CN107272747A - It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder - Google Patents

It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder Download PDF

Info

Publication number
CN107272747A
CN107272747A CN201710485856.6A CN201710485856A CN107272747A CN 107272747 A CN107272747 A CN 107272747A CN 201710485856 A CN201710485856 A CN 201710485856A CN 107272747 A CN107272747 A CN 107272747A
Authority
CN
China
Prior art keywords
motor
control
electric cylinder
cylinder
stage electric
Prior art date
Application number
CN201710485856.6A
Other languages
Chinese (zh)
Inventor
高润鹏
王鹏飞
杨慧敏
聂光玮
赵滨
李建冬
Original Assignee
北京机械设备研究所
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 北京机械设备研究所 filed Critical 北京机械设备研究所
Priority to CN201710485856.6A priority Critical patent/CN107272747A/en
Publication of CN107272747A publication Critical patent/CN107272747A/en

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback

Abstract

A kind of to play perpendicular control system based on multi-stage electric cylinder, the system includes multi-stage motor cylinder assembly, data acquisition control device, multi-turn photoelectric encoder, angular transducer and plays perpendicular device.The present invention also provides one kind and plays perpendicular control method using the system, according to perpendicular time, perpendicular process acceleration requirement and load state is played, has planned vertical angle degree, has played perpendicular speed and thrust, control multi-stage motor cylinder assembly does linear motion and driven perpendicular device perpendicular.Perpendicular device has been promoted erect as executing agency using multi-stage electric cylinder, multi-stage electric cylinder does not have fuel tank and fluid pressure line etc., in the absence of evaporating, emitting, dripping or leaking of liquid or gas phenomenon, also it is not present and changes level impact, overcome and the shortcoming that perpendicular device is present is played based on multistage hydraulic cylinder, multi-stage electric cylinder, which has been applied in perpendicular device, has simple in construction, fast response time, precision is high, does not change the advantages of level is impacted.

