CN104309415A - Method for charging and discharging air as well as maintaining and controlling air pressure - Google Patents
Method for charging and discharging air as well as maintaining and controlling air pressure Download PDFInfo
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- CN104309415A CN104309415A CN201410582679.XA CN201410582679A CN104309415A CN 104309415 A CN104309415 A CN 104309415A CN 201410582679 A CN201410582679 A CN 201410582679A CN 104309415 A CN104309415 A CN 104309415A
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Abstract
The invention discloses a method for charging and discharging air as well as maintaining and controlling air pressure. The method comprises the steps of inputting the needed target air pressure value Paim into an electronic control unit (ECU) control system by an enable keyboard; subtracting the Paim and current air pressure value Pe of a target air chamber to obtain difference, and comparing the obtained difference with the air pressure dead zone value Pd; if the difference of Paim and Pe is larger than Pd, controlling an air charging electromagnetic valve to charge air by the ECU control system which generates the corresponding pulse signal according to the duty ratio; if the difference of Paim and Pe is less than Pd, controlling an air discharging electromagnetic valve to discharge air by the ECU control system according to the duty ratio; when the absolute value of the difference of the target air pressure value Paim and the current air pressure value Pe is less than the air pressure dead zone value Pd, controlling the electromagnetic valves to stop working by the ECU control system according to the duty ratio at the moment. After the method is adopted, air charging and discharging can be carried out on the closed air chamber with any form; when the air chamber with the unknown pressure value reaches the needed air pressure value after being manually adjusted, the air chamber can be switched into an automatic control mode at any time, and the current air pressure value is maintained to be constant; the method is simple in operation and high in controllable degree.
Description
Technical field
The present invention relates to a kind of air chamber air pressure automatic adjustment technology, be specifically related to a kind of being applied to the control of target air chamber air pressure and the servo control unit and the method that keep target air chamber stable gas pressure.
Background technology
At present, the flexible how stably keeping the air pressure of pneumatic system and how to realize air pressure is the required major issue solved of many pneumatic systems, particularly in trial production link or pneumatic system test link, test article often leak tightness is not enough, gas leak phenomenon is obvious, and the maintenance of system air pressure is doubled with regulating difficulty.
In " instrument and meter for automation " periodical of 28 volumes the 7th phase in 2007, propose a kind of inflation/deflation control system in the article that author Liu is still living and in good health " a kind of design of Intelligent Over-Inflation Controller ", this system comprises microcontroller, source of the gas, electromagnetic valve, pressure sensor and motor tire composition.Source gas is connected with pressure sensor with motor tire, electromagnetic valve (venting) respectively after electromagnetic valve (air inlet), and the signal of pressure sensor is input in microcontroller simultaneously, and the output control signal of microcontroller controls two electromagnetic valves.This system can carry out accurately controlling being charged to the object of nominal pressure to reach to target tire with the shortest time to inflationtime, simultaneously can the best inflationtime of intelligence learning different target tire, but this system only carries out inflation/deflation for motor tire, owing to being definite value for specific air pressure in tyres of vehicle and can not adjusting, and in the face of target air pressure is worth uncertain situation, this control system can not complete manual inflation/deflation operation.
In " lathe and hydraulic pressure " periodical of 10th phase in 2006, author Wang Liwen proposes a kind of inflation/deflation control system equally in the paper of " Design of Automatic Inflation/Deflation Control System for Aircraft Tire ", and system is made up of high-pressure gas circuit, low pressure gas circuit, controller and actuating unit etc.This system can be that concrete aircraft tyre carries out rational inflation/deflation work by the model of the aircraft tyre of input, simultaneity factor has not only had automatic control, also the function of Non-follow control is had, but whether its manual function is only used as to detect gas circuit normal, therefore this system controls to adapt to different aircraft tyre models automatically, and the air chamber implementation inflation that cannot be extended to any volume, its manual control part can not accurately control the inflation/deflation time simultaneously.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide and a kind ofly can carry out inflation/deflation to the target air chamber of any volume and inflation/deflation and the air pressure retentive control method of air pressure can be kept, there is manual inflation/deflation operating function and automatic inflatable/air and air pressure and keep function, the control of accurate air pressure can be realized to the air pressure of inflation/deflation time and air chamber, keep target air chamber stable gas pressure.
