CN104808654B - A kind of test system and method for servo-driver frequency response - Google Patents
A kind of test system and method for servo-driver frequency response Download PDFInfo
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- CN104808654B CN104808654B CN201510208328.7A CN201510208328A CN104808654B CN 104808654 B CN104808654 B CN 104808654B CN 201510208328 A CN201510208328 A CN 201510208328A CN 104808654 B CN104808654 B CN 104808654B
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- 238000012360 testing method Methods 0.000 title claims abstract description 122
- 230000004044 response Effects 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims description 16
- 238000010998 test method Methods 0.000 claims abstract description 7
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims description 22
- 230000011664 signaling Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 abstract description 8
- 238000011160 research Methods 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 3
- 238000012986 modification Methods 0.000 abstract description 3
- 230000004048 modification Effects 0.000 abstract description 3
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- 230000009286 beneficial effect Effects 0.000 description 5
- 230000006872 improvement Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of test system for servo-driver frequency response, including servo navigation module, specified rate module, servo-driven module, performing module, with whatever you like module and waveform generating module；Further relate to a kind of method of testing for servo-driver frequency response；Using internal wave sequence as test signal, it is injected into test wrapper, the open loop and closed loop frequency response of servo drive system can be directly obtained by data processing, related data is transferred to host computer monitoring waveform, is easy to analysis and research；It is cost-effective compared with traditional frequency response method of testing, reduce volume；There is no particular/special requirement for test environment, frequency response test can be carried out to system anywhere or anytime in various working sites；It is capable of the various parameters situation of change of real-time monitoring servo motion system, so as to the frequency response situation of analysis system；Simultaneously according to the analysis result online modification parameter related to frequency response, the frequency response situation of system is improved.
Description
Technical field
The present invention relates to a kind of test system for servo-driver frequency response, further relate to for servo-driver frequently
The method of testing of rate response.
Background technology
In servo-control system, obtain system open-loop frequency response and closed loop frequency response for understand system property
, can determine that the control strategy tool of system has very great significance.For servo drive system, closed loop frequency response can be with
Obtain the feature that resonant frequency of bandwidth, closed loop amplitude versus frequency characte peak value and mechanical transmission mechanism of system etc. reflects servo performance
Information.The bandwidth of system reflects tracking performance of the servo-drive system for set-point, is that an important evaluation of servo-drive system refers to
Mark；Closed loop amplitude versus frequency characte peak value reflects the relative stability of system；Generally carrying out servo-drive system debugging and control parameter tune
When whole, effect after adjustment can be evaluated by bandwidth and closed loop amplitude versus frequency characte peak value；The resonant frequency of mechanical transmission mechanism
Can be tested by frequency response and obtained, it is convenient to be adjusted using corresponding control strategy in servo-driver.Open loop is frequently
Rate response can obtain the internal system information such as shearing frequency, stability margin, be easy to analysis limitation systematic function the reason for lifted,
Exploitation and its correction parameter adjustment for servo-drive system has certain directive significance.
The instrument of the frequency response of existing test system mainly has frequency analyzer and special servo analyzer etc. to set
It is standby.These equipment are typically only capable to the closed loop frequency response of measuring system, it is impossible to the open-loop frequency response of direct measurement system, and
We are more desirable to accurately to obtain the open-loop frequency response of system in the development process of system, and comparatively, equipment into
This is all too high.
The content of the invention
The technical problems to be solved by the invention be to provide a kind of test system for servo-driver frequency response and
Method, using internal wave sequence as test signal, is injected into test wrapper, and servo can be directly obtained by data processing
The open loop and closed loop frequency response of drive system, while servo-drive can also be tested by way of internal Setting signal
The step response characteristic of device, and also related data can be transferred to host computer monitoring by serial ports or other communication modes
Waveform, is easy to analysis and research.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of test for servo-driver frequency response
System, including servo navigation module, specified rate module, servo-driven module, performing module, with whatever you like module and waveform generation mould
Block,
The servo navigation module, for selecting test pattern and test content, the parameter of initial waveform is sent out
Deliver in the waveform generating module, control it to produce initial waveform；It is additionally operable to the specified rate ripple to waveform generating module generation
Shape and shown with whatever you like waveform；And record the specified rate module, servo-driven module and sent with whatever you like module
Parameters；
The specified rate module, specified rate parameter is determined for the test pattern by selection and test content, and by institute
State servo navigation module and be sent to waveform generating module, control it to produce specified rate waveform；
The servo-driven module, for producing pulse sequence signal, and pulse sequence signal is sent to the execution
Module, and the pulse sequence signal is sent into servo navigation module preserved；
The performing module, it includes power-equipment, and the power-equipment is driven according to the pulse sequence signal；
The power-equipment can be motor；
It is described with whatever you like module, for obtaining being navigated by the servo with whatever you like parameter of producing in power-equipment operation
Module is sent to waveform generating module, controls it to produce with whatever you like waveform；
The waveform generating module, for generating initial waveform according to the parameter of the initial waveform sequence, when receiving
The specified rate parameter generates specified rate waveform, is generated with whatever you like waveform with whatever you like parameter when receiving.
