CN107102607A - Large-scale activity flat pad multi-point leveling control system and control method - Google Patents
Large-scale activity flat pad multi-point leveling control system and control method Download PDFInfo
- Publication number
- CN107102607A CN107102607A CN201610095005.6A CN201610095005A CN107102607A CN 107102607 A CN107102607 A CN 107102607A CN 201610095005 A CN201610095005 A CN 201610095005A CN 107102607 A CN107102607 A CN 107102607A
- Authority
- CN
- China
- Prior art keywords
- signal
- plc
- transmission mechanism
- pressure
- flow
- 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.)
- Pending
Links
Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- 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
- G05B2219/10—Plc systems
- G05B2219/14—Plc safety
- G05B2219/14006—Safety, monitoring in general
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention relates to a kind of large-scale activity flat pad multi-point leveling control system and control method, personal control and the output end of automatic controller are connected with the input of PLC；The output end of PLC is connected with the input of pressure amplifier and flow amplifier；Pressure amplifier output end is connected with the input of proportional pressure valve；The output end and proportional flow control valve output end of proportional pressure valve are connected with the input of transmission mechanism respectively；The output end of PLC is connected by the input of magnetic valve and transmission mechanism；The output end of transmission mechanism is connected with support arm and force cell respectively；Displacement transducer is connected with PLC；Force cell and level meter are connected with PLC.Large-scale activity flat pad multi-point leveling control system of the present invention, realizes reliable control of the movable launch platform to the perpendicularity adjustment with 12 fulcrums, improves the ability that flat pad completes launch mission.
Description
Technical field
The present invention relates to a kind of large-scale activity flat pad multi-point leveling control system and control method.
Background technology
Carrier rocket movable launch platform multi-point leveling control system, is the important corollary equipment of flat pad, for realizing that 12 supporting arms of movable launch platform adjust the function of launch vehicle verticality.12 points of support rocket bodies, varied widely compared with existing ripe model, each boosting has three strong points, core level is supported jointly by 4 boosters, and vertical adjusting includes core level vertical adjusting, each booster vertical adjusting, comprehensive vertical adjusting etc., while each fulcrum is rigidly connected with rocket tail end, each active force change directly reaction is on rocket body, it is a multiloop input, the closed-loop control system of multiloop output, while needing very high security requirement to control system, it is ensured that the security of rocket body and flat pad.Existing control method is complicated, and control difficulty is big, and control accuracy is difficult to ensure that.
The content of the invention
For above-mentioned deficiency of the prior art, the present invention provides a kind of reliable control of perpendicularity adjustment before and after improving the lifting of carrier rocket rocket body and filling, it is ensured that the large-scale activity flat pad multi-point leveling control system smoothly completed of transmitting action.
The technical solution used in the present invention is：
A kind of large-scale activity flat pad multi-point leveling control system,
Personal control, automatic controller, PLC, displacement transducer, pressure amplifier, flow amplifier, proportional pressure valve, proportional flow control valve, magnetic valve, force cell, transmission mechanism, support arm and level meter,
The output end of the personal control and automatic controller is connected with the input of PLC；
The output end of PLC is connected with the input of pressure amplifier and flow amplifier；
The output end of pressure amplifier is connected with the input of proportional pressure valve；
The output end of proportional pressure valve and the output end of proportional flow control valve are connected with the input of transmission mechanism respectively；
The output end of PLC is connected by the input of magnetic valve and transmission mechanism；
The output end of transmission mechanism is connected with support arm and force cell respectively；
Support arm is connected with displacement transducer and level meter；
Displacement transducer is connected with PLC；
Force cell is connected with PLC；
Level meter is connected with PLC.