The technical solution used in the present invention has following steps;
(1) source of the gas, inflation electromagnetic valve, target air chamber, pressure-releasing electromagnetic valve are connected successively, baroceptor is by the current gas pressure value of the target air chamber of collection
p e input ECU control system; (2) by enable keyboard to ECU control system input needed for target air pressure value
p aim , ECU control system will
p aim with
p e subtract each other, the difference obtained and the air pressure dead band value be preset in ECU control system
p d contrast; If
p aim with
p e difference be greater than
p d , then ECU control system is first according to formula
calculate dutycycle PWM,
aelectromagnetic valve dutycycle correction factor, then according to dutycycle produce corresponding impulse singla control described inflation electromagnetic valve inflation; If
p aim with
p e difference be less than-
p d , then ECU control system pressure-releasing electromagnetic valve venting according to Duty ratio control; (3) when target air pressure value
p aim with current gas pressure value
p e the absolute value of difference be less than air pressure dead band value
p d time, ECU control system quits work according to Duty ratio control electromagnetic valve now.
When required target air pressure value
p aim when being unknown cannot input to ECU control system by enable keyboard, first inflated or deflation time to the input of ECU control system by enable keyboard, inflation or deflation time are converted into corresponding inflation electromagnetic valve or the opening time of pressure-releasing electromagnetic valve by ECU control system
t, then calculate the dutycycle of inflation electromagnetic valve
,
bbe default coefficient of correction, finally export corresponding control signal according to dutycycle and complete inflation and venting with the work-hours controlling corresponding electromagnetic valve.
The beneficial effect that the present invention has is:
1, the control system of air pressure and air pressure keeping system combine by the present invention, can, to the closed air chamber inflation/deflation of arbitrary form, accurately can control, and it be constant to maintain air chamber stable gas pressure to the air pressure implementation of inflation/deflation time and air chamber.And when needs carry out other experiments to system, suddenly MANUAL CONTROL mode can be switched at any time as required to target air chamber inflation/deflation in inappropriate time in order to prevent automatically controlling process, simultaneously for some unknown atmospheric pressure value air chamber and when needing manual regulation, just can be able to reach to the object of target air chamber inflation/deflation certain hour by simple button operation, simultaneously when needed can any switching laws master mode to reach different object and to meet different demand, reach need atmospheric pressure value in can to switch to automatic control mode at any time constant to maintain current gas pressure value, not only simple to operate but also controllable degree is high.
2, simple and reliable, the stable performance of the present invention, control are accurately high, automatically can control and keep target air chamber air pressure, the inflation/deflation time can be accurately controlled again when needs, both can be used as the Fu improving product riding quality of pneumatic product, also can be used for trial production and pneumatic system scientific research and testing, improve test accuracy and work efficiency.
Accompanying drawing explanation
Fig. 1 is the hardware block diagram realizing inflation/deflation of the present invention and air pressure retentive control system;
Fig. 2 is the operating surface view of enable keyboard 7 in Fig. 1;
Fig. 3 is automatic control mode diagram of circuit of the present invention;
Fig. 4 is MANUAL CONTROL mode diagram of circuit of the present invention;
In figure: 1. source of the gas; 2. inflate electromagnetic valve; 3. target air chamber; 4. pressure-releasing electromagnetic valve; 5.ECU control system; 6. baroceptor; 7. enable keyboard.
Detailed description of the invention
As shown in Figure 1, inflation/deflation of the present invention and air pressure retentive control system are made up of source of the gas 1, inflation electromagnetic valve 2, pressure-releasing electromagnetic valve 4, ECU control system 5, baroceptor 6 and enable keyboard 7.Source of the gas 1, inflation electromagnetic valve 2, target air chamber 3, pressure-releasing electromagnetic valve 4 connect successively, and source of the gas 2 provides stable air pressure to when needed target air chamber 3, and target air chamber 3 is the closed air chamber of any air pressure.ECU control system 5 connects inflation electromagnetic valve 2 and pressure-releasing electromagnetic valve 4 through control line respectively, inflation electromagnetic valve 2 and pressure-releasing electromagnetic valve 4 be pneumatic control valve, PWM(pulse width modulation ECU control system 5 produced) the control signal unlatching that is converted to spool allows air-flow pass through or disconnects the object to reach control objectives air chamber 3 air pressure with closing.Baroceptor 6 connects the input end of ECU control system 5, and the atmospheric pressure value of target air chamber 3 is converted to the acquisition of signal end that voltage signal is input to ECU control system 5 by baroceptor 6.The keyboard that enable keyboard 7 is made up of 9 buttons, for in control process artificial determine to ECU control system 5 input atmospheric pressure value and time and pattern switching command so that ECU control system 5 in conjunction with rate-determining steps accurately control inflation electromagnetic valve 2, pressure-releasing electromagnetic valve 4 operating time to reach the object of the air pressure of control objectives air chamber 3.
