CN110699921A - Active balance control system of drum washing machine and balancing method thereof - Google Patents
Active balance control system of drum washing machine and balancing method thereof Download PDFInfo
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- CN110699921A CN110699921A CN201910953929.9A CN201910953929A CN110699921A CN 110699921 A CN110699921 A CN 110699921A CN 201910953929 A CN201910953929 A CN 201910953929A CN 110699921 A CN110699921 A CN 110699921A
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/02—Rotary receptacles, e.g. drums
- D06F37/04—Rotary receptacles, e.g. drums adapted for rotation or oscillation about a horizontal or inclined axis
- D06F37/06—Ribs, lifters, or rubbing means forming part of the receptacle
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/20—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations
- D06F37/22—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations in machines with a receptacle rotating or oscillating about a horizontal axis
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/30—Driving arrangements
- D06F37/304—Arrangements or adaptations of electric motors
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- Engineering & Computer Science (AREA)
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- Control Of Washing Machine And Dryer (AREA)
Abstract
The invention discloses an active balance control system of a drum washing machine and a balancing method thereof, wherein the active balance control system comprises lifting ribs arranged on the inner wall of an inner barrel, a vibration sensor for detecting the amplitude of the outer barrel, a rotating speed sensor for detecting the rotating speed of the inner barrel, and a controller connected with the vibration sensor and the rotating speed sensor; an outer barrel coil is installed on the outer barrel outer wall in the axial direction, the outer barrel coil is connected with the controller, a balancing weight with a coil winding and a sliding rail with damping are arranged inside each lifting rib, the sliding rail penetrates through the balancing weight, two ends of the sliding rail are fixed to two ends of each lifting rib respectively in the axial direction, and the balancing weight can move along the sliding rail. The balancing method of the invention utilizes the balancing weight arranged in the lifting rib of the washing machine drum to match with the magnetic control of the outer drum coil of the washing machine, thereby realizing the active dynamic balance balancing of the washing machine dehydration, improving the dehydration success rate of the drum washing machine, reducing the energy consumption of the washing machine, reducing the weight of the washing machine and improving the cost performance of the washing machine.
Description
Technical Field
The invention relates to a balance control system and a balancing method thereof, in particular to an active balance control system of a roller washing machine and a balancing method thereof, belonging to the technical field of intelligent control.
Background
The drum washing machine has become one of the common household appliances at present due to its characteristics of convenience and rapidness. The existing drum washing machine can vibrate during operation, some vibration sounds are loud, certain noise is formed, and the main vibration source of the drum washing machine is eccentricity caused by the fact that clothes are gathered at one side of an inner drum of the washing machine during dehydration, and the eccentricity causes periodic excitation on a rotating drum system, so that vibration is generated. When the vibration frequency is close to the natural frequency of the drum system or the natural frequency of the washing machine body system, the system can resonate, which brings great challenges to the operation of the washing machine and the design strength of the washing machine.
At present, the dewatering vibration of the drum washing machine is reduced mainly by the following methods:
1. when the dehydration starts, the inner drum of the washing machine starts to rotate in an accelerated way;
2. when reaching a certain low speed, the clothes begin to be gradually attached to the inner wall of the washing machine drum through centrifugal force;
3. at the moment, the sensor detects vibration, and if the vibration is not greater than a preset value, the washing machine continues to accelerate;
4. repeating the step 3, increasing the rotating speed of the drum of the washing machine step by step until the vibration detected by the sensor is greater than a preset value, and entering the step 5;
5. the washing machine starts to reduce the rotating speed, reduces the centrifugal force applied to the clothes, and the clothes are separated from the attachment of the drum wall and start to move along with the rotation of the drum;
6. after keeping the low rotation speed for a certain time, trying again to repeat the step (2) to the step (4), wherein the trying times are set according to a program;
7. and if the rated rotating speed still cannot be reached after the number of attempts is exceeded, the dehydration is finished. At this time, the clothes are not dehydrated, and the dehydration is invalid;
8. if the washing machine reaches the dehydration rated rotating speed and keeps the rated rotating speed for a certain time in the steps, the dehydration is successfully completed, and the speed is reduced to be static again.
Although the method can reduce the vibration of the washing machine during dewatering, the method still has the following defects:
1. because the distribution and attachment state of the clothes can not be confirmed, and the clothes can not be separated from the drum once the wet clothes are attached to the inner drum only through deceleration or even reversal in many times, the deceleration and acceleration process time is long when the whole drum system dehydrates, the energy consumption is large, the effect is not obvious or ideal, the washing program time is too long, the energy consumption of the washing machine is too large, the dehydration is invalid and the like;
2. many times, the clothes cannot be uniformly distributed in the drum, for example, when a user washes a single large piece of clothes or articles such as bed sheets and curtains, the articles cannot completely cover the drum for one whole circumference, so that eccentricity cannot be offset, and in this time, the dehydration rotating speed cannot reach the maximum, so that dehydration cannot be performed or the dehydration effect is poor, even the washing program is terminated, and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an active balance control system of a drum washing machine and a balancing method thereof, which can realize active dynamic balance balancing of washing machine dehydration, improve the dehydration success rate of the drum washing machine, reduce the energy consumption of the washing machine, reduce the weight of the washing machine and improve the cost performance of the washing machine.
