CN108519187A - A kind of tractor hydraulic promotes force measuring system and measurement method - Google Patents
A kind of tractor hydraulic promotes force measuring system and measurement method Download PDFInfo
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- CN108519187A CN108519187A CN201810471149.6A CN201810471149A CN108519187A CN 108519187 A CN108519187 A CN 108519187A CN 201810471149 A CN201810471149 A CN 201810471149A CN 108519187 A CN108519187 A CN 108519187A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The present invention discloses a kind of tractor hydraulic promotion force measuring system, including：Load cylinder, the upper end are piston rod and are connected with tractor upper connecting rod that lower end is hinged with ground；Displacement sensor is separately positioned on the load cylinder and piston rod, the collapsing length for detecting piston rod；Pulling force sensor is arranged in the piston rod top, the loading force for detecting oil cylinder；Laser range sensor, orthogonal setting is on the outside of the load cylinder on wall frame, for detecting swinging distance of the load cylinder in two mutually perpendicular directions；Controller is connect with institute displacement sensors, pulling force sensor and laser range sensor, for receiving displacement sensors, pulling force sensor and laser range sensor detection data and export Vertical loading power and vertical-lift distance.The present invention provides tractor hydraulic and promotes force measuring method, can accurately obtain the vertical lifting force and vertical-lift distance of hydraulic lift mechanism.
Description
Technical field
The present invention relates to agricultural machinery detection and experimental technique fields, and more particularly, the present invention relates to a kind of tractor hydraulics
Promote force measuring system and measurement method.
Background technology
The hydraulic lifting mechanism of tractor is the important process device for connecting agricultural machinery and implement, and national standard can carry tractor
The hydraulic pressure lift power of confession has strict requirements, and therefore, the measurement of lifting force is one of most important pilot project of tractor.Country
Standard also has stringent definition to the measurement method of tractor hydraulic lifting force, it is desirable that must measure vertical lifting force.
Common method is
Guarantee load cylinder is kept vertically during the work time, just must increase a set of carriage, control system in the lower end of oil cylinder
System is according to the pivot angle of oil cylinder, front and back adjustment lower end fixed point so that the lifting force of hydraulic lifting mechanism always vertically,
But the structure of the position adjusting mechanism of oil cylinder lower end and oil cylinder plumbness control system is more complex, measurement cost is higher.
Another method is to be hinged oil cylinder lower end with ground, and piston rod is hinged with load(ing) point so that oil cylinder initial position
It is perpendicular to the ground, but since oil cylinder can be swung around lower hinge, so in lifting process, it is variation to promote force direction,
Not total perpendicular to the ground, there are large errors for measurement result.
Invention content
It is an object of the invention to design and develop a kind of tractor hydraulic promotion force measuring system, by oil cylinder lower end and ground
Face is hinged, and the position adjusting mechanism without using oil cylinder lower end and oil cylinder plumbness control system are simple in structure.
Another object of the present invention is to have designed and developed a kind of tractor hydraulic promotion force measuring method, passes through and measures oil
The pivot angle of cylinder, and correction coefficient is adjusted based on BP neural network, the accurate vertical lifting force for obtaining oil cylinder and piston rod vertically carry
Lift from.
The present invention also according to empirical equation set oil cylinder Vertical loading power correction coefficient and piston rod vertical-lift away from
From correction coefficient setting value, improve the measurement accuracy of the vertical lifting force and piston rod vertical-lift distance of oil cylinder.
Technical solution provided by the invention is：
A kind of tractor hydraulic promotion force measuring system, including：
Load cylinder, the upper end are piston rod and are connected with tractor upper connecting rod that lower end is hinged with ground；
Displacement sensor is separately positioned on the load cylinder and piston rod, the flexible length for detecting piston rod
Degree；
Pulling force sensor is arranged in the piston rod top, the loading force for detecting piston rod；
Laser range sensor, it is orthogonal to be arranged on the holder of the load cylinder outer end, for detecting described add
Carry swinging distance of the oil cylinder in two mutually perpendicular directions；
Controller is connect with institute displacement sensors, pulling force sensor and laser range sensor, described for receiving
Displacement sensor, pulling force sensor and laser range sensor detection data and export Vertical loading power and vertical-lift away from
From.