A kind of large-scale activity flat pad multi-point leveling control method, comprises the following steps：
Automatic controller sends initial pressure signal P1 and flow signal V2, the lifting speed for controlling support arm；
During control arm lifting, PLC exports 24V voltage signals to magnetic valve simultaneously, the lifting direction for controlling support arm；
The signal that PLC gathers displacement transducer is compared with standard signal, forms close loop control circuit；
Pressure amplifier and flow amplifier are respectively received the pressure signal and flow signal of PLC output, are amplified output pressure signal P2 and flow signal V2 after processing；
Proportional pressure valve and proportional flow control valve are according to pressure signal P 2 and flow signal V2 the control transmission mechanism action received；
Magnetic valve, which is received, controls transmission mechanism action after the voltage signal that PLC is sent, and then controls the lifting direction of support arm；
Transmission mechanism controls the lifting speed of support arm according to the pressure signal P 3 and flow signal V3 that receive；According to the solenoid signal received, the lifting direction of support arm is controlled；
Displacement transducer is during arm lifting, the constantly displacement signal of collection transmission mechanism output, and displacement signal is fed back into PLC；
Force cell is during arm lifting, the constantly dynamometry signal of collection transmission mechanism output, and dynamometry signal is fed back into PLC, and when dynamometry signal exceedes preset value, system produces alarm signal, stops current action；
Level meter is during arm lifting, the constantly horizontal signal of collection transmission mechanism output, and horizontal signal is fed back into PLC, and when horizontal signal exceedes preset value, system produces alarm signal, stops current action.
A kind of large-scale activity flat pad multi-point leveling control method, comprises the following steps：
Personal control sends initial pressure signal P1 and flow signal V2, the lifting speed for controlling support arm；
During control arm lifting, PLC exports 24V voltage signals to magnetic valve simultaneously, the lifting direction for controlling support arm；
The signal that PLC gathers displacement transducer is compared with standard signal, forms close loop control circuit；
Pressure amplifier and flow amplifier are respectively received the pressure signal and flow signal of PLC output, are amplified output pressure signal P2 and flow signal V2 after processing；
Proportional pressure valve and proportional flow control valve are according to pressure signal P 2 and flow signal V2 the control transmission mechanism action received；
Magnetic valve, which is received, controls transmission mechanism action after the voltage signal that PLC is sent, and then controls the lifting direction of support arm；
Transmission mechanism controls the lifting speed of support arm according to the pressure signal and flow signal received；According to the solenoid signal received, the lifting direction of support arm is controlled；
Displacement transducer is during arm lifting, the constantly displacement signal of collection transmission mechanism output, and displacement signal is fed back into PLC；
Force cell is during arm lifting, the constantly dynamometry signal of collection transmission mechanism output, and dynamometry signal is fed back into PLC, and when dynamometry signal exceedes preset value, system produces alarm signal, stops current action；
Level meter is during arm lifting, the constantly horizontal signal of collection transmission mechanism output, and horizontal signal is fed back into PLC, and when horizontal signal exceedes preset value, system produces alarm signal, stops current action.
The beneficial effect of the present invention compared with the prior art：
Large-scale activity flat pad multi-point leveling control system of the present invention, according to reciprocal influence rule between the displacement of each point supporting arm, stress and levelness three, realize the reliable control that movable launch platform is lifted to the carrier rocket rocket body with 12 fulcrums and the front and rear perpendicularity of filling is adjusted, ensure multiple spot perpendicularity adjustment control of the carrier rocket on large-scale activity flat pad, efficiently solve the adjustment of multiple spot perpendicularity and resolve problem, effective guarantee is provided to the item controlled for entering transmitting flow, the ability that flat pad completes launch mission is improved.
Brief description of the drawings
Fig. 1 is the system block diagram of large-scale activity flat pad multi-point leveling control method；
Fig. 2 is the control algolithm figure of large-scale activity flat pad multi-point leveling control method；
Fig. 3 is the structural representation of this large-scale activity flat pad multi-point leveling control method.
Critical piece symbol description in accompanying drawing：
In figure：
1st, displacement transducer 2, support arm.