The invention relates to an active balance control system of a drum washing machine, which comprises at least three lifting ribs, a vibration sensor and a rotating speed sensor, wherein the lifting ribs are parallel to the axis of an inner barrel and are circumferentially and uniformly distributed on the inner wall of the inner barrel; at least one outer barrel coil is arranged on the outer wall of the outer barrel along the axial direction, the outer barrel coil is connected with the controller, a balancing weight with a coil winding and a sliding rail with damping are arranged in each lifting rib, the sliding rail penetrates through the balancing weight, two ends of the sliding rail are respectively fixed at two ends of the lifting rib along the axial direction, and the balancing weight can move along the sliding rail; the initial position of the balancing weight is at the innermost side of the inner barrel;
the controller is internally preset with an amplitude threshold value H, a dehydration rated rotating speed w0, an initial low speed D1 and a unit time of electrifying the outer barrel coil, and the unit distance a of moving the balancing weight with the coil in a single lifting rib in the unit time is set.
A balancing method of an active balance control system of a drum washing machine comprises the following steps:
1) when the dehydration starts, the inner barrel of the washing machine starts to rotate in an accelerating way, and the real-time rotating speed of the inner barrel is detected by the rotating speed sensor and is transmitted to the controller;
2) the controller compares the received real-time rotating speed with an initial low speed D1 set inside, and when the rotating speed of the inner barrel reaches the initial low speed D1, the clothes begin to gradually adhere to the inner wall of the inner barrel through centrifugal force;
3) detecting the real-time amplitude H of the outer barrel vibration by the vibration sensor, transmitting the real-time amplitude H to the controller, comparing the amplitude with an amplitude threshold value H by the controller, and if the amplitude is not greater than the amplitude threshold value H, controlling the inner barrel to continuously accelerate, and entering the step (4); otherwise, entering the step (5);
4) repeating the step (3) to increase the rotating speed of the inner barrel of the washing machine step by step until the amplitude detected by the vibration sensor is greater than the amplitude threshold value H, and entering the step (5);
5) the controller controls the inner barrel to rotate at a constant speed, and simultaneously, an alternating current signal is pulsed on a coil of the outer barrel, the pulse frequency is w/2 pi, the power-on duration is 1/N x 2 pi/w, and the power-on interval is N-1/N x 2 pi/w;
wherein w represents the current rotating speed, and N represents the number of lifting ribs;
6) the balancing weight is electrified when passing through the outer barrel coil, the balancing weight moves outwards under the action of cutting the magnetic induction lines, after the balancing weight moves by a unit distance a, the controller stops electrifying the outer barrel coil, meanwhile, the vibration sensor detects the amplitude H (n), the amplitude H (n) is transmitted to the controller, and the controller compares the amplitude H (n) with a threshold value H and the amplitude H (n-1) respectively;
wherein n is the number of times the weight block moves outwards by the unit distance a, and n is 1, 2, 3 …;
7) if H ≦ H (n) < H (n-1), the controller continues to power on the outer barrel coil, and returns to step (6);
if H (n) < H, continuing accelerating until the dehydration process is finished;
if H (n) > H and H (n) ≧ H (n-1), adjusting the electrifying phase difference of the outer barrel coil, electrifying the next balancing weight, and returning to the step (6);
in the steps (6) - (7), the rotating speed sensor detects the real-time rotating speed of the inner barrel in real time and transmits the rotating speed value to the controller, and when the controller judges that the received real-time rotating speed reaches the dehydration rated rotating speed w0 and keeps the rated rotating speed w0 for a set time, the dehydration is successfully completed, and the speed is reduced to be static again; then, the controller provides alternate-phase alternating current for the coil of the outer barrel to control the inner barrel to rotate reversely, so that the balancing weight in the lifting rib is reset.
Compared with the prior art, the invention has the following advantages:
1) according to the invention, through controlling the power-on interval and power-on duration of the outer barrel coil in unit time, the balancing weight in each lifting rib is powered on step by step, and the position of the balancing weight is adjusted, so that the amplitude is reduced until the detected amplitude is less than or equal to the threshold value H, the controller judges that the eccentricity is eliminated, the adjustment is completed, the active balancing of the washing machine is realized, the running speed of the roller does not need to be reduced in the balancing process, the power consumption and the time consumption are greatly reduced, the time is saved for users, and the development requirement of environmental protection is met.
2) The balancing weight in each lifting rib provides extra balancing eccentric capacity, balancing is mainly realized by actively controlling the position of the eccentric balancing weight, balancing is not hoped to find out due to free rolling of the washed clothes, balancing possibility is higher, efficiency is higher, the possibility of eccentric balancing is greatly expanded, lower amplitude can be obtained due to self-control eccentricity, influence during resonance can be reduced, resonance is not required to be reduced by increasing the weight of the drum washing machine, design strength requirements are effectively reduced, the weight of the drum washing machine is reduced, and cost performance of purchasing of users is improved.