Description

It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder
Technical field
The present invention relates to play perpendicular control field, more particularly to a kind of perpendicular control system and control based on multi-stage electric cylinder Method.
Background technology
Missile truck is by playing perpendicular device by missile erecting to set angle, and the executing agency for playing perpendicular device typically uses Hydraulic cylinder, especially multistage hydraulic cylinder.Multistage hydraulic cylinder rise it is perpendicular during exist and change level impact, caused perpendicular device to rock. And hydraulic system building block is more, complicated, and fluid pressure line has evaporating, emitting, dripping or leaking of liquid or gas phenomenon.
Although in the patent No. 201510152094.9, rise it is perpendicular during play perpendicular device and take reduce before level point is changed and erect Speed, after steadily level is changed, has further accelerated and has erected, but has haveed the shortcomings that the perpendicular time is elongated and changed level impact.
The content of the invention
In view of above analyze, for based on multistage hydraulic cylinder rise perpendicular device in, multistage hydraulic cylinder exist change level impact, Hydraulic system is complicated, the shortcomings of there is evaporating, emitting, dripping or leaking of liquid or gas, the present invention propose it is a kind of based on multi-stage electric cylinder rise perpendicular control system and Control method, has promoted perpendicular device erect, simple with composition, response is fast using multi-stage electric cylinder as executing agency, The good advantage of dynamic property.
A kind of to play perpendicular control system based on multi-stage electric cylinder, the system includes multi-stage motor cylinder assembly, data acquisition Control device, angular transducer 1, angular transducer 2 and a perpendicular device;
The upper fulcrum of the multi-stage motor cylinder assembly is connected with playing perpendicular device, and lower fulcrum is connected with car launcher car body;It is described The rotating shaft of multi-stage motor cylinder assembly and the rotating shaft of angular transducer 1 are coaxially connected;The rotating shaft of the angular transducer 2 is co-axially mounted On the gyroaxis for playing perpendicular device;
The output end of the angular transducer 2 and the input of data acquisition control device are connected;The data acquisition control Input of the output end and angular transducer 1 of device processed with multi-stage motor cylinder assembly is connected.
Further, the multi-stage motor cylinder assembly includes multi-stage electric cylinder cylinder body, motor and motor driver;The electricity The rotating shaft of machine and the rotating shaft of the central shaft and angular transducer 1 of multi-stage electric cylinder cylinder body are coaxially connected;
The input of the motor driver and the output end of data acquisition control device and angular transducer 1 are connected;Institute State the output end of motor driver and the input of motor is connected.
Further, the data acquisition control device includes computer, data collecting card and motion control card;The number It is installed on according to capture card and motion control card in computer;The output end of the motion control card and the input of motor driver Connection;The output end of the angular transducer 2 and the input of data collecting card are connected.
Further, the multi-stage motor cylinder assembly is used to drive perpendicular device to realize perpendicular and returned translation work, wherein many Level electric cylinder cylinder body is used to drive perpendicular device to realize that perpendicular or time translation is made, and motor is used for rotation driving multi-stage electric cylinder cylinder body Move along a straight line, motor driver rotates for motor;
Computer in the data acquisition control device is calculated for data, and data collecting card is sensed for acquisition angles The angle-data of device 2, motion control card is used for controlled motor;
Described perpendicular device is used to fix injection device pending;
The angular transducer 1 is used for the measurement of motor rotating cycle and the anglec of rotation;
The angular transducer 2 is used for the angle for having measured perpendicular device.
Further, the angular transducer 1 is multi-turn photoelectric encoder or rotary transformer.
The present invention also provides a kind of perpendicular control method based on multi-stage electric cylinder using the system, methods described bag Include following steps:
Step 1: building the perpendicular control system based on multi-stage electric cylinder;
Step 2: startup power supply is powered;
Step 3: according to playing the perpendicular time, playing perpendicular process acceleration requirement and load state, having planned vertical angle degree, having played perpendicular speed Degree and thrust, control multi-stage motor cylinder assembly do linear motion and have driven perpendicular device perpendicular.
Further, the step 3 is specifically included:
Step 3.1, basis play the perpendicular time, play perpendicular process acceleration requirement and load state, have planned vertical angle degree-thrust song Line and an a vertical angle degree-perpendicular rate curve;
Step 3.2, the multi-stage motor cylinder assembly have driven perpendicular device perpendicular since 0 °;
