CN109857054A - A kind of electric steering engine Automatic Zero Set and its adjusting zero method - Google Patents

A kind of electric steering engine Automatic Zero Set and its adjusting zero method Download PDF

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Publication number
CN109857054A
CN109857054A CN201910148788.3A CN201910148788A CN109857054A CN 109857054 A CN109857054 A CN 109857054A CN 201910148788 A CN201910148788 A CN 201910148788A CN 109857054 A CN109857054 A CN 109857054A
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China
Prior art keywords
steering engine
electric steering
close
switch
plate
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CN201910148788.3A
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Chinese (zh)
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CN109857054B (en
Inventor
尹彦阳
马强
赵亚妮
董力宁
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西安微电子技术研究所
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Priority to CN201910148788.3A priority Critical patent/CN109857054B/en
Publication of CN109857054A publication Critical patent/CN109857054A/en
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Publication of CN109857054B publication Critical patent/CN109857054B/en

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Abstract

A kind of electric steering engine Automatic Zero Set of the invention, including controller, close to switch, close to switch bracket and extend clamping device;Controller is connect with close to switch and electric steering engine respectively;Extend clamping device to include pedestal and lengthen the body of rod, pedestal is clamped on electric steering engine output shaft, lengthens the body of rod and is fixedly connected on pedestal;Base rotation is driven when electric steering engine output shaft rotates, when so that the lengthening body of rod reaching the trigger range of close switch, is flipped close to switch output level, controller controls electric steering engine output shaft and stops operating, and mechanical zero, which adjusts, to be completed;Controller is used to acquire the output voltage values of sensor, and rotation sensor, stop operating sensor when alarm equipment alarm, and electrical null position adjustment is completed.The automatic interpretation and prompt being adjusted in place by using adjust automatically and transducer zeroing close to switch, extension clamping device, controller and alarm realization electric steering engine mechanical zero improve the efficiently accurate zero-bit adjustment of electric steering engine.

Description

A kind of electric steering engine Automatic Zero Set and its adjusting zero method

Technical field

The invention belongs to electric servomechanism fields, and in particular to a kind of electric steering engine Automatic Zero Set and its zeroing side Method.

Background technique

Electric steering engine zeroing is one kind by adjusting steering engine output shaft and sensor position, so that output shaft when steering engine powers on Deviate work of the angle of a certain datum axis in claimed range, the zeroing work of electric steering engine mainly include machine zero and Two steps of electronic zero-setting.Machine zero, which refers to, rests on output shaft based on certain benchmark by rotating electric steering engine output shaft Position within the scope of certain angle.Electronic zero-setting is the work carried out after the completion of machine zero, and electronic zero-setting refers to tune Whole sensor position of output axle makes sensor output voltage or resistance value is the half of its total range.

Electric steering engine zeroing work is an important step in production debugging process, is directly related to missile-borne, machine The control precision for carrying product, is an important indicator of factory inspection and acceptance.In existing market and independent of electric steering engine automatic zero set System platform.The zeroing work of electric steering engine depends on manual operation at present, and artificial zeroing is primarily present following drawback:

(1) different operation person is directed to the zeroing work difference of identical product, and consistency is poor;

(2) the shortcomings that zero setting accuracy is more demanding, goes judgement to there is very big error by human eye, and there are repetitive operations, effect Rate is low;

(3) zeroing work goes judgement to calculate and estimates reading by human eye, a possibility that there are accidental mistakes, reliability compared with Difference.

Summary of the invention

The purpose of the present invention is to provide a kind of electric steering engine Automatic Zero Set and its adjusting zero methods, solve electronic rudder The machine zero of machine and electrical efficiently and accurately automatic zero set problem, are no longer dependent on artificial judgement, high-efficient, good reliability.

