CN109204450A - Dual-motor electric servo steering system and forward method based on electromagnetic clutch - Google Patents
Dual-motor electric servo steering system and forward method based on electromagnetic clutch Download PDFInfo
- Publication number
- CN109204450A CN109204450A CN201811056930.3A CN201811056930A CN109204450A CN 109204450 A CN109204450 A CN 109204450A CN 201811056930 A CN201811056930 A CN 201811056930A CN 109204450 A CN109204450 A CN 109204450A
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- steering
- motor
- electromagnetic clutch
- torque
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention discloses a kind of dual-motor electric servo steering system and forward method based on electromagnetic clutch connects the first steering shaft below steering wheel in system, and the first steering shaft passes through universal joint the second steering shaft of connection；Steering-wheel torque rotary angle transmitter is arranged below steering wheel, for detecting the torque and the steering wheel angle signal that act on the steering wheel；Main motor and stand-by motor are coaxial, are connected by the first electromagnetic clutch；The output end of main motor is in parallel by torsion coupler with the second steering shaft；The output end of torsion coupler turns to axis connection diverter by third.The present invention passes through setting two assist motors that are coaxial and connecting by electromagnetic clutch, according to the size of required power torque, control main motor and stand-by motor respectively undertake the power-assisted electric current of half always, common output torque, meets the needs of commercial vehicle etc. is to larger torque, the fuel economy of commercial vehicle is improved simultaneously, reduces transportation cost.
Description
Technical field
The invention belongs to servo steering system technical fields, and in particular to a kind of dual-motor electric based on electromagnetic clutch
Servo steering system and forward method.
Background technique
Existing electric boosting steering system safety, reliability are higher, and steering characteristic curve is more satisfactory.Simultaneously as
Using direct current generator, it is not required to engine and high pressure oil is provided, vehicle fuel economy is preferable.But by Vehicular battery supply voltage,
The limitation of installation dimension etc., electric boosting steering system output torque is smaller, is unable to satisfy wanting for commercial vehicle power steering
It asks, application field still is limited to passenger car and light commercial vehicle at present.
Therefore, from the point of view of fuel economy, using the electric boosting steering system of big output torque for improving commercial vehicle
Fuel economy, reduce transportation cost have positive effect.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on electromagnetism
The dual-motor electric servo steering system and forward method of clutch, it is too small to solve electric boosting steering system output torque,
The problem of being unable to satisfy commercial vehicle demand.
The invention adopts the following technical scheme:
A kind of dual-motor electric servo steering system based on electromagnetic clutch, including steering wheel, torsion coupler, steering
Device, deceleration mechanism, bi-motor and controller, steering wheel are connected by the input terminal of steering shaft and torsion coupler, torque coupling
The input terminal of device is connected in parallel to the second electromagnetic clutch；Second electromagnetic clutch is connect through deceleration mechanism with bi-motor, is turned to
It is provided with steering-wheel torque rotary angle transmitter between disk and torsion coupler, is coaxially connected between bi-motor by electromagnetic clutch
It connects；Bi-motor, the second electromagnetic clutch and steering-wheel torque rotary angle transmitter are connect with controller respectively；Second electromagnetic clutch
Torque coupling is carried out by torsion coupler with steering shaft, the torque after merging realizes Vehicular turn in diverter.
Specifically, steering shaft includes the first steering shaft, the second steering shaft and third steering shaft, the first steering shaft, which is located at, to be turned to
The lower section of disk, one end are connect with steering wheel, and the other end is connect by universal joint with one end of the second steering shaft；Second steering shaft
The output end of the connection of the input terminal of the other end and torsion coupler, torsion coupler turns to axis connection diverter by third.
Specifically, overload protective device is provided between the second electromagnetic clutch and deceleration mechanism, the output end of deceleration mechanism
It is connect with overload protective device；The output end of overload protective device is connect with one end of the second electromagnetic clutch.
Further, overload protective device includes upper flange plate and lower flange；The output end of upper flange plate and deceleration mechanism
Connection, lower flange are connect with one end of the second electromagnetic clutch.
Further, it is respectively corresponded on upper flange plate and lower flange and is provided with four device to hole, pin connection is connected by rubber.
Specifically, bi-motor includes main motor and stand-by motor, main motor and stand-by motor pass through the first electromagnetic clutch
Coaxial parallel-connection, for realizing torque coupling output.
