CN106641082A - Magnetorheological fluid actuator and method for reducing zero field damping torque of magnetorheological fluid actuator - Google Patents
Magnetorheological fluid actuator and method for reducing zero field damping torque of magnetorheological fluid actuator Download PDFInfo
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- CN106641082A CN106641082A CN201710012955.2A CN201710012955A CN106641082A CN 106641082 A CN106641082 A CN 106641082A CN 201710012955 A CN201710012955 A CN 201710012955A CN 106641082 A CN106641082 A CN 106641082A
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- 238000013016 damping Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000012530 fluid Substances 0.000 title abstract description 12
- 230000001603 reducing effect Effects 0.000 title abstract description 4
- 239000000919 ceramic Substances 0.000 claims abstract description 22
- 239000007788 liquid Substances 0.000 claims description 62
- 238000007789 sealing Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims 1
- 238000002955 isolation Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 5
- 239000006249 magnetic particle Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005669 field effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000000518 rheometry Methods 0.000 description 1
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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
- F16F2224/045—Fluids magnetorheological
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a magnetorheological fluid actuator and a method for reducing a zero field damping torque of the magnetorheological fluid actuator. The magnetorheological fluid actuator and the method are characterized in that a piezoelectric ceramic (12) is additionally mounted on one side of a disc stator (13), and when a rotating shaft in high-speed free rotation is uncontrolled, the piezoelectric ceramic is electrified to excite the disc stator to generate an ultrasonic traveling wave in homodromous rotation with the rotating shaft, so that a driving torque in homodromous rotation with the rotating shaft is generated, the damping torque on a brake disc is reduced under a magnetorheological fluid zero field condition, and high-speed free rotation of the rotating shaft is realized. A damping regulation range of the magnetorheological fluid actuator is widened, high response speed is realized, and the rotating shaft is continuously adjustable in rotation speed and easy to control.
Description
Technical field
The present invention relates to a kind of bidirectional damper adjusting means, particularly a kind of to reduce magnetic flow liquid actuator null field damping square
Method and based on ultrasonic near field act on magnetorheological actuator.
Background technology
Magnetic flow liquid is a kind of novel intelligent material, due to having excellent magnetic rheology effect, response speed in magnetic field
Hurry up, have the application of maturation in speeds control field, stepless time adjustment can be realized, control performance is good, and magnetic flow liquid can be with
Reversible efficient change, response speed grade between fluid and solid.Although for the rotary shaft that rotates freely of high speed can be with
By applying different magnetic field intensities to magnetic flow liquid, realize that rotary shaft any time controls at any angle, but at a high speed certainly
During by the rotary shaft for rotating without control, because magnetic flow liquid is removed behind magnetic field, magnetic flow liquid shows as Newtonian fluid state, and has
Certain null field viscosity, certain null field damping square is produced to brake puck, it will the high speed for hindering rotary shaft is rotated freely.Such as
One structure for adjusting the damping of magnetic flow liquid null field of design in the middle of really magnetorheological actuator, it becomes possible to realize rotary shaft without high during control
Speed is freely rotatable.
The content of the invention
It is an object of the invention to existing magnetic flow liquid actuator rotary shaft without control when damping force is larger cannot be normal
The problem of work, invents a kind of magnetic flow liquid actuator null field of reducing and damps the method for square, at the same provide a kind of matching based on
The magnetic flow liquid actuator of ultrasonic near field effect, combines to realize by ultrasonic near field working portion and magnetorheological working portion
The freely high speed of rotary shaft rotates and controls at any angle, whole actuator fast response time, it is easy to control, simple structure is tight
Gather, velocity variations continuously adjustabe expands the damp adjustable range of magnetic flow liquid
One of technical scheme is：
It is a kind of to reduce the method that magnetic flow liquid actuator null field damps square, it is characterized in that installing piezoelectricity additional in the side of disk stator 13
Ceramics 12, when the rotary shaft that high speed is rotated freely is without control, make piezoelectric ceramics be powered, and excite disk stator to produce one and rotate
The homodromal ultrasonic travelling wave of axle, so as to produce one with the homodromal driving moment of rotary shaft, reduction magnetic flow liquid null field
In the case of damping square to brake puck, realize that rotary shaft is freely rotatable at a high speed.
Using applying to magnet exciting coil, size of current is different to produce different magnetic field intensities to the present invention, what magnetic flow liquid was produced
Shear stress changes, and to brake puck different braking moments are produced, and realizes the rotary shaft 17 rotated freely to high speed in space
Control at any angle.
