CN107631825A - Control system and its control method based on the portable ship electronic indicators of ARM - Google Patents
Control system and its control method based on the portable ship electronic indicators of ARM Download PDFInfo
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Abstract
Based on the control system and its control method of the portable ship electronic indicators of ARM, including cylinder pressure sensor, CKP, ARM controller, industrial computer, display screen, keyboard, file management controller；It is characterized in that：The cylinder pressure sensor, CKP are electrically connected by signal processing circuit with ARM controller；The keyboard is used for input instruction to ARM controller and the parameter signal of ARM controller processing is shown into another way uploads industrial computer by serial communication modular by display screen all the way；The ARM controller is also connected with printer；The file management controller connects with ARM controls, for reading and writing of files.Directly the data gathered are handled using ARM data processing speed and ability, it is ageing higher；Improve the practicality of systemic-function and the economy of equipment cost.
Description
Technical field
The present invention relates to a kind of novel portable electronics to show work(device, and the portable ships of ARM are based on more particularly, to one kind
The control system and its control method of electronic indicator.
Background technology
Diesel engine is due to having the advantages that the thermal efficiency is high, power has a wide range of application, compact-sized being widely used in ship
As main and auxiliaries power-equipment.Research and development to diesel engine will more pay attention to discharge, economy, durability and can
By various aspects such as property.The research of the combustion process of diesel engine be unable to do without measuring for indicator card, and indicator card is working medium pressure in cylinder
The figure that power changes with crank angle, cylinder pressure carry a large amount of useful informations of diesel engine combustion, and and diesel oil
The performance indications and evaluating of the machine course of work have close relationship, the running parameter of each cylinder, performance indications, discharge index
All it is reflected in whole or in part on cylinder pressure etc. difference.It is both study working process of diesel engine degree of perfection it is important according to
According to, and for calculating the foundation of diesel engine indicated horsepower, can be used as the money of diesel engine Strength co-mputation and Cable Power Computation
Material.Cylinder of diesel engine combustion process, Combustion Release Heat can be studied by indicator card, cylinder temperature, diesel engine power is calculated, comment
Estimate scavenging process, determine diesel engine maximum combustion pressure and compression pressure etc..Because indicator card can show bavin with image format
Oil machine in-cylinder process, and measuring instrument is simple and practical, while bavin is judged according to the calculating of indicator card and analysis result
The service behaviour of oil machine, and appropriate adjustment can be carried out to diesel engine, ensure that diesel oil function operates under optimum, improve warp
Ji property, reliability and dynamic property.However, the test system for being used to measure diesel engine performance in the prior art is also present much not
Foot, as its system does not open, it is impossible to the defects of implementation reads or write, changes parameter, measurement accuracy is not high.
The content of the invention
The present invention seeks to solve deficiency of the prior art, devise one kind and work(is shown based on the portable ship electronics of ARM
The control system and its control method of device, its technical scheme are as follows：
Based on the control system of the portable ship electronic indicators of ARM, including cylinder pressure sensor, CKP,
ARM controller, industrial computer, display screen, keyboard, file management controller；It is characterized in that：The cylinder pressure sensor, crank angle
Sensor is electrically connected by signal processing circuit with ARM controller；The keyboard is used for input instruction to ARM controller and incited somebody to action
The parameter signal of ARM controller processing shows that another way uploads industrial computer by serial communication modular by display screen all the way；Institute
ARM controller is stated also to be connected with printer；The file management controller connects with ARM controls, for reading and writing of files.
Preferably：The CKP uses model KISTLER2613B CKPs, the sensing
Device is arranged on diesel engine free end, and measurement rotating speed is not less than 15000rpm, and measurement drift error is not more than 0.05 DEG C of A；The song
The angular signal of collection is changed into pulse signal by the output signal of Shaft angle sensor after signal processing circuit；It is described
ARM controller is with model：STM32F103 chips are control core；Also include USB interface, the USB interface controls with ARM
Device connects；The file management controller uses CH376S document control chips；The serial communication modular uses MAX232 cores
Piece.
The control method of the control system of the portable ship electronic indicators of ARM based on above-mentioned technical proposal.
Beneficial effect：Directly the data gathered are handled using ARM data processing speed and ability, it is ageing
It is higher；Improve the practicality of systemic-function and the economy of equipment cost.
