CN101630154A - Electrical control device and hydraulic control device in runway surface friction coefficient testing car - Google Patents
Electrical control device and hydraulic control device in runway surface friction coefficient testing car Download PDFInfo
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- CN101630154A CN101630154A CN200910070166A CN200910070166A CN101630154A CN 101630154 A CN101630154 A CN 101630154A CN 200910070166 A CN200910070166 A CN 200910070166A CN 200910070166 A CN200910070166 A CN 200910070166A CN 101630154 A CN101630154 A CN 101630154A
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Abstract
The invention discloses an electrical control device and a hydraulic control device in a runway surface friction coefficient testing car, relating to an automatic controller system, wherein the electrical control device comprises an upper computer, a lower computer, a relay, a power supply, a printer, an amplification conditioning module, a sensor, a signal converting circuit, an auto speed pulse signal exit side and a braking signal exit side; wherein the upper computer is an industrial control computer the lower computer is a PLC computer, and the sensor comprises a horizontal force sensor, a vertical force sensor and a water pressure sensor. The hydraulic control device uses a hydraulic cylinder two-way connecting vessel and is composed of a hydraulic pump station, a three-position four-way electromagnetic directional valve, a pressure testing adapter, a hydraulic energy storage, a hydraulic cylinder, an electromagnetic directional ball valve, a hydraulic lock, a valve block and a travel switch, wherein the hydraulic cylinder is a two-way connecting vessel and consists of a rodless cavity, a rod cavity, a piston and a piston rod in the hydraulic cylinder. The invention greatly increases the measurement response speed, the control ability and the data processing ability and obviously reduces measurement errors.
Description
Technical field
Technical scheme of the present invention relates to a kind of self-actuated controller system, the specifically electric and hydraulic control device in the runway surface friction coefficient testing car.
Background technology
At present the measuring method of the domestic and international road face friction factor that adopts can be divided into four types: i.e. braking distance method, portable pendulum tester method, rotary instrument method and test carriage method.Compare with other three class methods, the test carriage method is a kind of measuring friction coefficient method the most reliably, so this method application is comparatively extensive.The Grip Tester friction coefficient testing car that the SAAB friction coefficient testing car that Sweden produces (being called for short SFT) and Scotland produce is the friction factor testing apparatus that the present world generally uses, and current these the two kinds of testing apparatuss that also mainly adopt of China are carried out the measurement of face friction factor.Yet, electrical control gear and hydraulic control device that existing road face friction coefficient testing car exists exist a lot of incomplete places, one, the hydraulic control device of existing runway surface friction coefficient testing car adopts unidirectional pressurize mode, along with the rugged variation in road surface, its pressurize numerical value can not be stabilized on the constant numerical value, causes certain measuring errors; They are two years old, the electrical control gear of existing runway surface friction coefficient testing car adopts the single-chip computer control system of the nineties more, kinetic measurement under the vehicle high-speed cruising state relatively, it is measured response speed, control ability and data-handling capacity and all seems not enough, causes the output print speed of friction factor and curve slower, when taking off landing on large-scale airport, interval time is short, under special weather, is badly in need of friction factor, if data can not in time be provided, the safety of aircraft will be influenced.
Summary of the invention
Technical matters to be solved by this invention is: the electric and hydraulic control device in the runway surface friction coefficient testing car is provided, wherein electrical control gear adopts advanced host computer industrial control computer and slave computer PLC, overcome measurement response speed, control ability and the data-handling capacity deficiency of the electrical control gear of existing runway surface friction coefficient testing car, caused the slow shortcoming of output print of friction factor and curve; Wherein hydraulic control device adopts hydraulic cylinder diconnected device, and the pressurize numerical value that has overcome the hydraulic control device of existing runway surface friction coefficient testing car can not be stabilized on the constant numerical value, causes the shortcoming of certain measuring errors.
