CN114148822A - Lyocell yarn production line of maintenance does not shut down - Google Patents
Lyocell yarn production line of maintenance does not shut down Download PDFInfo
- Publication number
- CN114148822A CN114148822A CN202111604219.9A CN202111604219A CN114148822A CN 114148822 A CN114148822 A CN 114148822A CN 202111604219 A CN202111604219 A CN 202111604219A CN 114148822 A CN114148822 A CN 114148822A
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- China
- Prior art keywords
- production line
- transmission
- fixedly connected
- maintenance
- control box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229920000433 Lyocell Polymers 0.000 title claims abstract description 26
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 23
- 238000012423 maintenance Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 239000013078 crystal Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000004804 winding Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 5
- 239000000835 fiber Substances 0.000 description 3
- 229920002994 synthetic fiber Polymers 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000012209 synthetic fiber Substances 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
- B65H54/44—Arrangements for rotating packages in which the package, core, or former is engaged with, or secured to, a driven member rotatable about the axis of the package
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H51/00—Forwarding filamentary material
- B65H51/14—Aprons, endless belts, lattices, or like driven elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
- B65H54/54—Arrangements for supporting cores or formers at winding stations; Securing cores or formers to driving members
- B65H54/547—Cantilever supporting arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H65/00—Securing material to cores or formers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Landscapes
- Yarns And Mechanical Finishing Of Yarns Or Ropes (AREA)
Abstract
The invention discloses a lyocell yarn production line without shutdown maintenance, which comprises a control box, wherein the bottom of one side of the control box is provided with a transmission mechanism, the bottom of the transmission mechanism is fixedly connected with a plurality of supporting legs, the bottoms of the supporting legs are all fixedly connected with universal wheels, the top of one side of the control box is provided with a coiling mechanism, one side of the coiling mechanism is provided with a clamping mechanism, the corner of one side of the top surface of the control box is fixedly connected with a singlechip, one side of two supporting legs is fixedly connected with a containing box, the lyocell yarn conveyed by the transmission mechanism is coiled by the coiling mechanism, the coiling mechanism and the transmission mechanism are independently arranged, when the coiling mechanism has problems or needs to be replaced, the whole production line does not need to be stopped, and the containing box temporarily stores the yarn conveyed by the transmission mechanism, so that the production of the whole lyocell yarn is not influenced, and the yarn is better matched with a winding mechanism to be wound through the arranged clamping mechanism.
Description
Technical Field
The invention relates to the technical field of lyocell yarn production equipment, in particular to a lyocell yarn production line which is maintained without stopping.
Background
Lyocell fiber is commonly called as velvet, natural plant fiber is taken as a raw material, the velvet is produced in the middle of the 90 th century, the velvet is known as a product with the most value in artificial fiber history since about half century, the velvet has multiple excellent performances of natural fiber and synthetic fiber, is green fiber, and is widely applied to textile and garment fabrics.
Disclosure of Invention
The invention aims to provide a lyocell yarn production line which is maintained without stopping, and aims to solve the problems that the lyocell yarn production line in the market at present cannot be maintained without stopping and the clamping effect is poor when yarns are wound.
In order to achieve the purpose, the invention provides the following technical scheme: a lyocell yarn production line capable of being maintained without stopping comprises a control box, wherein a transmission mechanism is arranged at the bottom of one side of the control box, a plurality of supporting legs are fixedly connected to the bottom of the transmission mechanism, universal wheels are fixedly connected to the bottoms of the supporting legs, a coiling mechanism is arranged at the top of one side of the control box, a clamping mechanism is arranged at one side of the coiling mechanism, and a single chip microcomputer is fixedly connected to an angle of one side edge of the surface of the top of the control box;
the transmission mechanism comprises a first stepping motor arranged at the bottom of the inner cavity of the control box, the transmission mechanism comprises two transmission shafts, the first stepping motor is in transmission connection with one of the transmission shafts through a bearing, and the two transmission shafts are in transmission connection through a transmission belt.
