CN106705037A - Combustion system with adaptive Helmholtz resonator and method for operating combustion system - Google Patents
Combustion system with adaptive Helmholtz resonator and method for operating combustion system Download PDFInfo
- Publication number
- CN106705037A CN106705037A CN201610948234.8A CN201610948234A CN106705037A CN 106705037 A CN106705037 A CN 106705037A CN 201610948234 A CN201610948234 A CN 201610948234A CN 106705037 A CN106705037 A CN 106705037A
- Authority
- CN
- China
- Prior art keywords
- combustion system
- gas conduit
- helmholtz resonator
- volume
- fuel gas
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23M—CASINGS, LININGS, WALLS OR DOORS SPECIALLY ADAPTED FOR COMBUSTION CHAMBERS, e.g. FIREBRIDGES; DEVICES FOR DEFLECTING AIR, FLAMES OR COMBUSTION PRODUCTS IN COMBUSTION CHAMBERS; SAFETY ARRANGEMENTS SPECIALLY ADAPTED FOR COMBUSTION APPARATUS; DETAILS OF COMBUSTION CHAMBERS, NOT OTHERWISE PROVIDED FOR
- F23M20/00—Details of combustion chambers, not otherwise provided for, e.g. means for storing heat from flames
- F23M20/005—Noise absorbing means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23D—BURNERS
- F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
- F23D14/02—Premix gas burners, i.e. in which gaseous fuel is mixed with combustion air upstream of the combustion zone
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23D—BURNERS
- F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
- F23D14/46—Details, e.g. noise reduction means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N5/00—Systems for controlling combustion
- F23N5/18—Systems for controlling combustion using detectors sensitive to rate of flow of air or fuel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23D—BURNERS
- F23D2210/00—Noise abatement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N5/00—Systems for controlling combustion
- F23N5/18—Systems for controlling combustion using detectors sensitive to rate of flow of air or fuel
- F23N2005/181—Systems for controlling combustion using detectors sensitive to rate of flow of air or fuel using detectors sensitive to rate of flow of air
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N5/00—Systems for controlling combustion
- F23N5/18—Systems for controlling combustion using detectors sensitive to rate of flow of air or fuel
- F23N2005/185—Systems for controlling combustion using detectors sensitive to rate of flow of air or fuel using detectors sensitive to rate of flow of fuel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N2223/00—Signal processing; Details thereof
- F23N2223/04—Memory
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23N—REGULATING OR CONTROLLING COMBUSTION
- F23N2233/00—Ventilators
- F23N2233/06—Ventilators at the air intake
- F23N2233/08—Ventilators at the air intake with variable speed
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluidized-Bed Combustion And Resonant Combustion (AREA)
Abstract
The invention relates to a combustion system, which has a burner 11, a blower 10 for conveying combustion air and optionally fuel gas to the burner 11, a fresh gas guide conduit 14 internally provided with a blower 14 arranged, a fuel gas guide conduit 15 provided with a gas regulating valve 9, and a Helmholtz resonator 2 connected to the fresh gas guide conduit 14. The fuel gas guide conduit 15 is guided into the fresh gas guide conduit 14 or directly guided into the burner 11. The Helmholtz resonator (2) has a drive (4, 5, 6, 7) for adjusting the size of the Helmholtz resonator (2).
Description
Technical field
The present invention relates to a kind of self adaptation Helmholtz resonator.
Background technology
When fuel gas is burnt in fully premixed combustion system, may occur in some operating points undesirable
Self-excitation combustion oscillation.This is generally related to the unhappy noise that induces one, and can damage facility in some cases.
This phenomenon is in the A1 of DE 102004013584 and No. 364 the 6th row of VDI progress reports for energy technology
In be described.The cause of self-oscillation (SES) is the phase interaction between the real-time power release of flame and the sound of combustion chamber
With.The precondition for producing the phenomenon is that flame discharges (Rayleigh criterion) in the time point real-time power of the positive amplitude of acoustic pressure.Disappear
Except measure refers to the C2 of DE 19730254.
According to prior art, the problem is generally so solved:The portion of air and fuel gas-air mixture will be guided
The geometry of part is so designed that, even if system is to sound off resonance, thus self-oscillation does not occur as far as possible.In this case, example
Such as, extra component is inserted in air or exhaust passageway, these components have to be made system off resonance and thus prevent or cut down certainly
The function of Induced Oscillation.Therefore, for example with air inlet pipe or Helmholtz resonator, these air inlet pipe increased flame upstream
The pressure loss.According to the geometrical characteristic parameter of Helmholtz resonator, it has certain intrinsic frequency, and it is in the intrinsic frequency
Lower running.The vibration of combustion system is able to cut down or avoids completely.