The present invention solves this technical problem the technical scheme that is adopted: the electric and hydraulic control device in the runway surface friction coefficient testing car, wherein, electrical control gear comprises host computer, slave computer, relay, power supply, printer, amplify conditioning module, sensor, signaling conversion circuit, car speed pulse signal exit and brake signal exit, described host computer is an industrial control computer, described slave computer is PLC, described sensor comprises the horizontal force sensor, vertical force sensor and hydraulic pressure sensor, hydraulic control device is by hydraulic power unit, the 3-position 4-way solenoid directional control valve, pressure measuring tie-in, hydraulic accumulator, hydraulic cylinder, electromagnetic ball valve, hydraulic lock, valve piece and travel switch constitute, wherein hydraulic cylinder adopts hydraulic cylinder diconnected device, by the rodless cavity in the cylinder wall, rod chamber, piston and piston rod are formed; The connection of each building block is in the electrical control gear in this runway surface friction coefficient testing car: adopt the RS232 serial communication bus to be connected between industrial control computer and the PLC, industrial control computer is also connecting printer, PLC also directly links to each other with relay, amplification conditioning module, hydraulic pressure sensor, signaling conversion circuit and brake signal exit, relay is also connecting hydraulic control device, amplify conditioning module and also connecting horizontal force sensor and vertical force sensor, signaling conversion circuit is also connecting car speed pulse signal exit; The connected mode of each building block is in the hydraulic control device in this runway surface friction coefficient testing car: hydraulic power unit 3-position 4-way solenoid directional control valve direct and on the valve piece is connected, and the other end of 3-position 4-way solenoid directional control valve is connecting hydraulic lock, hydraulic lock is connected with electromagnetic ball valve, pressure measuring tie-in, hydraulic accumulator and hydraulic cylinder again, and the hydraulic cylinder other end is connecting travel switch; Above-mentioned industrial control computer and PLC get in touch hydraulic control device by relay, and control program wherein comprises: the master routine of this industrial control computer is initial interface → measurement parameter initialization → be provided with → measure → print → withdraw from; Initial interface → measurement parameter initialization → setting → demarcation → level demarcation or vertical calibrating → withdraw from; Initial interface → measurement parameter initialization → be provided with → inquire about → withdraw from; The vertical calibrating program circuit of this industrial control computer is,
The horizontal calibrating procedure flow process of this industrial control computer is,
The process of measurement flow process of this industrial control computer is,
The program circuit of this PLC is, each register of start → initialization, and high-speed counter,
Be respectively: the level that enters is demarcated subroutine → finish the order of level demarcation → wait host computer according to last order of the bit; Enter vertical calibrating subroutine → finish vertical calibrating → wait host computer order according to last order of the bit; Enter and propose wheel subroutine → wait host computer order; Enter wheel subroutine → wait host computer order;
And each register of initialization, high-speed counter → wait host computer order.
Electric and hydraulic control device in the above-mentioned runway surface friction coefficient testing car, described power supply are the automobile storage battery of 12V.
Electric and hydraulic control device in the above-mentioned runway surface friction coefficient testing car, described industrial control computer are the TPC-660G/662G industrial control computer.
Electric and hydraulic control device in the above-mentioned runway surface friction coefficient testing car, the model that described PLC adopted are SIEMENS CPU 224XP CN.
Electric and hydraulic control device in the above-mentioned runway surface friction coefficient testing car, described signaling conversion circuit as shown in Figure 4.
Electric and hydraulic control device in the above-mentioned runway surface friction coefficient testing car, used components and parts are and are purchased or known.
The invention has the beneficial effects as follows: excrescence is following two aspects now:
(1) electrical control gear in the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention has adopted advanced host computer industrial control computer and slave computer PLC, measurement response speed, control ability and the data-handling capacity of electrical control gear have been increased substantially, thereby the measuring accuracy of friction factor and the output print speed of curve have been improved greatly, the stability and the security of runway surface friction coefficient testing car integral body have also just been improved, also be convenient to the upgrading of host computer software and hardware, with the function of continuous this electrical control gear of lifting;
(2) hydraulic control device in the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention adopts hydraulic cylinder diconnected device.Hydraulic cylinder is adopted diconnected, can make two survey of hydraulic cylinder obtain equal pressure, the difference of utilizing hydraulic stem two to survey lifting surface area makes hydraulic stem be stabilized on the constant numerical value the acting force on ground, overcome because the road surface is uneven and changed the measuring error that causes, its pressurize numerical value is stabilized on the constant numerical value, has reduced measuring error significantly.
In a word, adopt the runway surface friction coefficient testing car of the electric and hydraulic control device of the present invention, the coefficient of friction data of airfield pavement can in time be provided, guaranteed the safety of aircraft.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the composition structured flowchart of the electrical control gear of the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention.
