CN103278263B - Pressure-type thermometer Intelligent calibration system - Google Patents
Pressure-type thermometer Intelligent calibration system Download PDFInfo
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- CN103278263B CN103278263B CN201310161018.5A CN201310161018A CN103278263B CN 103278263 B CN103278263 B CN 103278263B CN 201310161018 A CN201310161018 A CN 201310161018A CN 103278263 B CN103278263 B CN 103278263B
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Abstract
A kind of pressure-type thermometer Intelligent calibration system, including mechanical part, control part, thermostatic oil bath and photographic head.Wherein mechanical part includes that basic platform, mechanical arm and drive mechanism, control part include main control computer, motion control unit, operating unit, data station unit and data collecting card.The automatic Verification process of Intelligent calibration system includes automatic seeking table, automatically to table, reading configuration information, automatically detection and Data Analysis Services etc..Use this Intelligent calibration system that multiple stage pressure-type thermometer can carry out intelligent calibrating simultaneously, winding temperature gage can also be carried out thermal modeling test simultaneously.In verification process, it is made without manual intervention, to improve calibration operation efficiency, saves manpower, it is to avoid the physical and mental health of testing crew is caused damage.
Description
Technical field
The present invention relates to the automatic Verification of the transformator temperature measuring equipment of power system, specifically pressure-type thermometer intelligence
Can verification system.
Background technology
In power system, pressure-type thermometer is also called temperature controller, is applied not only to the temperature of measuring transformer, also relation
The functions such as transformer cooler self-starting, strong oil circulation transformer cooler full cut-off protection, warm high warning, its operational reliability
With the safety and stablization that measuring accuracy is directly connected to power system.The operational reliability of pressure-type thermometer, measurement are accurately
Degree and its calibration operation have close ties.At present, the calibrating of pressure-type thermometer typically uses complete artificial calibration method, examines and determine
Journey is loaded down with trivial details, workload is big, safety responsibility weight, needs 2 professional's non-stop runs just can complete separate unit pressure type temperature in 8 hours
The calibration operation of degree meter.Recently as electrical network high speed development, transformer station's quantity sharply increases, and the quantity of pressure-type thermometer is also
In geometric growth, cause personnel in short supply and workload big between contradiction.Meanwhile, tradition calibration method exist due to
Manually estimate reading and the problem of data precision cannot be ensured, it is possible that bigger gauging error, affect measuring accuracy.This
Outward, in checking procedure when temperature is increased to 100-150 DEG C, verification medium (transformer oil) can volatilize to be had human body in a large number
The carcinogenic gas of evil, causes high risks to the physical and mental health of testing crew.Therefore, traditional pressure-type thermometer calibration method
Cannot meet current job demand.
Chinese utility model patent ZL201220355017.5 discloses a kind of full-automatic verification system of pressure-type thermometer,
Provide a kind of full-automatic calibrating scheme of pressure-type thermometer.But, this system can not be simultaneously to multiple stage pressure-type thermometer
Examining and determine, calibration operation is inefficient；And in verification process, the step examining and determine electric contact calibrating and pick-up signal is still
So needing manual intervention, intelligence degree still has much room for improvement.
Summary of the invention
It is an object of the invention to provide a kind of pressure-type thermometer Intelligent calibration system, this system can be simultaneously to multiple stage pressure
Power formula thermometer carries out intelligent calibrating, winding temperature gage can also be carried out thermal modeling test simultaneously.Verification process is not required to
Manual intervention to be carried out, to improve calibration operation efficiency, saves manpower, it is to avoid cause damage the physical and mental health of testing crew.
Technical scheme is as follows: a kind of pressure-type thermometer Intelligent calibration system, including mechanical part, control portion
Point, thermostatic oil bath and photographic head.