Further, the winding mechanism is including installing in the second step motor at control box inner chamber top, the second step motor is connected with the rotation axis through the axle sleeve transmission, bracing piece and bearing fixed connection are passed through to the bottom of axle sleeve, one side fixedly connected with fixed disk of rotation axis, the positive and negative of rotation axis all is equipped with the picture peg, the opposite side of rotation axis is equipped with clamping mechanism.
Furthermore, the clamping mechanism comprises a movable disc which is inserted and connected with one side of the rotating shaft, one side of the movable disc is hinged with two clamping rings through a hinge, slots are formed in the opposite sides of the two clamping rings, locking plates are fixedly connected to the top ends of the two clamping rings, and the two locking plates are provided with threaded holes and are in threaded connection through threaded rods.
Furthermore, one side of two of them the supporting leg fixedly connected with containing box.
Furthermore, the single chip microcomputer is electrically connected with an external power supply, and the first stepping motor and the second stepping motor are both electrically connected with the external power supply through the single chip microcomputer.
Furthermore, the singlechip comprises a main control circuit, and the main control circuit is connected with the resistance switch circuit, the drive circuit and the operation protection circuit.
Further, the main control circuit is composed of a microcontroller and minimum systems of crystal oscillators, reset and the like of the microcontroller, the resistance switch circuit is composed of a relay K1, a relay K2, a resistor R1, a resistor R2, a resistor R3 and a resistor R4, the driving circuit is composed of four switch tubes Q1, a switch tube Q2, a switch tube Q3 and a switch tube Q4, and the operation protection circuit is composed of a stepping motor and a protection diode D1, a protection diode D2, a protection diode D3 and a protection diode D4.
Compared with the prior art, the invention has the beneficial effects that:
1) the forward and reverse rotation control of the stepping motor with stepless speed regulation can be realized through the singlechip, and the maintenance is convenient. The lyocell yarn conveyed by the transmission mechanism is coiled by the coiling mechanism, wherein the coiling mechanism and the transmission mechanism are independently arranged, so that when the coiling mechanism has problems or a yarn coil needs to be replaced, the whole production line does not need to be stopped, the yarn conveyed by the transmission mechanism is temporarily stored by the storage box, and the production of the whole lyocell yarn cannot be influenced;
2) the better cooperation winding mechanism of yarn batches through the clamping mechanism who is equipped with, wherein first step motor drives the transmission shaft rotatory, the transmission shaft drives the drive belt rotation, and then accomplish the transport of yarn, it is rotatory in order to batch the yarn to drive the rotation axis by second step motor again, and insert the movable plate on the rotation axis, be in the same place by the locking plate on two clamp rings, and in passing through threaded rod screw in slots, in order to accomplish the closed locking of clamp ring on the rotation axis, thereby accomplish the chucking of rolling up the yarn, in order better batch the yarn.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of a partial structure at one side of the present invention;
FIG. 3 is a schematic view of a clamping mechanism of the present invention;
FIG. 4 is a control diagram of the single-chip microcomputer in the invention.
In the figure: 1. a control box; 2. a transmission mechanism; 21. a first stepper motor; 22. a bearing; 23. a drive shaft; 24. a transmission belt; 3. supporting legs; 4. a take-up mechanism; 41. a second stepping motor; 42. a shaft sleeve; 43. a support bar; 44. a rotating shaft; 45. inserting plates; 5. a clamping mechanism; 51. a movable tray; 52. a hinge; 53. a clamping ring; 54. a slot; 55. a locking plate; 56. a threaded rod; 57. a threaded hole; 6. a universal wheel; 7. a storage box; 8. fixing the disc; 9. and a single chip microcomputer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a lyocell yarn production line for maintenance without shutdown comprises a control box 1, wherein a transmission mechanism 2 is arranged at the bottom of one side of the control box 1, a plurality of supporting legs 3 are fixedly connected to the bottom of the transmission mechanism 2, universal wheels 6 are fixedly connected to the bottoms of the supporting legs 3, a coiling mechanism 4 is arranged at the top of one side of the control box 1, a clamping mechanism 5 is arranged at one side of the coiling mechanism 4, and a single chip microcomputer 9 is fixedly connected to one side edge of the top surface of the control box 1;
the transmission mechanism 2 comprises a first stepping motor 21 arranged at the bottom of the inner cavity of the control box 1, the transmission mechanism 2 comprises two transmission shafts 23, the first stepping motor 21 is in transmission connection with one of the transmission shafts 23 through a bearing 22, and the two transmission shafts 23 are in transmission connection through a transmission belt 24.