Embodiment
Referring to the drawings and embodiment the present invention will be described in detail：
A kind of large-scale activity flat pad multi-point leveling control system,
Personal control, automatic controller, PLC, displacement transducer, pressure amplifier, flow amplifier, proportional pressure valve, proportional flow control valve, magnetic valve, force cell, transmission mechanism, support arm and level meter, displacement transducer are laser displacement sensor；
The output end of the personal control and automatic controller is connected with the input of PLC；
The output end of PLC is connected with the input of pressure amplifier and flow amplifier；
The output end of pressure amplifier is connected with the input of proportional pressure valve；
The output end of proportional pressure valve and the output end of proportional flow control valve are connected with the input of transmission mechanism respectively；
The output end of PLC is connected by the input of magnetic valve and transmission mechanism；
The output end of transmission mechanism is connected with support arm and force cell respectively；
Support arm is connected with displacement transducer and level meter；
Displacement transducer is connected with PLC；
Force cell is connected with PLC；
Level meter is connected with PLC.
A kind of large-scale activity flat pad multi-point leveling control method, comprises the following steps：
Automatic controller after system start-up, sends initial pressure signal P1 and flow signal V2, the lifting speed for controlling support arm；
During control arm lifting, PLC exports 24V voltage signals to magnetic valve simultaneously, the lifting direction for controlling support arm；
The signal that PLC gathers displacement transducer is compared with standard signal, forms close loop control circuit；
Pressure amplifier and flow amplifier are respectively received the pressure signal and flow signal of PLC output, are amplified output pressure signal P2 and flow signal V2 after processing；
Proportional pressure valve and proportional flow control valve are according to pressure signal P 2 and flow signal V2 the control transmission mechanism action received；
Magnetic valve, which is received, controls transmission mechanism action after the voltage signal that PLC is sent, and then controls the lifting direction of support arm；
Transmission mechanism controls the lifting speed of support arm according to the pressure signal P 3 and flow signal V3 that receive；According to the solenoid signal received, the lifting direction of support arm is controlled；
Displacement transducer is during arm lifting, the constantly displacement signal of collection transmission mechanism output, and displacement signal is fed back into PLC；
Force cell is during arm lifting, the constantly dynamometry signal of collection transmission mechanism output, and dynamometry signal is fed back into PLC, and when dynamometry signal exceedes preset value, system produces alarm signal, stops current action；
Level meter is during arm lifting, the constantly horizontal signal of collection transmission mechanism output, and horizontal signal is fed back into PLC, and when horizontal signal exceedes preset value, system produces alarm signal, stops current action.
A kind of large-scale activity flat pad multi-point leveling control method, comprises the following steps：
Personal control after system start-up, sends initial pressure signal P1 and flow signal V2, the lifting speed for controlling support arm；
During control arm lifting, PLC exports 24V voltage signals to magnetic valve simultaneously, the lifting direction for controlling support arm；
The signal that PLC gathers displacement transducer is compared with standard signal, forms close loop control circuit；
Pressure amplifier and flow amplifier are respectively received the pressure signal and flow signal of PLC output, are amplified output pressure signal P2 and flow signal V2 after processing；
Proportional pressure valve and proportional flow control valve are according to pressure signal P 2 and flow signal V2 the control transmission mechanism action received；
Magnetic valve, which is received, controls transmission mechanism action after the voltage signal that PLC is sent, and then controls the lifting direction of support arm；
Transmission mechanism controls the lifting speed of support arm according to the pressure signal and flow signal received；According to the solenoid signal received, the lifting direction of support arm is controlled；
Displacement transducer is during arm lifting, the constantly displacement signal of collection transmission mechanism output, and displacement signal is fed back into PLC；
Force cell is during arm lifting, the constantly dynamometry signal of collection transmission mechanism output, and dynamometry signal is fed back into PLC, and when dynamometry signal exceedes preset value, system produces alarm signal, stops current action；
Level meter is during arm lifting, the constantly horizontal signal of collection transmission mechanism output, and horizontal signal is fed back into PLC, and when horizontal signal exceedes preset value, system produces alarm signal, stops current action.