Brief description of the drawings
Fig. 1 is present system entire block diagram.
Fig. 2 is charge amplifier circuit schematic diagram of the present invention.
Fig. 3 is subtraction circuit of the present invention.
Fig. 4 is present invention isolation pick-up modular converter.
Fig. 5 is cdm signal finishing circuit of the present invention.
Fig. 6 is TRG trigger signals finishing circuit of the present invention.
Fig. 7 is keyboard circuit figure of the present invention.
Fig. 8 is that ARM minimum systems of the present invention and port connect circuit theory diagrams.
TFT liquid crystal interface circuit diagrams when Fig. 9 is the present invention 4.3.
Figure 10 is that CH376S of the present invention is file management control chip interface circuit.
Figure 11 is 3.3V mu balanced circuits schematic diagram of the present invention.
Figure 12 is electric source filter circuit circuit theory diagrams of the present invention.
Figure 13 is that the pressure data singular point that the present invention measures carries out indicator card data homogenizing handling process in processing step
Figure.
Figure 14 be pressure data of the present invention fairing processing step in it is smooth before pictorial diagram.
Figure 15 be pressure data of the present invention fairing processing step in it is smooth after pictorial diagram.
Figure 16 is the present inventionIndicator card,
Wherein：Using the crankshaft angles measured by CKP as abscissa, with the pressure corresponding to crankshaft angles
For ordinate.Embody cylinder of diesel engine and press P with angleThe trend for changing and changing.
Figure 17 is P-V indicator cards of the present invention.
Embodiment
Referring to shown in accompanying drawing 1.Based on the control system of the portable ship electronic indicators of ARM, including cylinder pressure sensor, song
Shaft angle sensor, ARM controller, industrial computer, display screen, keyboard, it is characterized in that：Cylinder pressure sensor, CKP
It is connected by signal processing circuit with ARM controller；The keyboard is used for input instruction to ARM controller, passes through ARM controller
The parameter signal of processing can show that another way uploads industrial computer by serial port module by display screen all the way；The ARM controller
Also it is connected with printer.
The measuring cells such as cylinder pressure sensor, CKP are arranged on diesel engine indicator valve and free end, to pressure
Measured with corner, signal measured by sensor is used as Signal-regulated kinase input by cable and directly linked.Signal
Conditioning module passes through noise reduction and level conversion, converts a signal into ARM institutes energy reception signal, and the I/O ports for passing through ARM are read
Enter.TFT LCDs is linked by ARM I/O ports when 4.3, the result of data handled by display.Key-press module leads to
Cross ARM I/O ports carry out link be used as data entry terminal.File management control chip CH376 passes through serial communication interface
It is connected with I/O ports with ARM.Printer is connected by I/O ports with printer.The system can with independent operating also with
Computer is connected, and the computer is industrial computer.
Embodiment 1
Cylinder pressure sensor uses model KISTLER6125C cylinder pressure sensors, and sensor installation shows work(with marine diesel
On valve, for measuring in-cylinder pressure.Pressure-bearing maximum is not less than 300bar, and 250 degrees Celsius, temperature drift errors are more than 1%.Pass
Sensor is arranged on diesel engine indicator valve port and is used to measure pressure in diesel engine inside cylinder.
Signal PRESSURE from cylinder pressure sensor KISTLER6125C is charge signal, for the diesel engine combustion detected
Cylinder pressure during burning.The signal detected by cylinder pressure sensor KISTLER6125C is for charge signal, it is necessary to by its turn
Voltage signal is changed into measure.Include charge amplifier circuit, subtraction circuit, isolation pick-up to cylinder pressure sensor signal transacting
Modular converter IPO EM-10-P-3.3.
Referring to shown in accompanying drawing 2-4, the quantity of electric charge very little of piezoelectric transducer output, for impedance matching can be realized, fortune is integrated
Put the LF356 chips using ST companies, the chip is broadband type junction field high input impedance operational amplifier, its with
Technotron has high input impedance, Low-bias Current and low input offset current as input stage.