Correspondingly, the present invention also provides a kind of tractor hydraulics to promote force measuring method, applies loading force to load cylinder,
And based on BP neural network to the correction coefficient of the correction coefficient and piston rod vertical-lift distance of load cylinder Vertical loading power
It is adjusted, includes the following steps：
Step 1：According to the sampling period, oil cylinder pivot angle α in the front-back direction, the pivot angle β of left and right directions are acquired by sensor,
The loading force F of the oil cylinder and collapsing length A of piston rod；
Step 2：Above-mentioned parameter is standardized successively, determines input layer vector x={ x of three layers of BP neural network1,
x2,x3,x4}；Wherein x1For pivot angle coefficient in the front-back direction, x2For pivot angle coefficient, the x of left and right directions3For the loading force system of oil cylinder
Number, x4For the collapsing length coefficient of piston rod；
Step 3：The input layer DUAL PROBLEMS OF VECTOR MAPPING is to middle layer, the middle layer vector y={ y1,y2,…,ym}；During m is
Interbed node number；
Step 4：Obtain output layer vector o={ o1,o2}；o1For adjustment factor, the o of oil cylinder Vertical loading power correction coefficient2
For the adjustment factor of piston rod vertical-lift range correction coefficient；The correction coefficient and piston rod of control cylinder Vertical loading power are hung down
The correction coefficient of straight range of lift makes
Wherein,Respectively ith sampling period output layer vector parameter, ξs、ηsRespectively oil cylinder Vertical loading power
Correction coefficient and piston rod vertical-lift distance correction coefficient setting value, ξi+1、ηi+1The respectively i+1 sampling period
When oil cylinder Vertical loading power correction coefficient and piston rod vertical-lift distance correction coefficient.
Preferably,
The tractor vertical lifting force T is：
T=ξ Fcos α cos β；
The tractor vertical-lift distance H is：
H=η Acos α cos β.
Preferably,
The load cylinder pivot angle α in the front-back direction is：
The pivot angle β of the load cylinder left and right directions is：
Wherein, L be original state load cylinder it is perpendicular to the ground when displacement sensor at a distance from ground, | x-x0| to add
The offset along first direction after oil cylinder is swung is carried, | y-y0| the offset after being swung for oil cylinder in a second direction, described first
Direction and second direction are rest on the ground and orthogonal.
Preferably, the middle layer node number m meets：Wherein n is input layer
Number, p are output layer node number.
Preferably, in step 2, by load cylinder pivot angle α in the front-back direction, the pivot angle β of left and right directions, load cylinder
The collapsing length A of loading force F and piston rod carries out normalized formula：
Wherein, xjFor the parameter in input layer vector, XjRespectively measurement parameter α, β, F, A, j=1,2,3,4；XjmaxWith
XjminMaximum value and minimum value in respectively corresponding measurement parameter.
Preferably, the excitation function of the middle layer and the output layer is all made of S type functions fj(x)=1/ (1+e-x)。
Preferably, in the step 1, initial motion state, the correction coefficient ξ of load cylinder Vertical loading power0And work
The correction coefficient η of stopper rod vertical-lift distance0Meet experience：
ξ0=ξs,
η0=ηs。
Preferably, the correction system of the correction coefficient of the load cylinder Vertical loading power and piston rod vertical-lift distance
Several setting values meets：
Wherein, μ1For the friction coefficient of load cylinder and ground hinge, μ2Friction system between load cylinder and piston rod
Number, e are the truth of a matter of natural logrithm.It is of the present invention to have the beneficial effect that：
(1) tractor hydraulic of the present invention promotes force measuring system, and oil cylinder lower end is hinged with ground, without using
The position adjusting mechanism and oil cylinder plumbness control system of oil cylinder lower end, it is simple in structure, reduce measurement cost.