Further possibility is, for electronic fuel gas-air-mixture, when oscillation is taking place, changes
Air excess or thermic load.
The content of the invention
It is an object of the present invention to provide a kind of device and the method for operating this device, it can be used in complete
Self-oscillation is eliminated in the combustion system of premix.
According to the present invention, above-mentioned purpose is reached by the Helmholtz resonator that can individually adjust.One of the invention
Embodiments, provides a kind of combustion system, it has burner, for combustion air and optional fuel gas to be conveyed
To the burner air blower, the air blower is disposed therein live gas conduit, be wherein disposed with gas regulation
The fuel gas conduit of valve and the Helmholtz resonator being connected with the live gas conduit, wherein the fuel gas
Conduit is passed through in the live gas conduit or is passed directly into the burner.The Helmholtz resonator has to be used for
Adjust the drive device of the volume of Helmholtz resonator.
Present invention is preferably applicable to electronic fuel gas-air system, wherein using volume or mass flow sensor,
Pressure difference between its measurement air flue and fuel gas channels.By the volume or mass flow sensor, can not only
Detection self-oscillation, and frequency of oscillation can also be determined in the case of sample rate is sufficiently high.By means of Fourier transformation, by institute
The sensor signal conversion frequency scope for measuring.
The present invention also aims to, there is provided a kind of Helmholtz resonator that can adjust its effective frequency.Helmholtz
The frequency of acoustic resonator running is limited by its physical dimension.On the one hand variation is the damping space in entity, the opposing party
Face is the oscillatory hollow in interface channel.
For example, in a closed cylinder, the cylinder is by the interface channel of corresponding adjustment in corresponding pre-determined work
It is connected with the combustion system with point or is integrated in the combustion system in the position, the Helmholtz resonator
Side edge length change is so adjusted so that the position of the bottom of the cylinder can be by means of appropriate motor machine (for example
Servomotor) and changed along the axis of symmetry.Required cylinder side edge length is calculated with the frequency of oscillation that evidence is obtained, and
And be modified to adjust the side edge length.
The present invention protects a kind of control system, and it determines self-excited oscillatory frequency by sensor and adjusts adjustable
Helmholtz resonator, so as to oscillation-damped.Therefore, the system need gas control valve, adjustable air blower and
Burner.
Brief description of the drawings
The present invention is illustrated in conjunction with accompanying drawing.In the accompanying drawings:
Fig. 1 shows Helmholtz resonator;
Fig. 2 shows the first implementation method of the combustion system with Helmholtz resonator of the invention;And
Fig. 3 shows second implementation method of the combustion system with Helmholtz resonator of the invention.
Specific embodiment
Fig. 1 is shown with two cylindric Helmholtz resonators 2 of cylindric volume.First Helmholtz resonator is justified
Column volume 17 has length l1And radius r1.The cylindric volume 17 of first Helmholtz resonator both sides all open wide and
Its side connects with the cylindric volume 18 of the second Helmholtz resonator, and the cylindric volume of the second Helmholtz resonator has
Length l2And radius r2。
The intrinsic frequency f of the Helmholtz resonator0Can such as be got off determination.
In this case, c is the velocity of sound, A1Be the cross section aperture of input of Helmholtz resonator (herein:A1=
r1 2* π), V2Be the volume of the second Helmholtz resonator volume 18 (herein:V2=r2 2*π*l2), and 2* Δs l1It is mouth of pipe school
On the occasion of (herein:)。
Fig. 2 shows the combustion technology system of the invention for having burner 11 and air blower 10 along live gas conduit 14
System.The air of the extracting combustion of air blower 10 and it is transported to burner 11.Air blower 10 has revolution detector.In drum
The upstream of blower fan 10, the opening at the Venturi tube 3 in live gas conduit 14 of fuel gas conduit 15, leads in the fuel gas
Fuel gas regulating valve 9 is disposed with pipe and before opening.Mass flow sensor 1 be arranged in fuel gas conduit 15 with it is new
Between fresh gas conduit 14 and for adjusting the mixture of fuel gas-air.In the upstream of Venturi tube 3, as shown in Figure 1
Cylindrical Helmholtz resonator 2 be connected with live gas conduit 14.Need to be complete in pre-determined application point/active position
Into the connection of Helmholtz resonator 2.Helmholtz resonator 2 has in the cylindric volume 18 of the second Helmholtz resonator
Moveable acoustic resonator cylinder 4 such that it is able to constantly adjust its volume.To move acoustic resonator cylinder 4, linear stepping electricity is used
Motivation 5, it can be coordinated by the internal thread 7 in the drive shaft 6 of screw thread rod type and acoustic resonator cylinder 4 and make the acoustic resonator
Cylinder is moved.In order to avoid acoustic resonator cylinder 4 rotates, set and reverse retainer.Ultrasonic wave or laser log 8 are used to detecting the
The current length of the cylindric volume 18 of two Helmholtz resonators.Acoustic resonator cylinder 4 is closed in gastight manner bis- Hai Muhuo
The hereby side wall of the cylindric volume 18 of acoustic resonator.Sealing for needed for this can be designed to, such as lip packing or ring packing.One
Revolution detector, fuel gas regulating valve 9, the mass flow sensor 1, linear step of controller 16 and air blower 10, air blower
Enter motor 5 and ultrasonic wave or laser log 8 is connected respectively.
