CN109489971A - A kind of electrohydraulic servo valve small amount of flow measuring system and method - Google Patents
A kind of electrohydraulic servo valve small amount of flow measuring system and method Download PDFInfo
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- CN109489971A CN109489971A CN201811396581.XA CN201811396581A CN109489971A CN 109489971 A CN109489971 A CN 109489971A CN 201811396581 A CN201811396581 A CN 201811396581A CN 109489971 A CN109489971 A CN 109489971A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Abstract
The invention discloses a kind of electrohydraulic servo valve small amount of flow measuring system and methods.The system comprises: hydraulic pump is connected by the oil inlet of inflow pipeline and electrohydraulic servo valve；Overflow valve is arranged on inflow pipeline；Flow sensor is connected by the oil return opening of oil returning tube and electrohydraulic servo valve；Throttle valve, first end are connected by the first load port of first pipe and electrohydraulic servo valve, and second end is connected by the second load port of second pipe and electrohydraulic servo valve；Device for pressure measurement is arranged on flowline；Control device is electrically connected with electrohydraulic servo valve.The present invention can measure electrohydraulic servo valve in the tiny flow quantity characteristic of zero crossings, avoid distortion phenomenon occur in zero crossings.
Description
Technical field
The present invention relates to Flow Characteristics of Electrohydraulic Servo Valve field of measuring technique, micro- more particularly to a kind of electrohydraulic servo valve
Small flowrate measurement system and method.
Background technique
Electrohydraulic servo-controlling system is widely used in the key areas such as metallurgical machinery, aerospace, naval vessel.Electro-hydraulic servo
Core component of the valve as electrohydraulic servo-controlling system, is both signal conversion element and power amplification element, and performance is excellent
Bad control precision, stability and the reliability for directly affecting electrohydraulic servo-controlling system.One qualified electrohydraulic servo valve must
Its discharge characteristic must strictly be tested, just can guarantee the normal operation of servo-system in this way.
Currently, the limitation of the intrinsic gauging principle due to flow sensor, when measuring tiny flow quantity, in zero crossings
It will appear distortion phenomenon.And in actually control, spool is frequent operation again in zero crossings, therefore obtains flow curve and exist
The variation tendency of zero crossings is of great significance.It would therefore be highly desirable to which electrohydraulic servo valve small amount of flow measuring system occurs.
Summary of the invention
Based on this, it is necessary to a kind of electrohydraulic servo valve small amount of flow measuring system and method is provided, to measure electro-hydraulic servo
Valve avoids distortion phenomenon occur in zero crossings in the tiny flow quantity characteristic of zero crossings.
To achieve the above object, the present invention provides following schemes:
A kind of electrohydraulic servo valve small amount of flow measuring system, the system comprises:
Hydraulic pump is connected by the oil inlet of inflow pipeline and electrohydraulic servo valve, for supplying for the electrohydraulic servo valve
Oil；
Overflow valve is arranged on the inflow pipeline, and the outlet pressure for controlling the hydraulic pump is kept constant；
Flow sensor is connect by oil returning tube with the oil return opening of the electrohydraulic servo valve, described electro-hydraulic for measuring
The return flow of servo valve；
Throttle valve, first end are connect by first pipe with the first load port of the electrohydraulic servo valve, and second end passes through
Second pipe is connect with the second load port of the electrohydraulic servo valve, and the throttle valve is for adjusting the first pipe and the
The flow of two pipeline inner fluids and flow direction；
Device for pressure measurement is arranged on the flowline, for measuring the pressure value at the throttle valve both ends；
Control device is electrically connected with the electrohydraulic servo valve, for controlling the stream for flowing through the oil liquid of the electrohydraulic servo valve
Amount and flow direction.
Optionally, the device for pressure measurement includes first pressure sensor and second pressure sensor；
The first pressure sensor is connect with the first end of the throttle valve, for measuring the first of the throttle valve
The pressure at end；
The second pressure sensor is connect with the second end of the throttle valve, for measuring the second of the throttle valve
The pressure at end.