Two kinds of control loops that personal control, automatic controller are constituted are designed with interlock circuit.
Accompanying drawing 2 understands that the main output pressure and flow to hydraulic actuating mechanism of the present invention, which is controlled, realizes multi-point leveling control function.PID regulation parameters are determined using trial and error procedure：The basic initial value of setting, by simulation or the response curve of operation with closed ring observing system, the substantially influence then responded according to each link parameter on system, gathers examination parameter, to reach satisfied response, so that it is determined that pid parameter repeatedly.Feedback error parameter is displacement.Set up formula model as follows：
HMark 2-HMark 1=δMark(formula 1)
HWith 2-HWith 1=δWith(formula 2)
Δ δ=δWith-KδMark(formula 3)
U=r- (KP-TI) Δ δ (formula 4)
Wherein, HMark 1、HMark 2Height when elemental height and the stopping of standard leg is represented respectively；HWith 1、H With 2Height when elemental height and the stopping of servo-actuated leg is represented respectively；δMark、δWithStandard leg, the height change value of servo-actuated leg are represented respectively；K is proportionality coefficient, Δ δ be δ with K δMarkDifference, the error amount in as PID；R is initial setting flow value, and u is the flow value after adjustment.
Its operation curve is considered ideal curve by standard leg as benchmark；Servo-actuated leg is adjusted as following according to ideal curve.The conversion height error of servo-actuated leg and standard leg is calculated, error delta δ is fed back in the flow control of servo-actuated leg, adjustment repeatedly obtains optimal curve of output.Load and levelness influence factor are considered simultaneously, and as exportable scope, Region control limit value realizes the high-accuracy control method of various factors coupling.
Accompanying drawing 3, fluid motor-driven decelerator, decelerator drives bolt and nut to promote inner sleeve to be moved up and down with respect to support arm, and rocket body is arranged on force cell, and force cell is connected with inner sleeve.The distance that rocket body on support arm is moved up and down is measured by displacement sensor, the quality of rocket body by force cell, and the levelness of rocket body passes through level measurement.
Large-scale activity flat pad multi-point leveling control method, it is first determined the changing rule of non-linear load, carries out influence of the analysis to other beam loads during the adjustment of branch beam load, realizes the multi-point leveling control algolithm of optimization.
Large-scale activity flat pad multi-point leveling control method, by the height for controlling each support arm of transmitting station, adjust the perpendicularity of rocket, in the control process of height, according to each arm lifting range error, regulation in real time is carried out to support arm responsiveness and is controlled, mainly passes through the regulation and control to flow, according to PID Principles of Regulation, the control to arm lifting is realized.
Large-scale activity flat pad multi-point leveling control method, reciprocal influence rule between the displacement of each point support arm, stress and levelness three is summed up, with displacement as primary reference point, on the premise of control error is ensured, take into account the influence of stress and levelness, it is ensured that the requirement of control accuracy.
The above described is only a preferred embodiment of the present invention, not the structure to the present invention makees any formal limitation.Any simple modification, equivalent variations and modification that every technical spirit according to the present invention is made to above example, are belonged in the range of technical scheme.
Claims (3)
1. a kind of large-scale activity flat pad multi-point leveling control system,
Personal control, automatic controller, PLC, displacement transducer, pressure amplifier,
Flow amplifier, proportional pressure valve, proportional flow control valve, magnetic valve, force cell, driver
Structure, support arm and level meter, it is characterised in that：
The output end of the personal control and automatic controller is connected with the input of PLC
Connect；
The output end of PLC is connected with the input of pressure amplifier and flow amplifier；
The output end of pressure amplifier is connected with the input of proportional pressure valve；
The input of the output end of proportional pressure valve and the output end of proportional flow control valve respectively with transmission mechanism
Connection；
The output end of PLC is connected by the input of magnetic valve and transmission mechanism；
The output end of transmission mechanism is connected with support arm and force cell respectively；
Support arm is connected with displacement transducer and level meter；
Displacement transducer is connected with PLC；
Force cell is connected with PLC；
Level meter is connected with PLC.