The circuit that U10A is formed is electric charge modular converter.Wherein resistance R60 is to be brought into for eliminating in cable transmission
Noise jamming.U10A, feedback capacity C61 and feedback resistance R62 composition electric charge change-over circuits, pressure sensor
The charge signal that KISTLER6125C is measured is converted into voltage signal.Output voltage after sensor output charge signal Q is converted
For U0Between relation be：
Wherein：A is operational amplifier open-loop gain, and the order of magnitude is：103~104
Q pressure sensor KISTLER6125C output charge amounts
C61Feedback capacity
Electric capacity C61The quality of performance directly decides whether charge amplifier is stablized, so C61There should be high-leakage electricity
The high performance such as resistance, good adsorption effect, high stability, polystyrene electric capacity is selected as feedback capacity, capacitance 1000pF.
In order to protect amplifier LF356N, in input series resistance R61；U10B、R63With R64Voltage amplification module, voltage output are：
According to being actually needed, gain is adjusted by adjusting RP8.Exported by adjusting potentiometer RP9 to adjust zero-bit.
PRESSURE signals from cylinder pressure sensor export U1 after the signal transacting of charge amplifier circuitOUTLetter
Number, however, the signal is reverse negative voltage signal, to convert it to positive axis section using operational amplifier OP07 compositions
Subtraction.In the subtraction circuit that operational amplifier OP07 is formed：Feedback resistance slide rheostat RP1 is adjusted to and resistance R50 mono-
Cause, it is -1 times to make its multiplication factor.Regulation slide rheostat RP4 makes its output voltage be 5V.Pressure signal passes through operation amplifier
The subtraction circuit that device OP07 is formed converts the signal into 0~5V voltage signals Psin。
Due to by voltage signal P caused by signal processing circuitsinIn the presence of certain noise, in order to ensure to gather letter
Number reliability, authenticity, needed before the signal input processor by signal isolation, its isolate pick-up modular converter be
IPO EM-10-P-3.3, while pressure signal is transformed into the 0~3.3V voltage signals for meeting processor level needs by this.Every
A selecting switch S0 is connected from pick-up modular converter output end.The input of selecting switch S0 output end connection ARM controller
Output port：PB0, PB1, pass through switch shifting different choice different branch.
Embodiment 2
CKP uses model KISTLER2613B CKPs.Sensor is arranged on diesel engine
Free end, measurement rotating speed are not less than 15000rpm, and measurement drift error is not more than 0.05 DEG C of A.
Referring to shown in accompanying drawing 5-6.CKP signal processing circuit includes cdm signal finishing circuit, triggering letter
Number TRG finishing circuits.
The cdm signal of KISTLER2613B CKP CAM pins is come from as the crankshaft of diesel engine anglec of rotation
The signal of record, for confirming the angle turned over selected by crankshaft of diesel engine, for determining the abscissa of indicator card.It is existing due to gathering
Field interference is larger, carries out shaping to cdm signal using voltage comparator, it is standard block signal to make output.Signal passes through light again
Electric coupler 6N137 carries out signal isolation, prevents from causing damage to processor ARM, while convert a signal into 3.3V level, energy
Enough it is directly inputted to processing ARM I/O ports.PB15 is ARM I/O ports.
The TRIG signals of KISTLER2613B CKP CAMM pins are come from as trigger signal, are stopped for upper
The determination of point.Because collection site interference is larger, shaping is carried out to TRIG signals using voltage comparator, it is standard side to make output
Ripple signal.Signal carries out signal isolation by photoelectrical coupler P521 again, prevents from causing damage to processor ARM, while will letter
Number 3.3V level is converted to, processing ARM I/O ports can be directly inputted to.The circuit output signal is：By what is arranged
Regular pulse signal, the number of degrees of crank angle 0 are represented, determined for top dead centre.
Embodiment 3
Referring to shown in accompanying drawing 7.Independent keyboard, inputted for information.Diesel Engine Parameters in test can be carried out defeated
Enter, different types of test result can be selected with handover measurement interface, is such as shownCurve still shows family-V curves etc.
Deng.PB10, PB11, PB12, PB13, PB14 are ARM I/O ports.
TFT LCDs interface electricity when showing ARM minimum systems and port connection relationship, 4.3 referring to accompanying drawing 8-9
Road, its port pinout are directly attached with ARM I/O ports.The parameter of ARM processing can be directly displayed on the display screen
Referred to for tester.