Optionally, the control device includes controller and signal amplifier；
The controller is electrically connected with the input terminal of the signal amplifier, for generating control voltage signal；
The output end of the signal amplifier is electrically connected with the electrohydraulic servo valve, the control for will receive
Voltage signal is converted into control current signal.
The present invention also provides a kind of electrohydraulic servo valve small amount of flow measuring method, electro-hydraulic watched applied to described above
Take valve small amount of flow measuring system；The described method includes:
Obtain the first graph of relation；First graph of relation is the relationship of voltage signal and corresponding return flow
Curve graph；
When the control voltage signal of generation is input to electrohydraulic servo valve by controller, according to first relation curve
Figure obtains the flow value of the electrohydraulic servo valve.
Optionally, the determination method of the voltage signal and the graph of relation of corresponding return flow are as follows:
Obtain the second graph of relation；Second graph of relation is the pressure difference and return flow at throttle valve both ends
Graph of relation；
Obtain third graph of relation；The third graph of relation is the control voltage signal that controller generates and section
Flow the graph of relation of the pressure difference at valve both ends；
Second graph of relation and the third graph of relation is compound, obtain the first graph of relation.
Optionally, the determination method of second graph of relation are as follows:
Obtain positive curve graph and S-curve figure；When the forward direction curve graph is that oil liquid forward stream crosses throttle valve, throttling
The pressure difference at valve both ends and the graph of relation of return flow, when the S-curve figure is that oil liquid flows counterflow through throttle valve, throttling
The pressure difference at valve both ends and the graph of relation of return flow；The forward direction is the first end and electrohydraulic servo valve when throttle valve
When second load end of the connection of the first load end, the second end of throttle valve and electrohydraulic servo valve connects, by the of electrohydraulic servo valve
One load end flows to the direction of the second load end of electrohydraulic servo valve through throttle valve；The second end being reversed when throttle valve
It is connect with the first load end of electrohydraulic servo valve, when the first end of throttle valve and the second load end of electrohydraulic servo valve connect, by
First load end of electrohydraulic servo valve flows to the direction of the second load end of electrohydraulic servo valve by throttle valve；
By the positive curve graph and the splicing of S-curve figure, the second graph of relation is obtained.
Optionally, the positive curve graph, the determination method of the S-curve figure and the third graph of relation
Are as follows:
The voltage signal being gradually increasing since first preset voltage value is inputted to electrohydraulic servo valve, makes oil liquid just
To flowing through throttle valve, and during voltage signal rises real-time detection throttle valve both ends positive pressure difference and electro-hydraulic servo
The positive flow value of valve obtains raised voltage signal and positive presses until the voltage signal rises to the second preset voltage value
The corresponding relationship of the corresponding relationship of difference and positive pressure difference and positive flow value；Second preset voltage value is greater than described the
One preset voltage value；
The voltage signal being gradually reduced since second preset voltage value is inputted to electrohydraulic servo valve, keeps oil liquid anti-
To flowing through throttle valve, and during voltage signal decline real-time detection throttle valve both ends reverse differential pressure and electro-hydraulic servo
The reverse flow magnitude of valve obtains drop-out voltage signal and reversed pressure until the voltage signal drops to the first preset voltage value
The corresponding relationship of difference and the corresponding relationship of reverse differential pressure and reverse flow magnitude；
Corresponding relationship according to the positive pressure difference and positive flow value obtains positive curve graph；
Corresponding relationship according to the reverse differential pressure and reverse flow magnitude obtains S-curve figure；
Corresponding relationship and the drop-out voltage signal and reversed pressure according to the raised voltage signal and positive pressure difference
The corresponding relationship of difference obtains third graph of relation.
Optionally, first preset voltage value is less than 0V, and second preset voltage value is greater than 0V.