(2) tractor hydraulic of the present invention promotes force measuring method, using laser range sensor, measures tractor
The amplitude of fluctuation of load cylinder in hydraulic lift system lifting process, and correction coefficient is adjusted based on BP neural network, accurately obtain
Obtain the vertical lifting force and piston rod vertical-lift distance of oil cylinder.The present invention sets oil cylinder Vertical loading also according to empirical equation
The setting value of the correction coefficient of power and the correction coefficient of piston rod vertical-lift distance, further increases the vertical lifting force of oil cylinder
With the measurement accuracy of piston rod vertical-lift distance.The plumbness adjustment mechanism for also eliminating oil cylinder bottom, reduces cost.
Description of the drawings
Fig. 1 is the schematic diagram of the common measuring system of tractor hydraulic lifting force of the present invention.
Fig. 2 is the front view of the measuring system of tractor hydraulic lifting force of the present invention.
Fig. 3 is the vertical view of the measuring system of tractor hydraulic lifting force of the present invention.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Figure 2,3, the present invention provides a kind of tractor hydraulic promotion force measuring system, including：Load cylinder 110,
The upper end is piston rod 111 and is connected with tractor upper connecting rod that lower end is hinged with ground；Displacement sensor 120, sets respectively
It sets on load cylinder 110 and piston rod 111, the collapsing length for measuring piston rod；Pulling force sensor 130, setting exist
111 top of the piston rod, the loading force i.e. lifting force of tractor for detecting oil cylinder 110；Laser range sensor 140,
Its orthogonal setting is on 110 outer end holder of the load cylinder, for detecting the load cylinder 110 mutually perpendicular
The swinging distance of (i.e. front-rear direction and left and right directions) in both direction；Controller (not shown) is passed with the displacement
Sensor 120, pulling force sensor 130 and laser range sensor 140 connect, and for receiving, displacement sensors 120, pulling force pass
The detection data of sensor 130 and laser range sensor 140 simultaneously exports Vertical loading power and vertical-lift distance (i.e. tractor
Vertical lifting force and vertical-lift distance).
Tractor hydraulic of the present invention promotes force measuring system, load cylinder lower end is hinged with ground, without making
It is simple in structure with the position adjusting mechanism and oil cylinder plumbness control system of oil cylinder lower end, reduce measurement cost.
The present invention also provides a kind of tractor hydraulics to promote force measuring method, applies loading force to load cylinder, and be based on
BP neural network adjusts the correction coefficient of load cylinder Vertical loading power and the correction coefficient of piston rod vertical-lift distance
Section, includes the following steps：
Step 1：Establish BP neural network model.
For the BP neural network architecture that the present invention uses by up of three layers, first layer is input layer, and total n node is right
N detection signal for indicating measuring system, these signal parameters has been answered to be provided by data preprocessing module.The second layer is hidden layer,
Total m node is determined in an adaptive way by the training process of network.Third layer is output layer, total p node, by system
Actual needs output in response to determining that.
The mathematical model of the network is：
Input vector：X=(x1,x2,...,xn)T
Middle layer vector：Y=(y1,y2,...,ym)T
Output vector：O=(o1,o2,...,op)T
In the present invention, input layer number is n=4, and output layer number of nodes is p=2.Hidden layer number of nodes m is estimated by following formula
It obtains：
The excitation function of the middle layer and the output layer is all made of S type functions fj(x)=1/ (1+e-x)。
4 parameters of input signal are expressed as：x1For pivot angle coefficient in the front-back direction, x2For the pivot angle system of left and right directions
Number, x3For load force coefficient, the x of load cylinder4For the collapsing length coefficient of piston rod.
Since the data that sensor obtains belong to different physical quantitys, dimension is different.Therefore, people is inputted in data
Before artificial neural networks, need to turn to data requirement into the number between 0-1.
Offset around for the load cylinder for using laser range sensor measurement, obtains load cylinder
Pivot angle α in the front-back direction is：
The pivot angle β of load cylinder left and right directions is：
Wherein, L is that displacement sensor is at a distance from ground when original state oil cylinder is perpendicular to the ground, x-x0It is swung for oil cylinder
Afterwards along the offset of first direction (i.e. front-rear direction), y-y0The offset of (i.e. left and right directions) in a second direction after being swung for oil cylinder
Amount, the first direction and second direction are rest on the ground and orthogonal.