If there is burning self-oscillation in system operation, then it triggers the feedback on burning and fuel gas stream, this
Sample mass flow sensor 1 can just detect vibration.In fact, the signal of mass flow sensor 1 is all the time by different frequencies
Superposition, it is therefore necessary to be just necessary to perform removing measure more than the threshold value of oscillation intensity.
First, N number of value of sensor signal is recorded with sample rate f.Here, the sample rate must be expected highest frequency
Twice is high.In order to use fast Fourier transform analysis, the number N of value must correspond to 2 power.
The algorithm of Fast Fourier Transform (FFT) (FFT) is based on discrete Fourier transform.For N number of actual sample value, calculate
N/2 spectrum lines or spectrum line F (i ωk):
, wherein k=0,1 ... .., N-1
The maximum frequency of deviation is defined as self-oscillatory frequency and it is further processed.Then, from this
The required height of acoustic resonator cylinder 4 is calculated in the frequency of the combustion oscillation that sample determines.For the intrinsic frequency of Helmholtz resonator
Rate f0, be given (refering to Fig. 1, see above):
For l2, draw:
The so control linear stepping motor 5 of controller 16 so that acoustic resonator cylinder 4 shifts to target location, until second
The cylindric volume 18 of Helmholtz resonator has calculated length l2.In this case, ultrasonic wave or laser log 8
It is used for measuring length by controller 16.In interchangeable implementation method, additionally it is possible to by precalculating linear stepping motor
The number of steps of target location is begun its travel to from stop position to realize.The number of steps must be by required stroke, the spiral shell of screw thread
Away from and each turn of motor of number of steps calculate acquisition.
In another embodiment, can be determined using incremental rotary encoder stepping motor position and by
The height of this determination cylinder.Hereby it is possible to compensate stepping loss.
Fig. 3 shows a kind of interchangeable implementation method.In this embodiment, Helmholtz resonator 2 is arranged in air blast
Between machine 10 and burner 11.The motor 12 being connected with controller 16 makes acoustic resonator cylinder 4 second by threaded rod 13
Moved in the cylindric volume 18 of Helmholtz resonator.Threaded rod 13 is rigidly connected to acoustic resonator cylinder 4 or by movable axis
Hold coupled.In this embodiment, it is not necessary to determine the length of the cylindric volume 18 of the second Helmholtz resonator, specifically
Mode is, when there is combustion oscillation (this combustion oscillation still by means of mass flow sensor 1 to recognize), from acoustic resonator gas
The extreme position of cylinder 4 starts, and is advanced to the direction of another extreme position, until eliminating burning self-oscillation, thus reaches correct
Side edge length.
If occurring to vibrate again after a while, then go to start position again first, to continue thereafter with traveling, until reaching
To the correct height of cylinder.
It is also feasible that above two method is combined:Can be drawn by the signal of mass flow sensor as described above
Necessary position.Then, the position of above-mentioned calculating can be roughly obtained according to a distance for determining, cylinder is moved from necessary position
Slow traveling again behind the position for calculating is moved, until oscillation-damped.So as to obtain the correct height of cylinder.
If having learnt critical frequency before combustion system startup, then in can saving it in memory, and can be
Burner adjusts the corresponding size of Helmholtz resonator before starting, to avoid vibration.In the case of most easy, closing
Close after combustion system, the setting of Helmholtz resonator is retained in the position of last setting and is protected before start next time
Hold constant for using.