The present invention is to be achieved through the following technical solutions:

A kind of electric steering engine Automatic Zero Set, including filled close to switch, close to switch bracket, controller and extension clamping It sets;

Controller is connect with close to switch and electric steering engine respectively;

Extend clamping device to include pedestal and lengthen the body of rod, pedestal is clamped on electric steering engine output shaft, and it is solid to lengthen the body of rod Surely it is connected on pedestal and is vertically arranged with pedestal;The rotation of electric steering engine output shaft is able to drive base rotation;

It is mounted on close to switch close on switch bracket, is extending clamping device side close to switch bracket setting, lengthening There are distances between the body of rod and close switch;

When close to the distance between switch and lengthening body of rod, outside the trigger range close to switch, electric steering engine output shaft is held Continuous rotation;Base rotation is driven when electric steering engine output shaft rotates, when so that the lengthening body of rod reaching the trigger range of close switch, It is flipped close to switch output level, controller control electric steering engine output shaft stops operating, and mechanical zero adjustment is completed;

Controller is connected with alarm, and controller is used to acquire the output voltage values of the sensor of electric steering engine, and rotation passes Sensor adjusts sensor feedback voltage value, when feedback voltage level is in the preset threshold range of controller, alarm equipment alarm, The rotation of stop sensor at this time, electrical null position adjustment are completed.

Further, controller include processor, AD acquisition chip, power management chip, programmable logic device, optocoupler and Bridge circuit driver module;Power management chip is all connected with processor, programmable logic device, AD acquisition chip and optocoupler;

AD acquisition chip is connect with sensor, close to switch and processor, the height electricity close to switch for that will acquire The feedback voltage level of gentle sensor feeds back to processor;

Processor is connect by programmable logic device with optocoupler, and optocoupler passes through the electricity of bridge circuit driver module and electric steering engine Machine connection.

Further, programmable logic device uses GAL chip, CPLD chip or fpga chip;The model of AD acquisition chip For AD7656 or AD7606;Processor uses DSP2812 chip or DSP8335 chip.

Further, alarm includes buzzer or indicator light.

Further, pedestal includes connecting plate and two symmetrically arranged clamping plane plates, connecting plate include the first plate body and It is connect with the first plate body both ends and vertical two the second plate bodys with the first plate body, clamping plane plate includes third plate body and with Three plate body both ends connect and vertically with two the 4th plate bodys of third plate body, and it is flat that two the second plate bodys are plugged in two clampings respectively In panel, the second plate body is arranged in parallel with third plate body;

Corresponding first pilot hole in position is provided on the second plate body and on the vertical plane of third plate body, in the first pilot hole Equipped with spring lead, spring is wound in spring lead.

Further, it is provided with the second pilot hole on the horizontal plane of third plate body, guide post is equipped in the second pilot hole;

Being provided on the first plate body can be such that guide post passes through and move left and right guide post two are symmetrically arranged logical Hole.

Further, the bottom end for lengthening the body of rod is provided with the holding tank that can accommodate guide post.

Further, the first pilot hole is multiple and uniformly distributed.

Further, it is provided with hand-hold hole on the 4th plate body, lengthens and is provided with lightening hole on the body of rod.

The invention also discloses the adjusting zero methods of the electric steering engine Automatic Zero Set, comprising the following steps:

1) mechanical zero adjusts: controller is opened, and the rotation of electric steering engine output shaft extends clamping device with electric steering engine Output shaft rotation lengthens the body of rod and rotates, when the distance between close switch and lengthening body of rod are in the close trigger range switched Outside, electric steering engine output shaft persistently rotates;When the lengthening body of rod reaches the trigger range of close switch, close to switch output level It is flipped, controller control electric steering engine output shaft stops operating, and mechanical zero adjustment is completed;

2) electrical null position adjusts: rotation sensor, sensor feedback voltage value change, when feedback voltage level is controlling When in the preset threshold range of device, alarm equipment alarm, the rotation of stop sensor at this time, electrical null position adjustment completion.

Compared with prior art, the invention has the following beneficial technical effects:

Electric steering engine Automatic Zero Set of the invention, including controller, close to switch, close to switch bracket and extend folder Hold device;Controller is connect with close to switch and electric steering engine respectively;Extending clamping device includes pedestal and the lengthening body of rod, pedestal It is clamped on electric steering engine output shaft, lengthens the body of rod and be fixedly connected on pedestal, the rotation of electric steering engine output shaft is able to drive bottom Seat rotation;Close switch is mounted on close on switch bracket, when the distance between close switch and lengthening body of rod are switched close Trigger range outside, electric steering engine output shaft persistently rotates;Base rotation is driven when electric steering engine output shaft rotates, so that lengthening When the body of rod reaches the trigger range of close switch, it is flipped close to switch output level, controller controls electric steering engine and exports Axis stops operating, and mechanical zero adjustment is completed;Controller is connected with alarm, and controller is used to acquire the sensor of electric steering engine Output voltage values, rotation sensor, stop operating sensor when alarm equipment alarm, electrical null position adjustment complete.By making With the adjust automatically for realizing electric steering engine mechanical zero close to switch, extension clamping device and controller, electric steering engine machine is improved The Adjustment precision and consistency of tool zero-bit;Sentenced automatically by using what controller and alarm realization transducer zeroing were adjusted in place It reads and prompts;Machine zero and electronic zero-setting no longer need artificially to go to adjust, high-efficient, and Adjustment precision is high.

