CN107121054A - The equipment that power simulation is carried out on trailer reversing element, preferably pedal force simulator - Google Patents
The equipment that power simulation is carried out on trailer reversing element, preferably pedal force simulator Download PDFInfo
- Publication number
- CN107121054A CN107121054A CN201710096452.8A CN201710096452A CN107121054A CN 107121054 A CN107121054 A CN 107121054A CN 201710096452 A CN201710096452 A CN 201710096452A CN 107121054 A CN107121054 A CN 107121054A
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- CN
- China
- Prior art keywords
- housing
- stroke measurment
- unit
- sensor
- moving element
- 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.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/30—Controlling members actuated by foot
- G05G1/38—Controlling members actuated by foot comprising means to continuously detect pedal position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/30—Controlling members actuated by foot
- G05G1/44—Controlling members actuated by foot pivoting
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Control Devices (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The present invention relates to a kind of equipment for being used to carry out power simulation on the operating element of vehicle, preferably gas pedal power simulator, the equipment provides the touch feedback on defined force-stroke characteristic, wherein, the moving element that can be supported with axial motion in the housing is connected with operating element.The integrated form stroke measurment unit that the equipment of the position of moving element includes being used to determine the moving element position can also be accurately determined in pedal force simulator, the stroke measurment unit includes being positioned at the internal or sensor in the housing outside fix on the housing, wherein, secured in the moving element and act on the target being connected with the sensor.
Description
Technical field
The present invention relates to a kind of equipment for being used to carry out power simulation on the operating element of vehicle, preferably simulated in pedal force
On device, the pedal force simulator provides the touch feedback on defined power-stroke characteristic, wherein, can axially it transport in the housing
The moving element supported dynamicly is connected with the operating element.
Background technology
In the clutch system for being related to line traffic control clutch principle, by motor control clutch, the motor exists
Adjusted in some cases by the clutch pedal by pilot control.However, driver should engage clutch and divide
Identical power-stroke change procedure is felt during luxuriant clutch on pedal, as felt in traditional piece-rate system.
Needed to manipulate motor on pedal or the information of the control run of pedal force simulator.Here, traditional piece-rate system
Active cylinder be able to should be produced and traditional piece-rate system identical, power-stroke change procedure for being applied on clutch pedal
Component is replaced.Especially, in the hydraulic pressure active cylinder of traditional piece-rate system, the work of the piston of piece-rate system is measured in balancing gate pit
Stroke.Here, a target is located on piston, and sensor is located at outside balancing gate pit.Because pedal force simulator does not have pressure
Room, it is impossible to carry out such stroke measurment.
The content of the invention
The task that the present invention is based on is to illustrate a kind of equipment for being used to carry out power simulation on the operating element of vehicle,
The reliable stroke measurment of the moving element of the equipment is generated in the operating element.
According to the present invention, the task is solved by following, that is, there is the integrated form row for being used for determining moving element position
Journey measuring unit, the stroke measurment unit includes being positioned at enclosure interior or the sensing being fixed on housing in hull outside
Device, wherein, one is secured on the mobile element acts on the target being connected with sensor.It has the advantage that being surveyed in stroke
Amount unit, which is integrated into when in pedal force simulator, to be needed less single part and less tolerance chain occurs.
In a flexible program, stroke measurment unit is configured to resistance-type stroke measurment unit.Such resistance-type stroke
Measuring unit can be extremely simple and is cost-effectively arranged in the equipment simulated for power while being durable, the resistance
Formula stroke measurment unit vehicle therefore suitable for using.
In a configuration scheme, resistance-type stroke measurment unit is configured to potentiometer, wherein, it is mounted with inner walls
The sensor of resistive element is configured to, wherein, the resistive element can be connected on two end with voltage source, and electricity is sliding
Move contact site to arrange on the mobile element as target, the electric sliding contact portion and resistive element Mechanical Contact.Because such
Current potential is calculated as component voltage device, so the voltage exported by potentiometer is suitable as the spy of the stroke for being passed by by moving element
Levy.
Alternatively, potentiometer can also be replaced and the solution as the increment type stroke reception device with Gray's code is used
Certainly scheme.
In a flexible program, stroke measurment unit is configured to induction type stroke measurment unit.Because in such sensing
The Mechanical Contact in stroke measurment is eliminated under formula stroke measurment cell cases, so the induction type stroke measurment unit is use
In it is determined that the especially insensitive device of moving element position.