The beneficial effects of the invention are as follows：Using internal wave sequence as test signal, it is injected into test wrapper, by number
Can directly obtain the open loop and closed loop frequency response of servo drive system according to treatment, and also can by serial ports or its
Related data is transferred to host computer monitoring waveform by communication modes by he, is easy to analysis and research；With traditional frequency response test side
Method is compared, and has saved the larger cost of number, is also reduced in volume a lot, it is only necessary to which one portable can to install
The tablet PC of the system；There is no particular/special requirement for test environment, only one of which flat board PC can be existing in various work
Field carries out frequency response test to system anywhere or anytime, carries very convenient；Being capable of real-time monitoring servo motion system
Various parameters situation of change, produce specified rate parameter and the waveform with whatever you like parameter, so as to the frequency response feelings of analysis system
Condition；Simultaneously according to the analysis result online modification parameter related to frequency response, the frequency response situation of system is improved, and simply
It is understandable, it is easy to left-hand seat.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the servo navigation module is additionally operable to send the amplitude of adjustment waveform and the data of frequency to the waveform
Generation module, controls its adjustment waveform.Waveform after adjustment is shown by servo navigation module again.
Beneficial effect using above-mentioned further scheme is：The adjustment of amplitude and frequency is carried out to waveform, can preferably be seen
Waveform is surveyed, is easy to research experiment result.
Further, it is described to be additionally operable to be sent described into servo-driven module with whatever you like parameter with whatever you like module, formed
Closed loop.
Beneficial effect using above-mentioned further scheme is：Adjustable pulse sequence signal, the closed-loop system to being formed increases
Stiff stability.
Further, the servo-driven module includes the servo-driver for driving the power-equipment, the servo
Driver produces pulse sequence signal, the driving component of the servo-driver for IGBT insulated gate bipolar transistors or
IPM intelligent power components.
Further, the test content includes current signal, rate signal and position signalling.
Further, when the test content is current signal, the test loop of test system is electric current loop, wave sequence
It is entered as given value of current amount parameter；When the test content is rate signal, test system and test loop is speed ring, waveform sequence
What is arranged is entered as speed preset amount parameter；When the test content is position signalling, the test loop of test system is position ring,
Wave sequence is entered as position specified rate parameter.
Further, the test pattern includes sweep check pattern and step response test pattern, when selection sweep check
During pattern, the waveform of generation is sinusoidal waveform；When step response test pattern is selected, the waveform of generation is step response ripple
Shape.
Further, specified rate sinusoidal waveform or the specific method with whatever you like sinusoidal waveform are generated under sweep check pattern
To be generated by formula
Vref=Amp.sin (Fre.t)
Wherein, Vref is specified rate or the |input paramete with whatever you like；Amp is sinusoidal sequence amplitude size；Fre sinusoidal sequences
Frequency size；T is the time for generating sinusoidal waveform sequence, in a program with a general purpose timer as generation sinusoidal waveform sequence
The when base of row time t.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：It is a kind of for servo-driver frequency response
Method of testing, comprises the following steps：
Step S1：Test pattern and test content are selected, and sends the parameter of initial waveform；
Step S2：Parameter generation initial waveform according to the initial waveform；
Step S3：Determine specified rate parameter by the test pattern and test content of selection；
Step S4：The waveform of specified rate parameter is generated according to the specified rate parameter；
Step S5：Produce pulse sequence signal；
Step S6：According to the pulse sequence signal to driving power-equipment to be driven；
Step S7：Obtain power-equipment operation in produce with whatever you like parameter；
Step S8：According to the waveform generated with whatever you like parameter with whatever you like parameter；
Step S9：Show specified rate waveform and with whatever you like waveform.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, also the step of being adjusted to waveform, and show including sending the amplitude of adjustment waveform and the data of frequency
Show the waveform after adjustment.