After pivot angle α in the front-back direction to load cylinder standardizes, pivot angle coefficient x in the front-back direction is obtained1：
Wherein, αminAnd αmaxThe minimum angles and maximum angle that the respectively described oil cylinder front-rear direction is swung.
Likewise, after standardizing to the pivot angle β of load cylinder left and right directions, the pivot angle coefficient of left and right directions is obtained
x2：
Wherein, βminAnd βmaxThe minimum angles and maximum angle that the respectively described oil cylinder left and right directions is swung.
The loading force F of load cylinder is obtained using pulling force sensor measurement, after being standardized, obtains load force coefficient
x3：
Wherein, FminAnd FmaxThe minimum loading force and maximum load power of the respectively described oil cylinder.
Using the collapsing length A of displacement sensor piston rod, after being standardized, the collapsing length of piston rod is obtained
Coefficient x4：
Wherein, AminAnd AmaxRespectively the maximal dilation length of piston rod and minimum collapsing length.
2 parameters of output signal are expressed as：o1For adjustment factor, the o of oil cylinder Vertical loading power correction coefficient2For
The adjustment factor of piston rod vertical-lift range correction coefficient.
The adjustment factor o of oil cylinder Vertical loading power correction coefficient1It is expressed as oil cylinder Vertical loading in next sampling period
The setting value ξ of oil cylinder Vertical loading power correction coefficient in the correction coefficient and current sample period of powersThe ratio between, i.e., it is adopted at i-th
In the sample period, the correction coefficient ξ of collected oil cylinder Vertical loading poweri, the ith sample period is exported by BP neural network
The adjustment factor o of the correction coefficient of oil cylinder Vertical loading power1After i, oil cylinder Vertical loading power in the i+1 sampling period is controlled
Correction coefficient is ξi+1, make its satisfaction
The adjustment factor o of piston rod vertical-lift range correction coefficient2Piston rod in next sampling period is expressed as to hang down
The setting value η of piston rod vertical-lift range correction coefficient in the correction coefficient and current sample period of straight range of liftsThe ratio between,
I.e. in the ith sample period, collected piston rod vertical-lift range correction coefficient is ηi, exported by BP neural network
The adjustment factor of the correction coefficient of the piston rod vertical-lift distance in ith sample periodAfterwards, the i+1 sampling period is controlled
The correction coefficient of middle piston rod vertical-lift distance is ηi+1, make its satisfaction
Step 2: carrying out the training of BP neural network.
After establishing BP neural network nodal analysis method, you can carry out the training of BP neural network.It is passed through according to the history of product
The sample of data acquisition training is tested, the historical empirical data is to be controlled using with position adjusting mechanism and oil cylinder plumbness
The vertical lifting force and vertical-lift distance for the oil cylinder that the measuring system of system directly measures, and give input node i and imply
Connection weight w between node layer jij, the connection weight w between hidden node j and output node layer kjk, the threshold of hidden node j
Value θj, the threshold θ of output node layer kk、wij、wjk、θj、θkIt is the random number between -1 to 1.
In the training process, w is constantly correctedijAnd wjkValue, until systematic error be less than or equal to anticipation error when, complete
The training process of neural network.
As shown in table 1, given the value of each node in one group of training sample and training process.
Each nodal value of 1 training process of table
Step 3: the operating parameter of collecting and measuring system inputs the adjusted coefficient of neural network.
Trained artificial neural network is embedded into control program, system is made to have prediction and intelligent decision function.
After system starts, the correction coefficient ξ of oil cylinder Vertical loading power0With the correction coefficient η of piston rod vertical-lift distance0With setting
Value brings into operation, i.e., the correction coefficient of oil cylinder Vertical loading power is ξ0=ξs, the correction coefficient of piston rod vertical-lift distance is η0
=ηs, in the present embodiment, the correction coefficient of the oil cylinder Vertical loading power and the correction coefficient of piston rod vertical-lift distance
Setting value meets：
Wherein, μ1For the friction coefficient of load cylinder and ground hinge, μ2Friction system between load cylinder and piston rod
Number, e are the truth of a matter of natural logrithm.