Under two different frequencies, system may respectively have self-oscillation.In this example, for example, there is 40Hz
And the vibration trend of 160Hz.According to prior art, can be asked by solving this using two Helmholtz resonators
Topic, the two Helmholtz resonators be matched with two frequencies respectively in terms of its geometrical property in a corresponding frequency.Root
According to the present invention, Helmholtz resonator can be allocated, the two frequencies can be covered.If in the work of burner
There is more than one frequency in the range of work, then can be transferred to for acoustic resonator and just or in advance just advance by control system all the time
To operating point in measured frequency.The frequency and relevant work point are kept in memory.From an operating point
During changing to another operating point, read in memory, for new operating point, be transferred to acoustic resonator except when preceding
Outside critical frequency, if also in the presence of another critical frequency.If there is this situation, then the geometry of acoustic resonator is as above
It is adjusted during described modulation.
List of numerals
1 mass flow sensor
2 Helmholtz resonators
3 Venturi tubes
4 acoustic resonator cylinders
5 linear stepping motors
6 drive shafts
7 internal threads
8 ultrasonic waves or laser log
9 gas control valves
10 air blowers
11 burners
12 motor
13 threaded rods
14 live gas conduits
15 fuel gas conduits
16 controllers
The 17 first cylindric volumes of Helmholtz resonator
The 18 second cylindric volumes of Helmholtz resonator
Claims (11)
1. a kind of combustion system, it has burner (11), described for combustion air and optional fuel gas to be delivered to
The air blower (10) of burner (11), the live gas conduit (14) that the air blower (14) is disposed therein, wherein arrange
The Helmholtz for having the fuel gas conduit (15) of gas control valve (9) and being connected with the live gas conduit (14) is total to
Ring device (2), wherein the fuel gas conduit (15) is passed through in the live gas conduit (14) or is passed directly into the combustion
In burner (11), it is characterised in that the Helmholtz resonator (2) is with the body for adjusting Helmholtz resonator (2)
Long-pending drive device (4,5,6,7).
2. combustion system according to claim 1, it is characterised in that in the fuel gas conduit (15) and/or described
It is disposed with live gas conduit (14) or between the fuel gas conduit (15) and the live gas conduit (14)
Volume or mass flow sensor (1).
3. combustion system according to any one of the preceding claims, it is characterised in that the air blower (10) is with turning
Fast detector.
4. the combustion system according to Claims 2 or 3, it is characterised in that the volume or mass flow sensor (1)
And/or the revolution detector of the air blower (10) is connected with controller (16).
5. combustion system according to claim 4, it is characterised in that the controller (16) is with described for adjusting last of the twelve Earthly Branches nurse
Hereby the drive device (5,6,7) of the volume of acoustic resonator (2) is connected suddenly.
6. combustion system according to any one of the preceding claims, it is characterised in that the Helmholtz resonator (2)
Device with least one characteristic parameter for detecting the Helmholtz resonator (2).
7. a kind of method for operating combustion system, the combustion system has burner (11), for by combustion air and can
The fuel gas of choosing be delivered to the burner (11) air blower (10), by the air blower (14) be disposed therein it is fresh
Gas conduit (14), the fuel gas conduit (15) for being wherein disposed with gas control valve (9) and with the live gas conduit
(14) Helmholtz resonator (2) being connected, wherein, the fuel gas conduit (15) is passed through the live gas conduit
(14) in or it is passed directly into the burner (11), the fuel gas conduit (15) and/or the live gas conduit
(14) volume or mass flow sensor (1), and/or the air blower (10) are disposed with revolution detector, its
In, the Helmholtz resonator (2) with the volume for adjusting Helmholtz resonator (2) drive device (4,5,6,
7), it is characterised in that burning self-excitation is recognized by the volume or mass flow sensor (1) and/or the revolution detector
Vibration and its frequency, the volume of the subsequent Helmholtz resonator (2), the functional relation according to resulting frequency are calculated
Go out, and/or make the drive device (4,5,6,7) mobile until burning self-oscillation no longer occurs to be adjusted.
8. it is according to claim 7 operation combustion system method, it is characterised in that according to Fourier transformation to calculate
State frequency.
9. it is according to claim 7 operation combustion system method, it is characterised in that occur burning self-oscillation when,
The drive device (4,5,6,7) for adjusting the volume of the Helmholtz resonator (2) continues from an extreme position
Advanced to the direction of another extreme position on ground.
10. the method for the operation combustion system according to any one of claim 7 to 9, it is characterised in that make first described
Drive device (4,5,6,7) is mobile with coarse adjustment to the volume for being calculated, and then makes the drive device (4,5,6,7) OK
Enter until no longer there is burning self-oscillation.
