of actual value n obtain the desired value iq* of iq after PID arithmetic;
3.3) phase voltage ud and the uq of rectifier bridge under rotating coordinate system can be obtained by following formula:
Wherein Kp1, Kp2 are the proportionality coefficient of PI controller, and KI1, KI2 are integral coefficient, and L is Inductor, and ω is three-phase alternating current angular rate.
Above-mentioned steps 5) in duty ratio D1, D2 computational methods as follows:
5.1) as Udc<25V, the duty ratio D1 perseverance of * PWM4 signal is that the duty ratio D2 of 1, * PWM5 signal represents with following formula:
Wherein KP3 is the proportionality coefficient of PID controller, and KI3 is integral coefficient, and KD3 is differential coefficient, and U*d is the desired value of power output end voltage, and Ud is the actual value of power output end voltage;
5.2) as Usc>=25V, the duty ratio D2 perseverance of * PWM5 signal is that the duty ratio D1 of 0, * PWM4 signal represents with following formula:
Wherein KP4 is the proportionality coefficient of PID controller, and KI4 is integral coefficient, and KD4 is differential coefficient.
Compared with prior art, the beneficial effect that the present invention obtains is: the power density that improve speed differential clutch, reduces the moment of inertia of output shaft, improves response; Magneto speed differential clutch, without the need to structures such as excitation winding, brush, slip rings, makes overall structure simple, improves reliability of operation; There is not excitation loss in magneto speed differential clutch, and there is not the frictional dissipation between brush and slip ring, improves efficiency; The slip loss of energy recycle device to speed differential clutch is reclaimed, and the voltage regulator circuit in retracting device guarantees that the charging voltage of super capacitor can not higher than rated value; The control method proposed improves the power factor of retracting device, reduces the torque ripple of speed differential clutch, enhances the output speed characteristic of permanent magnetism speed differential clutch.
Accompanying drawing explanation
Fig. 1 is the formation schematic diagram of magneto speed differential clutch.
Fig. 2 is the inner and outer Rotator radial section figure of magneto speed differential clutch.
Fig. 3 is the energy recovering circuit figure of magneto speed differential clutch.
Fig. 4 is the controller block diagram of magneto speed differential clutch.
Fig. 5 is the flow chart of magneto speed differential clutch control method.
In figure: 1-external rotor 2-three-phase windings 3-internal rotor magnetic pole
4-internal rotor 5-three-phase windings brush 6-energy recycle device
7-controller 011-outer rotor iron core 041-internal rotor iron core
042-permanent magnet.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Fig. 1 is the formation schematic diagram of magneto speed differential clutch.Magneto speed differential clutch is made up of external rotor 1, internal rotor 4, three-phase windings brush 5, energy recycle device 6 and controller 7.The rotating shaft of external rotor 1 is by the base of bearings in speed differential clutch, and the rotating shaft of internal rotor 4 is by the inside of bearings in external rotor rotating shaft.Three-phase windings 2 lead-out wire is connected with three-phase windings brush 5.Internal rotor magnetic pole 3 is placed in the surface of internal rotor 4, and the magnetic line of force that internal rotor magnetic pole 3 is formed is by forming closed-loop path between the air gap of internal rotor 4, external rotor 1 and the iron core of inner and outer Rotator.Energy recycle device 6 is connected with three-phase windings brush 5, and energy recycle device 6 is for reclaiming the slip loss resulted from three-phase windings 2, and energy recycle device 6 can other electric equipments external; Controller 7 is connected with energy recycle device 6, and controller 7 controls the break-make of each metal-oxide-semiconductor in energy recycle device 6 according to the emf phase of three-phase windings 2, phase current and energy recycle device output end voltage.
Fig. 2 is the inner and outer Rotator radial section figure of magneto speed differential clutch.External rotor 1 comprises outer rotor iron core 011, three-phase windings 2 (not shown in FIG.), and outer rotor iron core 011 has 36 T-shaped teeth, 36 teeth groove, three-phase windings adopts double-deck short distance, distributed winding; Internal rotor 4 comprises internal rotor iron core 041 and permanent magnet 042,6 pieces of watts of shape permanent magnets are attached to iron core surface, and permanent magnet adopts radial magnetizing, forms the magnetic pole that 3 pairs of N poles and S replace extremely mutually.