Beneficial effect using above-mentioned further scheme is：The adjustment of amplitude and frequency is carried out to waveform, can preferably be seen
Waveform is surveyed, is easy to research experiment result.
Further, the test content includes current signal, rate signal and position signalling.
Further, when the test content is current signal, the test loop of test system is electric current loop, wave sequence
It is entered as given value of current amount parameter；When the test content is rate signal, test system and test loop is speed ring, waveform sequence
What is arranged is entered as speed preset amount parameter；When the test content is position signalling, the test loop of test system is position ring,
Wave sequence is entered as position specified rate parameter.
Further, the test pattern includes sweep check pattern and step response test pattern, when selection sweep check
During pattern, the waveform of generation is sinusoidal waveform；When step response test pattern is selected, the waveform of generation is step response ripple
Shape.
Beneficial effect using above-mentioned further scheme is：Using internal sine sequence as test signal, it is injected into and watches
Take in the test wrapper of drive system, the open loop of servo drive system can be directly obtained by data processing and closed loop frequency is rung
Should, the step response characteristic of servo-driver can also be tested by way of internal Setting signal.
Further, specified rate sinusoidal waveform or the specific method with whatever you like sinusoidal waveform are generated under sweep check pattern
To be generated by formula
Vref=Amp.sin (Fre.t)
Wherein, Vref is specified rate or the |input paramete with whatever you like；Amp is sinusoidal sequence amplitude size；Fre sinusoidal sequences
Frequency size；T is the time for generating sinusoidal waveform sequence, in a program with a general purpose timer as generation sinusoidal waveform sequence
The when base of row time t.
Brief description of the drawings
Fig. 1 is module frame chart of the invention；
Fig. 2 is flow chart of the method for the present invention；
Fig. 3 is the oscillogram of sweep check pattern of the present invention；
Fig. 4 is the oscillogram of step response test pattern of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, servo navigation module, 2, specified rate module, 3, servo-driven module, 4, performing module, 5, with whatever you like module, 6,
Waveform generating module.
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
It is as shown in figure 1, a kind of test system for servo-driver frequency response including servo navigation module 1, given
Amount module 2, servo-driven module 3, performing module 4, with whatever you like module 5 and waveform generating module 6,
The servo navigation module 1, for selecting test pattern and test content, the parameter of initial waveform is sent out
Deliver in the waveform generating module 6, control it to produce initial waveform；It is additionally operable to the specified rate to the generation of waveform generating module 6
Waveform and shown with whatever you like waveform；And record the specified rate module 2, servo-driven module 3 and sent with whatever you like module 5
The parameters for coming；
The specified rate module 2, specified rate parameter is determined for the test pattern by selection and test content, and by institute
State servo navigation module 1 and be sent to waveform generating module 6, control it to produce specified rate waveform；
The servo-driven module 3, for producing pulse sequence signal, and pulse sequence signal is sent to the execution
Module 4, and the pulse sequence signal is sent into servo navigation module 1 preserved；
The performing module 4, it includes power-equipment, and the power-equipment is driven according to the pulse sequence signal
It is dynamic；The power-equipment can be motor；
It is described with whatever you like module 5, for obtaining being led by the servo with whatever you like parameter of producing in power-equipment operation
Model plane block 1 is sent to waveform generating module 6, controls it to produce with whatever you like waveform；
The waveform generating module 6, for generating initial waveform according to the parameter of the initial waveform sequence, when receiving
The specified rate parameter generates specified rate waveform, is generated with whatever you like waveform with whatever you like parameter when receiving.
The servo navigation module 1 is additionally operable to send the amplitude of adjustment waveform and the data of frequency to the waveform generates mould
Block 6, controls its adjustment waveform.Waveform after adjustment is shown by servo navigation module again.
It is described to be additionally operable to be sent described into servo-driven module 3 with whatever you like parameter with whatever you like module 5, form closed loop.
The servo-driven module 3 includes the servo-driver for driving the power-equipment, the servo-driver
Pulse sequence signal is produced, the driving component of the servo-driver is IGBT insulated gate bipolar transistors or IPM intelligence
Power component.
The test content includes current signal, rate signal and position signalling.