2. a kind of large-scale activity flat pad multi-point leveling control method, it is characterised in that：Including such as
Lower step：
Automatic controller sends initial pressure signal P1 and flow signal V2, the liter for controlling support arm
Reduction of speed degree；
During control arm lifting, PLC exports 24V voltage signals to electromagnetism simultaneously
Valve, the lifting direction for controlling support arm；
The signal that PLC gathers displacement transducer is compared with standard signal, forms closed loop
Control loop；
Pressure amplifier and flow amplifier are respectively received the pressure signal and stream of PLC output
Signal is measured, output pressure signal P2 and flow signal V2 after processing is amplified；
Proportional pressure valve and proportional flow control valve are according to pressure signal P 2 and flow signal the V2 control received
Transmission mechanism action processed；
Magnetic valve receives and transmission mechanism action is controlled after the voltage signal that PLC is sent, and then
Control the lifting direction of support arm；
Transmission mechanism controls the lifting of support arm according to the pressure signal P 3 and flow signal V3 that receive
Speed；According to the solenoid signal received, the lifting direction of support arm is controlled；
Displacement transducer is during arm lifting, the displacement signal that constantly collection transmission mechanism is exported,
And displacement signal is fed back into PLC；
Force cell is during arm lifting, the dynamometry signal that constantly collection transmission mechanism is exported,
And dynamometry signal is fed back into PLC, when dynamometry signal exceedes preset value, system produces report
Alert signal, stops current action；
Level meter is during arm lifting, the constantly horizontal signal of collection transmission mechanism output, and will
Horizontal signal feeds back to PLC, and when horizontal signal exceedes preset value, system produces alarm signal
Number, stop current action.
3. a kind of large-scale activity flat pad multi-point leveling control method, it is characterised in that：Including such as
Lower step：
Personal control sends initial pressure signal P1 and flow signal V2, the liter for controlling support arm
Reduction of speed degree；
During control arm lifting, PLC exports 24V voltage signals to electromagnetism simultaneously
Valve, the lifting direction for controlling support arm；
The signal that PLC gathers displacement transducer is compared with standard signal, forms closed loop
Control loop；
Pressure amplifier and flow amplifier are respectively received the pressure signal and stream of PLC output
Signal is measured, output pressure signal P2 and flow signal V2 after processing is amplified；
Proportional pressure valve and proportional flow control valve are according to pressure signal P 2 and flow signal the V2 control received
Transmission mechanism action processed；
Magnetic valve receives and transmission mechanism action is controlled after the voltage signal that PLC is sent, and then
Control the lifting direction of support arm；
Transmission mechanism controls the lifting speed of support arm according to the pressure signal and flow signal received
Degree；According to the solenoid signal received, the lifting direction of support arm is controlled；
Displacement transducer is during arm lifting, the displacement signal that constantly collection transmission mechanism is exported,
And displacement signal is fed back into PLC；
Force cell is during arm lifting, the dynamometry signal that constantly collection transmission mechanism is exported,
And dynamometry signal is fed back into PLC, when dynamometry signal exceedes preset value, system produces report
Alert signal, stops current action；
Level meter is during arm lifting, the constantly horizontal signal of collection transmission mechanism output, and will
Horizontal signal feeds back to PLC, and when horizontal signal exceedes preset value, system produces alarm signal
Number, stop current action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610095005.6A CN107102607A (en) | 2016-02-22 | 2016-02-22 | Large-scale activity flat pad multi-point leveling control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610095005.6A CN107102607A (en) | 2016-02-22 | 2016-02-22 | Large-scale activity flat pad multi-point leveling control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107102607A true CN107102607A (en) | 2017-08-29 |