Further, the input terminal of the output end connection deceleration mechanism of main motor, main motor, the first electromagnetic clutch and auxiliary
The control terminal of motor is helped to connect respectively with controller.
A kind of forward method of the dual-motor electric servo steering system based on electromagnetic clutch, comprising the following steps:
S1, acquisition speed signal and angular signal are simultaneously sent to controller, determine the steering moment that steering wheel has；
The steering-wheel torque of step S1 result and the acquisition of torque rotary angle transmitter is carried out operation by S2, controller, is obtained and is helped
The output torque of force motor；
The output torque of assist motor is distributed equally in S3, controller, controls main motor and stand-by motor helps simultaneously
Power respectively undertakes the output torque of half, completes power steering.
Specifically, when auto-steering occurs, the fracture of rubber connecting pin plays overload and protects when motor and controller break down
Shield effect.
Specifically, being controlled when servo steering system breaks down by controller, the second electromagnetic clutch is disconnected, is prevented
Auto-steering occurs for vehicle；The output end of second electromagnetic clutch is in parallel with the second steering shaft by torsion coupler, will couple
Steering moment afterwards is output to diverter, realizes power-assisted steering process.
Compared with prior art, the present invention at least has the advantages that
A kind of dual-motor electric servo steering system based on electromagnetic clutch of the present invention passes through electromagnetism by being arranged two
The assist motor of clutch coaxial connection controls two assist motors output torque simultaneously according to the size of required power torque,
Meets the needs of commercial vehicle etc. is to larger torque, using the electric boosting steering system of big output torque for improving commercial vehicle
Fuel economy reduces operating cost with positive effect, plays the role of deceleration torque increase by the way that deceleration mechanism is arranged, further
Increase assist motor output torque, the first electromagnetic clutch is set between main motor and stand-by motor, for connecting two motors,
Realize the torque coupling of two motors.
Further, overload protective device is set, when motor and controller break down, and auto-steering occurs, due to turning
Square is excessive, and rubber connecting pin can produce fracture, and cuts off the transmitting of torque, plays the role of overload protection.
Further, overload protective device includes upper flange plate and lower flange；Four are provided in upper flange plate and lower flange
Pin connection is connected to corresponding hole, and by rubber；When motor and controller break down, operation torque allows more than system
Torque capacity when, rubber connecting pin can be broken, thus make transmission be automatically stopped, play the role of overload protection.
Further, the first electromagnetic clutch realizes the output torque of two motors for connecting main motor and stand-by motor
Coupling；Second electromagnetic clutch plays a protective role, and when motor breaks down, the second electromagnetic clutch is disconnected, and prevents vehicle
Auto-steering causes a serious accident；Two electromagnetic clutch are normally off；The present invention contains overload protective device and the second electromagnetism
The duplicate protection of clutch guarantees steering reliability when electric boosting steering system breaks down.
The forward method of the present invention also provides a kind of dual-motor electric servo steering system based on electromagnetic clutch, vehicle
The speed signal of fast sensor acquisition and the angular signal of steering-wheel torque rotary angle transmitter acquisition are exported to controller, by controlling
Device calculates side acceleration according to speed, steering wheel angle, and preferred turn that be averaged with the driver stored in controller
It is compared to the change curve of torque, side acceleration and speed, obtains the steering moment that steering wheel should have；Then,
Operation is carried out with the steering-wheel torque of torque rotary angle transmitter acquisition, obtains the torque that assist motor should export；Controller pair
The torque mean allocation that assist motor should export controls main motor and stand-by motor power-assisted simultaneously, respectively undertakes the defeated of half
Power steering is completed in torque out.
Further, when motor and controller break down, and auto-steering occurs, since torque is excessive, rubber connection
Pin can produce fracture, and cut off the transmitting of torque, overload protective device can play the role of overload protection.
Further, when motor breaks down, the second electromagnetic clutch is disconnected, prevents vehicle auto-steering from causing great
Accident, the second electromagnetic clutch play a protective role, and mechanical steering still can be used at this time.
In conclusion the present invention passes through the coaxially connected assist motors of electromagnetic clutch by setting two, according to required
The size of power torque, controls main motor and stand-by motor respectively undertakes the power-assisted electric current of half always, and common output torque is full
The demand to larger torque such as sufficient commercial vehicle, while the fuel economy of commercial vehicle is improved, reduce transportation cost.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the structure diagram of dual-motor electric servo steering system of the present invention；
Fig. 2 is overload protective device structural schematic diagram of the present invention, wherein (a) is main view, (b) is top view；
Fig. 3 is the control strategy figure of dual-motor electric servo steering system of the present invention；
Fig. 4 is the performance diagram that the steering moment of China driver average preference changes with side acceleration and speed.