Further, the winding mechanism 4 comprises a second stepping motor 41 installed at the top of the inner cavity of the control box 1, the second stepping motor 41 is in transmission connection with a rotating shaft 44 through a shaft sleeve 42, the bottom of the shaft sleeve 42 is fixedly connected with the bearing 22 through a supporting rod 43, one side of the rotating shaft 44 is fixedly connected with a fixed disc 8, inserting plates 45 are arranged on the front side and the back side of the rotating shaft 44, a clamping mechanism 5 is arranged on the other side of the rotating shaft 44, the rotating shaft 44 is driven to rotate through the rotation of the second stepping motor 41 through the shaft sleeve 42, and the rotating shaft 44 rotates to complete the winding of the yarn.
Further, clamping mechanism 5 includes the activity dish 51 of being connected with rotation axis 44 one side interlude, one side of activity dish 51 articulates through hinge 52 has two clamp rings 53, slot 54 has all been seted up to two clamp rings 53's opposite side, the equal fixedly connected with locking plate 55 in top of two clamp rings 53, two locking plates 55 all set up screw hole 57 and pass through threaded rod 56 threaded connection, go into rotation axis 44 through going into activity dish 51 on, again with two clamp rings 53 closed, threaded rod 56 and screw hole 57 through on two locking plates 55 carry out threaded connection, and then lock activity dish 51 on rotation axis 44, thereby better clamping yarn coils.
Wherein one side fixedly connected with containing box 7 of two supporting legs 3 can put the yarn book temporarily through containing box 7, and then uses when maintaining winding mechanism 4 or changing the yarn book to needn't stop down drive mechanism 2 and carry the lyocell yarn, in order to accomplish the non-stop adjustment and repair.
The single chip microcomputer 9 is electrically connected with an external power supply, the first stepping motor 21 and the second stepping motor 41 are both electrically connected with the external power supply through the single chip microcomputer 9, and the operation of each motor is controlled through the single chip microcomputer 9, so that the normal use of the production line is ensured.
The singlechip 9 comprises a main control circuit, and the main control circuit is connected with a resistance switch circuit, a drive circuit and an operation protection circuit. The resistance switching circuit, the drive circuit and the operation protection circuit are provided with two identical sets as shown in fig. 4, which control the first stepping motor 21 and the second stepping motor 41, respectively.
The main control circuit consists of a microcontroller and minimum systems of crystal oscillator, reset and the like. The microcontroller programs corresponding codes to perform corresponding forward and reverse rotation real-time control on the stepping motor.
The resistance switch circuit consists of relays (K1, K2) and current-limiting resistors (R1, R2, R3, R4). The drive circuit is composed of four switching tubes (Q1, Q2, Q3, Q4). The operation protection circuit comprises a stepping motor, protection diodes (D1, D2, D3 and D4) and the like. The driving circuit can drive the motor to run in positive and negative rotation and speed regulation, and during the instantaneous running and stopping of the motor, harmonic wave and back electromotive force are produced, and the back electromotive force may break through the switch tube in the 'H' bridge arm directly in the reverse direction, so that the protection is required.
The working principle is as follows: the control command signal sent by the main control circuit controls the driving circuit through the relays (K1, K2) to drive the motor to run. When the control command valid signal of the main control circuit acts on the input side of the relay K1, the switch Q1 and the switch Q4 will also be simultaneously turned on rapidly to drive the first stepping motor 21 and the second stepping motor 41 to operate. The current I passing through the motor is from top to bottom, and the motor is in a positive running state. When the control command valid signal of the main control circuit acts on the relay K2, the switching tube Q2 and the switching tube Q3 will also be simultaneously and rapidly conducted to drive the first stepping motor 21 and the second stepping motor 41 to operate. The current I passing through the motor is from bottom to top, and the motor is in a reverse running state. Wherein, the resistors R1, R2, R3 and R4 are all used for current limiting. The trouble of the coiling mechanism 4 is conveniently found and searched.