Step 3.3, rise it is perpendicular during, vertical angle degree is currently played by the data acquisition of data collecting card reading angular sensor 2, Computer plays vertical angle degree-thrust curve according to step 3.1 and plays a vertical angle degree-perpendicular rate curve and reads and currently play vertical angle degree Corresponding thrust and a perpendicular speed;Computer is according to the thrust and plays perpendicular speed calculating determination motor in the case where currently playing vertical angle degree Theoretical torque and rotating speed;
The theoretical rotational speed of step 3.3 motor is inputed to motion control card, angular transducer 1 by step 3.4, computer By the real-time speed feedback of motor to motion control card, the motion control card carries out the theoretical rotational speed of motor and real-time rotating speed Comparing calculation, according to result of calculation to motor driver output speed control signal;
The theoretical torque of step 3.3 motor is inputed to motion control card by computer, and the motion control card is to electricity Machine driver output torque control signal;
Step 3.5, motor driver will speed controling signal described in step 3.4 and torque control signal amplification after export to Motor;
Step 3.6, motor change rotating speed and torque rotation driving multi-stage electric cylinder cylinder according to amplified signal described in step 3.4 Body, which stretches out, to move along a straight line, and has promoted perpendicular device to rise perpendicular;
Step 3.7, when playing vertical angle degree and reaching 90 °, has stopped perpendicular process, the motor stops the rotation, the multistage is electric Dynamic cylinder cylinder body stops stretching out.
Further, rise vertical angle degree for 0 degree~15 degree when, multi-stage motor cylinder assembly takes low-speed high-thrust to stretch out;Rise perpendicular When angle is 15 degree~40 degree, multi-stage motor cylinder assembly takes thrust in middling speed to stretch out;It is that 40 degree~barycenter turns up to play vertical angle degree Point angle, multi-stage motor cylinder assembly takes high speed low thrust;Play vertical angle degree and exceed barycenter and turn up after an angle, multi-stage electric cylinder is filled Put thrust and become pulling force, play vertical angle degree and turned up angle~85 degree more than barycenter, multi-stage motor cylinder assembly takes the small pulling force of middling speed;Rise Vertical angle degree is 85 degree~90 degree, and multi-stage motor cylinder assembly takes pulling force in low speed.
The present invention has the beneficial effect that:
The present invention proposes a kind of perpendicular control system and control method based on multi-stage electric cylinder, is made using multi-stage electric cylinder Perpendicular device has been promoted to carry out for executing agency perpendicular.Multi-stage electric cylinder does not have fuel tank and fluid pressure line etc., in the absence of evaporating, emitting, dripping or leaking of liquid or gas Phenomenon, also in the absence of level impact is changed, overcomes and plays the shortcoming that perpendicular device is present based on multistage hydraulic cylinder, multi-stage electric cylinder is applied to Rising has simple in construction, fast response time in perpendicular device, precision is high, does not change the advantages of level is impacted.
Other features and advantages of the present invention will be illustrated in the following description, also, part can become from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write Specifically noted structure is realized and obtained in book, claims and accompanying drawing.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as limitation of the present invention, in whole accompanying drawing In, identical reference symbol represents identical part.
Fig. 1 is the structural representation that plays perpendicular control system of the present invention based on multi-stage electric cylinder.
Fig. 2 is vertical angle degree-thrust curve of embodiment.
Fig. 3 is an a vertical angle degree-perpendicular rate curve for embodiment.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings:
For rising in perpendicular device based on multistage hydraulic cylinder, what multistage hydraulic cylinder was present changes level impact, hydraulic system complexity, The shortcomings of there is evaporating, emitting, dripping or leaking of liquid or gas, proposes an a kind of perpendicular control method based on multi-stage electric cylinder.
Embodiment
It is a kind of that concretely comprising the following steps for perpendicular control method is played based on multi-stage electric cylinder:
The first step is built plays perpendicular control system based on multi-stage electric cylinder
A perpendicular control system based on multi-stage electric cylinder, including:Computer, data collecting card, motion control card, multistage electricity Dynamic cylinder cylinder body, motor, motor driver, multi-turn photoelectric encoder, power supply, angular transducer, a perpendicular device.
Computer is used for data calculating, and there is provided data collecting card, motion control card installation environment.Data collecting card is installed on In computer, the angle-data for acquisition angles sensor.Angular transducer is used for the angle for having measured perpendicular device.Motion control Fabrication is used for motor control.Multi-stage electric cylinder cylinder body is used to drive perpendicular device to realize that perpendicular or time translation is made.Motor rotation is driven Dynamic multi-stage electric cylinder cylinder body moves along a straight line.Motor driver rotates for motor.Multi-turn photoelectric encoder is used for motor Rotating cycle and rotation angle measurement.Playing perpendicular device is used to fix guided missile or launching tube.Power supply is used for computer, data acquisition Card, motion control card, motor, motor driver, multi-turn photoelectric encoder, angular transducer are powered.