As shown in Figure 2, have a button in enable keyboard 7 for " enable key ", this key effect has three: the effect of (1) "OK button"----shortly to press; (2) effect of control mode switch----shortly to press; (3) effect of the figure place of other button adjustment aim atmospheric pressure values is changed----length is pressed.Remaining 8 button is divided into two groups, and often group is 4 buttons, and the position of key layout can combination in any, and wherein first group is " target setting atmospheric pressure value rises or adjustment inflationtime " button.When automatic control state needs input target air pressure value, these 4 buttons play often by the effect then numeral of three after the individual position of the target air pressure value of setting, one decimal place, 2 significant digits and arithmetic point being added next time, if press a button continuously corresponding figure place can be added to 99 times, continue to press figure place corresponding to same button for the 10th time and will to start from scratch circulation.In Non-follow control process these 4 buttons often by once then play respectively and control inflation electromagnetic valve 2 and to work the effect of 1 second, 0.1 second, 0.01 second and 0.001 second, button is pressed and after unclamping, ECU control system 5 will be made a response immediately and be controlled corresponding electromagnetic valve work corresponding duration.Another group is the button of " target setting atmospheric pressure value declines or adjustment deflation time ", acts on contrary with first group.
The present invention is divided into automatic control mode and MANUAL CONTROL mode.Wherein automatic control mode is monitored by ECU control system 5 and control system is run automatically, and it can complete and automatically to regulate by necessary requirement the air pressure of target air chamber 3 and to maintain air chamber air pressure in proper air pressure value.MANUAL CONTROL mode is by artificial button operation, makes ECU control system 5 complete function to air chamber inflation/deflation certain time length, and what automatic inflatable/air and air pressure kept completes to have been come by ECU control system 5 completely.The function of enable keyboard 7, for switching automatic control mode and MANUAL CONTROL mode, needs to pre-enter target air pressure value, needs to pre-enter required regulating time in MANUAL CONTROL mode in automatic control mode.
When after ECU control system 5 initialization, namely enter master mode and select step.Within a certain period of time, ECU control system 5 detects that " enable key " of enable keyboard 7 is not pressed, then enter automatic control mode, otherwise will enter MANUAL CONTROL mode.
When the target air pressure value of target air chamber 3 is a known value of fixed number really, employing automatic control mode completes the automatic inflatable pneumatic control to target air chamber 3.Perform automatic mode and need default two parameters: air pressure dead band value
p d with electromagnetic valve dutycycle correction factor
a.Wherein air pressure dead band value
p d be: when air chamber air pressure about target air pressure in a small scope time, namely think that air chamber air pressure reaches target air pressure, the value of this small scope is air pressure dead band value
p d , its value be of choosing according to required control accuracy on the occasion of.Electromagnetic valve dutycycle correction factor
abe: because of the restriction of electromagnetic valve and ECU control system 5, ECU control system 5 cannot control target air chamber 3 air pressure immediately in real time, make finally can produce to chamber inflated too much or to the problem of air chamber overgassing in inflation/deflation process, system call interception overlong time, therefore needs to arrange a correction factor and avoids system to produce such problem as far as possible.Choosing the value of a suitable correction factor after for several times experiment, make system call interception shortest time, this correction factor and electromagnetic valve dutycycle correction factor
a, its value is between 0 ~ 1.
Under automatic control mode, as shown in Figure 3, these three processes of gas replenishment process, deflation course, stopped process are had.Concrete realization by the following method:
gas replenishment process.The current gas pressure value of target air chamber 3
p e lower than target air pressure value
p aim , then start gas replenishment process, step is as follows:
Step 1: the current gas pressure value being gathered target air chamber 3 by baroceptor 6
p e , input required target air pressure value by enable keyboard 7 to ECU control system 5
p aim , by current gas pressure value
p e with target air pressure value
p aim be stored in ECU control system 5;
Step 2:ECU control system 5 processes the data of preserving, will
p aim with
p e subtract each other, the difference obtained and the air pressure dead band value preset
p d contrast, and comparing result is preserved.