Mechanical part includes basic platform, mechanical arm and drive mechanism；Basic platform includes being perpendicularly fixed on base 1
For hanging up the plane hanger 2 of more than one constant-pressure thermometer to be checked；Mechanical arm includes girder X3, is fixed on girder X3's
Support beam Y1, Y2 and line slide rail X1, the X2 being fixed on support beam Y1, Y2, line slide rail X1, X2 are level and are parallel to
Plane hanger 2 hang up plane；Mechanical arm is by the slide block Z12 being fixed on support beam Y1, Y2 and the cunning passing slide block Z12
Dynamic guide rod Z1, Z2, Z3, Z4 are connected on plane hanger 2；Drive mechanism includes the horizontal fortune being arranged on line slide rail X1, X2
Dynamic servomotor X11, X21 and slip The Cloud Terrace S1, S2, also include up and down motion servomotor Z01 and ball screw Z0, laterally transport
Dynamic servomotor X11, X21 are connected to slip The Cloud Terrace S1, S2 by Timing Belt, and up and down motion servomotor Z01 passes through shaft coupling
Being connected to ball screw Z0, ball screw nut is fixed on girder X3 by connecting plate Z02.
Control part includes main control computer, motion control unit MCU, operating unit OPU, data station cells D SU and
Individual data above capture card, motion control unit is connected to main control computer and transverse movement servomotor X11, X21 and up and down
The control end of motion servo motor Z01, operating unit is connected to main control computer, and data station unit is connected to main control computer,
Each data collecting card one end is connected to data station unit, and the other end is connected to a pressure-type thermometer to be detected.Wherein,
Being constructed as follows of motion control unit: include Servo Control Board and motion control card, Servo Control Board is connected by photo-coupler
To motion control card, motion control card is connected to main control computer；Servo Control Board is connected to laterally transport also by photo-coupler
Dynamic servomotor X11, X21 and the control end of up and down motion servomotor Z01.
The control end of thermostatic oil bath is connected to data station unit, and the temperature-sensitive bag of constant-pressure thermometer to be checked is placed on constant temperature
In oil groove.
Photographic head is fixed on slip The Cloud Terrace S1, S2 and is connected to main control computer, and cam lens is just treating calibrating pressure
Formula thermometer.
In order to winding temperature gage is carried out thermal modeling test, being also provided with current source, the control end of current source is connected to number
According to station unit.
For above-mentioned Intelligent calibration system, present invention also offers a kind of autocontrol method, specifically comprise the following steps that
Step 1, automatic seeking table: dollying head, identify automatically and on Judge plane hanger, whether each epitope position hangs
There is pressure-type thermometer to be detected, and record epi-position state；
Step 2, automatically to table: dollying head, be directed at successively in the dial plate of the pressure-type thermometer to be detected hung
The heart, and record coordinate position；
Step 3, reading configuration information: from configuration file, read data, the range of this calibrating, basic scale are set
Point, the type of selected remote transfer signal；
Step 4, automatically detection:
Transmission control instruction, to thermostatic oil bath, makes oil sump temperature be gradually heating to range from the minimum temperature that range sets and sets
Fixed maximum temperature；During heating up, gather and record every detection data, specifically have: Real-time Collection and record thermostatic oil bath
Temperature value；Dollying head, gathers the dial plate image of pressure-type thermometer to be detected in each epi-position successively, automatically identifies and note
Record pointer instruction；By capture card Real-time Collection remote transfer signal value record；Real-time Collection and record contact working value；
Transmission control instruction, to thermostatic oil bath, makes oil sump temperature gradually be cooled to range from the maximum temperature that range sets and sets
Fixed minimum temperature；During lowering the temperature, gather and record every detection data, specifically have: Real-time Collection and record thermostatic oil bath
Temperature value；Dollying head, gathers the dial plate image of pressure-type thermometer to be detected in each epi-position successively, automatically identifies and note
Record pointer instruction；By capture card Real-time Collection remote transfer signal value record；Real-time Collection and record contact working value；
Step 5, Data Analysis Services: analytical data, fill in elementary error table, contact for each pressure-type thermometer
Adjust table, draw temperature rise curve figure, generate probation redport.