The rotating shaft of angular transducer has been coaxially mounted on the gyroaxis of perpendicular device.Motion control card, data collecting card peace Dress is in a computer.Fulcrum is hinged with playing perpendicular device on multi-stage electric cylinder, and lower fulcrum and the car launcher car body of multi-stage electric cylinder are cut with scissors Connect.The rotating shaft of motor is connected with the central axis of multi-stage electric cylinder cylinder body, the rotating shaft of motor and turning for multi-turn photoelectric encoder Axle is coaxially connected, and the output end of motion control card and the input of motor driver pass through cable connection, multi-turn photoelectric encoder Pass through cable connection with the input of motor driver.The output end of angular transducer and the input of data collecting card pass through electricity Cable is connected.Power supply of the output end of power supply respectively with computer, multi-turn photoelectric encoder, motor driver, angular transducer is defeated Enter end and pass through cable connection.The output end of motor driver passes through cable connection with input end of motor.
Second step power supply is each power supply for electrical equipment
Power supply is respectively computer, data collecting card, motion control card, motor, motor driver, multi-turn photoelectric coding Device, angular transducer are powered.
3rd step plays perpendicular control method
First according to playing the perpendicular time, play perpendicular process acceleration requirement and load state, by optimal time law of planning or its His law of planning obtains two curves, has been vertical angle degree-thrust curve respectively, has played vertical angle degree-play perpendicular rate curve, such as Fig. 2 and Fig. 3 It is shown.
Rise vertical angle degree be 0 degree~15 degree when, multi-stage electric cylinder takes low-speed high-thrust to stretch out;It is 15 degree~40 to play vertical angle degree When spending, multi-stage electric cylinder takes thrust in middling speed to stretch out;It is that 40 degree~barycenter turns up an angle to play vertical angle degree, and multi-stage electric cylinder is adopted Take high speed low thrust;Play vertical angle degree and exceed barycenter and turn up after an angle, multi-stage electric cylinder thrust becomes pulling force, plays vertical angle degree more than matter The heart turns up angle~85 degree, and multi-stage electric cylinder takes the small pulling force of middling speed;It is 85 degree~90 degree to play vertical angle degree, and multi-stage electric cylinder is adopted Take pulling force in low speed.
Then, multi-stage electric cylinder cylinder body driving emitter is erected from 0 degree to during 90 degree, is read by data collecting card Angle sensor data is taken to obtain current vertical angle degree, currently a vertical angle degree is corresponding according to a vertical angle degree-thrust curve reading is played Thrust, currently plays corresponding perpendicular speed of vertical angle degree, computer is perpendicular fast according to rising according to playing a vertical angle degree-play a perpendicular rate curve and reading Degree calculates the current rotating speed for determining motor, and computer calculates the current torque for determining motor according to thrust, passes through motion control card Speed controling signal and torque control signal are exported to motor driver, multi-turn photoelectric encoder inputs motor speed signal To motion control card, motor driver receives the speed controling signal and torque control signal of motion control card output, and motor drives Dynamic device after speed controling signal and torque control signal amplification to exporting to motor, and motor presses current rotating speed and torque rotation driving Multi-stage electric cylinder cylinder body, multi-stage electric cylinder cylinder body, which stretches out, to move along a straight line, and has promoted perpendicular device to rise perpendicular.90 are reached when playing vertical angle degree When spending, motor stops the rotation, and multi-stage electric cylinder cylinder body stops stretching out.
So far, an a kind of perpendicular control method based on multi-stage electric cylinder is completed.
Multi-stage electric cylinder is used to drive perpendicular device perpendicular by the present invention, instead of multistage hydraulic cylinder;According to a perpendicular time, rise Perpendicular acceleration requirement and load state, have cooked up vertical angle degree-thrust curve, have played vertical angle degree-perpendicular two curves of rate curve, Obtained by data collecting card and currently play vertical angle degrees of data, vertical angle degree-thrust curve reads current thrust data from, perpendicular from An angle-perpendicular rate curve reads and currently plays perpendicular speed data.Overcome multistage hydraulic cylinder presence change level impact, structure it is multiple The shortcomings of miscellaneous, evaporating, emitting, dripping or leaking of liquid or gas, multi-stage electric cylinder has simple in construction, fast response time, and precision is high, does not change level impact etc. excellent Point.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, It should all be included within the scope of the present invention.