The present invention excites the ultrasonic travelling wave of disk stator 13 using piezoelectric ceramics 12, produces magnetic flow liquid 15 to brake puck
Ultrasonic antifriction function and tangential sound viscous force, apply certain antifriction function and driving moment to brake puck 14, adjust magnetic current
Become the moment of resistance of 15 pairs of brake pucks in the case of liquid null field.
The whole actuator of the present invention is made up of ultrasonic field portion and magnetorheological working portion, and it is right that rotary shaft can pass through
Magnetic flow liquid applies different magnetic field intensities and realizes controlling at any angle；The rotary shaft for rotating freely at a high speed is excited without during control
Disk stator and the homodromal ultrasonic travelling wave of rotary shaft, so as to produce the homodromal driving moment of rotary shaft, reduce magnetic current
Become the damping square to brake puck in the case of liquid null field, realize that rotary shaft is freely rotatable at a high speed.
The two of technical scheme are：
A kind of magnetorheological actuator acted on based on ultrasonic near field, it includes rotary shaft 18, left shell 4, right shell body 9 and skeleton oil
Envelope 16, stretches out outside left shell 4 after the outside framework oil seal 16 that one end of rotary shaft 18 is passed through in left shell 4, rotary shaft 16
The other end is located in the annular seal space being made up of left shell 4 and right shell body 9, and magnet exciting coil 10, magnet exciting coil are arranged in annular seal space
10 isolating by the realization of magnetic shield cylinder 11 and annular seal space and the magnetic flow liquid 15 in annular seal space, it is characterized in that described rotary shaft
18 are provided with brake puck 14 on the one end in annular seal space, are located in the one side in annular seal space in right shell body 9 and are provided with circle
Disk stator 13, is provided with piezoelectric ceramics 12 on disk stator 13.
Described disk stator 13 and piezoelectric ceramics 12 is pasted together first, and disk stator 13 is by screw thread and right shell body
9 link together.
Left bearing 3 is installed at the endoporus step of described left shell 4, and clamp nut 1 and spacing being fixed on of pad 2 turn
On moving axis 18；The right bearing 17 of support rotating shaft is installed at the shaft shoulder and the endoporus step of left shell 4 of rotary shaft 18.
Described outside framework oil seal is fixed by the shaft shoulder of rotary shaft 18 and the step of left shell 4；The He of brake puck 14
Rotary shaft 18 is threaded connection, and rotary shaft 18 is turned left through outside framework oil seal 16, right bearing 17 and left bearing 3 by the right side, and is passed through
The compress gasket 2 of clamp nut 1 realizes the fixation of rotary shaft 18.
Described magnet exciting coil 10 and magnetic shield cylinder 11 is arranged on the fixed position in left and right housing by sealing ring 6, leads to
Cross bolt 7 and nut 8 locks whole actuator.
The left shell is provided with the through hole of injection magnetic flow liquid 15, after magnetic flow liquid fills cavity, with sealing screw 5
Through hole is sealed.
The invention has the beneficial effects as follows：
The present invention combines ultrasonic near field working portion and magnetorheological working portion to realize freely rotating at a high speed for rotary shaft
Control at any angle, whole actuator fast response time, it is easy to control, simple and compact for structure, velocity variations continuously adjustabe,
The damp adjustable range of extension magnetic flow liquid.
Description of the drawings
Fig. 1 is the operation principle schematic diagram of the present invention.
Fig. 2 is the overall structure diagram of the actuator of the present invention.
Fig. 3 is the overall structure graphics of the actuator of the present invention.
Specific embodiment
The technical scheme of this patent is described in more detail with reference to specific embodiment.
Embodiment one.
As Figure 1-3.