When the test content is current signal, the test loop of test system is electric current loop, and wave sequence is entered as
Given value of current amount parameter；When the test content is rate signal, test system and test loop is speed ring, the tax of wave sequence
It is speed preset amount parameter to be worth；When the test content is position signalling, the test loop of test system is position ring, waveform sequence
What is arranged is entered as position specified rate parameter.
The test pattern includes sweep check pattern and step response test pattern, when sweep check pattern is selected,
The waveform of generation is sinusoidal waveform；When step response test pattern is selected, the waveform of generation is step response waveform.
Specified rate sinusoidal waveform is generated under sweep check pattern or the specific method with whatever you like sinusoidal waveform is, by public affairs
Formula is generated
Vref=Amp.sin (Fre.t)
Wherein, Vref is specified rate or the |input paramete with whatever you like；Amp is sinusoidal sequence amplitude size；Fre sinusoidal sequences
Frequency size；T is the time for generating sinusoidal waveform sequence, in a program with a general purpose timer as generation sinusoidal waveform sequence
The when base of row time t.
As shown in Fig. 2 a kind of method of testing for servo-driver frequency response, comprises the following steps：
Step S1：Test pattern and test content are selected, and sends the parameter of initial waveform；
Step S2：Parameter generation initial waveform according to the initial waveform；
Step S3：Determine specified rate parameter by the test pattern and test content of selection；
Step S4：The waveform of specified rate parameter is generated according to the specified rate parameter；
Step S5：Produce pulse sequence signal；
Step S6：According to the pulse sequence signal to driving power-equipment to be driven；
Step S7：Obtain power-equipment operation in produce with whatever you like parameter；
Step S8：According to the waveform generated with whatever you like parameter with whatever you like parameter；
Step S9：Show specified rate waveform and with whatever you like waveform.
Also include sending the amplitude of adjustment waveform and the data of frequency, the step of being adjusted to waveform, and show adjustment
Waveform afterwards..
The test content includes current signal, rate signal and position signalling.
When the test content is current signal, the test loop of test system is electric current loop, and wave sequence is entered as
Given value of current amount parameter；When the test content is rate signal, test system and test loop is speed ring, the tax of wave sequence
It is speed preset amount parameter to be worth；When the test content is position signalling, the test loop of test system is position ring, waveform sequence
What is arranged is entered as position specified rate parameter.
Another method of testing is that test content is sequentially connected test, the ripple of position ring for position ring, speed ring and electric current loop
Shape sequence assignment is exactly position set-point, the output of position ring as speed ring speed preset value, the output conduct of speed ring
Given value of current value.
The test pattern includes sweep check pattern and step response test pattern, when sweep check pattern is selected,
The waveform of generation is sinusoidal waveform；When step response test pattern is selected, the waveform of generation is step response waveform.
Fig. 3 is the monitoring waveform of acquisition under sweep check pattern.
Fig. 4 is the monitoring waveform of acquisition under step response test pattern.
Specified rate sinusoidal waveform is generated under sweep check pattern or the specific method with whatever you like sinusoidal waveform is, by public affairs
Formula is generated
Vref=Amp.sin (Fre.t)
Wherein, Vref is specified rate or the |input paramete with whatever you like；Amp is sinusoidal sequence amplitude size；Fre sinusoidal sequences
Frequency size；T is the time for generating sinusoidal waveform sequence, in a program with a general purpose timer as generation sinusoidal waveform sequence
The when base of row time t.
In the system servo navigation module be arranged on PC on, operated by control interface, can real-time monitoring watch
The various parameters situation of change of kinematic system is taken, and to Setting signal and the waveform of signal can be followed to be analyzed research, with
Just the frequency response situation of analysis system.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (9)
1. a kind of test system for servo-driver frequency response, it is characterised in that including servo navigation module (1), give
Quantitative module (2), servo-driven module (3), performing module (4), with whatever you like module (5) and waveform generating module (6),
The servo navigation module (1), for selecting test pattern and test content, the parameter of initial waveform is sent
Into the waveform generating module (6), it is controlled to produce initial waveform；It is additionally operable to give waveform generating module (6) generation
Measure waveform and shown with whatever you like waveform；And record the specified rate module (2), servo-driven module (3) and with whatever you like mould
The parameters that block (5) sends；
The specified rate module (2), specified rate parameter is determined for the test pattern by selection and test content, and by described
Servo navigation module (1) is sent to waveform generating module (6), controls it to produce specified rate waveform；
The servo-driven module (3), for producing pulse sequence signal, and pulse sequence signal is sent to the execution mould
Block (4), and the pulse sequence signal is sent into servo navigation module (1) preserved；
The performing module (4), it includes power-equipment, and the power-equipment is driven according to the pulse sequence signal；
It is described with whatever you like module (5), for obtaining being navigated by the servo with whatever you like parameter of producing in power-equipment operation
Module (1) is sent to waveform generating module (6), controls it to produce with whatever you like waveform；It is described to be additionally operable to institute with whatever you like module (5)
State and sent into servo-driven module (3) with whatever you like parameter, form closed loop；
The waveform generating module (6), for generating initial waveform according to the parameter of the initial waveform sequence, when receiving
Specified rate parameter generation specified rate waveform is stated, is generated with whatever you like waveform with whatever you like parameter when receiving.