Wherein: 1. steering wheels；2. the first steering shaft；3. steering-wheel torque rotary angle transmitter；4. deceleration mechanism；5. second turn
To axis；6. torsion coupler；7. third steering shaft；8. diverter；9. controller；10. main motor；11. the first electromagnetic clutch；
12. stand-by motor；13. overload protective device；14. the second electromagnetic clutch；15. overload protective device upper flange plate；16. overload protection
Device lower flange；17. rubber connecting pin.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
"front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " side ", " one end ", " one side " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more of the features.In the description of the present invention,
Unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Referring to Fig. 1, the present invention provides a kind of dual-motor electric servo steering system based on electromagnetic clutch, including
Steering wheel 1, the first steering shaft 2, steering-wheel torque rotary angle transmitter 3, deceleration mechanism 4, the second steering shaft 5, torsion coupler 6,
Diverter 8, controller 9, main motor 10, the first electromagnetic clutch 11, stand-by motor 12, overload protective device 13 and the second electromagnetism from
Clutch 14.
Steering wheel 1 is connect by steering shaft with diverter 8, and steering-wheel torque corner is arranged between steering wheel 1 and diverter 8
Sensor 3 and torsion coupler 6, stand-by motor 12 are connected by the first electromagnetic clutch 11 and main motor 10；Main motor 10
The input terminal of output end connection deceleration mechanism 4；The output end of deceleration mechanism 4 is connected by torsion coupler 6 and the second steering shaft 5
It connects, the output end of steering-wheel torque rotary angle transmitter 3, the control terminal of the first electromagnetic clutch 11, second electromagnetic clutch 14
Control terminal and the control terminal of main and auxiliary motor are connect with controller 9 respectively.
Steering shaft includes the first steering shaft 2, the second steering shaft 5 and third steering shaft 7, and the first steering shaft 2 is located at steering wheel 1
Lower section, one end connect with steering wheel 1, and the other end passes through one end that universal joint connects the second steering shaft 5；Second steering shaft 5
The other end is connect with the input terminal of torsion coupler 6, and the output end of torsion coupler 6 connects diverter by third steering shaft 7
8, to realize turning function；
Steering-wheel torque rotary angle transmitter 3 is arranged below steering wheel 1, for detecting the torque acted on steering wheel 1
And angular signal, the output end of steering-wheel torque rotary angle transmitter 3 connect controller 9；
Main motor 10 and stand-by motor 12 are coaxially connected by the first electromagnetic clutch 11, the output end connection of main motor 10
The input terminal of deceleration mechanism 4, deceleration mechanism are used to reduce motor speed, increase output torque, the control terminal of main motor 10 and auxiliary
The control terminal of motor 12 is helped to connect with controller 9；
It is disposed with overload protective device 13 and the second electromagnetic clutch 14 between deceleration mechanism 4 and torsion coupler 6, subtracts
The output end of fast mechanism 4 connects overload protective device 13；The output end of overload protective device 13 connects the defeated of the second electromagnetic clutch 14
Enter end；The output end of second electromagnetic clutch 14 and the second steering shaft 5 are in parallel by torsion coupler 6, the second electromagnetic clutch
14 control terminal connects controller 9.
Fig. 2 (a) and Fig. 2 (b) are please referred to, overload protective device 13 includes upper flange plate 15 and lower flange 16；Upper flange plate
15 and lower flange 16 in be provided with four pairs of corresponding holes, pass through rubber connecting pin 17 connect, upper flange plate 15 connect speed reducer
The output end of structure 4, lower flange 16 connect one end of the second electromagnetic clutch 14；The other end of second electromagnetic clutch 14 and
Two steering shafts 5 realize torque coupling by torsion coupler 6, and the torque after coupling realizes Vehicular turn in diverter 8.