It is a kind of to reduce the method that magnetic flow liquid actuator null field damps square, it is characterized in that being installed additional in the side of disk stator 13
Piezoelectric ceramics 12, when the rotary shaft that rotates freely of high speed is without control, makes piezoelectric ceramics be powered, excite disk stator produce one and
The homodromal ultrasonic travelling wave of rotary shaft, so as to produce one with the homodromal driving moment of rotary shaft, reduction magnetic flow liquid
To the damping square of brake puck in the case of null field, realize that rotary shaft is freely rotatable at a high speed.As shown in Fig. 2 the present invention is using right
Magnet exciting coil applies the different magnetic field intensities of the different generations of size of current, the shear stress change that magnetic flow liquid is produced, to braking
Disk produces different braking moments, realizes that the rotary shaft 17 rotated freely to high speed is controlled at any angle in space.This
Bright utilization piezoelectric ceramics 12 excites the ultrasonic travelling wave of disk stator 13, produces ultrasonic antifriction of the magnetic flow liquid 15 to brake puck and makees
With with tangential sound viscous force, apply certain antifriction function and driving moment to brake puck 14, adjust magnetic flow liquid null field situation
Under 15 pairs of brake pucks the moment of resistance.The whole actuator of the present invention has ultrasonic field portion and the packet of magnetorheological work department
Into rotary shaft can be realized controlling at any angle by applying magnetic flow liquid different magnetic field intensities；Rotate freely at a high speed
Rotary shaft without control when, disk stator and the homodromal ultrasonic travelling wave of rotary shaft are excited, so as to produce rotary shaft rotating Vortex
Driving moment, reduce damping square to brake puck in the case of magnetic flow liquid null field, realize that rotary shaft is freely rotatable at a high speed,
As shown in Figure 1.
Embodiment two.
As Figure 1-3.
A kind of magnetic flow liquid actuator acted on based on ultrasonic near field, its three-dimensional profile structure is as shown in figure 3, it includes pressure
Tight nut 1, pad 2, left bearing 3, left shell 4, sealing screw 5, sealing ring 6, bolt 7, nut 8, right shell body 9, magnet exciting coil
10th, magnetic shield cylinder 11, piezoelectric ceramics 12, disk stator 13, brake puck 14, magnetic flow liquid 15, outside framework oil seal 16, right bearing
17th, rotary shaft 18, as shown in Fig. 2 disk stator 13 and piezoelectric ceramics 12 are pasted together first, disk stator 13 passes through screw thread
Link together with right shell body 9, by applying certain voltage to piezoelectric ceramics, excite the ultrasonic travelling wave of disk stator, pass through
Ultrasonic friction reducing effect and tangential sound viscous force of the magnetic flow liquid to brake puck 14 is produced, certain antifriction is produced to brake puck
Effect and driving moment, adjust the moment of resistance to brake puck in the case of magnetic flow liquid null field；Left bearing 3 is by left shell 4
Endoporus step and clamp nut 1 are pressed on pad 2 and fix, the shaft shoulder and left shell that right bearing 17 passes through rotary shaft 18
4 endoporus steps are fixed, and can realize that the high-speed smooth of rotary shaft 18 is run by installing two bearings；Outside framework oil seal leads to
The step of the shaft shoulder and left shell 4 of crossing rotary shaft 18 is fixed, and can effectively be realized to magnetic flow liquid using outside framework oil seal 16
The sealing of 15 solid-states and liquid, and outside framework oil seal is applied to the sealing of rotation class rotary shaft；Brake puck 14 and rotary shaft 18
It is threaded connection, rotary shaft 18 is turned left through outside framework oil seal 16, right bearing 18 and left bearing 3, and by clamp nut 1 by the right side
Compress gasket 2 realizes the axial restraint of rotary shaft 18, while realizing the axial restraint of brake puck 14；By magnet exciting coil 10, every
Magnetic sleeve 11 and sealing ring 6 are arranged on the relevant position in housing, and by bolt 7 and nut 8 whole actuator is locked, by every
The magnetic line of force that magnetic sleeve can produce magnet exciting coil is as much as possible through magnetic flow liquid, and that improves magnetic flow liquid 15 utilizes effect
Rate, realizes in addition the sealing of magnetic flow liquid using the one side of sealing ring 6, on the other hand realizes the exhausted of magnet exciting coil and magnetic flow liquid
Edge；Magnetic flow liquid 15 is injected by injection orifice, after filling the working clearance in housing, is sealed with sealing screw 5.