In an expansion scheme, induction type stroke measurment unit is configured to sunk core coil, the sunk core coil
Including coil and ferromagnetic core, the coil extends and is fixed on the inwall along inner walls, and the ferromagnetic core is used as target
It is positioned on a side of moving element, wherein, coil is connected by two ends with voltage source.Such sunk core coil
It is extremely durable and allow reliable stroke measurment.
In an alternative solution, induction type stroke measurment unit is configured to differential transformer or is configured to eddy current sensor.
Advantageously, the coil of differential transformer is cast into housing or by the housing injection encapsulated, wherein, coil in order to
Feed and analyze and process and directly contacted on analyzing and processing electronic installation.
In the case of eddy current sensor, conductor is fixed on the mobile element.By the high frequency magnetic field produced in the sensor,
Moving element can produce vortex in motion.The impedance variations produced by being vortexed are used as measuring for moving element position.Because
Herein relate to only detect conductive material contactless measurement, so the measuring method for pollution be it is insensitive and because
This can reliably be used.
In another alternative solution, stroke measurment unit is configured to magnetostatic formula stroke measurment unit.The measuring method nor
Work in contact and therefore stroke measurment of the permission without abrasion.
In a flexible program, permanent magnet arranges that on the mobile element, the permanent magnet is with being positioned in housing as target
Hall sensor effect connection on wall or outer wall.Because Hall sensor can manufacture, cost is herein related to special
Favourable configuration scheme.
In one embodiment, lead frame-IC is either implemented or be embodied as to Hall sensor on circuit boards.
In a configuration scheme, sensor integration is into housing or the single survey that is held within the hull outside
Measure in unit housings.If stroke measurment unit is single measuring unit housing, the measuring unit housing, which is fixed on, to be used for
In the hull outside of the equipment of power simulation, then the distinct device simulated for power can be directed to by these additional sensors to be made
With the standard solution that itself is present, these equipment can simply be arranged in assembling.Especially in additional sensor
Tolerance chain is reduced, and can simply change in the case of maintenance service target, the target in the case of these additional sensors
Fix on the mobile element.
In another embodiment, Hall sensor is positioned in lead frame assembly, and the lead frame assembly is integrated
It is collectively arranged on housing or with sensor electronics in measuring unit housing on circuit board.Two flexible programs can be with
It is embodied as additional sensor or is desirably integrated into the housing for the equipment simulated for power.Especially, when Hall sensor is positioned at
On housing exterior walls and therefore as additional resolution by use, simple operations can be realized in assembly sensor.
In a flexible program, stroke measurment unit is configured to optical profile type or condenser type stroke measurment unit.
In an alternative solution, in order to change the linear motion of moving element, arranged in the moving element as target
Rack, according to linear motion implement rotary motion a gear engaged with the rack, the rotary motion is by being arranged in
Non-contact rotary sensor in housing or on housing is detected., when needed can be in the change by possible gearratio
Improve the resolution ratio and precision of sensor in type scheme.
Brief description of the drawings
The present invention allows numerous embodiments.These should further be explained according to the accompanying drawing shown in Figure of description
It is multiple in embodiment.
Accompanying drawing is shown：
The schematic diagram of the line traffic control clutch system of Fig. 1 vehicles,
Fig. 2 has the embodiment of the pedal force simulator of resistance-type stroke measurment unit,
Fig. 3 has the embodiment of the pedal force simulator of induction type stroke measurment unit,
Fig. 4 has the embodiment of the pedal force simulator of magnetostatic formula stroke measurment unit,
Fig. 5 has the embodiment of the pedal force simulator of eddy current sensor,
Fig. 6 has the further embodiment of the pedal force simulator of eddy current sensor,
Fig. 7 has the embodiment of the pedal force simulator of optics stroke measurment unit,
Fig. 8 has another embodiment of the pedal force simulator of optics stroke measurment unit,
Fig. 9 has the embodiment of the pedal force simulator of translation-rotation-stroke measurment unit,
Figure 10 has the implementation of the pedal force simulator according to the present invention of the stroke measurment unit as additional sensor
Example,
Figure 11 has another embodiment of the pedal force simulator of the stroke measurment unit as additional sensor,
Embodiment
Figure 1 illustrates the schematic diagram of clutch system 1, in the clutch system, clutch 2 passes through line traffic control clutch
System (Clutch-by-Wire-System) is manipulated.In such a system, will by pilot control gas pedal 3
It is connected with pedal force simulator 4, sensor 5 is arranged on the pedal force simulator, the sensor simulates pedal force
The movement of device 4 is sent in the control unit of motor 6.Here, motor 6 becomes according to the stroke measured by the sensor 5
Change and manipulate clutch 2 for example, by the section 7 of hydraulic pressure.