Referring to Fig. 3, a kind of forward method of the dual-motor electric servo steering system based on electromagnetic clutch of the present invention,
The following steps are included:
S1, acquisition speed signal and angular signal are simultaneously sent to controller 9, determine the steering moment that steering wheel has；
The angular signal that the speed signal and steering-wheel torque rotary angle transmitter 3 of vehicle speed sensor acquisition acquire is exported to control
Device 9 processed calculates side acceleration according to speed, steering wheel angle by controller 9, and with the driver that is stored in controller 9
The steering moment of average preference is compared with the characteristic curve that side acceleration and speed change, and show that steering wheel should have
Steering moment；
The steering-wheel torque that S2, controller 9 acquire step S1 result and torque rotary angle transmitter 3 carries out operation, obtains
The output torque of assist motor；
The steering wheel that controller 9 acquires the steering moment that the steering wheel obtained should have and torque rotary angle transmitter 3
Torque carries out operation, obtains the torque that assist motor should export；
The torque that S3, controller 9 should export assist motor is distributed equally, and controls main motor 10 and stand-by motor
12 power-assisted, holdings simultaneously respectively undertake the output torque of half, complete power steering.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real
The component for applying example can be arranged and be designed by a variety of different configurations.Therefore, below to the present invention provided in the accompanying drawings
The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of of the invention selected
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
When motor and controller 9 break down, and auto-steering occurs, since torque is excessive, rubber connecting pin 17 can be produced
Raw fracture, cuts off the transmitting of torque, electric power steering is made to fail, play the role of overload protection.
It when servo steering system breaks down, is controlled by controller 9, disconnects the second electromagnetic clutch 14, prevent
Auto-steering；The output end of second electromagnetic clutch 14 is in parallel with the second steering shaft 5 by torsion coupler 6, after coupling
Steering moment is output to diverter 8, realizes power-assisted steering process.
Vehicle lateral acceleration is calculated according to speed signal, steering wheel angle signal in controller 9, and compares control
The change curve of the steering moment, side acceleration and the speed that store in device 9 (is utilized with National Key Laboratory of Jilin University and is opened
The characteristic curve that the steering moment for the driver average preference that the type driving simulator of putting obtains changes with side acceleration and speed
For, as shown in figure 4, the curve is disclosed in " the assist characteristic Curve Design of electric hydraulic power-assisted steering system and emulation " one
Text, Chongqing Jiaotong University's journal, in August, 2011 the 4th phase of volume 30), control two assist motor torques；Furthermore it can pass through experiment
Show that the steering moment of the drivers preference under different speeds controls main motor 10 and auxiliary with the curve that side acceleration changes
Help the output torque of motor 12.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (10)
1. a kind of dual-motor electric servo steering system based on electromagnetic clutch, which is characterized in that including steering wheel (1), turn
Square coupler (6), diverter (8), deceleration mechanism (4), bi-motor and controller (9), steering wheel (1) pass through steering shaft and torque
The input terminal of coupler (6) connects, and the input terminal of torsion coupler (6) is connected in parallel to the second electromagnetic clutch (14)；Second
Electromagnetic clutch (14) is connect through deceleration mechanism (4) with bi-motor, is provided with and is turned between steering wheel (1) and torsion coupler (6)
It is coaxially connected by electromagnetic clutch between bi-motor to disk torque rotary angle transmitter (3)；Bi-motor, the second electromagnetic clutch
(14) output end of control terminal and steering-wheel torque rotary angle transmitter (3) is connect with controller (9) respectively；Second electromagnetic clutch
By torsion coupler (6) progress torque coupling, the torque after synthesis realizes vehicle in diverter (8) for device (14) and steering shaft
Turn to.
2. a kind of dual-motor electric servo steering system based on electromagnetic clutch according to claim 1, feature exist
In steering shaft includes the first steering shaft (2), the second steering shaft (5) and third steering shaft (7), and the first steering shaft (2), which is located at, to be turned to
The lower section of disk (1), one end are connect with steering wheel (1), and the other end is connect by universal joint with one end of the second steering shaft (5)；The
The other end of two steering shafts (5) is connect with the input terminal of torsion coupler (6), and the output end of torsion coupler (6) passes through third
Steering shaft (7) connects diverter (8).
3. a kind of dual-motor electric servo steering system based on electromagnetic clutch according to claim 1, feature exist
In being provided between the second electromagnetic clutch (14) and deceleration mechanism (4) overload protective device (13), the output of deceleration mechanism (4)
End is connect with overload protective device (13)；The output end of overload protective device (13) is connect with one end of the second electromagnetic clutch (14).
4. a kind of dual-motor electric servo steering system based on electromagnetic clutch according to claim 3, feature exist
In overload protective device (13) includes upper flange plate (15) and lower flange (16)；Upper flange plate (15) is defeated with deceleration mechanism (4)
Outlet connection, lower flange (16) are connect with one end of the second electromagnetic clutch (14).