Then a user conveys the yarn through the transmission mechanism 2, the lyocell yarn is coiled by the coiling mechanism 4, and the lyocell yarn is coiled better by matching with the clamping mechanism 5, wherein the singlechip 9 drives the first stepping motor 21 and the second stepping motor 41 to work, the first stepping motor 21 drives the transmission shaft 23 to rotate, the transmission shaft 23 drives the transmission belt 24 to convey, the second stepping motor 41 rotates to drive the rotating shaft 44 to rotate, and then the rotating shaft 44 completes the rotary coiling of the yarn, wherein the movable disc 51 is clamped on the rotating shaft 44, then the two clamping rings 53 are closed, corresponding threaded connection is carried out between the threaded rods 56 on the two locking plates 55 and the threaded holes 57, and then the movable disc 51 is locked on the rotating shaft 44, so that the yarn coil is clamped better to complete the lyocell yarn coiling work, and the coiling mechanism 4 is independent from the transmission mechanism 2, when the winding mechanism 4 has a problem and needs to maintain or replace the yarn coil, the transmission mechanism 2 does not need to be stopped, and the whole production line cannot be stopped, so that the maintenance without stopping is completed, and the production efficiency of the lyocell yarn is greatly improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes, modifications, equivalents, and improvements may be made without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a lyocell yarn production line of maintenance does not shut down, includes control box (1), its characterized in that: the bottom of one side of the control box (1) is provided with a transmission mechanism (2), the bottom of the transmission mechanism (2) is fixedly connected with a plurality of supporting legs (3), the bottoms of the supporting legs (3) are fixedly connected with universal wheels (6), the top of one side of the control box (1) is provided with a coiling mechanism (4), one side of the coiling mechanism (4) is provided with a clamping mechanism (5), and the corner of one side of the top surface of the control box (1) is fixedly connected with a single chip microcomputer (9);
the transmission mechanism (2) comprises a first stepping motor (21) arranged at the bottom of an inner cavity of the control box (1), the transmission mechanism (2) comprises two transmission shafts (23), the first stepping motor (21) is in transmission connection with one of the transmission shafts (23) through a bearing (22), and the two transmission shafts (23) are in transmission connection through a transmission belt (24).
2. A lyocell yarn production line for maintenance without shutdown, according to claim 1, characterized in that: coiling mechanism (4) are including installing in second step motor (41) at control box (1) inner chamber top, second step motor (41) are connected with rotation axis (44) through axle sleeve (42) transmission, bracing piece (43) and bearing (22) fixed connection are passed through to the bottom of axle sleeve (42), one side fixedly connected with fixed disk (8) of rotation axis (44), the positive and negative of rotation axis (44) all is equipped with picture peg (45), the opposite side of rotation axis (44) is equipped with clamping mechanism (5).
3. A lyocell yarn production line for maintenance without shutdown, according to claim 2, characterized in that: the clamping mechanism (5) comprises a movable disc (51) which is connected with one side of a rotating shaft (44) in a penetrating mode, one side of the movable disc (51) is hinged with two clamping rings (53) through a hinge (52), slots (54) are formed in the opposite sides of the two clamping rings (53), locking plates (55) are fixedly connected to the top ends of the two clamping rings (53), and the two locking plates (55) are provided with threaded holes (57) and are connected through threaded rods (56) in a threaded mode.
4. A lyocell yarn production line for maintenance without shutdown, according to claim 3, characterized in that: wherein one side of two supporting legs (3) is fixedly connected with a containing box (7).
5. A lyocell yarn production line for maintenance without shutdown, according to claim 4, characterized in that: the single chip microcomputer (9) is electrically connected with an external power supply, and the first stepping motor (21) and the second stepping motor (41) are both electrically connected with the external power supply through the single chip microcomputer (9).