The calibrating of pressure-type thermometer mainly includes basic calibration points, remote transfer signal value and the calibrating of contact working value.For
Basic calibration points uses image recognition technology automatically to identify that dial needle indicates, and passes through Real-time Collection for remote transfer signal value
Electric current or resistance signal, be then to use the method for Real-time Collection contact state to realize calibrating for contact working value.First exist
Basic platform hangs up the constant-pressure thermometer to be checked of more than, and main control computer, according to detection program, sends control instruction
Making thermostatic oil bath slowly heat up or lower the temperature, during this period, main control computer controls drive mechanism by motion control unit, drives
Mechanical arm moves up and down and slides The Cloud Terrace transverse shifting, makes the photographic head automatic pressure acquisition formula temperature being fixed on slip The Cloud Terrace
The dial plate image of meter.After dial plate image is input to main control computer, utilize image recognition technology, automatically identify dial needle
Instruction.Main control computer controls data station unit simultaneously and gathers pressure-type thermometer make and break contact action by data collecting card
Value, current signal in remote transfer signal or resistance signal etc..Comparing for carrying out data analysis, data station unit also needs to adopt in real time
The temperature of collection thermostatic oil bath.For the thermal modeling test of winding type thermometer, data station unit also gathers current source data.Master control
The data collected are analyzed by computer, it is achieved the automatic Verification of pressure-type thermometer.
What the present invention obtained has the technical effect that to achieve multiple stage pressure-type thermometer carries out unattended intelligence simultaneously
Calibrating, drastically increases work efficiency, saves manpower.The calibrating of protoplast's work needs two testing crew continuous firings 8 hours
A pressure-type thermometer could be examined and determine, use the present invention, only need to examine and determine multiple stage pressure-type thermometer in 4 hours.Test people
Member only need to hang pressure-type thermometer to be detected, connects required circuit, starts validation program.In verification process
It is not required to manual intervention, it is to avoid the Detecting medium oil injury that testing crew physical and mental health is caused by the gas of volatilization when high temperature.
Application image identification technology identifies that dial needle indicates automatically, it also avoid Traditional Man calibrating due to manually estimate reading and cannot
The problem ensureing data precision, improves measuring accuracy.The present invention can also carry out thermal modeling test to winding temperature gage, increases
Actual range of application.
Accompanying drawing explanation
Fig. 1 is system construction drawing.
The structural representation of platform based on Fig. 2.
Fig. 3 is the structural representation of mechanical arm and drive mechanism.
Fig. 4 is the schematic diagram of control part.
Fig. 5 is automatic Verification flow chart.
Fig. 6 is the elementary error table of system output.
Fig. 7 is that the contact of system output is adjusted table.
Fig. 8 is the temperature rise curve figure that system is drawn.
Detailed description of the invention
Basic platform is as in figure 2 it is shown, use pyramid structure, and this structure has that stability is strong, robust, flexible adjustment
Etc. advantage.In order to ensure rigid requirements, material uses aluminium section bar, and the trade mark is the high-strength aluminum alloy of 6063.Basic platform one side
Can hang simultaneously, verify 4 temperature controllers, about 1520mm；The average height of the design considerations testing crew of height, according to 1600mm
Design, needs when installing temperature controller to raise to avoid breaking photographic head mechanical arm simultaneously, therefore height overall is 2000mm；Width design
Determine, for 1000mm according to the diameter of internal cabling and counterweight.Basic platform uses Open architecture up and down, conveniently drives
The equipment coolings such as dynamic device, forceful electric power and weak current part.The aluminium alloy material assembling plane hanger uses dovetail groove to design, easy to assembly,
Flexible adjustment, be easy to fastening, in conjunction with the combination of secondary structure part, facilitate the installation of dissimilar equipment, application, compare traditional
Hanger has the advantages such as installation is firm, assembling and dissembling speed is fast, and secondary connection safety is high, it is possible to meet the peace of dissimilar thermometer
Reload request.
Mechanical arm and drive mechanism, can at three mutually as it is shown on figure 3, the action form of mechanical arm is cartesian co-ordinate type
Making linear telescopic motion on vertical direction, the motion in three directions of mechanical arm is independent, calculates and controls more convenient.Machine
Mechanical arm uses gantry structure, facilitates the installation of thermometer to simultaneously facilitate photographic head and focuses.The width foundation of mechanical arm is photographic head
Focal length.The number of degrees of freedom, of native system is 3, is respectively three independent, direction along X1, X2, Z0, i.e. along a left side of slide rail X1 and X2
Right motion and the up and down motion along ball screw Z0.Workbench two sides is respectively arranged with 4 thermometeies, the servomotor on X1, X2 slide rail
It is connected respectively to mobile The Cloud Terrace S1, S2 with Timing Belt, drives photographic head to carry out transversal scanning, every 5 seconds run-downs.Work as assembling
Need during thermometer mechanical arm is moved to top, after assembling, move down the mechanical arm position, the center of circle to thermometer card
Put and stop.Drive mechanism the most unidirectional gyration of servomotor is converted into vertical direction straight line elevating movement and
The left and right translational motion of horizontal direction.The straight line elevating movement of vertical direction uses ball leading screw driving, and screw mandrel turning handle rotates
Motion change into linear motion, only connect with shaft coupling for the shorter hi-Fix of distance, motor and ball screw, do not have
There is gap.Using ball screw mainly to have considered below: 1, high-precision guarantee, Intelligent calibration system is high to required precision, reaches
To 0.2 grade, the significantly larger than precision of desk checking, the ball screw assembly, that system uses is the highest level in the world manufactured with Japan
Plant equipment link up and produce.2, the guarantee of Fine Feed, the ball screw assembly, that native system uses is owing to being to utilize ball
Motion, can guarantee that and realize accurate Fine Feed.