Step 3:ECU control system 5 calculates the dutycycle of electromagnetic valve impulse singla according to comparing result.If
p aim with
p e difference be greater than
p d , then ECU control system 5 is according to the electromagnetic valve dutycycle correction factor preset
a, target air pressure value
p aim with current gas pressure value
p e calculate the dutycycle PWM of inflation electromagnetic valve 2, dutycycle PWM computing formula is:
Then, produce corresponding impulse singla according to dutycycle, control inflation electromagnetic valve 2 and inflate.
Step 4: after inflation electromagnetic valve 2 has been inflated, ECU control system 5 gathers the current gas pressure value of current goal air chamber 3 again again by baroceptor 6
p e , to cover last current gas pressure value of preserving; Will
p aim with
p e+1 subtract each other, the difference obtained and air pressure dead band value
p d contrast.If current gas pressure value
p e+1 still be less than target air pressure value
p aim ,
p aim with
p e difference be greater than
p d , then control system 5 will again according to electromagnetic valve dutycycle correction factor
a, target air pressure value
p aim with current gas pressure value
p e calculate inflation electromagnetic valve dutycycle PWM and control inflation electromagnetic valve 2 and inflate.Circulation like this is until target air pressure value
p aim with current gas pressure value
p e the absolute value of difference be less than
p d , PWM is zero in the case, then ECU control system 5 quits work according to PWM Controlling solenoid valve now.
So, automatic inflating function is completed.
deflation course.The current gas pressure value of target air chamber 3
p e higher than target air pressure value
p aim , then start deflation course, step is as follows:
Step 1: the current gas pressure value being gathered target air chamber 3 by baroceptor 6
p e , input required target air pressure value by enable keyboard 7 to ECU control system 5
p aim , by current gas pressure value
p e with target air pressure value
p aim be stored in ECU control system 5;
Step 2:ECU control system 5 processes the data of preserving, will
p aim with
p e subtract each other, the difference obtained and the air pressure dead band value preset
p d contrast, and comparing result is preserved.
Step 3:ECU control system 5 calculates the dutycycle of electromagnetic valve impulse singla according to comparing result.If
p aim with
p e difference be less than-
p d , then ECU control system 5 is according to electromagnetic valve dutycycle correction factor
a, target air pressure value
p aim with current gas pressure value
p e calculate pressure-releasing electromagnetic valve dutycycle PWM.Dutycycle PWM computing formula is:
。
Then, ECU control system 5 produces corresponding impulse singla according to dutycycle, controls pressure-releasing electromagnetic valve 4 and exits.
Step 4: after having exitted, ECU control system 5 gathers the current gas pressure value of target air chamber 3 again again by baroceptor 6
p e to cover last current gas pressure value of preserving.Will
p aim with
p e subtract each other, the difference obtained and air pressure dead band value
p d contrast.If the current gas pressure value collected still is less than target air pressure value, ECU control system 5 calculates the dutycycle of electromagnetic valve impulse singla according to comparing result.If
p aim with
p e difference be less than-
p d , then ECU control system 5 is according to electromagnetic valve dutycycle correction factor
a, target air pressure value
p aim with the atmospheric pressure value of current air chamber
p e calculate pressure-releasing electromagnetic valve dutycycle PWM and control pressure-releasing electromagnetic valve 4 and exit.Circulation like this is until target air pressure value
p aim with
p e the absolute value of difference be less than
p d , PWM is zero in the case, then ECU control system 5 controls pressure-releasing electromagnetic valve 4 stopping venting according to this PWM.
So, automatic deflation function is completed.
if the current gas pressure value of target air chamber 3
p e just in the dead zone range of target air pressure, then start stopped process, step is as follows:
Step 1: the current gas pressure value being gathered target air chamber 3 by baroceptor 6
p e , input required target air pressure value by enable keyboard 7
p aim , by current gas pressure value
p e with target air pressure value
p aim be stored in ECU control system 5.
Step 2:ECU control system 5 processes the data of preserving, will
p aim with
p e subtract each other, the difference obtained and air pressure dead band value
p d contrast, calculate the dutycycle of electromagnetic valve impulse singla according to comparing result.If
p aim with
p e the absolute value of difference be less than
p d , then PWM is zero.Produce corresponding impulse singla Controlling solenoid valve according to electromagnetic valve dutycycle to quit work.
So, can by the air pressure adjustment of target air chamber 3 in the dead zone range of target air pressure value by automatic control mode, namely when target air pressure is determined, system completes the function to air chamber automatic inflatable/air.