The method of the 11. operation combustion system according to any one of claim 7 to 10, it is characterised in that will be previous
The result of adjustment is preserved in memory, and before combustion system operation, is accordingly adjusted according to the result for being stored
The volume of the Helmholtz resonator (2).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015222587.9 | 2015-11-16 | ||
DE102015222587.9A DE102015222587A1 (en) | 2015-11-16 | 2015-11-16 | Adaptive vibration damper |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106705037A true CN106705037A (en) | 2017-05-24 |
CN106705037B CN106705037B (en) | 2020-01-17 |
Family
ID=57226878
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610948234.8A Active CN106705037B (en) | 2015-11-16 | 2016-10-26 | Combustion system with adaptive Helmholtz resonator and method of operating the same |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3173698B1 (en) |
CN (1) | CN106705037B (en) |
DE (1) | DE102015222587A1 (en) |
ES (1) | ES2716654T3 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110857774A (en) * | 2018-08-24 | 2020-03-03 | 宁波方太厨具有限公司 | Noise-reducing fire grate |
CN111486473A (en) * | 2019-01-29 | 2020-08-04 | 威能有限公司 | Heater, method of controlling combustion in heater, and computer program product for performing the method |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114483219A (en) * | 2020-10-26 | 2022-05-13 | 中国航发商用航空发动机有限责任公司 | Vortex reducer, vortex reducing pipe and method for arranging vortex reducing pipe |
DE102022107984A1 (en) | 2022-04-04 | 2023-10-05 | Ebm-Papst Landshut Gmbh | Gas control valve for electronic pressure control on a gas boiler |
DE102022116819A1 (en) * | 2022-07-06 | 2024-01-11 | Vaillant Gmbh | Heater, method for equipping a heater with a check valve, silencer and use of a check valve and a control line |
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CN104566477A (en) * | 2014-12-31 | 2015-04-29 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Frequency modulation device for combustion gas turbine flame tube and combustion gas turbine flame tube |
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DE102004013584B4 (en) | 2003-05-10 | 2016-01-21 | IfTA Ingenieurbüro für Thermoakustik GmbH | Method for investigating the frequency-dependent vibration behavior of a burner |
DE102005062284B4 (en) * | 2005-12-24 | 2019-02-28 | Ansaldo Energia Ip Uk Limited | Combustion chamber for a gas turbine |
DE102008007967B4 (en) * | 2008-02-07 | 2022-11-10 | Eberspächer Climate Control Systems GmbH | Fuel-operated vehicle heater and exhaust system for a fuel-operated vehicle heater |
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2015
- 2015-11-16 DE DE102015222587.9A patent/DE102015222587A1/en not_active Withdrawn
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2016
- 2016-10-26 CN CN201610948234.8A patent/CN106705037B/en active Active
- 2016-11-04 EP EP16197252.6A patent/EP3173698B1/en active Active
- 2016-11-04 ES ES16197252T patent/ES2716654T3/en active Active
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US20040173175A1 (en) * | 2003-03-04 | 2004-09-09 | Kostun John D. | Helmholtz resonator |
US7337877B2 (en) * | 2004-03-12 | 2008-03-04 | Visteon Global Technologies, Inc. | Variable geometry resonator for acoustic control |
DE102005052881A1 (en) * | 2005-11-07 | 2007-05-10 | Robert Bosch Gmbh | Heating device e.g. oil-heated heating device, has helmholtz-resonator connected to opening as noise damping device and having resonator chamber formed with controller to change acoustic mass and/or volume of resonator chamber |
CN104566477A (en) * | 2014-12-31 | 2015-04-29 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Frequency modulation device for combustion gas turbine flame tube and combustion gas turbine flame tube |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110857774A (en) * | 2018-08-24 | 2020-03-03 | 宁波方太厨具有限公司 | Noise-reducing fire grate |
CN110857774B (en) * | 2018-08-24 | 2021-08-20 | 宁波方太厨具有限公司 | Noise-reducing fire grate |
CN111486473A (en) * | 2019-01-29 | 2020-08-04 | 威能有限公司 | Heater, method of controlling combustion in heater, and computer program product for performing the method |
Also Published As
Publication number | Publication date |
---|---|
DE102015222587A1 (en) | 2017-05-18 |
CN106705037B (en) | 2020-01-17 |
EP3173698A1 (en) | 2017-05-31 |
ES2716654T3 (en) | 2019-06-13 |
EP3173698B1 (en) | 2019-01-02 |
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