The present invention operation principle be：As shown in figure 1, when the rotary shaft for rotating freely at a high speed first is without controlling, ultrasonic near field
Part starts effect, and to piezoelectric ceramics the voltage of CF is applied, and the ultrasonic vibration of disk stator is excited, by piezoelectric ceramics
Reasonable Arrangement, motivate the ultrasonic travelling wave with the homodromal disk stator of rotary shaft so that magnetic flow liquid is to brake puck
Produce certain ultrasonic suspending force and tangential sound viscous force, one side ultrasonic suspending force causes magnetic-particle in magnetic flow liquid more
Plus be evenly distributed in the middle of the base fluid of magnetic flow liquid, improve the utilization ratio of magnetic flow liquid；On the other hand rotary shaft is produced
Certain homodromous driving moment, it is possible to reduce null field damping torque of the magnetic flow liquid to rotary shaft, and realize rotary shaft
High speed rotate freely.When needing that the rotary shaft of high speed rotation is realized to control at any angle, applying for piezoelectric ceramics is removed
Making alive, ultrasonic field portion quits work, due to the effect in ultrasonic near field so that the magnetic-particle in magnetic flow liquid is more equal
Even is distributed in the middle of the base fluid of magnetic flow liquid, and certain electric current, the magnetic force that magnet exciting coil is produced now are applied to magnet exciting coil
Line passes through magnetic flow liquid, and the magnetic-particle in magnetic flow liquid makes quick response after being magnetized, and is in along magnetic line of force direction
Chainlike distribution, and with the increase of magnetic field intensity, magnetic flow liquid is presented solid-state and semi-solid state, brake puck is produced certain
Braking moment, so as to realize controlling at any angle rotary shaft；After the electric current of magnet exciting coil is removed, magnetic flow liquid recovers ox
Pause fluid state, and the voltage of CF is applied to piezoelectric ceramics, and ultrasonic near field effect, rotary shaft is recovered to rotate freely at a high speed.
Whole process is realized rotating freely high speed the precise control of axle.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's
Protection domain.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Claims (10)
1. it is a kind of to reduce the method that magnetic flow liquid actuator null field damps square, it is characterized in that in disk stator（13）Side install additional
Piezoelectric ceramics（12）, when the rotary shaft that high speed is rotated freely is without control, make piezoelectric ceramics be powered, excite disk stator to produce one
With the homodromal ultrasonic travelling wave of rotary shaft, so as to produce one and the homodromal driving moment of rotary shaft, reduce magnetorheological
To the damping square of brake puck in the case of liquid null field, realize that rotary shaft is freely rotatable at a high speed.
2. method according to claim 1, it is characterised in that size of current is different to be produced not using applying to magnet exciting coil
Same magnetic field intensity, the shear stress change that magnetic flow liquid is produced, to brake puck different braking moments are produced, and are realized to height
The rotary shaft that speed is rotated freely（17）Control at any angle in space.
3. method according to claim 1, it is characterised in that utilize piezoelectric ceramics（12）Excite disk stator（13）It is super
Sound traveling wave, produces magnetic flow liquid（15）Ultrasonic antifriction function and tangential sound viscous force to brake puck, to brake puck（14）
Apply certain antifriction function and driving moment, in the case of adjusting magnetic flow liquid null field（15）The moment of resistance to brake puck.
4. method according to claim 1, it is characterised in that whole actuator has ultrasonic field portion and magnetorheological work
Part constitutes, and rotary shaft can be realized controlling at any angle by applying magnetic flow liquid different magnetic field intensities；At a high speed certainly
During by the rotary shaft for rotating without control, disk stator and the homodromal ultrasonic travelling wave of rotary shaft are excited, it is same so as to produce rotary shaft
To the driving moment of rotation, reduce the damping square to brake puck in the case of magnetic flow liquid null field, realize rotary shaft at a high speed freely
Rotation.
5. it is a kind of based on ultrasonic near field act on magnetorheological actuator, it include rotary shaft（18）, left shell（4）, right shell body（9）
And outside framework oil seal（16）, rotary shaft（18）One end be passed through left shell（4）In outside framework oil seal（16）After stretch out left housing
Body（4）Outward, rotary shaft（16）The other end be located at by left shell（4）And right shell body（9）In the annular seal space of composition, pacify in annular seal space
It is mounted in magnet exciting coil（10）, magnet exciting coil（10）By magnetic shield cylinder（11）Realize and the magnetic flow liquid in annular seal space with annular seal space
（15）Isolation, it is characterized in that described rotary shaft（18）Brake puck is installed on the one end in annular seal space（14）,
Right shell body（9）Disk stator is installed in the one side in annular seal space（13）, disk stator（13）On piezoelectric ceramics is installed
（12）.
6. the magnetorheological actuator acted on based on ultrasonic near field according to claim 5, is characterized in that described disk is determined
Son（13）And piezoelectric ceramics（12）It is pasted together first, disk stator（13）By screw thread and right shell body（9）Link together.
7. the magnetorheological actuator acted on based on ultrasonic near field according to claim 5, is characterized in that described left shell
（4）Endoporus step at left bearing is installed（3）, and clamp nut（1）And pad（2）It is spacing to be fixed on rotary shaft（18）On；
Rotary shaft（18）The shaft shoulder and left shell（4）The right bearing of support rotating shaft is installed at endoporus step（17）.