Compared with prior art, the beneficial effects of the present invention are:
The invention proposes a kind of electrohydraulic servo valve small amount of flow measuring system and methods.The system comprises: it is hydraulic
Pump is connected by the oil inlet of inflow pipeline and electrohydraulic servo valve, for being electrohydraulic servo valve fuel feeding；Overflow valve, setting into
On oil-piping, the outlet pressure for controlling hydraulic pump is kept constant；Flow sensor passes through oil returning tube and electro-hydraulic servo
The oil return opening of valve connects, for measuring the return flow of electrohydraulic servo valve；Throttle valve, first end by first pipe with it is electro-hydraulic
First load port of servo valve connects, and second end is connected by the second load port of second pipe and electrohydraulic servo valve, throttle valve
For adjusting flow and the flow direction of first pipe and second pipe inner fluid；Device for pressure measurement is arranged in flowline
On, for measuring the pressure value at throttle valve both ends；Control device is electrically connected with electrohydraulic servo valve, flows through electro-hydraulic watch for controlling
Take flow and the flow direction of the oil liquid of valve.The present invention can measure electrohydraulic servo valve in the tiny flow quantity characteristic of zero crossings,
Avoid distortion phenomenon occur in zero crossings.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be in embodiment
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram of electrohydraulic servo valve of embodiment of the present invention small amount of flow measuring system.
Fig. 2 is the schematic diagram of electrohydraulic servo valve of embodiment of the present invention small amount of flow measuring method；
Fig. 3 is the positive curve graph of the present invention；
Fig. 4 is S-curve figure of the present invention；
Fig. 5 is the second graph of relation of the invention；
Fig. 6 is third graph of relation of the present invention；
Fig. 7 is the first graph of relation of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the structural schematic diagram of electrohydraulic servo valve of embodiment of the present invention small amount of flow measuring system.
Referring to Fig. 1, the electrohydraulic servo valve small amount of flow measuring system of embodiment includes:
Hydraulic pump 1 is connect by inflow pipeline with the oil inlet P of electrohydraulic servo valve 2, for being the electrohydraulic servo valve 2
Fuel feeding, in the present embodiment, the hydraulic pump 1 is constant displacement pump；Overflow valve 3 is arranged on the inflow pipeline, for controlling
The outlet pressure for stating hydraulic pump 1 is kept constant, and excess traffic is made to overflow oil return box；Flow sensor 4 passes through oil returning tube and institute
The oil return inlet T connection for stating electrohydraulic servo valve, for measuring the return flow of the electrohydraulic servo valve 2；Throttle valve 5, first end are logical
It crosses first pipe to connect with the first load port A of the electrohydraulic servo valve, second end passes through second pipe and the electro-hydraulic servo
Second load port B connection of valve, the throttle valve 5 be used for adjust the first pipe and second pipe inner fluid flow and
Flow direction, in the present embodiment, the throttle valve 5 is precise throttling valve.Device for pressure measurement is arranged in the flowline
On, for measuring the pressure value at 5 both ends of throttle valve；Control device is electrically connected, for controlling with the electrohydraulic servo valve 2
Flow through flow and the flow direction of the oil liquid of the electrohydraulic servo valve 2.
The device for pressure measurement includes first pressure sensor 6 and second pressure sensor 7；The first pressure passes
Sensor 6 is connect with the first end of the throttle valve 5, the pressure of the first end for measuring the throttle valve 5；Second pressure
Force snesor 7 is connect with the second end of the throttle valve 5, the pressure of the second end for measuring the throttle valve 5.
The control device includes controller 8 and signal amplifier 9；The controller 8 and the signal amplifier 9
Input terminal electrical connection, for generating control voltage signal；2 electricity of the output end of the signal amplifier 9 and the electrohydraulic servo valve
Connection, for converting control current signal for the control voltage signal received.
The present embodiment is established by setting device for pressure measurement and throttle valve by measuring the pressure difference at throttle valve both ends
The input voltage signal of electrohydraulic servo valve and the relationship for returning flow quantity, can measure electrohydraulic servo valve in the small of zero crossings
Discharge characteristic avoids distortion phenomenon occur in zero crossings.