Fig. 2 is the hydraulic cylinder diconnected device pie graph in the hydraulic control device of the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention.
Fig. 3 is the structural representation of the hydraulic control device of the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention.
Fig. 4 is the signaling conversion circuit figure in the electrical control gear in the runway surface friction coefficient testing car of the present invention.
Fig. 5 is the measuring principle figure of the sensor in the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention.
Fig. 6 is the main program block diagram of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention.
Fig. 7 is the vertical calibrating program flow diagram of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention.
Fig. 8 is the horizontal calibrating procedure process flow diagram of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention.
Fig. 9 is the process of measurement process flow diagram of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention.
Figure 10 is the program flow diagram of the PLC in the electrical control gear in the runway surface friction coefficient testing car of the present invention.
Among the figure, 1. hydraulic power unit, 2. 3-position 4-way solenoid directional control valve, 3. pressure measuring tie-in, 4. hydraulic accumulator, 5. hydraulic cylinder, 6. electromagnetic ball valve, 7. hydraulic lock, 8. valve piece, 9. travel switch, 10. automobile back wheel, 11. sprocket wheel I, 12. chain, 13. sprocket wheel II, 14. measuring wheels, 15. sprocket wheel III, 16. the horizontal force sensor, 17. vertical force sensors, A1. rodless cavity, A2. rod chamber, D. piston, d. piston rod.
Embodiment
Among the embodiment shown in Figure 1, the electrical control gear in the runway surface friction coefficient testing car of the present invention comprises industrial control computer, PLC, relay, power supply, printer, amplification conditioning module, sensor, signaling conversion circuit, car speed pulse signal exit and brake signal exit.Adopt the RS232 serial communication bus to be connected between industrial control computer and the PLC, industrial control computer is also connecting printer in addition, PLC also directly links to each other with relay, amplification conditioning module, hydraulic pressure sensor, signaling conversion circuit and brake signal exit, relay is also connecting hydraulic control device, specifically relay is connecting various valves and the travel switch unit in the hydraulic control device, amplify conditioning module and also connecting horizontal force sensor and vertical force sensor, signaling conversion circuit is also connecting car speed pulse signal exit.Wherein power supply is the automobile storage battery of 12V, amplifying conditioning module is LAC 74.1 transmitters that are purchased, sensor comprises horizontal force sensor and the vertical force sensor that the PTP501 type hydraulic pressure sensor that is purchased and Tianjin Vishay Celtron Science and Technology Ltd. produce, signaling conversion circuit is seen Fig. 4, and other components and parts are and are purchased or known.
Carry out in the measuring process of airfield pavement friction factor at runway surface friction coefficient testing car, horizontal force sensor 16 and vertical force sensor 17 output signals must be by amplifying conditioning module before sending to slave computer PLC, the effect of this module is that the faint small-signal with all the sensors amplifies, filter out the garbage signal that mixes simultaneously, to guarantee the accuracy of signals collecting, adopted LAC 74.1 transmitters here as amplifying conditioning module.For the needs of measuring, also must obtain the speed of runway surface friction coefficient testing car in real time, car speed pulse signal acquisition part directly adopts automobile self speed pulse signal for this reason, but because automobile self speed pulse signal is low level 0.5v and high level 1.2v, this speed pulse signal can't be discerned by the counter of telling of PLC, therefore employing signaling conversion circuit is as shown in Figure 6 finished the conversion of pulse signal.Convert to for 22v by the high level of this signaling conversion circuit with 1.5v, the low transition of 0.5v becomes 0v, and the car speed pulse signal just can be accepted processing by PLC like this.In the measuring process, special circumstances are arranged, need operator's pin pedal that touches on the brake, in case brake pedal is stepped on, PLC receives brake signal, promptly sends and proposes the wheel order, starts hydraulic power unit 1, mentions measuring wheel 14.