8. the magnetorheological actuator acted on based on ultrasonic near field according to claim 5, is characterized in that described skeleton oil
Envelope passes through rotary shaft（18）The shaft shoulder and left shell（4）Step be fixed；Brake puck（14）And rotary shaft（18）Pass through
Threaded connection, rotary shaft（18）Turned left through outside framework oil seal by the right side（16）, right bearing（17）And left bearing（3）, and by compressing
Nut（1）Compress gasket（2）Realize rotary shaft（18）Fixation.
9. the magnetorheological actuator acted on based on ultrasonic near field according to claim 5, is characterized in that described excitation wire
Circle（10）With magnetic shield cylinder（11）By sealing ring（6）Fixed position in left and right housing, by bolt（7）And spiral shell
It is female（8）Lock whole actuator.
10. the magnetorheological actuator acted on based on ultrasonic near field according to claim 5, is characterized in that on the left shell
It is provided with injection magnetic flow liquid（15）Through hole, after magnetic flow liquid fills cavity, use sealing screw（5）Through hole is sealed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710012955.2A CN106641082B (en) | 2017-01-09 | 2017-01-09 | Reduce the method and its actuator of magnetorheological fluid actuator null field damping square |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710012955.2A CN106641082B (en) | 2017-01-09 | 2017-01-09 | Reduce the method and its actuator of magnetorheological fluid actuator null field damping square |
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| Publication Number | Publication Date |
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| CN106641082A true CN106641082A (en) | 2017-05-10 |
| CN106641082B CN106641082B (en) | 2018-07-31 |
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|---|---|---|---|
| CN201710012955.2A Expired - Fee Related CN106641082B (en) | 2017-01-09 | 2017-01-09 | Reduce the method and its actuator of magnetorheological fluid actuator null field damping square |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144495A (en) * | 2017-07-12 | 2017-09-08 | 南京航空航天大学 | Magnetic flow liquid circular ring type shear property test platform under ultrasonic near field and the effect of stepless controlling magnetic field |
| CN107218337A (en) * | 2017-07-12 | 2017-09-29 | 南京航空航天大学 | A kind of rotary-type drum type brake magnetic rheological liquid damper of ultrasonic field and magnetic coupling effect |
| CN107421848A (en) * | 2017-07-12 | 2017-12-01 | 南京航空航天大学 | Double cylinder shear property test platforms of the magnetic flow liquid under ultrasonic near field and controlling magnetic field effect |
| CN108933012A (en) * | 2017-05-24 | 2018-12-04 | 哈尔滨工业大学（威海） | A kind of braiding skeleton magnetorheological materials and preparation method thereof |
| CN111779728A (en) * | 2020-06-04 | 2020-10-16 | 南京航空航天大学 | Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108933012A (en) * | 2017-05-24 | 2018-12-04 | 哈尔滨工业大学（威海） | A kind of braiding skeleton magnetorheological materials and preparation method thereof |
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| CN107144495A (en) * | 2017-07-12 | 2017-09-08 | 南京航空航天大学 | Magnetic flow liquid circular ring type shear property test platform under ultrasonic near field and the effect of stepless controlling magnetic field |
| CN107218337A (en) * | 2017-07-12 | 2017-09-29 | 南京航空航天大学 | A kind of rotary-type drum type brake magnetic rheological liquid damper of ultrasonic field and magnetic coupling effect |
| CN107421848A (en) * | 2017-07-12 | 2017-12-01 | 南京航空航天大学 | Double cylinder shear property test platforms of the magnetic flow liquid under ultrasonic near field and controlling magnetic field effect |
| CN107421848B (en) * | 2017-07-12 | 2023-03-28 | 南京航空航天大学 | Double-cylinder shear characteristic testing platform for magnetorheological fluid under action of ultrasonic near field and adjustable magnetic field |
| CN107144495B (en) * | 2017-07-12 | 2023-03-28 | 南京航空航天大学 | Ring-shaped shear characteristic test platform for magnetorheological fluid under ultrasonic near field and stepless adjustable magnetic field |
| CN111779728A (en) * | 2020-06-04 | 2020-10-16 | 南京航空航天大学 | Bidirectional speed regulating system for stacked intelligent material driven electro-hydrostatic actuator and control method thereof |
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| CN106641082B (en) | 2018-07-31 |
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