The present invention also provides a kind of electrohydraulic servo valve small amount of flow measuring method, electro-hydraulic watched applied to described above
Take valve small amount of flow measuring system.Fig. 2 is the schematic diagram of electrohydraulic servo valve of embodiment of the present invention small amount of flow measuring method.Ginseng
See Fig. 2, which comprises
1) voltage signal being gradually increasing since first preset voltage value is inputted to electrohydraulic servo valve, makes oil liquid
Forward stream crosses throttle valve, and during voltage signal rises real-time detection throttle valve both ends positive pressure differential deltap P+And electricity
The positive flow value of hydraulic servoUntil the voltage signal rises to the second preset voltage value, obtained by way of fitting
To the corresponding relationship and positive pressure differential deltap P of raised voltage signal and positive pressure difference+With positive flow valueCorresponding relationship；
Second preset voltage value is greater than first preset voltage value.
2) voltage signal being gradually reduced since second preset voltage value is inputted to electrohydraulic servo valve, makes oil liquid
Flow counterflow through throttle valve, and during voltage signal decline real-time detection throttle valve both ends reverse differential pressure Δ P-And electricity
The reverse flow magnitude of hydraulic servoUntil the voltage signal drops to the first preset voltage value, obtained by way of fitting
To the corresponding relationship and reverse differential pressure Δ P of drop-out voltage signal and reverse differential pressure-With reverse flow magnitudeCorresponding relationship.
3) according to the positive pressure differential deltap P+With positive flow valueCorresponding relationship obtain positive curve 21, in Fig. 3
Chain-dotted line (matched curve) is positive curve 21, and the solid line in Fig. 3 is the measured curve that actual measurement obtains, from the figure 3, it may be seen that
Two curves are almost overlapped, and show the positive curve 21 that the present embodiment is obtained by the way of fitting, accuracy is higher.It is described
When positive curve 21 is that oil liquid forward stream crosses throttle valve, the pressure difference at throttle valve both ends and the relation curve of return flow；It is described just
To for when the connection of the first load end of the first end of throttle valve and electrohydraulic servo valve, the second end and electrohydraulic servo valve of throttle valve
The second load end connection when, by electrohydraulic servo valve the first load end through throttle valve flow to electrohydraulic servo valve second load
The direction at end.
4) according to the reverse differential pressure Δ P-With reverse flow magnitudeCorresponding relationship obtain S-curve 22, in Fig. 4
Chain-dotted line (matched curve) is S-curve 22, and the solid line in Fig. 4 is the measured curve that actual measurement obtains, as shown in Figure 4,
Two curves are almost overlapped, and show the S-curve 22 that the present embodiment is obtained by the way of fitting, accuracy is higher.It is described
When S-curve 22 is that oil liquid flows counterflow through throttle valve, the pressure difference at throttle valve both ends and the relation curve of return flow；It is described anti-
To for when the connection of the first load end of the second end of throttle valve and electrohydraulic servo valve, the first end and electrohydraulic servo valve of throttle valve
The connection of the second load end when, flow to the second negative of electrohydraulic servo valve by throttle valve by the first load end of electrohydraulic servo valve
Carry the direction at end.
5) the positive curve 21 and S-curve 22 are spliced, obtains the second relation curve 23, as shown in Figure 5.It is described
Second relation curve is the pressure difference at throttle valve both ends and the relation curve of return flow.
6) according to the corresponding relationship and the drop-out voltage signal of the raised voltage signal and positive pressure difference and reversed
The corresponding relationship of pressure difference obtains third relation curve 24, and the third relation curve 24 is the control voltage letter that controller generates
Relation curve number with the pressure difference at throttle valve both ends, as shown in fig. 6, the curve of arrow direction from right to left indicates control in Fig. 6
Valve input signal (control voltage signal) and the load pressure difference (throttling that voltage signal is formed during being gradually decrease to -5V from 5V
The pressure difference at valve both ends) relational graph, the curve of arrow direction from left to right indicates that voltage is gradually increased to 5V mistake from -5V in Fig. 6
The relational graph of the valve input signal and load pressure difference that are formed in journey.Third relation curve 24 is simply illustrative figure in Fig. 2,
Middle input voltage signal u includes raised voltage signal and drop-out voltage letter, and pressure difference signal Δ P includes positive pressure differential deltap P+With it is anti-
To pressure differential deltap P-。
7) second relation curve 23 and the third relation curve 24 is compound, obtain the first relation curve 25, institute
State the first relation curve 25 be voltage signal and corresponding return flow relation curve, as shown in fig. 7, in Fig. 7 arrow direction by
The curve on a dextrad left side indicate the valve input signal (voltage signal) formed during voltage signal is gradually decrease to -5V from 5V with
The relational graph of load flow (return flow), the curve of arrow direction from left to right indicates that voltage is gradually increased from -5V in Fig. 7
The relational graph of the valve input signal and load flow that are formed during to 5V.The first relation curve 25 in Fig. 2 is simply to show
It is intended to, which is only used for showing that input voltage signal u tends to the whole relation of corresponding return flow qL.