Further, controller include processor, AD acquisition chip, power management chip, programmable logic device, optocoupler and Bridge circuit driver module reads close to the state switched the situation in place for monitoring electric steering engine output shaft by AD acquisition chip, And sensor output voltage value is acquired by AD acquisition chip, AD acquisition chip will be read close to the level of switch and electronic The output voltage values of the sensor of steering engine send processor, the level and electric steering engine close to switch that processor will receive to The feedback voltage level of sensor be compared judgement with preset value in programmable logic device.When processor collects close open When OFF signal jumps, then mechanical zero is determined in place, when processor collects sensor feedback voltage value in the threshold of setting Electrical null position is then determined in place when within the scope of value.

Further, pedestal uses connecting plate and two clamping plane plates, and connecting plate is plugged in two clamping plane plates, and three Person is connected by spring lead again, and under natural conditions, closely, spring does not stress two clamping plane plates, works as needs When clamping electric steering engine output shaft, two clamping plane plates are pulled open, electric steering engine output shaft will under the compression of spring It is tightly accommodated among two clamping plane plates, to realize that electric steering engine rotation drives base rotation, and then lengthens body of rod hair Raw rotation.

Further, guide post is installed additional on the horizontal plane of third plate body, being provided on the first plate body can be such that guide post wears The two symmetrically arranged through-holes crossed and move left and right guide post.Guide post can guarantee to extend the electronic rudder of gripping apparatus grips The flatness of machine output shaft, while making the push-and-pull of two clamping plane plates more smooth.

Further, the first pilot hole is multiple and uniformly distributed, then multiple springs will be arranged in correspondence, in this way can be more preferable Ground guarantees to extend the clamping force of clamping device.

Further, it is provided with hand-hold hole on the 4th plate body, facilitates staff to pull clamping plane plate, electric steering engine is exported Axle clamp is among clamping plane plate.

Adjusting zero method disclosed by the invention, first completion machine zero, then electronic zero-setting again, by using close to opening The adjust automatically for closing, extending clamping device and controller realization electric steering engine mechanical zero, improves electric steering engine mechanical zero Adjustment precision and consistency;The automatic interpretation and mention that transducer zeroing is adjusted in place are realized by using controller and alarm Show;It is finally completed electric steering engine zeroing, Adjustment precision is high.

Detailed description of the invention

Fig. 1 is electric steering engine Automatic Zero Set structural schematic diagram of the invention;

Fig. 2 is the other direction view of Fig. 1;

Fig. 3 is the structural schematic diagram of extension clamping device of the invention;

Fig. 4 is the cross-sectional view of Fig. 3;

Fig. 5 is the functional block diagram of controller.

Wherein, 1 is close switch;2 be close to switch bracket;3 be controller;4 be electric steering engine;5 be sensor;6 are Extend clamping device;61 be the lengthening body of rod;62 be pedestal;63 be connecting plate;631 be the first plate body;632 be the second plate body;64 For clamping plane plate;641 be third plate body;642 be the 4th plate body;65 be spring lead;66 be guide post;67 be loss of weight Hole;68 be holding tank;69 be through-hole;70 be spring;71 be hand-hold hole;7 be electric steering engine output shaft;8 be bottom plate.

Specific embodiment

Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and It is not to limit.

As shown in Fig. 1~2, a kind of electric steering engine Automatic Zero Set of the invention, including controller 3, close to switch 1, Close to switch bracket 2 and extend clamping device 6;Controller 3 is connect with close to switch 1 and electric steering engine 4 respectively;Extend clamping dress Setting 6 includes pedestal 62 and the lengthening body of rod 61, and pedestal 62 is clamped on electric steering engine output shaft 7, lengthens the body of rod 61 and is fixedly connected on It is vertically arranged on pedestal 62 and with pedestal 62;The rotation of electric steering engine output shaft 7 is able to drive the rotation of pedestal 62;Pacify close to switch 1 Mounted in close on switch bracket 2, is extending 6 side of clamping device close to the setting of switch bracket 2, lengthening the body of rod 61 and close switch There are distances between 1.