After an automatic control mode terminates, if enable key is not pressed within a certain period of time, then namely system enters automatic control mode next time.Therefore when first time automatic control mode complete, enable keyboard without any input when, system will operate in automatic control mode always.When target air pressure value at any time
the current air chamber value collected with ECU control system 5
difference absolute value not preset air pressure dead band value
within time, ECU control system 5 completes the inflation of target air chamber 3 or deflating action automatically to guarantee that current air chamber air pressure is in target air pressure value dead zone range.So, the air chamber air pressure namely completed when target air pressure is worth known keeps function.
When required target air pressure value is a unknown numerical value, first use the control that MANUAL CONTROL mode adopts automatic control mode to come target air chamber 3 air pressure again.A default parameter is needed: coefficient of correction before performing manual mode
b.This coefficient of correction
bbe the operating lag according to electromagnetic valve and the Timing Advance set, in order to ensure electromagnetic valve open-interval accuracy.Generally for the electromagnetic valve of 5Hz response frequency, rule of thumb this coefficient of correction can be set to 0.05.
In manual mode, there are two kinds of processes:
gas replenishment process,
deflation course.As shown in Figure 4, manual mode realizes according to the following steps:
gas replenishment process
Step 1: press the button representing inflationtime by enable keyboard 7.ECU control system 5 is converted into the inflation electromagnetic valve opening time representated by this button by the button pressed
t 1 .
Step 2:ECU control system 5 is according to the coefficient of correction preset
bwith the inflation electromagnetic valve opening time
t 1 calculate the dutycycle of inflation electromagnetic valve, dutycycle PWM computing formula is:
Step 3:ECU control system 5 exports corresponding control signal according to the inflation electromagnetic valve dutycycle calculated, and controls inflation electromagnetic valve 2 and works the corresponding time.
So, Non-follow control inflates certain hour function to target air chamber 3 is completed.
deflation course
Step 1: press the button representing deflation time by enable keyboard 7.ECU control system 5 is converted into the pressure-releasing electromagnetic valve opening time representated by this button by the button pressed
t 2 .
Step 2:ECU control system 5 is according to the coefficient of correction preset
bwith the pressure-releasing electromagnetic valve opening time
t 2 calculate the dutycycle of pressure-releasing electromagnetic valve, dutycycle PWM computing formula is:
Step 3:ECU control system 5 exports corresponding control signal according to pressure-releasing electromagnetic valve 4 dutycycle calculated, and controls pressure-releasing electromagnetic valve 4 and works the corresponding time.
So, complete Non-follow control to exit the function of certain hour to target air chamber 3.
For the inflation electromagnetic valve opening time
t 1 with the pressure-releasing electromagnetic valve opening time
t 2 the judgement of time length be according to target air chamber air pressure outside parameter determine, as for a telescopic target air chamber, need to control its length when certain value, can judge to the length of this target air chamber inflation/deflation time by the difference measuring its length and Len req; As for a volume fitfull air chamber, need to control its deformation quantity when a certain degree, the time length of answering inflation/deflation can be judged roughly by its deformation degree of visual inspection.Therefore Non-follow control is a rough set-up procedure to air chamber air pressure.
When after once or for several times MANUAL CONTROL mode, air chamber air pressure will be adjusted to a suitable atmospheric pressure value determined, now press enable key, can automatic control mode be switched to, ECU control system 5 can be made automatically to keep the air pressure of air chamber (must by this atmospheric pressure value determined of enable input through keyboard) in the dead zone range of this determined value.So, when atmospheric pressure value the unknown of target air chamber 3, elder generation through MANUAL CONTROL mode, completes air chamber air pressure equally and keeps function again after automatic control mode.
When completing once or after for several times MANUAL CONTROL mode or any automatic control mode complete and switch to MANUAL CONTROL mode, when keeping enable keyboard without input, air chamber air pressure can being made to be in without control state.Without under control state, can avoid causing air chamber pressure variation and system is in automatic control mode and carries out inflation/deflation operation to air chamber because of other reasons, namely can complete the function of the Co ntrolled release to air chamber.