8) when measuring tiny flow quantity of the electrohydraulic servo valve in zero crossings, when controller believes the control voltage of generation
When number being input to electrohydraulic servo valve, the flow value of the electrohydraulic servo valve can be obtained according to first graph of relation.
First preset voltage value is less than 0V, and second preset voltage value is greater than 0V.In the present embodiment, described
One preset voltage value is -5V, and second preset voltage value is 5V.
The electrohydraulic servo valve small amount of flow measuring method of the present embodiment carries out Initialize installation to system first；Its secondary control
Device cooperation signal amplifier output control Signal Regulation electrohydraulic servo valve processed sets system operation characteristic；Then pass through
Pressure sensor and flow sensor complete the collecting work of pressure data and data on flows；Finally use data processing and letter
The method for ceasing fusion obtains load flow-input characteristic curve of electrohydraulic servo valve, completes to electrohydraulic servo valve tiny flow quantity
Measurement work.This method can measure electrohydraulic servo valve in the tiny flow quantity characteristic of zero crossings, avoid going out in zero crossings
Existing distortion phenomenon.
For the system disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so the ratio of description
Relatively simple, reference may be made to the description of the method.
Used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion this specification
Content should not be construed as limiting the invention.
Claims (8)
1. a kind of electrohydraulic servo valve small amount of flow measuring system, which is characterized in that the system comprises:
Hydraulic pump is connected by the oil inlet of inflow pipeline and electrohydraulic servo valve, for being the electrohydraulic servo valve fuel feeding；
Overflow valve is arranged on the inflow pipeline, and the outlet pressure for controlling the hydraulic pump is kept constant；
Flow sensor is connect, for measuring the electro-hydraulic servo with the oil return opening of the electrohydraulic servo valve by oil returning tube
The return flow of valve；
Throttle valve, first end are connect by first pipe with the first load port of the electrohydraulic servo valve, and second end passes through second
Pipeline is connect with the second load port of the electrohydraulic servo valve, and the throttle valve is for adjusting the first pipe and second pipe
The flow of inner fluid and flow direction；
Device for pressure measurement is arranged on the flowline, for measuring the pressure value at the throttle valve both ends；
Control device is electrically connected with the electrohydraulic servo valve, for control flow through the oil liquid of the electrohydraulic servo valve flow and
Flow direction.
2. a kind of electrohydraulic servo valve small amount of flow measuring system according to claim 1, which is characterized in that the pressure is surveyed
Measuring device includes first pressure sensor and second pressure sensor；
The first pressure sensor is connect with the first end of the throttle valve, the pressure of the first end for measuring the throttle valve
Power；
The second pressure sensor is connect with the second end of the throttle valve, the pressure of the second end for measuring the throttle valve
Power.
3. a kind of electrohydraulic servo valve small amount of flow measuring system according to claim 1, which is characterized in that the control dress
It sets including controller and signal amplifier；
The controller is electrically connected with the input terminal of the signal amplifier, for generating control voltage signal；
The output end of the signal amplifier is electrically connected with the electrohydraulic servo valve, for believing the control voltage received
Number it is converted into control current signal.