Wherein, it lengthens the body of rod 61 and is generally metal material, the metal material close to 1 pair of unlike material of switch responds distance not Together, therefore using preceding it is demarcated to close to switch 1 and the lengthening body of rod 61.

As shown in figure 5, controller 3 includes processor, AD acquisition chip, power management chip, programmable logic device, light Coupling and bridge circuit driver module;Power management chip is all connected with processor, programmable logic device, AD acquisition chip and optocoupler, Power management chip is for generating processor, programmable logic device, AD acquisition chip and optocoupler institute after adjusting external power supply The power supply needed;AD acquisition chip is connect with sensor 5, close to switch 1 and processor, the height close to switch 1 for that will acquire The feedback voltage level of low level and sensor 5 feeds back to processor;Processor is connect by programmable logic device with optocoupler, light Coupling is connected by the motor of bridge circuit driver module and electric steering engine;After controller starting, processor passes sequentially through programmable logic Device and optocoupler control motor rotation, motor drive electric steering engine output shaft 7 to rotate.

Wherein, bridge circuit driver module is common motor driver, receives and execute the command information of processor sending, and Driving motor rotation.

Programmable logic device can choose the cores such as GAL, CPLD, FPGA for PWM needed for generating brshless DC motor Piece;AD can choose the chips such as AD7656, AD7606 for acquiring close to switch low and high level and sensor feedback voltage value; Processor be used for mechanical zero, electrical null position are judged in place and in place after processing, can choose DSP2812, DSP8335 etc. Chip.

After controller 3 is powered, the state that AD acquisition chip is read close to switch 1 arrives to monitor electric steering engine output shaft 7 Position situation.When close to the distance between switch 1 and lengthening body of rod 61, outside the trigger range close to switch 1, electric steering engine is exported Axis 7 persistently rotates;It drives pedestal 62 to rotate when electric steering engine output shaft 7 rotates, reaches so that lengthening the body of rod 61 close to switch 1 It when trigger range, is flipped close to 1 output level of switch, controller 3 controls electric steering engine output shaft 7 and stops operating, mechanical Zero-bit adjustment is completed.

Controller 3 is connected with alarm, and after controller 3 is powered, rotation sensor 5 adjusts 5 feedback voltage level of sensor, AD acquisition chip acquires 5 output voltage values of sensor of electric steering engine, when processor judges feedback voltage level in preset threshold value When in range, alarm equipment alarm, the rotation of stop sensor 5 at this time, electrical null position adjustment completion.

Controller 3, which is equipped with, rotates forward switch and reversal switch, for adjusting the positive and negative rotation of electric steering engine output shaft 7.

Alarm includes buzzer or indicator light.Buzzer uses audible alarm, and indicator light uses light warning, available It is completed to prompt the electrical null position of staff's electric steering engine 4 to adjust.

As shown in Figures 3 and 4, pedestal 62 includes connecting plate 63 and two symmetrically arranged clamping plane plates 64, connecting plate 63 It is connect including the first plate body 631 and with 631 both ends of the first plate body and vertical two the second plate bodys 632 with the first plate body 631, folder The panel 64 that maintains an equal level includes third plate body 641 and connect with 641 both ends of third plate body and vertical two the 4th with third plate body 641 Plate body 642, two the second plate bodys 632 are plugged in respectively in two clamping plane plates 64, the second plate body 632 and third plate body 641 It is arranged in parallel;It is provided with corresponding first pilot hole in position on the second plate body 632 and on the vertical plane of third plate body 641, first It is equipped with spring lead 65 in pilot hole, is wound with spring 70 in spring lead 65.

It is provided with the second pilot hole on the horizontal plane of third plate body 641, guide post 66 is equipped in the second pilot hole;? Two symmetrically arranged through-holes 69 that guide post 66 can be made to pass through and move left and right guide post 66 are provided on one plate body 631. Guide post 66 can guarantee that extending clamping device 6 clamps the flatness of electric steering engine output shaft 7, while make two clamping planes The push-and-pull of plate 64 is more smooth.