Such as Fig. 4, main control computer is made up of industrial control mainboard.Motion control unit MCU mainly includes motion control card and watches
Taking panel, wherein motion control card uses DMC1380, DMC1380 to be the pci bus pulses aiming at Design of Motion Control Chip
Formula motion control card, can carry out a position motor control for the three of native system AC servo motor.DMC1380 card includes pulse
With direction interface, its position command can export by single channel pulse (pulse+direction) or two-way pulse (CW+CCW pulse) mode, can
Be differential type output circuit can also be monofocal output circuit.Native system selects two-way mode, differential type output circuit.Separately
Outward, in addition to universal input output signal interface, DMC1380 also includes the special signal interface such as initial point, spacing, deceleration, has
Plug and play, program the features such as simple, reliable and stable, low price, meet the control requirement of native system.Operating unit OPU master
Man-machine interaction panel to be included and the second electronic hand wheel, the common data realized with main control computer and motion control unit are handed over
Mutually.Data station cells D SU is responsible for the collection of general data, including the data of three parts: 1, pressure-type thermometer make and break contact moves
Work value, also includes current signal or the resistance signal of remote transfer signal value, and these data are gathered by data collecting card；2, thermostatical oil
The real time temperature of groove；3, the current value of current source.Photographic head is connected to industrial control mainboard by USB interface, direct by industrial control mainboard
Carry out collection and the process of image.
Power supply is to ensure that the power that system runs well, and native system is respectively thermostatic oil bath FLUKE-by the first transformator
7320, control part, current source provides 220V voltage；There is provided 24V working power for pressure-type thermometer simultaneously.Second transformator
Being isolating transformer, provide 220V voltage for three motors, using isolating transformer is in order to more preferable electric insulation is filtered simultaneously
Except the harmonic wave etc. in voltage, provide more stable voltage for motor.
As it is shown in figure 5, concrete verification process is: hang up the constant-pressure thermometer to be checked of more than at basic platform,
Under program control, first carrying out automatic seeking table, i.e. control drive mechanism by motion control unit, driving mechanical arm is upper and lower
Move and slip The Cloud Terrace transverse shifting, make to be fixed on each table that the photographic head on slip The Cloud Terrace is searched on plane hanger automatically
Position, passes to main control computer by image, it is judged that whether hung pressure-type thermometer to be detected in each epi-position, records epi-position shape
State.
Next carries out, automatically to table, controlling drive mechanism again by motion control unit, driving mechanical arm moving down
Move and slip The Cloud Terrace transverse shifting, make to be fixed on the photographic head on slip The Cloud Terrace and be registered to successively hang pressure type to be detected
The dial plate center of thermometer, records coordinate position.
Then reading configuration information, main control computer reads the configuration information of this detection from configuration file, including amount
Journey, basic calibration points and the type etc. of remote transfer signal.