It is file management control chip interface circuit to show CH376S referring to accompanying drawing 10, and CH376S is file management control
Chip, for the file in single-chip microcomputer/DSP/MCU/MPU system read-writes USB flash disk or SD card.Upper figure is file management control chip
CH376 interface circuits, directly the I/O ports with ARM are linked.Can be by measured data Cun Chudao movable storage devices
In, preserved, handled.
The power filter electricity used in system 3.3V mu balanced circuits schematic diagram and its system is shown referring to accompanying drawing 11-12
Road.Wherein mu balanced circuit uses integrated chip LT1117；Electric source filter circuit, wherein E1, E2, E3, E4, E8, E9, E10, E11
The two electric capacity are the influences in order to reduce positive-negative power to amplifier, reduce the low-and high-frequency interference for introducing amplifier.
Embodiment 4
Referring to shown in accompanying drawing 13-17.The control method of control system based on the portable ship electronic indicators of ARM is such as
Under：
Step 1：Sensor synchronous acquisition pressure output is PRESSURE charge signal Q, corner signal CMD, is triggered
Signal TRG；
Step 2：1. charge signal is changed by charge amplifier, voltage signal is converted thereof into, 2. through over level
Its voltage range is transferred to 0~5v by change-over circuit, 3. converts voltages into 0~3.3V electricity through overvoltage isolation finishing circuit again
Pressure；
Step 3：Corner signal CMD passes through flip-flop circuit, carries out shaping to signal, and remove interference signal；
Step 4：Trigger signal TRG passes through triggers circuit, carries out shaping to signal, and remove interference signal；
Step 5：ARM is by I/O ports to pressure charge signal, tri- letters of crank angle cmd signal and trigger signal TRG
Number read simultaneously；
Step 6：Pass through keyboard input parameter；
Step 7：The determination of top dead centre, in diesel engine, position when piston is lifted off crankshaft center ultimate range is referred to as
Stop, the main purpose for determining top dead centre are to determine to measure initial time；The method of generally determination top dead center position has quiet
State top dead centre positions, dynamic top dead centre mensuration and compression collimation method etc., wherein the precision of static top dead centre method positioning is relatively low；Dynamically
Top dead centre measurement accuracy highest, but device installation is complicated, is not easy to repair；And compress that device needed for collimation method is simple and precision compared with
Height, use also more convenient.
Compression collimation method is also motoring breakdown, exactly measures pressure indicator card when diesel engine is misfired, and is not considering pump gas damage
Heat exchange become estranged ideally, cylinder pressure, which is symmetrical with top dead centre distribution, the peak of pressure, that is, cylinder, to be held
Position when product is minimum, as top dead center position, therefore we can do some parallel to atmospheric pressure along towing astern indicator card
Line, the midpoint for connecting these lines is assured that the top dead center position of towing astern indicator card, in real combustion process, consider
To air loss and heat transfer losses, top dead center position is not consistent with towing astern indicator card top dead center position ideally,
Always in advance in towing astern indicator card top dead center position certain angle, this angle is generally called Heat Loss Angle by us, different
Diesel engine because of structural parameters, different Heat Loss Angles are different from rotating speed, therefore we can first according to compression collimation method
Towing astern indicator card top dead center position is determined, it is when truly burning then to subtract Heat Loss Angle of the diesel engine under the operating mode
Diesel engine top dead centre position.
Step 8 is handled the pressure data singular point of measurement
Indicator card data homogenizing processing, referring to described in accompanying drawing 13：
Indicator card should be the curve of a continuous and derivable in theory, but due to the complexity of combustion process in itself and show work(
Figure surveys the various random fluctuations that bring during record, plus the influence of various errors immediately, resulting measure point data be from
Scattered, therefore the indicator card curve for surveying record is not consecutive variations, the pressure curve of combustion phases is serrated.Therefore directly
When quoting the indicator card progress Calculation of Heat Release Rate of admission, very big distortion can be produced, it is impossible to truly reflect law of heat release, make people
Can not correctly analyze the characteristic of in-cylinder combustion process, solution to this problem be it is homogenizing to the indicator card of admission and
Fairing processing.
1. calculate an approximation for the pressure mean values for calculating point
In formulaTo be derived from the pressure value of different circulation indicator card data under same crank angle,
N is the number for the indicator card chosen.