Fig. 3 is the energy recycle device circuit diagram of magneto speed differential clutch.Energy recycle device mainly comprises filter inductance L, three-phase commutation bridge, filter capacitor C1, voltage regulator circuit and super capacitor.Between three-phase commutation bridge with three-phase windings brush, each phase is all in series with filter inductance, is often connected respectively by voltage sensor between filter inductance with three-phase windings brush; Three-phase commutation bridge is often connected respectively by current sensor with filter inductance; Three-phase commutation bridge is made up of 6 metal-oxide-semiconductor T1 ~ T6; Filter capacitor is parallel between the DC output end of three-phase commutation bridge and ground; Voltage sensor is connected to, for measuring the direct voltage Udc that three-phase commutation bridge exports between filter capacitor C1 and voltage regulator circuit; Super capacitor is in parallel with voltage regulator circuit, voltage regulator circuit is for regulating the charging voltage of super capacitor, when rated voltage higher than super capacitor of the output voltage of three-phase commutation bridge, voltage regulator circuit plays hypotensive effect, when the output voltage of three-phase commutation bridge is lower than the terminal voltage that super capacitor is real-time, the effect of voltage regulator circuit raising voltage.
As the preferred embodiments of the present invention, voltage regulator circuit in the present invention comprises metal-oxide-semiconductor T7, diode D1, inductance L 1, metal-oxide-semiconductor T8, diode D2, the drain electrode of metal-oxide-semiconductor T7 is connected with DC output end, source electrode is connected with one end of inductance L 1, between the source electrode that diode D1 is connected anti-parallel to metal-oxide-semiconductor T2 and ground, the other end of inductance L 1 is connected with the anode of diode D2, and the drain electrode of metal-oxide-semiconductor T8 is connected with the anode of diode D2, and source electrode is connected to ground; The negative electrode of diode D2 is the power output end of energy recycle device; Super capacitor SC is parallel between power output end and ground, and power output end is that controller is powered, and power output end is connected with other external connection electrical apparatus by diode D3 in addition.
Fig. 4 is the controller block diagram of magneto speed differential clutch.Controller mainly comprises power circuit, Signal-regulated kinase, single-chip microcomputer, driver module, power circuit produces the voltage needed for each module of controller, Signal-regulated kinase receives three-phase electromotive force ea, eb, ec from electromagnetic slip clutches three-phase windings, three-phase current ia, ib, ic of three-phase windings, the direct voltage Udc that energy recycle device three-phase commutation bridge exports, power output end voltage U d, and filtering and level conversion are carried out to signal; Single-chip microcomputer calculates output signal * PWM1 ~ 3 ,/* PWM1 ~ 3, * PWM4, * PWM5 according to the control strategy of the input signal after conditioning and setting; Driver module is the gate driver circuit of each metal-oxide-semiconductor, and driver module is for exporting gate drive signal PWM1 ~ 3 of each metal-oxide-semiconductor ,/PWM1 ~ 3, PWM4, PWM5.
Fig. 5 is the flow chart of magneto speed differential clutch control method.The control method of magneto speed differential clutch, is characterized in that comprising the steps:
1) calculate electrical degree θ according to three-phase electromotive force ea, eb, ec by PLL phase-locked loop module, be tied to the conversion of rotating coordinate system for position fixing.
2) three-phase electromotive force ea, eb, ec are converted ed, eq of obtaining under rotating coordinate system by Clark-Park, three-phase current ia, ib, ic are converted id, iq of obtaining under rotating coordinate system by Clark-Park.
3) set the desired value id*=0 of id, the desired value n* of the output speed of speed differential clutch and the difference of actual value n obtain the desired value iq* of iq after PID arithmetic, can be obtained phase voltage ud and the uq of rectifier bridge under rotating coordinate system by following formula:
In formula, Kp1, Kp2 are the proportionality coefficient of PI controller, and KI1, KI2 are integral coefficient, and L is Inductor, and ω is three-phase alternating current angular rate.
4) by output pwm signal: * PWM1, * PWM2, * PWM3 and * PWM1 ~ 3 after the phase voltage ud of rectifier bridge and uq feeding SVPWM module, and the logical inverse signal of each pwm signal :/* PWM1 ,/* PWM2 ,/* PWM3 are/* PWM1 ~ 3.
5) the duty ratio D1 of * PWM4 signal and the duty ratio D2 of * PWM5 signal is calculated according to the value of Udc.