6. A lyocell yarn production line for maintenance without shutdown, according to claim 5, characterized in that: the single chip microcomputer (9) comprises a main control circuit, and the main control circuit is connected with the resistance switch circuit, the driving circuit and the operation protection circuit.
7. A lyocell yarn production line for maintenance without shutdown, according to claim 5, characterized in that: the main control circuit consists of a microcontroller and minimum systems of crystal oscillators, reset and the like of the microcontroller, the resistance switch circuit consists of a relay K1, a relay K2, a resistor R1, a resistor R2, a resistor R3 and a resistor R4, the driving circuit consists of four switch tubes Q1, a switch tube Q2, a switch tube Q3 and a switch tube Q4, and the operation protection circuit consists of a stepping motor and a protection diode D1, a protection diode D2, a protection diode D3 and a protection diode D4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111604219.9A CN114148822A (en) | 2021-12-24 | 2021-12-24 | Lyocell yarn production line of maintenance does not shut down |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111604219.9A CN114148822A (en) | 2021-12-24 | 2021-12-24 | Lyocell yarn production line of maintenance does not shut down |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114148822A true CN114148822A (en) | 2022-03-08 |
Family
ID=80452396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111604219.9A Pending CN114148822A (en) | 2021-12-24 | 2021-12-24 | Lyocell yarn production line of maintenance does not shut down |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114148822A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030015621A1 (en) * | 1999-02-25 | 2003-01-23 | Kabushikikaisha Taiheiseisakusho | Take-up reel, veneer reeling apparatus, tape feeding unit for veneer roll, veneer roll unwinding apparatus and a production method for laminated wood |
| CN105712111A (en) * | 2014-12-05 | 2016-06-29 | 江阴市北海救生设备有限公司 | Automatic winding machine |
| CN109399278A (en) * | 2018-11-09 | 2019-03-01 | 长兴盛纺织有限公司 | Cloth-rolling device is used in a kind of production of chemical fibre cloth fabric |
| CN211619456U (en) * | 2019-12-30 | 2020-10-02 | 苏州林泰实业有限公司 | Winding drum for textile machinery |
| CN212424924U (en) * | 2020-04-23 | 2021-01-29 | 许昌鸿洋生化实业发展有限公司 | Conveyor for chemical fiber production line for hair |
| CN212953336U (en) * | 2020-08-20 | 2021-04-13 | 苏州林昊板业科技有限公司 | Continuous coiling mechanism of various steel sheet |
| CN213976248U (en) * | 2020-12-11 | 2021-08-17 | 浙江中星新材料科技股份有限公司 | Coiling device for producing breathable and light-transmitting warp knitted fabric |
-
2021
- 2021-12-24 CN CN202111604219.9A patent/CN114148822A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030015621A1 (en) * | 1999-02-25 | 2003-01-23 | Kabushikikaisha Taiheiseisakusho | Take-up reel, veneer reeling apparatus, tape feeding unit for veneer roll, veneer roll unwinding apparatus and a production method for laminated wood |
| CN105712111A (en) * | 2014-12-05 | 2016-06-29 | 江阴市北海救生设备有限公司 | Automatic winding machine |
| CN109399278A (en) * | 2018-11-09 | 2019-03-01 | 长兴盛纺织有限公司 | Cloth-rolling device is used in a kind of production of chemical fibre cloth fabric |
| CN211619456U (en) * | 2019-12-30 | 2020-10-02 | 苏州林泰实业有限公司 | Winding drum for textile machinery |
| CN212424924U (en) * | 2020-04-23 | 2021-01-29 | 许昌鸿洋生化实业发展有限公司 | Conveyor for chemical fiber production line for hair |
| CN212953336U (en) * | 2020-08-20 | 2021-04-13 | 苏州林昊板业科技有限公司 | Continuous coiling mechanism of various steel sheet |
| CN213976248U (en) * | 2020-12-11 | 2021-08-17 | 浙江中星新材料科技股份有限公司 | Coiling device for producing breathable and light-transmitting warp knitted fabric |
Non-Patent Citations (1)
| Title |
|---|
| 顾德英等: "计算机控制技术", 北京邮电大学出版社, pages: 116 - 117 * |
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