5. a kind of dual-motor electric servo steering system based on electromagnetic clutch according to claim 4, feature exist
In, respectively corresponded on upper flange plate (15) and lower flange (16) and be provided with four device to hole, pass through rubber connecting pin (17) connect.
6. a kind of dual-motor electric servo steering system based on electromagnetic clutch according to claim 1, feature exist
In, bi-motor include main motor (10) and stand-by motor (12), main motor (10) and stand-by motor (12) by the first electromagnetism from
Clutch (11) coaxial parallel-connection, for realizing torque coupling output.
7. a kind of dual-motor electric servo steering system based on electromagnetic clutch according to claim 6, feature exist
In the input terminal of output end connection deceleration mechanism (4) of, main motor (10), main motor (10), the first electromagnetic clutch (11) and
The control terminal of stand-by motor (12) is connect with controller (9) respectively.
8. a kind of forward method of the dual-motor electric servo steering system based on electromagnetic clutch as described in claim 1,
It is characterized in that, comprising the following steps:
S1, acquisition speed signal and angular signal are simultaneously sent to controller (9), determine the steering moment that steering wheel has；
The steering-wheel torque of step S1 result and torque rotary angle transmitter (3) acquisition is carried out operation by S2, controller (9), is obtained
The output torque of assist motor；
The output torque of assist motor is distributed equally in S3, controller (9), controls main motor (10) and stand-by motor (12)
Power-assisted simultaneously respectively undertakes the output torque of half, completes power steering.
9. a kind of steering side of dual-motor electric servo steering system based on electromagnetic clutch according to claim 8
Method, which is characterized in that when motor and controller (9) break down, and auto-steering occurs, rubber connecting pin (17) fracture is risen
Overload protective function.
10. a kind of steering side of dual-motor electric servo steering system based on electromagnetic clutch according to claim 8
Method, which is characterized in that when servo steering system breaks down, controlled by controller (9), disconnect the second electromagnetic clutch
(14), prevent vehicle from auto-steering occurs；The output end of second electromagnetic clutch (14) passes through torsion coupler (6) and second turn
To axis (5) parallel connection, the steering moment after coupling is output to diverter (8), realizes power-assisted steering process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811056930.3A CN109204450B (en) | 2018-09-11 | 2018-09-11 | Dual-motor electric power steering system and steering method based on electromagnetic clutch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811056930.3A CN109204450B (en) | 2018-09-11 | 2018-09-11 | Dual-motor electric power steering system and steering method based on electromagnetic clutch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204450A true CN109204450A (en) | 2019-01-15 |
| CN109204450B CN109204450B (en) | 2021-04-20 |
Family
ID=64986939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811056930.3A Expired - Fee Related CN109204450B (en) | 2018-09-11 | 2018-09-11 | Dual-motor electric power steering system and steering method based on electromagnetic clutch |
Country Status (1)
| Country | Link |
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| CN (1) | CN109204450B (en) |
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| CN113548110A (en) * | 2021-07-19 | 2021-10-26 | 东风汽车集团股份有限公司 | Continuously adjustable power-assisted steering method, system and computer equipment |
| US20220009546A1 (en) * | 2018-12-04 | 2022-01-13 | Nsk Ltd. | Vehicle steering device |
| CN114544054A (en) * | 2022-04-28 | 2022-05-27 | 江西省水润科技发展有限公司 | Air resistance type water pump driving motor torque testing device and using method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20220009546A1 (en) * | 2018-12-04 | 2022-01-13 | Nsk Ltd. | Vehicle steering device |
| CN113548110A (en) * | 2021-07-19 | 2021-10-26 | 东风汽车集团股份有限公司 | Continuously adjustable power-assisted steering method, system and computer equipment |
| CN113548110B (en) * | 2021-07-19 | 2022-03-25 | 东风汽车集团股份有限公司 | Continuously adjustable power-assisted steering method, system and computer equipment |
| CN114544054A (en) * | 2022-04-28 | 2022-05-27 | 江西省水润科技发展有限公司 | Air resistance type water pump driving motor torque testing device and using method thereof |
| CN114544054B (en) * | 2022-04-28 | 2022-08-02 | 江西省水润科技发展有限公司 | Air-resistance type water pump driving motor torque testing device and using method thereof |
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| Publication number | Publication date |
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| CN109204450B (en) | 2021-04-20 |
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