In addition, the hydraulic pressure sensor in the electrical control gear in the runway surface friction coefficient testing car of the present invention is the hydraulic pressure in watering loop in the sprinkler system that is used for measuring in this runway surface friction coefficient testing car.Because runway surface friction coefficient testing car will be simulated wet and slippery road surface of rainy day, so sprinkler system has been installed, there is a water spray water nozzle to be installed in the dead ahead of runway surface friction coefficient testing car measuring wheel 14 in the sprinkler system, when simulating the measurement of wet and slippery surface friction coefficient of rainy day, the water spray water nozzle can be sprinkled water to ground, but the watering amount in the unit interval changes along with the travel speed difference of runway surface friction coefficient testing car, watering amount in the fast more then unit interval of speed is big more, detect in real time by the hydraulic pressure of hydraulic pressure sensor, and cooperate corresponding hydraulic pressure governor motion just can realize adjusting watering amount in the unit interval to the watering loop.
RS232 communications protocol by standard between host computer industrial control computer and the slave computer PLC communicates.Wherein host computer adopts advanced TPC-660G/662G industrial control computer, this industrial control computer adopts the touch-screen lcd technology, contain AMD LX800 processor, dominant frequency is 500MHz, its software adopts the LabVIEW development system of NI company, make convenient operation and control, software have good man-machine interface, simple to operate and easy upgrading.
The model that slave computer PLC adopts is SIEMENS CPU 224XP CN.This PLC accepts from sensor and car speed pulse data signal, and carries out data communication with the host computer industrial control computer, receives the order of host computer, and data that PLC is collected and control situation etc. send to the host computer industrial control computer.The PLC output terminal is connecting relay, and relay is connecting various operation valves, clutch coupling, starter and the state switching element in the hydraulic control device again.PLC just can make hydraulic control device move on request by the control to each relay, realizes the control to hydraulic control device.
When industrial control computer was exported to printer with measurement result, printer can print at any time measured curve and data.Determine to select the illustrious and influential RD-E32-SN_24 mini-printer in Beijing by the actual tests comparative analysis, have the record of time, road face number, length, speed, friction co-efficient value on the curve map.
Among the embodiment shown in Figure 2, hydraulic cylinder diconnected device in the hydraulic control device of the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention is made up of the rodless cavity A1 in the cylinder wall, rod chamber A2, piston D and piston rod d, and size and the material of this hydraulic cylinder and piston D and piston rod d are known.Hydraulic cylinder adopts diconnected, can make two survey of hydraulic cylinder obtain equal pressure, and the difference of utilizing hydraulic stem two to survey lifting surface area makes hydraulic stem be stabilized on the constant numerical value the acting force on ground, has overcome because the road surface is uneven to change the measuring error that causes.
Among the embodiment shown in Figure 3, the hydraulic control device of the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention is made of hydraulic power unit 1,3-position 4-way solenoid directional control valve 2, pressure measuring tie-in 3, hydraulic accumulator 4, hydraulic cylinder 5, electromagnetic ball valve 6, hydraulic lock 7, valve piece 8 and travel switch 9.Wherein, hydraulic cylinder 5 is a hydraulic bidirectional linker (see figure 3).Hydraulic power unit 1 3-position 4-way solenoid directional control valve 2 direct and on the valve piece 8 is connected, and the other end of 3-position 4-way solenoid directional control valve 2 is connecting hydraulic lock 7, hydraulic lock 7 is connected with electromagnetic ball valve 6, pressure measuring tie-in 3, hydraulic accumulator 4 and hydraulic cylinder 5 again, and hydraulic cylinder 5 other ends are connecting travel switch 9.Now with runway surface friction coefficient testing car when static measuring wheel 14 fall wheel (being moved downward to ground) and produce 140 kgfs then rotate be example, be illustrated the principle of work of this hydraulic control device: give an order by industrial control computer, and under the control of PLC, make electromagnetism 3-position 4-way solenoid directional control valve 2 power up commutation, make electromagnetic ball valve 6 power up commutation, start hydraulic power unit 1 work, make the protruding diconnected work of piston rod d of hydraulic cylinder 5, measuring wheel 14 is put down to land, hydraulic power unit 1 works on, until the vertical positive power that produces 140 kgfs, this moment, industrial control computer quit work hydraulic power unit 1,3-position 4-way solenoid directional control valve 2 power-off restorations.This process makes hydraulic accumulator 4 pressurisings make hydraulic cylinder 5 keep needed pressure to the proper testing friction factor.Why adopt hydraulic accumulator 4, be because this hydraulic control device is powered by the storage battery of automobile self, therefore the power of hydraulic power unit 1 is as far as possible little, working time will lack, be hydraulic power unit 1 in the short-and-medium time service of friction factor test process, all the other mosts of the time are by hydraulic accumulator 4 pressurizes.Industrial control computer makes electromagnetic ball valve 6 power-off restorations during rotate, make 3-position 4-way solenoid directional control valve 2 power up commutation, starting hydraulic power unit 1 then withdraws the piston rod d of hydraulic cylinder 5, until measuring wheel 14 with gage beam when running into travel switch 9, hydraulic power unit 1 quits work, 3-position 4-way solenoid directional control valve 2 power-off restorations.Hydraulic lock 7 plays the pressurize effect, and it can make measuring wheel 14 stop at the height that is raised, and keeps a period of time.Valve piece 8 becomes a piece to various channel sets, and hydraulic oil is carried out direction control.Pressure measuring tie-in 3 is connected on the fluid pressure line, plays the effect that connects tensimeter or other surveying instruments.