As Udc<25V, the duty ratio D1 perseverance of * PWM4 signal is that the duty ratio D2 of 1, * PWM5 signal represents with following formula:
In formula, KP3 is the proportionality coefficient of PID controller, and KI3 is integral coefficient, and KD3 is differential coefficient, and U*d is the desired value of power output end voltage, and Ud is the actual value of power output end voltage.
As Usc>=25V, the duty ratio D2 perseverance of * PWM5 signal is that the duty ratio D1 of 0, * PWM4 signal represents with following formula:
In formula, KP4 is the proportionality coefficient of PID controller, and KI4 is integral coefficient, and KD4 is differential coefficient.
6) * PWM4 and * PWM5 signal is exported respectively according to duty ratio D1 and D2.
Described embodiment is preferred embodiment of the present invention; but invention is not limited to above-mentioned execution mode; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (7)
1. a magneto speed differential clutch, is characterized in that: comprise external rotor, internal rotor, three-phase windings brush, energy recycle device and controller; Described external rotor comprises iron core, three-phase windings, and outer rotor iron core is provided with T-shaped tooth and teeth groove, and three-phase windings adopts double-deck short distance, distributed winding, and the rotating shaft of described external rotor is by the base of bearings in speed differential clutch; Described internal rotor comprises iron core and permanent magnet, and described permanent magnet is attached to internal rotor iron core surface, and permanent magnet adopts radial magnetizing, the magnetic pole that formation N pole and S replace extremely mutually, and the rotating shaft of described internal rotor is by the inside of bearings in external rotor rotating shaft; Described three-phase windings lead-out wire is connected with three-phase windings brush; Described three-phase windings brush is connected with energy recycle device, described energy recycle device for reclaiming the slip loss resulted from three-phase windings, energy recycle device other electric equipments external; Described energy recycle device is connected with controller, and described controller controls the break-make of each metal-oxide-semiconductor in energy recycle device according to the emf phase of three-phase windings, phase current and energy recycle device output end voltage.
2. magneto speed differential clutch as claimed in claim 1, is characterized in that: described energy recycle device comprises filter inductance, three-phase commutation bridge, filter capacitor, voltage regulator circuit and super capacitor; Between described three-phase commutation bridge with three-phase windings brush, each phase is all in series with filter inductance, is often connected respectively by voltage sensor between described filter inductance with three-phase windings brush; Described three-phase commutation bridge is made up of metal-oxide-semiconductor, and three-phase commutation bridge is often connected respectively by current sensor with filter inductance; Described filter capacitor is parallel between the DC output end of three-phase commutation bridge and ground, is connected to voltage sensor between filter capacitor and voltage regulator circuit, for measuring the direct voltage that three-phase commutation bridge exports; Described super capacitor is in parallel with voltage regulator circuit; Described voltage regulator circuit is for regulating the charging voltage of super capacitor, when rated voltage higher than super capacitor of the output voltage of three-phase commutation bridge, voltage regulator circuit plays hypotensive effect, when the output voltage of three-phase commutation bridge is lower than the terminal voltage that super capacitor is real-time, the effect of voltage regulator circuit raising voltage.
3. magneto speed differential clutch as claimed in claim 1, is characterized in that: described controller comprises power circuit, Signal-regulated kinase, single-chip microcomputer and driver module, and described power circuit produces the voltage needed for each module of controller; Described Signal-regulated kinase receives the direct voltage and power output end voltage that export from the three-phase electromotive force of three-phase windings, the three-phase current of three-phase windings, energy recycle device, and carries out filtering and level conversion to signal; Described single-chip microcomputer calculates output signal according to the control strategy of the input signal after conditioning and setting; Described driver module is for exporting the gate drive signal of each metal-oxide-semiconductor.
4. magneto speed differential clutch as claimed in claim 2, is characterized in that: described voltage regulator circuit comprises metal-oxide-semiconductor T7, diode D1, inductance L 1, metal-oxide-semiconductor T8, diode D2; The drain electrode of described metal-oxide-semiconductor T7 is connected with DC output end, source electrode is connected with one end of inductance L 1, between the source electrode that diode D1 is connected anti-parallel to metal-oxide-semiconductor T2 and ground, the other end of inductance L 1 is connected with the anode of diode D2, the drain electrode of metal-oxide-semiconductor T8 is connected with the anode of diode D2, and source electrode is connected to ground; The negative electrode of diode D2 is the power output end of energy recycle device, and described power output end is that controller is powered.