Simultaneously oil cylinder initial pendulum in the front-back direction is measured using displacement sensor, pulling force sensor, laser range sensor
Angle α0, the initial pendulum angle β of left and right directions0, the original upload power F of oil cylinder0And the initial collapsing length A of piston rod0.Passing through will
Above-mentioned parameter is standardized, and the initial input vector of BP neural network is obtainedPass through BP neural network
Operation obtains initial output vector
Step 4: the correction coefficient of the correction coefficient and piston rod vertical-lift distance of control cylinder Vertical loading power.
Obtain initial output vectorAfterwards, you can be corrected the regulation and control of coefficient, adjust oil cylinder Vertical loading
The correction coefficient of the correction coefficient and piston rod vertical-lift distance of power makes the school of next sampling period oil cylinder Vertical loading power
The correction coefficient of positive coefficient and piston rod vertical-lift distance is respectively：
The oil cylinder pivot angle α in the front-back direction in ith sample period is obtained by sensori, the pivot angle β of left and right directionsi, oil
The loading force F of cylinderiAnd the collapsing length A of piston rodi, the input vector in ith sample period is obtained by being standardizedThe output vector in ith sample period is obtained by the operation of BP neural networkSo
The correction coefficient for controlling to adjust the correction coefficient and piston rod vertical-lift distance of oil cylinder Vertical loading power afterwards, makes in i+1
The correction coefficient of the correction coefficient of oil cylinder Vertical loading power and piston rod vertical-lift distance is respectively when the sampling period：
Finally obtain：
The vertical lifting force T of tractor is：
T=ξ Fcos α cos β
The vertical-lift distance H of tractor is：
H=η Acos α cos β
By above-mentioned setting, the operating status of measuring system is detected by sensor, by using BP neural network algorithm,
The correction coefficient of correction coefficient and piston rod vertical-lift distance to oil cylinder Vertical loading power is adjusted, and it is vertical to improve oil cylinder
Loading force and piston rod vertical-lift are apart from (i.e. the vertical lifting force of tractor hydraulic suspension mechanism and vertical-lift distance)
Measurement accuracy.
Tractor hydraulic of the present invention promotes force measuring method, using laser range sensor, measures tractor liquid
The amplitude of fluctuation of load cylinder in suspension lifting process is pressed, and correction coefficient is adjusted based on BP neural network, it is accurate to obtain
The vertical lifting force and piston rod vertical-lift distance of oil cylinder.The present invention sets oil cylinder Vertical loading power also according to empirical equation
Correction coefficient and piston rod vertical-lift distance correction coefficient setting value, further increase oil cylinder vertical lifting force and
The measurement accuracy of piston rod vertical-lift distance.The plumbness adjustment mechanism for also eliminating oil cylinder bottom, reduces cost.
Although the embodiments of the present invention have been disclosed as above, but its be not restricted in specification and embodiment it is listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of tractor hydraulic promotes force measuring system, which is characterized in that including：
Load cylinder, the upper end are piston rod and are connected with tractor upper connecting rod that lower end is hinged with ground；
Displacement sensor is separately positioned on the load cylinder and piston rod, the collapsing length for detecting piston rod；
Pulling force sensor is arranged in the piston rod top, the loading force for detecting oil cylinder；
Laser range sensor, it is orthogonal to be arranged on the holder of the load cylinder outer end, for detecting the load oil
Swinging distance of the cylinder in two mutually perpendicular directions；
Controller is connect with institute displacement sensors, pulling force sensor and laser range sensor, for receiving the displacement
Sensor, pulling force sensor and laser range sensor detection data and export Vertical loading power and vertical-lift distance.