Enter detection-phase afterwards.Advanced active line detection, is i.e. issued instructions to thermostatic oil bath by main control computer, makes oil
Bath temperature degree is gradually warmed up to the maximum temperature set by range from the minimum temperature set by range.In oil groove temperature-rise period,
Motion control unit controls drive mechanism, was dollying head every 5 seconds, by the coordinate position of precedence record, is registered to successively
The dial plate of all pressure-type thermometers to be detected, gathers the dial plate image of pressure-type thermometer.For seeking record during table
To the epi-position not hanging pressure-type thermometer, then skip and do not gather.After the dial plate image collected is input to main control computer,
Utilizing image recognition technology, main control computer automatically identifies and records dial needle instruction.In oil groove temperature-rise period, data
The temperature that standing unit Real-time Collection and records oil groove, and by capture card Real-time Collection and record remote transfer signal value, adopt in real time
Collection and record contact working value.Then carry out flyback detection, i.e. issued instructions to thermostatic oil bath by main control computer, make oil groove temperature
Degree gradually cools to the minimum temperature set by range from the maximum temperature set by range.During flyback detection, gather and remember
Each item data of record is as during trace detection.
Finally carry out analysis and the process of data, fill in elementary error table, contact for each pressure-type thermometer whole
Determine table, draw temperature rise curve figure, generate probation redport.
For the calibrating of winding temperature gage, Intelligent calibration system can also be carried out during completing above-mentioned calibrating simultaneously
Thermal modeling test, method particularly includes: main control computer calculates specified transformer CT electricity according to rated transformer capacity, electric pressure
Stream, tabling look-up further according to built-in temperature rise curve draws and adds thermocurrent under specified copper oil temperature difference.Thus it is defeated to automatically control electric current source
Going out specified transformer CT electric current, after the adapter of winding temperature controller, output adds thermocurrent, and analogue copper oil temperature is poor.
Systematic technical indicator is as follows:
1, basic specification:
Maximum verifies temperature controller quantity simultaneously: 8 pieces, 2 models (point two sides is installed)；
Temperature controller mounting means: right angle setting；
Thermostatic oil bath quantity: 2 (standard configuration models FLUKE-7320)；
Temperature controller remote transfer signal certainty of measurement: 0.2%；
Temperature controller remote transfer signal is measured non-linear :≤0.2%；
Temperature controller make and break contact sampling time: 500ms；
Temperature controller dial pointer position minimum resolution: 0.5.
2, rating of machine:
Complete machine weight: 460kg (without thermostatic oil bath)；
Package size: 2100 × 1000 × 2150 mm (length × width × height)；
Mechanical arm stroke: X1, X2 axle 1350mm；Z axis 450mm；
Mechanical arm bears a heavy burden :≤1.5kg；
Photographic head translational speed: X-axis 300mm/s (max)；Z axis 200mm/s (max).
3, electrical specification:
Running voltage: three-phase AC380V/50Hz；
Maximum consumption power: 3KW.
Claims (5)
1. a pressure-type thermometer Intelligent calibration system, it is characterised in that include mechanical part, control part, thermostatic oil bath
And photographic head；
Described mechanical part includes basic platform, mechanical arm and drive mechanism；Basic platform includes being perpendicularly fixed on base (1)
For hanging up the plane hanger (2) of more than one constant-pressure thermometer to be checked；Mechanical arm includes girder (X3), is fixed on master
The support beam (Y1, Y2) of beam (X3) and the line slide rail (X1, X2) being fixed in support beam (Y1, Y2), line slide rail (X1,
X2) in level and be parallel to plane hanger (2) hang up plane；Described mechanical arm is by being fixed in support beam (Y1, Y2)
Slide block (Z12) and the sliding guide (Z1, Z2, Z3, Z4) through slide block (Z12) are connected on described plane hanger (2)；Transmission
Mechanism includes transverse movement servomotor (X11, X21) and the slip The Cloud Terrace (S1, S2) being arranged on line slide rail (X1, X2),
Also including up and down motion servomotor (Z01) and ball screw (Z0), transverse movement servomotor (X11, X21) passes through Timing Belt
Being connected to slip The Cloud Terrace (S1, S2), up and down motion servomotor (Z01) is connected to ball screw (Z0), ball by shaft coupling
Feed screw nut is fixed on girder (X3) by connecting plate (Z02)；
Described control part includes main control computer, motion control unit, operating unit, data station unit and more than one data
Capture card, motion control unit is connected to main control computer and described transverse movement servomotor (X11, X21) and moves up and down
The control end of servomotor (Z01), operating unit is connected to main control computer, and data station unit is connected to main control computer, often
Individual data collecting card one end is connected to data station unit, and the other end is connected to a pressure-type thermometer to be detected；
The control end of described thermostatic oil bath is connected to described data station unit, and the temperature-sensitive bag of constant-pressure thermometer to be checked is placed on
In thermostatic oil bath；
Described photographic head is fixed on described slip The Cloud Terrace (S1, S2) and is connected to described main control computer, and cam lens is the most right
Constant-pressure thermometer to be checked.