Claims (8)

1. it is a kind of based on multi-stage electric cylinder rise perpendicular control system, it is characterised in that the system include multi-stage motor cylinder assembly, Data acquisition control device, angular transducer 1, angular transducer 2 and a perpendicular device;
The upper fulcrum of the multi-stage motor cylinder assembly is connected with playing perpendicular device, and lower fulcrum is connected with car launcher car body;The multistage The rotating shaft of electronic cylinder assembly and the rotating shaft of angular transducer 1 are coaxially connected;The rotating shaft of the angular transducer 2 has been coaxially mounted to On the gyroaxis of perpendicular device;
The output end of the angular transducer 2 and the input of data acquisition control device are connected;The data acquisition control dress Input of the output end and angular transducer 1 put with multi-stage motor cylinder assembly is connected.
2. perpendicular control system is played based on multi-stage electric cylinder according to claim 1, it is characterised in that the multi-stage electric cylinder Device includes multi-stage electric cylinder cylinder body, motor and motor driver;The rotating shaft of the motor and the center of multi-stage electric cylinder cylinder body The rotating shaft of axle and angular transducer 1 is coaxially connected;
The input of the motor driver and the output end of data acquisition control device and angular transducer 1 are connected;The electricity The output end of machine driver and the input of motor are connected.
3. perpendicular control system is played based on multi-stage electric cylinder according to claim 2, it is characterised in that the data acquisition control Device processed includes computer, data collecting card and motion control card;The data collecting card and motion control card are installed on calculating In machine;The output end of the motion control card and the input of motor driver are connected;The output end of the angular transducer 2 with The input connection of data collecting card.
4. perpendicular control system is played based on multi-stage electric cylinder according to claim 3, it is characterised in that the multi-stage electric cylinder Device is used to drive perpendicular device to realize that perpendicular and time translation is made, and wherein multi-stage electric cylinder cylinder body is used to drive perpendicular device to realize Rise perpendicular or return translation work, motor moves along a straight line for rotation driving multi-stage electric cylinder cylinder body, motor driver is used to drive electricity Machine rotates;
Computer in the data acquisition control device is calculated for data, and data collecting card is used for acquisition angles sensor 2 Angle-data, motion control card be used for controlled motor;
Described perpendicular device is used to fix injection device pending;
The angular transducer 1 is used for the measurement of motor rotating cycle and the anglec of rotation;
The angular transducer 2 is used for the angle for having measured perpendicular device.
5. perpendicular control system is played based on multi-stage electric cylinder according to any one of claim 1-4, it is characterised in that described Angular transducer 1 is multi-turn photoelectric encoder or rotary transformer.
6. a kind of perpendicular control method based on multi-stage electric cylinder of system any one of utilization claim 1-5, it is special Levy and be, the described method comprises the following steps:
Step 1: building the perpendicular control system based on multi-stage electric cylinder;
Step 2: startup power supply is powered;
Step 3: according to playing the perpendicular time, playing perpendicular process acceleration requirement and load state, plan vertical angle degree, a perpendicular speed and Thrust, control multi-stage motor cylinder assembly does linear motion and has driven perpendicular device perpendicular.
7. perpendicular control method is played based on multi-stage electric cylinder according to claim 6, it is characterised in that the step 3 is specific Including:
Step 3.1, according to playing the perpendicular time, playing perpendicular process acceleration requirement and load state, plan vertical angle degree-thrust curve with Play a vertical angle degree-perpendicular rate curve;
Step 3.2, the multi-stage motor cylinder assembly have driven perpendicular device perpendicular since 0 °;
Step 3.3, rise it is perpendicular during, vertical angle degree is currently played by the data acquisition of data collecting card reading angular sensor 2, calculated It is corresponding with vertical angle degree-perpendicular current vertical angle degree of rate curve reading is played that machine plays vertical angle degree-thrust curve according to step 3.1 Thrust and rise perpendicular speed;Computer is according to the thrust and plays the reason that perpendicular speed calculates determination motor in the case where currently playing vertical angle degree By torque and rotating speed;
The theoretical rotational speed of step 3.3 motor is inputed to motion control card by step 3.4, computer, and angular transducer 1 is by electricity The real-time speed feedback of machine is contrasted the theoretical rotational speed of motor and real-time rotating speed to motion control card, the motion control card Calculate, according to result of calculation to motor driver output speed control signal;
The theoretical torque of step 3.3 motor is inputed to motion control card by computer, and the motion control card drives to motor Dynamic device output torque control signal;
Step 3.5, motor driver will be exported to electricity after speed controling signal described in step 3.4 and torque control signal amplification Machine;
Step 3.6, motor change rotating speed according to amplified signal described in step 3.4 and torque rotation driving multi-stage electric cylinder cylinder body is stretched Go out to move along a straight line, promoted perpendicular device to rise perpendicular;
Step 3.7, when rise vertical angle degree reach 90 ° when, stopped perpendicular process, the motor stops the rotation, the multi-stage electric cylinder Cylinder body stops stretching out.
8. perpendicular control method is played based on multi-stage electric cylinder according to claim 6 or 7, it is characterised in that it is 0 to play vertical angle degree When spending~15 degree, multi-stage motor cylinder assembly takes low-speed high-thrust to stretch out;Rise vertical angle degree be 15 degree~40 degree when, multi-stage electric cylinder Device takes thrust in middling speed to stretch out;It is that 40 degree~barycenter turns up an angle to play vertical angle degree, and multi-stage motor cylinder assembly is taken at a high speed Low thrust;Play vertical angle degree and exceed barycenter and turn up after an angle, multi-stage motor cylinder assembly thrust becomes pulling force, plays vertical angle degree more than barycenter Turn up angle~85 degree, multi-stage motor cylinder assembly takes the small pulling force of middling speed;Rise vertical angle degree be 85 degree~90 degree, multi-stage electric cylinder Device takes pulling force in low speed.
CN201710485856.6A 2017-06-23 2017-06-23 It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder CN107272747A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710485856.6A CN107272747A (en) 2017-06-23 2017-06-23 It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710485856.6A CN107272747A (en) 2017-06-23 2017-06-23 It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder

Publications (1)

Publication Number Publication Date
CN107272747A true CN107272747A (en) 2017-10-20