2. calculate probable error
3. give up suspicious reading
If a certain number of degrees'sAbsolute value be more than it is givenThen give up this reading
4. the average value of each crank angle pressure after suspicious reading is given up in calculating：
N ' is the number for giving up left data after suspicious reading in formula,To give up the data after suspicious reading.
Step 9 carries out smooth treatment to the pressure curve of measurement：
The fairing processing of pressure data
In the test process of diesel indicating diagram data, due to pulse wave disturbance, piston rod motion randomicity
Deng influence, the indicator card curve for causing to draw out not is the curve of continuous and derivable, thus data homogenizing processing after need
Further fairing processing is carried out to curve, the microwave that fairing processing is advantageous to eliminate on indicator card pressure curve moves, and makes song
The smooth fairing of line, calculating heat liberation rate, heat release rate according to the data after processing more can be really close to actual exothermic process, exclusive PCR factor,
But the fairing processing of indicator card data can not be excessive, easily there is the situation for weakening maximum in excessive fairing, it is therefore necessary to selects
Suitable smoothing treatment method carries out the fairing of indicator card data, and the smoothing treatment method of indicator card data has 5 secondary lights suitable
Method, 7 smoothing methods and spline function smoothing method.
The basic point of departure of local smoothing method method is：Assuming that these data are arranged very close, and in the attached of each data point
Nearly single order, second order or three order derivatives are almost constants, and several adjacent data are respectively taken in the left and right of each data point, with once,
Then secondary or cubic polynomial, determines as approximation of the unknown number on minizone according to the principle of least square method
This once, secondary or cubic polynomial coefficient, thus can try to achieve the corrected value of correction center point.
By multiple practice, in the smoothing of data processing of internal combustion engine, more desirably 5 points it is secondary, 7 points it is secondary
With 5 points three times, 7 points of local smoothing method smoothing methods three times.
M of known independent variable x are at equal intervals：
x0, x1=x0+ h, x2=x0+ 2h ..., xi=x0+ ih ..., xm=x0+mh
Corresponding m y values are：y0, y1, y2…yi…ym。
If introduce new variable：T=(x-xi)/h；Then t corresponding value-i,-i+1...., -2, -1,0,1,2 ...,
M-i-1, m-1 are that new variables t takes a series of values at intervals of 1.
If yiCorrection value be y 'i, and in yiThe left and right of point respectively take it is several corresponding to data values, with secondary on minizone
Or the approximate calculation of cubic polynomial determines correction value y 'i
If yi+tCorrection value be yi+t, yi+t=a+bt+ct2, coefficient a, b, c should make
It is collated to obtain：
As n=3, i.e., 7 points of secondary methods, its equation group can turn to：
Step 10：Indicator card is drawn, and TFT LCDs is shown at 4.3；
Step 11：P-V indicator cards are drawn, and TFT LCDs is shown at 4.3.
By analyzing and processing, obtained indicator card isIndicator card.Due to P-V indicator cards ratioIndicator card is more
Can be directly from the size of the external output work of envelope size multilevel iudge diesel engine of indicator card, it is therefore necessary to willShow work(
Figure is converted to P-V indicator cards；
Volume calculations
V- volumes of cylinder (L L)
- crank angle (DEG C A)；
D- piston diameters (m)；
ε-compression ratio
S- piston strokes (m)
λ-connecting rod crank ratio
In formulaFor variable, V is function, and gained P-V indicator cards are relation between the two.
Many details are elaborated in the above description in order to fully understand the present invention.But above description is only
Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this
Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously
In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible
Changes and modifications, or it is revised as the equivalent embodiment of equivalent variations.Every content without departing from technical solution of the present invention, according to this
The technical spirit of invention still falls within skill of the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of the protection of art scheme.
Claims (10)
1. based on the control system of the portable ship electronic indicators of ARM, including cylinder pressure sensor, CKP, ARM
Controller, industrial computer, display screen, keyboard, file management controller；It is characterized in that：The cylinder pressure sensor, crank angle sensing
Device is electrically connected by signal processing circuit with ARM controller；The keyboard is controlled for input instruction to ARM controller and by ARM
The parameter signal of device processing processed shows that another way uploads industrial computer by serial communication modular by display screen all the way；The ARM
Controller is also connected with printer；The file management controller connects with ARM controls, for reading and writing of files.