Under natural conditions, two clamping plane plates 64 are located next to, i.e., two third plate bodys 641 are located next to, this When two guide posts 66 close to middle position, prevent guide post 66 from colliding and lengthen the body of rod 61, so at the bottom for lengthening the body of rod 61 End is provided with holding tank 68.

When electric steering engine 4 needs to return to zero, clamping plane plate 64 is pulled to two sides, so that electric steering engine output shaft 7 is pressed from both sides It holds among two clamping plane plates 64, unclamps two clamping plane plates 64, under the compression of spring 70, extend clamping dress Setting 6 will reliably be clamped on electric steering engine output shaft 7.

As shown in figure 3, the first pilot hole be it is multiple and uniformly distributed, then multiple springs 70 will be arranged in correspondence, in this way may be used To better ensure that the clamping force for extending clamping device 6.Under normal circumstances, four the first pilot holes are set.

It lengthens and is also provided with lightening hole 67 on the body of rod 61, save material, mitigate weight, machine zero precision can be improved.

As shown in the figures 1 and 2, controller 3, close to switch 1, close to switch bracket 2, extension clamping device 6 and electric steering engine 4 It may be provided on a bottom plate 8.Bottom plate 8 need to guarantee certain flatness and the depth of parallelism to be had to guarantee steering engine to be placed on bottom plate 8 One reference data, guarantees the accuracy of machine zero.

Claims (10)