2. a kind of tractor hydraulic promotes force measuring method, which is characterized in that apply loading force to load cylinder, and based on BP god
The correction coefficient of load cylinder Vertical loading power and the correction coefficient of piston rod vertical-lift distance are adjusted through network, wrapped
Include following steps：
Step 1：According to the sampling period, pass through sensor acquisition oil cylinder pivot angle α in the front-back direction, the pivot angle β of left and right directions, oil cylinder
Loading force F and piston rod collapsing length A；
Step 2：Above-mentioned parameter is standardized successively, determines input layer vector x={ x of three layers of BP neural network1,x2,x3,
x4}；Wherein x1For pivot angle coefficient in the front-back direction, x2For pivot angle coefficient, the x of left and right directions3For load force coefficient, the x of oil cylinder4For
The collapsing length coefficient of piston rod；
Step 3：The input layer DUAL PROBLEMS OF VECTOR MAPPING is to middle layer, the middle layer vector y={ y1,y2,…,ym}；M is middle layer
Node number；
Step 4：Obtain output layer vector o={ o1,o2}；o1For adjustment factor, the o of oil cylinder Vertical loading power correction coefficient2For work
The adjustment factor of stopper rod vertical-lift range correction coefficient；The correction coefficient and piston rod of control cylinder Vertical loading power vertically carry
Lift from correction coefficient make
Wherein,Respectively ith sampling period output layer vector parameter, ξs、ηsThe respectively school of oil cylinder Vertical loading power
The setting value of the correction coefficient of positive coefficient and piston rod vertical-lift distance, ξi+1、ηi+1Respectively the i+1 sampling period when oil
The correction coefficient of the correction coefficient and piston rod vertical-lift distance of cylinder Vertical loading power.
3. tractor hydraulic as claimed in claim 2 promotes force measuring method, which is characterized in that
The tractor vertical lifting force T is：
T=ξ Fcos α cos β；
The tractor vertical-lift distance H is：
H=η Acos α cos β.
4. tractor hydraulic as claimed in claim 2 or claim 3 promotes force measuring method, which is characterized in that
The load cylinder pivot angle α in the front-back direction is：
The pivot angle β of the load cylinder left and right directions is：
Wherein, L be original state load cylinder it is perpendicular to the ground when displacement sensor at a distance from ground, | x-x0| for load oil
Cylinder swing after along first direction offset, | y-y0| the offset after being swung for oil cylinder in a second direction, the first direction
It is rest on the ground with second direction and orthogonal.
5. tractor hydraulic as claimed in claim 2 promotes force measuring method, which is characterized in that the middle layer node number
M meets：Wherein n is input layer number, and p is output layer node number.
6. tractor hydraulic as claimed in claim 2 promotes force measuring method, which is characterized in that in step 2, by load cylinder
Pivot angle α in the front-back direction, the pivot angle β of left and right directions, the loading force F of load cylinder and the collapsing length A of piston rod are into professional etiquette
The formula formatted is：
Wherein, xjFor the parameter in input layer vector, XjRespectively measurement parameter α, β, F, A, j=1,2,3,4；XjmaxAnd XjminPoint
Maximum value and minimum value that Wei be in corresponding measurement parameter.
7. tractor hydraulic as claimed in claim 2 promotes force measuring method, which is characterized in that the middle layer and described defeated
The excitation function for going out layer is all made of S type functions fj(x)=1/ (1+e-x)。
8. tractor hydraulic as claimed in claim 2 promotes force measuring method, which is characterized in that initial to transport in the step 1
Dynamic state, the correction coefficient ξ of load cylinder Vertical loading power0With the correction coefficient η of piston rod vertical-lift distance0Meet experience：
ξ0=ξs,
η0=ηs。
9. tractor hydraulic as claimed in claim 8 promotes force measuring method, which is characterized in that the load cylinder vertically adds
The setting value for carrying the correction coefficient of power and the correction coefficient of piston rod vertical-lift distance meets：
Wherein, μ1For the friction coefficient of load cylinder and ground hinge, μ2Friction coefficient between load cylinder and piston rod, e
For the truth of a matter of natural logrithm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113254875A (en) * | 2021-04-23 | 2021-08-13 | 四川瑞精特科技有限公司 | Lifting force measuring method for magnetic yoke type magnetic particle flaw detector |
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