2. the control system according to claim 1 based on the portable ship electronic indicators of ARM, it is characterized in that：It is described
Cylinder pressure sensor uses model KISTLER6125C pressure sensors, and its input signal PRESSURE is charge signal；It is described
Charge signal is converted to voltage letter after charge amplifying circuit, signaling conversion circuit, signal conditioning circuit, by charge signal
Number；The voltage signal, by selecting switch, the pressure signal of cylinder pressure sensor collection is passed after isolating pick-up modular converter
Transport to ARM input/output end ports.
3. the control system according to claim 2 based on the portable ship electronic indicators of ARM, it is characterized in that：It is described
Isolate pick-up modular converter output end and connect a selecting switch S0, selecting switch S0 output end connects the defeated of ARM controller
Enter/output port：PB0, PB1, ARM controller select different input branch roads by selecting switch S0 DIP difference.
4. the control system according to claim 1 based on the portable ship electronic indicators of ARM, it is characterized in that：It is described
CKP uses model KISTLER2613B CKPs, and it is free that the sensor is arranged on diesel engine
End, measurement rotating speed are not less than 15000rpm, and measurement drift error is not more than 0.05 DEG C of A；The output of the CKP
The angular signal of collection is changed into pulse signal by signal after signal processing circuit.
5. the control system according to claim 1 based on the portable ship electronic indicators of ARM, it is characterized in that：It is described
ARM controller is using model STM32F103 chips as control core；Also include USB interface, the USB interface and ARM controller
Connection；The file management controller uses CH376S document control chips；The serial communication modular uses MAX232 chips.
A kind of 6. controlling party of the control system based on any described portable ship electronic indicators of ARM of claim 1-5
Method, it is characterized in that：The control method comprises the following steps,
Step 1：Sensor synchronous acquisition pressure output is PRESSURE charge signal Q, corner signal CMD, trigger signal
TRG；
Step 2：1. charge signal is changed by charge amplifier, voltage signal is converted thereof into, 2. by level conversion
Its voltage range is transferred to 0~5V by circuit, 3. converts voltages into 0~3.3V voltages through overvoltage isolation finishing circuit again；
Step 3：Corner signal CMD passes through flip-flop circuit, carries out shaping to signal, and remove interference signal；
Step 4：Trigger signal TRG passes through triggers circuit, carries out shaping to signal, and remove interference signal；
Step 5：ARM controller is by I/O ports to pressure charge signal, crank angle cmd signal and trigger signal TRG tri-
Signal is read simultaneously；
Step 6：Pass through keyboard input parameter；
Step 7：The determination of top dead centre；
Step 8：The pressure data singular point of measurement is handled；
Step 9：Smooth treatment is carried out to the pressure curve of measurement；
Step 10：Indicator card is drawn, and TFT LCDs is shown at 4.3；
Step 11：P-V indicator cards are drawn, and TFT LCDs is shown at 4.3.
7. the control method of the control system of the portable ship electronic indicators of ARM according to claim 6, its feature
For：The step 6 further comprises that the parameter includes cylinder bore, crankshaft-link rod ratio, compression ratio, piston stroke.
8. the control method of the control system of the portable ship electronic indicators of ARM according to claim 6, its feature
For：The step 7 further comprises：Towing astern indicator card top dead center position is determined according to compression collimation method, diesel engine is then subtracted and exists
Diesel engine top dead centre position when Heat Loss Angle under the operating mode is true burning.
9. the control method of the control system of the portable ship electronic indicators of ARM according to claim 6, its feature
For：The step 8 further comprises：Calculate an approximation for the pressure mean values for calculating point；Calculate probable error；Give up suspicious
Reading；The average value of each crank angle pressure after suspicious reading is given up in calculating.
10. the control method of the control system of the portable ship electronic indicators of ARM according to claim 6, its feature
For：The step 9 further comprises：The fairing processing of pressure data.
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| CN113310614A (en) * | 2021-05-26 | 2021-08-27 | 上海交通大学 | System and method for measuring friction force of low-speed machine for ship |
| CN115727985A (en) * | 2022-11-18 | 2023-03-03 | 大连海事大学 | Portable indicator diagram measuring device |
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