Claims (6)
1. inflation/deflation and an air pressure retentive control method, is characterized in that having following steps;
(1) source of the gas, inflation electromagnetic valve, target air chamber, pressure-releasing electromagnetic valve are connected successively, baroceptor is by the current gas pressure value of the target air chamber of collection
p e input ECU control system;
(2) by enable keyboard to ECU control system input needed for target air pressure value
p aim , ECU control system will
p aim with
p e subtract each other, the difference obtained and the air pressure dead band value be preset in ECU control system
p d contrast;
If
p aim with
p e difference be greater than
p d , then ECU control system is first according to formula
calculate dutycycle PWM,
aelectromagnetic valve dutycycle correction factor, then according to dutycycle produce corresponding impulse singla control described inflation electromagnetic valve inflation;
If
p aim with
p e difference be less than-
p d , then ECU control system pressure-releasing electromagnetic valve venting according to Duty ratio control;
(3) when target air pressure value
p aim with current gas pressure value
p e the absolute value of difference be less than air pressure dead band value
p d time, ECU control system quits work according to Duty ratio control electromagnetic valve now.
2. a kind of inflation/deflation and air pressure retentive control method according to claim 1, is characterized in that: step (2), when required target air pressure value
p aim when being unknown cannot input to ECU control system by enable keyboard, first inflated or deflation time to the input of ECU control system by enable keyboard, inflation or deflation time are converted into corresponding inflation electromagnetic valve or the opening time of pressure-releasing electromagnetic valve by ECU control system
t, then calculate the dutycycle of inflation electromagnetic valve
,
bbe default coefficient of correction, finally export corresponding control signal according to dutycycle and complete inflation and venting with the work-hours controlling corresponding electromagnetic valve.
3. a kind of inflation/deflation and air pressure retentive control method according to claim 1, is characterized in that: in step (2), and after inflation electromagnetic valve inflate, ECU control system is again by baroceptor collection current gas pressure value
p e , by target air pressure value
p aim with this current gas pressure value
p e subtract each other, the difference obtained and air pressure dead band value
p d contrast, if this current gas pressure value
p e be less than target air pressure value
p aim ,
p aim with this
p e difference be greater than
p d , then control system again calculates inflation electromagnetic valve dutycycle and controls the inflation of inflation electromagnetic valve, and so circulation is until target air pressure value
p aim with current gas pressure value
p e the absolute value of difference be less than air pressure dead band value
p d .
4. a kind of inflation/deflation and air pressure retentive control method according to claim 1, is characterized in that: in step (2), after pressure-releasing electromagnetic valve has been exitted, and ECU control system gathers current gas pressure value by baroceptor collection again
p e , by target air pressure value
p aim with this
p e subtract each other, the difference obtained and air pressure dead band value
p d contrast, if this
p e still be less than target air pressure value
p aim , target air pressure value
p aim with this
p e difference be less than-
p d , then ECU control system again calculates pressure-releasing electromagnetic valve dutycycle and controls pressure-releasing electromagnetic valve venting, and so circulation is until target air pressure value
p aim with
p e this the absolute value of difference be less than
p d .
5. a kind of inflation/deflation and air pressure retentive control method according to claim 1, is characterized in that: electromagnetic valve dutycycle correction factor
avalue is between 0 ~ 1.
6. a kind of inflation/deflation and air pressure retentive control method according to claim 2, is characterized in that: coefficient of correction
bbe 0.05.
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| CN105675398A (en) * | 2015-12-24 | 2016-06-15 | 广州广电计量检测股份有限公司 | High-gas-pressure test system and high-gas-pressure test method |
| CN105946471A (en) * | 2016-06-12 | 2016-09-21 | 东莞瑞柯电子科技股份有限公司 | Deflation valve of air compressor and deflation control method and device for deflation valve of air compressor |
| WO2017193594A1 (en) * | 2016-05-11 | 2017-11-16 | 广州视源电子科技股份有限公司 | Pwm circuit duty ratio adjustment method and system for blood pressure measurement apparatus |
| CN107748511A (en) * | 2017-09-26 | 2018-03-02 | 南京航空航天大学 | Based on four switch valves with the pneumatic position control system and its control method for opening strategy |
| CN108325180A (en) * | 2018-04-04 | 2018-07-27 | 义乌工商职业技术学院 | A kind of multifunctional safe sports equipment automatic inflatable device of air |
| CN110114231A (en) * | 2016-09-06 | 2019-08-09 | Aktv8有限公司 | Tire management system and method |
| CN111190444A (en) * | 2020-01-07 | 2020-05-22 | 深圳大学 | Air pressure control method and device for container and electronic equipment |
| CN112092138A (en) * | 2020-09-08 | 2020-12-18 | 广州明权科技有限公司 | A sand device is carried to intelligence for 3D prints |
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