Figure 2 illustrates the embodiment that one is directed to pedal force simulator 4, the pedal force simulator is for being stepped in throttle
The equipment of power simulation is carried out on plate 3 and resistance-type stroke measurment unit 8 is configured with.Here, pedal force simulator 4 includes housing
9, moving element 10 is axially moveably supported in the housing, and the moving element passes through company not shown further
Element is connect to be connected with piston rod 11.In housing 9, for example, can be that the moving element 10 of piston is wrapped by multiple helical springs 12
Enclose.These helical springs 12 abut on housing bottom 13 and are compacted or are relaxed when manipulating moving element 10.Housing 9
There is protuberance 14 on the end towards helical spring 12, potentiometer is placed in the protuberance.Potentiometer is resistance member
Extend on part 15, the wall of bottom plate rabbet 16 of the resistive element inside housing 9, and two ends of the resistive element
17,18 are brought out from housing 9 and are manipulated and analysis and processing unit, such as control utensil or local with not shown further
Microcontroller is connected.Electric sliding contact portion 19, institute are secured on the side for the moving element 10 being coupled in bottom plate rabbet 16
State electric sliding contact portion mechanically to touch on resistive element 15 according to depending on the position of moving element 10, thus produce a point electricity
Pressure, and the voltage intercepted by control utensil on resistive element 15 is be evaluated as measuring for the position for moving element 10.
Figure 3 illustrates an alternative solution, here, replace potentiometer and arrange sunk core coil 20.In the sensing
In formula measuring method, the inwall of bottom plate rabbet 16 of the coil 21 along housing 9 extends and by two equally outside housing 9
Individual end 22,23 is connected with manipulation and analysis and processing unit.Arranged on the side of moving element 10 axially extending ferromagnetic
Core 24, the ferromagnetic core sinks in coil 21 when position changes or is pulled from the coil.Because magnetic field is due to ferromagnetic core
24 sink to can change, and therefore the voltage on coil 21 also change, and be processed as being used to move so voltage is also analyzed here
The position of moving cell 10 is measured.Sunk core coil is preferably differentially carried out, to compensate measurement inaccuracy.
Figure 4 illustrates the magnetostatic formula stroke measurment unit 25 of pedal force simulator 4.Here, in axial direction have south-
The northern permanent magnet 26 for orienting and being configured to target is arranged on the side of moving element 10.When moving element 10 is moved, permanent magnetism
Body 26 passes through from the side of Hall sensor 27, and the Hall sensor detects magnetic field, and therefore detects the position of moving element, and
The position is output on control utensil.
Figure 5 illustrates another embodiment of pedal force simulator 4, in this embodiment, stroke measurment unit is configured to
Eddy current sensor.On the side of moving element 10, electrically conductive material 28 is arranged as target, in the target, by by currents sensing
The high frequency magnetic field that device 29 is produced produces vortex, wherein, according to being arranged on the end of housing 9 of pedal force simulator 4
Impedance is caused to change in the eddy current sensor depending on the spacing of eddy current sensor 29.Eddy current resistance on coil according to target with
Axially different spacing between eddy current sensor 29 and it is different, and be therefore measuring for position for moving element 10.
Figure 6 illustrates an alternative solution in, be arranged in the permanent magnet 30 on the side of moving element 10 in pedal force
Constructed wedge-shapedly in the longitudinal extension part of simulator 4.Here, eddy current sensor 29 is arranged in the vertical of the bottom plate rabbet 16 of housing 9
On side.When moving element 10 is moved, between the radial direction of the permanent magnet 30 of wedge configuration and the eddy current sensor 29 being fixedly mounted
Away from that can change, thus, impedance change is also produced in the coil of eddy current sensor 29, and due to wedge-shaped permanent magnet 30 and vortex
The radial direction spacing of sensor 29 can export corresponding travel information.
In figures 7 and 8, pedal force simulator 4 is configured with optics stroke measurment unit.The optics stroke measurment unit includes
Send optical signalling and the transmission/reception unit 31 on housing bottom 13 is arranged according to Fig. 7.It is positioned at moving element 10
Target constructions on end face are the reflector 32 that the light sent by transmission/reception unit 31 is sent back to the transmission/reception unit.Hair
Give/receiving unit 31 includes analyzing and processing electronic installation not shown further, the analyzing and processing electronic installation implements optics
The delivery time measurement of signal, and therefrom it is inferred to the real time position of moving element 10.