Family

ID=60069150

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710485856.6A CN107272747A (en) 2017-06-23 2017-06-23 It is a kind of that perpendicular control system and control method are played based on multi-stage electric cylinder

Country Status (1)

Country Link
CN (1) CN107272747A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108345319A (en) * 2018-04-10 2018-07-31 中北大学 A kind of control system of electric cylinder test buffering trolley
CN109764746A (en) * 2018-12-12 2019-05-17 上海航天设备制造总厂有限公司 A kind of servomechanism high and low position calibration device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106081953A (en) * 2016-08-17 2016-11-09 王杨 A kind of electric power hoisting apparatus easy to use
CN106517010A (en) * 2016-10-09 2017-03-22 广州市中潭空气净化科技有限公司 Instrument lifting and hoisting system used in power field

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106081953A (en) * 2016-08-17 2016-11-09 王杨 A kind of electric power hoisting apparatus easy to use
CN106517010A (en) * 2016-10-09 2017-03-22 广州市中潭空气净化科技有限公司 Instrument lifting and hoisting system used in power field

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
吴向阳: "车载大型导弹发射装置电驱动快速垂直起竖技术研究", 《中国博士学位论文全文数据库工程科技Ⅱ辑》 *
张启俊: "导弹发射车调平起竖系统建模及控制算法研究", 《中国优秀硕士学位论文全文数据库》 *
彭富霞等: "中子衍射谱仪用二级电动缸的传动刚度特性分析", 《机械传动》 *
许兵宗: "二级电动缸的设计与研究", 《中国优秀硕士学位论文全文数据库(电子期刊)》 *
邓飒等: "基于五次B样条的起竖装置时间最优轨迹规划", 《组合机床与自动化加工技术》 *
邓飙,张潇,郭君斌,郭杨: "双电动缸起竖设备同步控制策略仿真研究", 《机床与液压》 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108345319A (en) * 2018-04-10 2018-07-31 中北大学 A kind of control system of electric cylinder test buffering trolley
CN108345319B (en) * 2018-04-10 2021-03-12 中北大学 Control system of buffering trolley for testing electric cylinder
CN109764746A (en) * 2018-12-12 2019-05-17 上海航天设备制造总厂有限公司 A kind of servomechanism high and low position calibration device

Similar Documents

Publication Publication Date Title
CN203643175U (en) Electric wheel hub motor testing stand
CN101253309B (en) Rotary coring device and method for acquiring a sidewall core from an earth formation
CN203881298U (en) A detecting device for detecting the repeated positioning accuracy of industrial robot arm movement
CN102383777B (en) Measuring and controlling device used for rotary steering drilling system and measuring and controlling method utilizing same
CN106769021A (en) A kind of industrial robot power unit reliability test bench
CN101788429B (en) Equipment for testing bending and torsion resisting performances of electrical insulator
CN101010512A (en) Pump jack apparatus and pumping method
CN205239904U (en) Multiaxis ducted fan aircraft
CN100335877C (en) Torque test air support rotating platform for control torque gyro
CN102032114A (en) Method and apparatus for controlling acoustic emissions of a wind turbine
CN104359773B (en) A kind of stretching for auto parts and components and reverse torsion machine
CN105406786A (en) Rotational inertia identification method for permanent magnet synchronous motor
CN102278065B (en) Rotating steering tool, deflection mechanism thereof and control method for deflection mechanism
CN203772474U (en) High-strength bolt connection set torque coefficient detection device
CN102837283B (en) Numerical-control constant-torque electric spanner
CN102650566A (en) Experimental device of interaction of horizontal supercavity and free surface
CN102914442B (en) One-way pressure dynamic loading device
CN104034461B (en) A kind of test macro of elaborate servo mechanism friction moment and method of testing
CN104454350A (en) Wind turbine and control method for lowering unbalanced load of rotor of wind turbine
CN101871851A (en) Loading test device for five-axis linkage machine tools
JP6303132B2 (en) Hydraulic fracturing test equipment
CN103134721B (en) Dynamic triaxial testing machine servo-driven by electric cylinder
CN104847750B (en) Electro-hydraulic combined type linear actuator
CN102654431A (en) Brake tester with combination of mechanical analogue and electric inertia analogue and control algorithm
CN107104544A (en) A kind of integrated electromechanical servo acting device of high power to weight ratio

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