1. a kind of electric steering engine Automatic Zero Set, which is characterized in that including close to switch (1), close to switch bracket (2), control Device (3) processed and extension clamping device (6);
Controller (3) is connect with close to switch (1) and electric steering engine (4) respectively;
Extend clamping device (6) to include pedestal (62) and lengthen the body of rod (61), pedestal (62) is clamped in electric steering engine output shaft (7) On, it lengthens the body of rod (61) and is fixedly connected on pedestal (62) and is vertically arranged with pedestal (62);Electric steering engine output shaft (7) rotation It is able to drive pedestal (62) rotation;
It is mounted on close to switch (1) close on switch bracket (2), is extending clamping device (6) one close to switch bracket (2) setting Side lengthens the body of rod (61) and close to there are distances between switch (1);
When close to the distance between switch (1) and the lengthening body of rod (61), outside the trigger range close to switch (1), electric steering engine is defeated Shaft (7) persistently rotates;Pedestal (62) rotation is driven when electric steering engine output shaft (7) rotate, is reached so that lengthening the body of rod (61) When the trigger range of close switch (1), it is flipped close to switch (1) output level, controller (3) controls electric steering engine and exports Axis (7) stops operating, and mechanical zero adjustment is completed;
Controller (3) is connected with alarm, and controller (3) is used to acquire the output voltage values of the sensor (5) of electric steering engine, turns Dynamic sensor (5) adjust sensor (5) feedback voltage level, when feedback voltage level is in controller (3) preset threshold range When, alarm equipment alarm, the rotation of stop sensor (5) at this time, electrical null position adjustment completion.
2. electric steering engine Automatic Zero Set according to claim 1, which is characterized in that controller (3) include processor, AD acquisition chip, power management chip, programmable logic device, optocoupler and bridge circuit driver module;Power management chip and processing Device, programmable logic device, AD acquisition chip and optocoupler are all connected with;
AD acquisition chip is connect with sensor (5), close to switch (1) and processor, the height close to switch (1) for that will acquire The feedback voltage level of low level and sensor (5) feeds back to processor;
Processor is connect by programmable logic device with optocoupler, and optocoupler is connected by the motor of bridge circuit driver module and electric steering engine It connects.
3. electric steering engine Automatic Zero Set according to claim 2, which is characterized in that programmable logic device uses GAL chip, CPLD chip or fpga chip;The model AD7656 or AD7606 of AD acquisition chip;Processor uses DSP2812 Chip or DSP8335 chip.
4. electric steering engine Automatic Zero Set according to claim 1, which is characterized in that alarm includes buzzer or refers to Show lamp.
5. electric steering engine Automatic Zero Set described in any one according to claim 1~4, which is characterized in that pedestal (62) Including connecting plate (63) and two symmetrically arranged clamping plane plates (64), connecting plate (63) include the first plate body (631) and with First plate body (631) both ends connection and vertically with two the second plate bodys (632) of the first plate body (631), clamping plane plate (64) It is connect including third plate body (641) and with third plate body (641) both ends and vertical two the 4th plate bodys with third plate body (641) (642), two the second plate bodys (632) are plugged in respectively in two clamping plane plates (64), the second plate body (632) and third plate body (641) it is arranged in parallel;
Corresponding first pilot hole in position is provided on the second plate body (632) and on the vertical plane of third plate body (641), first leads Spring lead (65) are equipped with into hole, are wound with spring (70) in spring lead (65).
6. electric steering engine Automatic Zero Set according to claim 5, which is characterized in that the water in third plate body (641) It is provided with the second pilot hole in plane, is equipped with guide post (66) in the second pilot hole;
Be provided on the first plate body (631) guide post (66) can be made to pass through and make two that guide post (66) moves left and right it is symmetrical The through-hole (69) of setting.
7. electric steering engine Automatic Zero Set according to claim 6, which is characterized in that open the bottom end for lengthening the body of rod (61) There is the holding tank (68) that can accommodate guide post (66).
8. electric steering engine Automatic Zero Set according to claim 5, which is characterized in that the first pilot hole is multiple and equal Even laying.
9. electric steering engine Automatic Zero Set according to claim 5, which is characterized in that be provided on the 4th plate body (642) Hand-hold hole (71) lengthens and is provided with lightening hole (67) on the body of rod (61).
10. the adjusting zero method of electric steering engine Automatic Zero Set described in any one of claim 1 to 9, which is characterized in that packet Include following steps:
1) mechanical zero adjusts: controller (3) is opened, and electric steering engine output shaft (7) rotation extends clamping device (6) with electricity Dynamic steering engine output shaft (7) rotation lengthens the body of rod (61) rotation, when the distance between close switch (1) and the lengthening body of rod (61) Outside the trigger range close to switch (1), electric steering engine output shaft (7) persistently rotates;It is opened when the lengthening body of rod (61) reaches close When closing the trigger range of (1), it is flipped close to switch (1) output level, controller (3) controls electric steering engine output shaft (7) It stops operating, mechanical zero adjustment is completed;
2) electrical null position adjusts: rotation sensor (5), sensor (5) feedback voltage level change, when feedback voltage level is being controlled When in the preset threshold range of device (3) processed, alarm equipment alarm, the rotation of stop sensor (5), electrical null position have been adjusted at this time At.
CN201910148788.3A 2019-02-28 2019-02-28 Automatic zero setting device and method for electric steering engine CN109857054B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910148788.3A CN109857054B (en) 2019-02-28 2019-02-28 Automatic zero setting device and method for electric steering engine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910148788.3A CN109857054B (en) 2019-02-28 2019-02-28 Automatic zero setting device and method for electric steering engine

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CN109857054A true CN109857054A (en) 2019-06-07
CN109857054B CN109857054B (en) 2020-07-28

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130015916A1 (en) * 2011-07-12 2013-01-17 Analog Devices, Inc. Common-Mode Amplifier Step Response
CN103092218A (en) * 2013-01-06 2013-05-08 中国航天科技集团公司烽火机械厂 Method and system for steering engine zero adjustment
CN104707880A (en) * 2015-03-13 2015-06-17 武汉大学 Automobile transmission shaft circle run-out detecting and calibrating system and method
CN104973265A (en) * 2015-07-07 2015-10-14 西安航空学院 Method for correcting zero position of electric steering engine
CN109238189A (en) * 2018-09-28 2019-01-18 天津理工大学 A kind of production line automatic zero set system and method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130015916A1 (en) * 2011-07-12 2013-01-17 Analog Devices, Inc. Common-Mode Amplifier Step Response
CN103092218A (en) * 2013-01-06 2013-05-08 中国航天科技集团公司烽火机械厂 Method and system for steering engine zero adjustment
CN104707880A (en) * 2015-03-13 2015-06-17 武汉大学 Automobile transmission shaft circle run-out detecting and calibrating system and method
CN104973265A (en) * 2015-07-07 2015-10-14 西安航空学院 Method for correcting zero position of electric steering engine
CN109238189A (en) * 2018-09-28 2019-01-18 天津理工大学 A kind of production line automatic zero set system and method

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