It is different from Fig. 7, in fig. 8, the reflector 33 on the side of moving element 10 is arranged in pedal force simulator 4
Constructed wedge-shapedly in axially-extending portion, wherein, transmission/reception unit 31 is located externally on vertical on the bottom plate rabbet 16 of housing 9
On side.In this arrangement, the radial direction spacing between transmission/reception unit 31 and reflector 33 can change.Resulting light
Signal transmission time difference is used as measuring for the position for moving element 10.
Figure 9 illustrates the embodiment of the pedal force simulator 4 with measuring unit, in this embodiment, moving element
10 linear motion is converted into rotary motion.Here, rack 34 is in axial direction arranged on the side of moving element 10,
When moving element 10 is moved, the gear 36 being supported on axle 35 is placed in rotary motion by the rack.The rotation is transported
It is dynamic by according to magnetic or inductively measuring non-contact rotary sensor 37 that principle works and detecting, wherein, gear, in rotation
The incremental number passed by during transhipment is dynamic is measuring for the position for moving element 10.
It is integrated in here, the solution shown in embodiment is served not only as in the housing 9 of pedal force simulator 4
Solution, and so-called additional sensor is also used as, such as in figures 10 and 11 with magnetostatic formula stroke measurment unit
25 be the additional sensor as exemplifying.Even if in the case of these additional sensors, permanent magnet 26 is in any situation
Under also be disposed on the side of moving element 10.Here, Hall sensor 27 is co-located at circuit with sensor electronics 38
On plate 39, the Hall sensor, sensor electronics and circuit board are positioned at having on housing 9 outside housing 9 and drawn
In the sensor housing of wire frame, the sensor housing is simultaneously including the plug 40 outwards drawn.Here, sensor housing is parallel
Arranged in the ground of bottom plate rabbet 16 of housing 9, permanent magnet 26 is moved in the housing.
Figure 11 illustrates alternative solution in, additional sensor the disposed outside of housing 9 pedal force simulator 4 shell
On the housing bottom 13 of body 9 and including the motion chamber 41 for permanent magnet 26.Here, the side of moving element 10 passes through pedal
The housing bottom 13 of the housing 9 of power simulator 4 is outwards drawn and permanent magnet 26 is being extended parallel to Hall sensor 27
Move in chamber 41 and move.Therefore, permanent magnet 26 is located at the outside of pedal force simulator 4 and by the pretension of helical spring 42, the spiral shell
Rotation spring makes moving element 10 reset in initial position when in the absence of movement.Move chamber 41 and the common structure of Hall sensor
Into single measuring unit housing 43, the measuring unit housing can simply be assembled as additional sensor.
Reference numerals list
1 clutch system
2 clutches
3 gas pedals
4 pedal force simulators
5 sensors
6 motor
7 hydraulic sections
8 resistance-type stroke measurment units
9 housings
10 moving elements
11 piston rods
12 helical springs
13 housing bottoms
14 protuberances
15 resistive elements
16 bottom plate rabbets
17 resistive element ends
18 resistive element ends
19 sliding contact portions
20 sunk core coils
21 coils
22 end turns
23 end turns
24 ferromagnetic cores
25 magnetostatic formula stroke measurment units
26 permanent magnets
27 Hall sensors
28 conductive materials
29 eddy current sensors
30 permanent magnets
31 transmission/reception unit
32 reflectors
33 reflectors
34 racks
35 axles
36 gears
37 turn-sensitive devices
38 sensor electronics
39 circuit boards
40 plugs
41 motion chambers
42 helical springs
43 measuring unit housings
Claims (10)
1. the equipment for carrying out power simulation on the operating element of vehicle, the equipment is preferably gas pedal power simulator, should
Equipment provides the touch feedback on defined power-stroke characteristic, wherein, the shifting that can be supported with axial motion in housing (9)
Dynamic element (10) is connected with the operating element (3), it is characterised in that be provided with the position for determining the moving element (10)
The integrated form stroke measurment unit (8,20,25) put, the stroke measurment unit include being positioned at the housing (9) it is internal or
The sensor (15,21,27,29,31) of the housing outside fix on the housing, wherein, in the moving element (10)
Secure and act on the target (19,24,26,30,32,33) being connected with the sensor (17,21,27,29,31).
2. equipment according to claim 1, it is characterised in that the stroke measurment unit is configured to resistance-type stroke measurment
Unit (8).