2. the test system for servo-driver frequency response according to claim 1, it is characterised in that the servo
Navigation module (1) is additionally operable to send the amplitude of adjustment waveform and the data of frequency to the waveform generating module (6), controls it to adjust
Whole waveform.
3. the test system for servo-driver frequency response according to claim 1, it is characterised in that the servo
Drive module (3) includes the servo-driver for driving the power-equipment, and the servo-driver produces pulse train letter
Number, the driving component of the servo-driver is IGBT insulated gate bipolar transistors or IPM intelligent power components.
4. a kind of method of testing for servo-driver frequency response, it is characterised in that comprise the following steps：
Step S1：Test pattern and test content are selected, and sends the parameter of initial waveform；
Step S2：Parameter generation initial waveform according to the initial waveform；
Step S3：Determine specified rate parameter by the test pattern and test content of selection；
Step S4：The waveform of specified rate parameter is generated according to the specified rate parameter；
Step S5：Produce pulse sequence signal；
Step S6：According to the pulse sequence signal to driving power-equipment to be driven；
Step S7：Obtain power-equipment operation in produce with whatever you like parameter；
Step S8：According to the waveform generated with whatever you like parameter with whatever you like parameter；
Step S9：Show specified rate waveform and with whatever you like waveform；
Also include to be sent as feedback from producing pulse sequence signal to servo-driven module with whatever you like parameter in step S7
Step.
5. the method for testing for servo-driver frequency response according to claim 4, it is characterised in that also including hair
The amplitude of adjustment waveform and the data of frequency are sent, the step of being adjusted to waveform.
6. the method for testing for servo-driver frequency response according to claim 4, it is characterised in that the test
Content includes current signal, rate signal and position signalling.
7. the method for testing for servo-driver frequency response according to claim 6, it is characterised in that the test
When content is current signal, the test loop of test system is electric current loop, and wave sequence is entered as given value of current amount parameter；Institute
When stating test content for rate signal, test system and test loop is speed ring, and the speed preset amount that is entered as of wave sequence is joined
Number；When the test content is position signalling, the test loop of test system is position ring, wave sequence be entered as position to
Quantitative parameter.
8. the method for testing for servo-driver frequency response according to claim 4, it is characterised in that the test
Pattern includes sweep check pattern and step response test pattern, and when sweep check pattern is selected, the waveform of generation is sine
Waveform；When step response test pattern is selected, the waveform of generation is step response waveform.
9. the method for testing for servo-driver frequency response according to claim 8, it is characterised in that surveyed in frequency sweep
Specified rate sinusoidal waveform is generated under die trial formula or the specific method with whatever you like sinusoidal waveform is, generated by formula
Vref=Amp.sin (Fre.t)
Wherein, Vref is specified rate or the |input paramete with whatever you like；Amp is sinusoidal sequence amplitude size；Fre sinusoidal sequence frequencies
Size；T is the time for generating sinusoidal waveform sequence, during in a program with a general purpose timer as generation sinusoidal waveform sequence
Between t when base.
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| CN112255543A (en) * | 2020-10-14 | 2021-01-22 | 四川航天烽火伺服控制技术有限公司 | Servo system current loop test method, system, device and readable storage medium |
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| CN102495622B (en) * | 2011-11-30 | 2016-06-29 | 电子科技大学 | Positional servosystem position ring performance test methods and test system |
| CN103148055B (en) * | 2013-03-19 | 2015-04-08 | 湖南大学 | Electro-hydraulic servo valve frequency characteristic test system |
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