2. pressure-type thermometer Intelligent calibration system as claimed in claim 1, it is characterised in that described motion control unit bag
Including Servo Control Board and motion control card, Servo Control Board is connected to motion control card by photo-coupler, and motor control links
Receive main control computer；Servo Control Board also by photo-coupler be connected to transverse movement servomotor (X11, X21) and on
The control end of lower motion servo motor (Z01)；Also include that the second electronic hand wheel, the second electronic hand wheel are connected to by photo-coupler
Described motion control card, and it is connected to described operating unit.
3. pressure-type thermometer Intelligent calibration system as claimed in claim 2, it is characterised in that described motion control card model
For DMC1380, thermostatic oil bath model is FLUKE-7320.
4. pressure-type thermometer Intelligent calibration system as claimed in claim 1, it is characterised in that also include current source, electric current
The control end in source is connected to described data station unit.
5. the control method of Intelligent calibration system as claimed in claim 1, it is characterised in that comprise the following steps:
Step 1, automatic seeking table: dollying head, whether identification hangs with each epitope position on Judge plane hanger and needs automatically
Detection pressure-type thermometer, and record；
Step 2, automatically to table: dollying head, be directed at the dial plate center of the pressure-type thermometer to be detected hung successively, and
Record coordinate position；
Step 3, reading configuration information: read data from configuration file, arrange the range of this calibrating, basic calibration points, choosing
Determine the type of remote transfer signal；
Step 4, automatically detection:
Transmission control instruction, to thermostatic oil bath, makes oil sump temperature be gradually heating to what range set from the minimum temperature that range sets
Maximum temperature；During heating up, gather and record every detection data, specifically have: Real-time Collection and the temperature of record thermostatic oil bath
Angle value；Dollying head, gathers the dial plate image of pressure-type thermometer to be detected in each epi-position successively, automatically identifies and record refers to
Pin indicates；By capture card Real-time Collection remote transfer signal value record；Real-time Collection and record contact working value；
Transmission control instruction, to thermostatic oil bath, makes oil sump temperature gradually be cooled to what range set from the maximum temperature that range sets
Minimum temperature；During lowering the temperature, gather and record every detection data, specifically have: Real-time Collection and the temperature of record thermostatic oil bath
Angle value；Dollying head, gathers the dial plate image of pressure-type thermometer to be detected in each epi-position successively, automatically identifies and record refers to
Pin indicates；By capture card Real-time Collection remote transfer signal value record；Real-time Collection and record contact working value；
Step 5, Data Analysis Services: analytical data, fill in elementary error table for each pressure-type thermometer, contact is adjusted
Table, draws temperature rise curve figure, generates pressure-type thermometer probation redport.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310161018.5A CN103278263B (en) | 2013-05-03 | 2013-05-03 | Pressure-type thermometer Intelligent calibration system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310161018.5A CN103278263B (en) | 2013-05-03 | 2013-05-03 | Pressure-type thermometer Intelligent calibration system |
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| CN103278263A CN103278263A (en) | 2013-09-04 |
| CN103278263B true CN103278263B (en) | 2016-12-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104678980B (en) * | 2013-11-28 | 2017-11-07 | 国网河南省电力公司三门峡供电公司 | Transformer temperature controller check meter |
| CN106525334A (en) * | 2016-11-11 | 2017-03-22 | 山东省计量科学研究院 | Automatic calibrating device for aneroid barometers |
| CN106382996A (en) * | 2016-11-29 | 2017-02-08 | 东北石油大学 | Temperature automatic detection device based on LabVIEW and automatic testing method adopting the same |
| CN107131973A (en) * | 2017-07-03 | 2017-09-05 | 上海振华重工电气有限公司 | A kind of portable device for detecting temperature and temperature monitoring method for electric cabinet |
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| CN209400911U (en) * | 2018-12-07 | 2019-09-17 | 苏州谷夫道自动化科技有限公司 | Hand wheel control device, control system and handwheel |
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