Among the embodiment shown in Figure 4, CH1 is a connection terminal in this signaling conversion circuit, and IC1 is a chip number, LM358P is the comparer that is used for carrying out voltage transitions, GND is a ground wire, and VN4.1 is the speed pulse signal that connects in the automobile circuit, and I0.3 is the I0.3 interface that meets PLC.These all are known components and parts, and wherein the connected mode of each component units is as follows: the pin one of connection terminal CH1 directly is connected with No. 1 pin of LM358P; The pin two of connection terminal CH1 directly is connected with No. 5 pins of LM358P; The pin 3 of connection terminal CH1 directly is connected with No. 7 pins of LM358P, is connecting one of them pin of resistance R 2 and capacitor C 1 simultaneously respectively; The pin 4 of connection terminal CH1 directly is connected with No. 2 pins of LM358P, is connecting one of them pin of resistance R 1 simultaneously; Resistance R 2 and capacitor C 1 are connected in parallel, and their side is connected with No. 7 pins of LM358P, and opposite side is connected with No. 3 pins of resistance R 1 and LM358P.
Among the embodiment shown in Figure 5, the measuring principle of the sensor in the electric and hydraulic control device in the runway surface friction coefficient testing car of the present invention is such: sensor comprises horizontal force sensor 16, vertical force sensor 17.Horizontal force sensor 16 is installed in sprocket wheel III15 below, mainly be the horizontal friction force Ff of measuring wheel 14 when being used for measuring runway surface friction coefficient testing car and measuring, the top that vertical force sensor 17 is installed in hydraulic cylinder 5 is mainly used to measure the runway surface friction coefficient testing car vertical force that measuring wheel 14 applies when measuring, after hydraulic cylinder 5 drive measuring wheels 14 fell to taking turns and apply certain vertical force, vertical force sensor 17 can record the size of its vertical force; If this test carriage moves, and drive measuring wheel 14 rotates, then owing to automobile back wheel 10 is connected with sprocket wheel II 13 with chain 12 by sprocket wheel I11,13 of sprocket wheel II and measuring wheel 14 are fixed together, because sprocket wheel I11 is different with the gear ratio of sprocket wheel II 13, cause the asynchronous of automobile back wheel 10 and measuring wheel 14 speed, and make sprocket wheel III15 experience tensile force by chain 12, the size of this power F is recorded by the horizontal force sensor 16 that is installed on the sprocket wheel III15.
Among the embodiment shown in Figure 6, the master routine of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention is: initial interface → measurement parameter initialization → be provided with → measure → print → withdraw from; Initial interface → measurement parameter initialization → setting → demarcation → level demarcation or vertical calibrating → withdraw from; Initial interface → measurement parameter initialization → be provided with → inquire about → withdraw from.
Among the embodiment shown in Figure 7, the vertical calibrating program circuit of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention is:
Among the embodiment shown in Figure 8, the horizontal calibrating procedure flow process of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention is:
Among the embodiment shown in Figure 9, the process of measurement flow process of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention is:
Among the embodiment shown in Figure 10, the process of measurement flow process of the industrial control computer in the electrical control gear in the runway surface friction coefficient testing car of the present invention is:
The program circuit of this PLC is, each register of start → initialization, and high-speed counter,
Be respectively: the level that enters is demarcated subroutine → finish the order of level demarcation → wait host computer according to last order of the bit; Enter vertical calibrating subroutine → finish vertical calibrating → wait host computer order according to last order of the bit; Enter and propose wheel subroutine → wait host computer order; Enter wheel subroutine → wait host computer order;
And each register of initialization, high-speed counter → wait host computer order.