Family
ID=59659019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610095005.6A Pending CN107102607A (en) | 2016-02-22 | 2016-02-22 | Large-scale activity flat pad multi-point leveling control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107102607A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101017074A (en) * | 2007-02-07 | 2007-08-15 | 东华大学 | Automatically agilely leveling system for missile launching platform |
| CN103092120A (en) * | 2011-10-27 | 2013-05-08 | 北京航天发射技术研究所 | Highly-reliable control system and highly-reliable control method of oscillating bar |
| CN103994697A (en) * | 2014-04-29 | 2014-08-20 | 北京航天发射技术研究所 | Automatic vertical adjustment controlling system and method for movable launching platform |
| CN204646824U (en) * | 2015-04-28 | 2015-09-16 | 北京航天发射技术研究所 | High integrated digital hydraulic control cabin |
| CN105223805A (en) * | 2015-09-29 | 2016-01-06 | 北京航天发射技术研究所 | The low load car launcher control system of high-precision high-reliability and control method |
-
2016
- 2016-02-22 CN CN201610095005.6A patent/CN107102607A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101017074A (en) * | 2007-02-07 | 2007-08-15 | 东华大学 | Automatically agilely leveling system for missile launching platform |
| CN103092120A (en) * | 2011-10-27 | 2013-05-08 | 北京航天发射技术研究所 | Highly-reliable control system and highly-reliable control method of oscillating bar |
| CN103994697A (en) * | 2014-04-29 | 2014-08-20 | 北京航天发射技术研究所 | Automatic vertical adjustment controlling system and method for movable launching platform |
| CN204646824U (en) * | 2015-04-28 | 2015-09-16 | 北京航天发射技术研究所 | High integrated digital hydraulic control cabin |
| CN105223805A (en) * | 2015-09-29 | 2016-01-06 | 北京航天发射技术研究所 | The low load car launcher control system of high-precision high-reliability and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102050068B (en) | Balance lifting regulation device for frame vehicle under offset load condition and regulation method thereof | |
| CN102114517B (en) | Displacement-force compound control lifting system for forging manipulator | |
| CN103775437A (en) | Hydraulic cylinder test bench load simulation device and control method thereof | |
| CN102303421A (en) | System and method for controlling running speed of hydraulic press | |
| CN102235535B (en) | Positioner | |
| CN103995463B (en) | A kind of electro-hydraulic proportional valve position servo driving method based on mixture control | |
| CN102536935A (en) | Hydraulic synchronous control device and method | |
| CN111352450B (en) | Digital proportional valve flow control system and method | |
| CN101660519B (en) | Electrical feedback electro-hydraulic proportional pressure flux compound control method and variable output pump | |
| CN106625592B (en) | Robot lifting shaft pneumatic servo balance self weight self-regulation control system and method | |
| CN100494698C (en) | Dynamic compensation hydraulic pressure servo valve null shift method | |
| CN107102607A (en) | Large-scale activity flat pad multi-point leveling control system and control method | |
| CN106374801A (en) | Power-driven servo control system and method for self-adaptive adjustment according to deviation | |
| CN103115041A (en) | Hydraulic pressure automatic control device | |
| CN102873106B (en) | Rapid and accurate control method for elongation rate of temper mill | |
| CN102840972B (en) | Hydraulic loading device for mechanical part test table | |
| CN201502838U (en) | Automatic control device for installation and adjustment of wedge type iron pads of machine tool | |
| CN105373168B (en) | A kind of flat pad conversion device control method | |
| CN203587326U (en) | Tractor lifting device particle weight automatic loading system | |
| CN102602839A (en) | Control system, hoisting system and crane | |
| CN108626206B (en) | A kind of state parameter acquisition device for electrohydraulic servo-controlling system | |
| CN201882855U (en) | Hydraulic lifting device | |
| CN205956094U (en) | Pressure control system | |
| CN103885414A (en) | Distributed PID control magnetic levitation ball system based on CAN bus | |
| CN102501402A (en) | Hydraulic device capable of outputting constant force, and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170829 |