3. equipment according to claim 2, it is characterised in that the resistance-type stroke measurment unit (8) is configured to current potential
Meter, wherein, it is mounted with to be configured to the sensor of resistive element (15) on the inwall of the housing (9), wherein, the resistance member
Part (15) can be connected on two ends (17,18) of the resistive element with voltage source, and in the moving element (10)
On arrange electric sliding contact portion (19) as target, the electric sliding contact portion and the resistive element (15) Mechanical Contact.
4. equipment according to claim 1, it is characterised in that the stroke measurment unit is configured to induction type stroke measurment
Unit (20).
5. equipment according to claim 4, it is characterised in that the induction type stroke measurment unit (20) is configured to sink to
Formula core coil, the sunk core coil includes coil (21) and ferromagnetic core (24), institute of the coil along the housing (9)
State inwall to extend and be fixed on the inwall, the ferromagnetic core is positioned at a side of the moving element (10) as target
On, wherein, the coil (21) is connected by two ends (22,23) with manipulation and analysis and processing unit.
6. equipment according to claim 4, it is characterised in that the induction type stroke measurment unit is configured to differential transformation
Device is configured to eddy current sensor (29).
7. equipment according to claim 1, it is characterised in that the induction type stroke measurment unit is configured to magnetostatic formula row
Journey measuring unit (25).
8. equipment according to claim 7, it is characterised in that arranged in the moving element (10) as target forever
Magnet (26), the permanent magnet and the Hall sensor (27) being positioned on the inwall of the housing (9) or outer wall are acted on
Connection.
9. equipment according to any one of the preceding claims, it is characterised in that the sensor (15,21,27,29,
31) it is integrated into the housing (9) or is secured within the single measuring unit shell on the housing outside the housing (9)
In body (43).
10. equipment according to claim 10, it is characterised in that the stroke measurment unit is configured to optical profile type or electric capacity
Formula stroke measurment unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016202721 | 2016-02-23 | ||
| DE102016202721.2 | 2016-02-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107121054A true CN107121054A (en) | 2017-09-01 |
| CN107121054B CN107121054B (en) | 2021-12-07 |
Family
ID=59522179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710096452.8A Active CN107121054B (en) | 2016-02-23 | 2017-02-22 | Device for simulating forces on a vehicle actuating element |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107121054B (en) |
| DE (1) | DE102017102418A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109613938A (en) * | 2019-01-10 | 2019-04-12 | 南京感控通化工产品经营部 | A kind of personal control multistage speed adjusting method |
| CN109849882A (en) * | 2019-03-06 | 2019-06-07 | 上海擎度汽车科技有限公司 | Power simulator |
| CN113090472A (en) * | 2019-12-23 | 2021-07-09 | 新疆金风科技股份有限公司 | Displacement sensor, method for monitoring bolt looseness of tower barrel and wind generating set |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017215387A1 (en) * | 2017-09-01 | 2019-03-07 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Position determination of an actuating element |
| CN107784891B (en) * | 2017-12-13 | 2023-07-11 | 吉林大学 | Steering feel simulation and rotation angle measurement device for simulation driving system |
| DE102020117448A1 (en) | 2020-07-02 | 2022-01-05 | Schaeffler Technologies AG & Co. KG | Sensor arrangement for position detection and a coupling system with the sensor arrangement |
| WO2023210601A1 (en) * | 2022-04-29 | 2023-11-02 | 株式会社デンソー | Pedal device |
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| CN104442784A (en) * | 2014-11-28 | 2015-03-25 | 吉林大学 | Motor-integrated electric control brake master cylinder driving system |
| CN204567631U (en) * | 2015-03-20 | 2015-08-19 | 同济大学 | A kind of semi-active type pedal sense simulator |
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| CN109613938A (en) * | 2019-01-10 | 2019-04-12 | 南京感控通化工产品经营部 | A kind of personal control multistage speed adjusting method |
| CN109849882A (en) * | 2019-03-06 | 2019-06-07 | 上海擎度汽车科技有限公司 | Power simulator |
| CN109849882B (en) * | 2019-03-06 | 2021-08-06 | 上海擎度汽车科技有限公司 | Force simulator |
| CN113090472A (en) * | 2019-12-23 | 2021-07-09 | 新疆金风科技股份有限公司 | Displacement sensor, method for monitoring bolt looseness of tower barrel and wind generating set |
Also Published As
| Publication number | Publication date |
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| CN107121054B (en) | 2021-12-07 |
| DE102017102418A1 (en) | 2017-08-24 |
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