5. a control method for magneto speed differential clutch, is characterized in that comprising the steps:
1) three-phase electromotive force ea, eb, ec calculates electrical degree θ by PLL phase-locked loop module, is tied to the conversion of rotating coordinate system for position fixing;
2) three-phase electromotive force ea, eb, ec obtains ed, the eq under rotating coordinate system by Clark-Park conversion, and three-phase current ia, ib, ic obtain id, iq under rotating coordinate system by Clark-Park conversion;
3) phase voltage ud and the uq of rectifier bridge under rotating coordinate system is calculated;
4) according to phase voltage ud and the uq of rectifier bridge, by output pwm signal: * PWM1, * PWM2, * PWM3 after SVPWM module, and the logical inverse signal of each pwm signal :/* PWM1 ,/* PWM2 ,/* PWM3;
5) the duty ratio D1 of * PWM4 signal and the duty ratio D2 of * PWM5 signal is calculated according to the value of Udc;
6) * PWM4 and * PWM5 signal is exported respectively according to duty ratio D1 and D2.
6. the control method of magneto speed differential clutch as claimed in claim 5, is characterized in that: described step 3) in the computational process of phase voltage ud and uq as follows:
3.1) the desired value id*=0 of id is set;
3.2) the desired value n* of the output speed of speed differential clutch and the difference of actual value n obtain the desired value iq* of iq after PID arithmetic;
3.3) phase voltage ud and the uq of rectifier bridge under rotating coordinate system can be obtained by following formula:
Wherein Kp1, Kp2 are the proportionality coefficient of PI controller, and KI 1, KI2 are integral coefficient, and L is Inductor, and ω is three-phase alternating current angular rate.
7. the control method of magneto speed differential clutch as claimed in claim 5, is characterized in that described step 5) in duty ratio D1, D2 computational methods as follows:
5.1) as Udc<25V, the duty ratio D1 perseverance of * PWM4 signal is that the duty ratio D2 of 1, * PWM5 signal represents with following formula:
Wherein KP3 is the proportionality coefficient of PID controller, and KI3 is integral coefficient, and KD3 is differential coefficient, and U*d is the desired value of power output end voltage, and Ud is the actual value of power output end voltage;
5.2) as Usc>=25V, the duty ratio D2 perseverance of * PWM5 signal is that the duty ratio D1 of 0, * PWM4 signal represents with following formula:
Wherein KP4 is the proportionality coefficient of PID controller, and KI4 is integral coefficient, and KD4 is differential coefficient.
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| CN201410843043.6A CN104506016B (en) | 2014-12-30 | 2014-12-30 | Magneto speed differential clutch and control method |
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| CN105591524A (en) * | 2016-02-24 | 2016-05-18 | 江苏大学 | Permanent magnet rotating speed difference clutch and self-adaption nonsingular terminal slip form rotating speed control method thereof |
| CN107276367A (en) * | 2017-06-30 | 2017-10-20 | 武汉理工大学 | A kind of electromagnetic slip clutches based on magnetic gear effect |
| CN107888052A (en) * | 2017-12-22 | 2018-04-06 | 贾朝翔 | A kind of radially traction deceleration device |
| CN108494222A (en) * | 2018-04-10 | 2018-09-04 | 武汉理工大学 | A kind of axial flux electromagnetic speed differential clutch |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105591524A (en) * | 2016-02-24 | 2016-05-18 | 江苏大学 | Permanent magnet rotating speed difference clutch and self-adaption nonsingular terminal slip form rotating speed control method thereof |
| CN105591524B (en) * | 2016-02-24 | 2018-04-24 | 江苏大学 | A kind of permanent magnetism speed differential clutch and its adaptive non-singular terminal sliding formwork method for controlling number of revolution |
| CN107276367A (en) * | 2017-06-30 | 2017-10-20 | 武汉理工大学 | A kind of electromagnetic slip clutches based on magnetic gear effect |
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| CN108494222A (en) * | 2018-04-10 | 2018-09-04 | 武汉理工大学 | A kind of axial flux electromagnetic speed differential clutch |
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| CN104506016B (en) | 2017-09-12 |
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