4. a kind of electrohydraulic servo valve small amount of flow measuring method, which is characterized in that be applied to such as claim 1-3 any one institute
The electrohydraulic servo valve small amount of flow measuring system stated；The described method includes:
Obtain the first graph of relation；First graph of relation is the relation curve of voltage signal and corresponding return flow
Figure；
When the control voltage signal of generation is input to electrohydraulic servo valve by controller, obtained according to first graph of relation
The flow value of the electrohydraulic servo valve.
5. a kind of electrohydraulic servo valve small amount of flow measuring method according to claim 4, which is characterized in that the voltage letter
Number with the determination method of the graph of relation of corresponding return flow are as follows:
Obtain the second graph of relation；Second graph of relation is the pressure difference at throttle valve both ends and the relationship song of return flow
Line chart；
Obtain third graph of relation；The third graph of relation is the control voltage signal and throttle valve two that controller generates
The graph of relation of the pressure difference at end；
Second graph of relation and the third graph of relation is compound, obtain the first graph of relation.
6. a kind of electrohydraulic servo valve small amount of flow measuring method according to claim 5, which is characterized in that described second closes
It is the determination method of curve graph are as follows:
Obtain positive curve graph and S-curve figure；When the forward direction curve graph is that oil liquid forward stream crosses throttle valve, throttle valve two
The pressure difference at end and the graph of relation of return flow, when the S-curve figure is that oil liquid flows counterflow through throttle valve, throttle valve two
The pressure difference at end and the graph of relation of return flow；It is described it is positive be first negative when the first end of throttle valve and electrohydraulic servo valve
End connection is carried, when the second end of throttle valve and the second load end of electrohydraulic servo valve connect, by the first load of electrohydraulic servo valve
End flows to the direction of the second load end of electrohydraulic servo valve through throttle valve；It is described to be reversed when the second end of throttle valve is watched with electro-hydraulic
The first load end connection of valve is taken, when the first end of throttle valve and the second load end of electrohydraulic servo valve connect, by electro-hydraulic servo
First load end of valve flows to the direction of the second load end of electrohydraulic servo valve by throttle valve；
By the positive curve graph and the splicing of S-curve figure, the second graph of relation is obtained.
7. a kind of electrohydraulic servo valve small amount of flow measuring method according to claim 6, which is characterized in that described positive bent
The determination method of line chart, the S-curve figure and the third graph of relation are as follows:
The voltage signal being gradually increasing since first preset voltage value is inputted to electrohydraulic servo valve, flows through oil liquid forward direction
Throttle valve, and the positive pressure difference at real-time detection throttle valve both ends and the forward direction of electrohydraulic servo valve during voltage signal rises
It is corresponding with positive pressure difference to obtain raised voltage signal until the voltage signal rises to the second preset voltage value for flow value
The corresponding relationship of relationship and positive pressure difference and positive flow value；Second preset voltage value is greater than first predeterminated voltage
Value；
The voltage signal being gradually reduced since second preset voltage value is inputted to electrohydraulic servo valve, flows counterflow through oil liquid
Throttle valve, and voltage signal decline during real-time detection throttle valve both ends reverse differential pressure and electrohydraulic servo valve it is reversed
It is corresponding with reverse differential pressure to obtain drop-out voltage signal until the voltage signal drops to the first preset voltage value for flow value
The corresponding relationship of relationship and reverse differential pressure and reverse flow magnitude；
Corresponding relationship according to the positive pressure difference and positive flow value obtains positive curve graph；
Corresponding relationship according to the reverse differential pressure and reverse flow magnitude obtains S-curve figure；
Corresponding relationship and the drop-out voltage signal and reverse differential pressure according to the raised voltage signal and positive pressure difference
Corresponding relationship obtains third graph of relation.
8. a kind of electrohydraulic servo valve small amount of flow measuring method according to claim 7, which is characterized in that described first is pre-
If voltage value is less than 0V, second preset voltage value is greater than 0V.
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| 张振华: ""电液伺服阀静动态特性测试过程中的关键问题研究"", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
| 梁志宏 等: ""FESTO TP511试验台的电液伺服阀静态特性测试"", 《沈阳理工大学学报》 * |
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