Claims (5)
1. the electric and hydraulic control device in the runway surface friction coefficient testing car, it is characterized in that: wherein, electrical control gear comprises host computer, slave computer, relay, power supply, printer, amplify conditioning module, sensor, signaling conversion circuit, car speed pulse signal exit and brake signal exit, described host computer is an industrial control computer, described slave computer is PLC, described sensor comprises the horizontal force sensor, vertical force sensor and hydraulic pressure sensor, hydraulic control device is by hydraulic power unit, the 3-position 4-way solenoid directional control valve, pressure measuring tie-in, hydraulic accumulator, hydraulic cylinder, electromagnetic ball valve, hydraulic lock, valve piece and travel switch constitute, wherein hydraulic cylinder adopts hydraulic cylinder diconnected device, by the rodless cavity in the cylinder wall, rod chamber, piston and piston rod are formed; The connection of each building block is in the electrical control gear in this runway surface friction coefficient testing car: adopt the RS232 serial communication bus to be connected between industrial control computer and the PLC, industrial control computer is also connecting printer, PLC also directly links to each other with relay, amplification conditioning module, hydraulic pressure sensor, signaling conversion circuit and brake signal exit, relay is also connecting hydraulic control device, amplify conditioning module and also connecting horizontal force sensor and vertical force sensor, signaling conversion circuit is also connecting car speed pulse signal exit; The connected mode of each building block is in the hydraulic control device in this runway surface friction coefficient testing car: hydraulic power unit 3-position 4-way solenoid directional control valve direct and on the valve piece is connected, and the other end of 3-position 4-way solenoid directional control valve is connecting hydraulic lock, hydraulic lock is connected with electromagnetic ball valve, pressure measuring tie-in, hydraulic accumulator and hydraulic cylinder again, and the hydraulic cylinder other end is connecting travel switch; Above-mentioned industrial control computer and PLC get in touch hydraulic control device by relay, and control program wherein comprises:
2. according to the electric and hydraulic control device in the described runway surface friction coefficient testing car of claim 1, it is characterized in that: described power supply is the automobile storage battery of 12V.
3. according to the electric and hydraulic control device in the described runway surface friction coefficient testing car of claim 1, it is characterized in that: described industrial control computer is the TPC-660G/662G industrial control computer.
4. according to the electric and hydraulic control device in the described runway surface friction coefficient testing car of claim 1, it is characterized in that: the model that described PLC adopted is SIEMENS CPU 224XP CN.
5. according to the electric and hydraulic control device in the described runway surface friction coefficient testing car of claim 1, it is characterized in that: described signaling conversion circuit as shown in Figure 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910070166XA CN101630154B (en) | 2009-08-19 | 2009-08-19 | Electrical control device and hydraulic control device in runway surface friction coefficient testing car |
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| CN200910070166XA CN101630154B (en) | 2009-08-19 | 2009-08-19 | Electrical control device and hydraulic control device in runway surface friction coefficient testing car |
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| CN101630154A true CN101630154A (en) | 2010-01-20 |
| CN101630154B CN101630154B (en) | 2012-03-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387445A (en) * | 2018-12-06 | 2019-02-26 | 北京科技大学 | A kind of circuit accelerated loading system of direct-driven servo motor driving |
| CN110005598A (en) * | 2017-12-14 | 2019-07-12 | 罗伯特·博世有限公司 | Hydraulic pressure supply mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN86205122U (en) * | 1986-07-25 | 1987-06-03 | 双鸭山矿务局 | Locomotive driven by hydraulic accumltors |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110005598A (en) * | 2017-12-14 | 2019-07-12 | 罗伯特·博世有限公司 | Hydraulic pressure supply mechanism |
| CN109387445A (en) * | 2018-12-06 | 2019-02-26 | 北京科技大学 | A kind of circuit accelerated loading system of direct-driven servo motor driving |
| CN109387445B (en) * | 2018-12-06 | 2024-05-17 | 北京科技大学 | Loop acceleration loading system driven by direct-drive servo motor |
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