3) The invention effectively reduces the vibration probability and amplitude of the washing machine system, can allow the design clearance between the inner drum and the outer drum of the washing machine drum to be further reduced, and improves the volume-volume ratio of the washing machine drum system.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a flow chart of a trim method of the present invention;
in the figure: 1. the outer barrel, 2, the inner barrel, 3, the lifting rib, 31, the balancing weight, 32, the sliding rail and 4, the outer barrel coil.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in FIG. 1 and FIG. 2, the active balance control system of the drum washing machine of the present invention comprises
The three lifting ribs 3 are parallel to the axis of the inner barrel 2 and are circumferentially and uniformly distributed on the inner wall of the inner barrel 2, a balancing weight 31 with a coil winding and a sliding rail 32 with damping are arranged inside the lifting ribs 3, the sliding rail 32 penetrates through the balancing weight 31, and the two ends of the sliding rail 32 are respectively fixed at the two ends of the lifting ribs 3 in the axial direction, and the balancing weight 31 can move along the sliding rail 32;
an outer tub coil 4 mounted on an outer wall of the outer tub 1 in an axial direction; preferably, the pair of outer barrel coils 4 are symmetrically arranged on the outer wall of the outer barrel 1, the length in the axial direction is not less than the length of the lifting rib 3, the length in the radial direction is not less than the width of the lifting rib 3, the outer barrel coils 4 are connected with the controller, and therefore the pair of outer barrel coils 4 are arranged, because the same balancing weight 31 can be adjusted twice in one circle of rotation of the inner barrel 2, the adjusting speed of the balancing weight 31 is improved, the adjusting time for eliminating eccentricity is reduced, and more outer barrel coils 4 can be arranged according to needs.
The vibration sensor is arranged on the outer wall of the outer barrel 1, is connected with the controller and is used for detecting the amplitude of the outer barrel 1;
a rotation speed sensor mounted on an output shaft of a driving device for driving the inner barrel 2 to rotate, connected with the controller, and used for detecting the rotation speed of the inner barrel 2;
the controller is internally preset with an amplitude threshold value H, a dehydration rated rotating speed w0, an initial low speed D1, a power-on phase difference of the outer barrel coil 4 and unit time of power-on, and sets a unit distance a for moving the counter weight 31 in the single lifting rib 3 in the unit time.
As shown in fig. 3, the trimming method based on the trimming control system is as follows:
1) when the dehydration starts, the inner barrel 2 of the washing machine starts to rotate in an accelerating way, and the real-time rotating speed of the inner barrel 2 is detected by the rotating speed sensor and is transmitted to the controller;
2) the controller compares the received real-time rotation speed with an initial low speed D1 set inside, and when the real-time rotation speed of the inner tub 2 reaches the initial low speed D1, the clothes begin to gradually adhere to the inner wall of the inner tub 2 by centrifugal force;
3) the vibration sensor detects the vibration amplitude of the outer barrel 1 in real time and transmits the vibration amplitude to the controller, the controller compares the vibration amplitude with a vibration amplitude threshold value H, if the vibration amplitude is not greater than the vibration amplitude threshold value H, the inner barrel 2 continues to rotate in an accelerated mode, and the step (4) is carried out; otherwise, entering the step (5);
4) repeating the step (3) to increase the rotating speed of the inner barrel 2 step by step until the amplitude detected by the vibration sensor is greater than the amplitude threshold value H, and entering the step (5);
5) the controller controls the inner barrel 2 to rotate at a constant speed, pulse alternating current signals are applied to the first outer barrel coil 4 and the second outer barrel coil 4 at the same time, the pulse frequency is w/2 pi, the electrifying time duration is 1/3 x 2 pi/w, the electrifying interval is 2/3 x 2 pi/w, the electrifying data of the second outer barrel coil 4 is one-half phase later than that of the first outer barrel coil, and the phase refers to the angular phase corresponding to the rotation of the outer barrel 1 or the inner barrel 2 for one circle of 360 degrees;
wherein w represents the current rotational speed;
when the counterweight 31 in the lifting rib 3 passes through the outer barrel coil 4, the relative motion of cutting the magnetic induction line is generated, the counterweight 31 with the coil winding can generate current due to the cutting of the magnetic induction line, so that the counterweight 31 is electrified, the electrified counterweight 31 can continuously cut the magnetic induction line, and as the outer barrel coil 4 is a pulse alternating current signal, the generated magnetic field can be changed, so that displacement power (magnetic force) is provided for the counterweight 31, and the counterweight 31 moves outwards (the opening direction of the inner barrel 2 is outward);
in addition, through the control of the pulse frequency of the outer barrel coil 4 and the power-on/power-off rhythm, the counterweight 31 in the same lifting rib 3 is ensured to be electrified every time, displacement power (magnetic force) is provided, and the counterweight 31 in the single lifting rib 3 moves outwards by a unit distance a in unit time.
The unit time is a period of time, which can be set as required, for example, 20 seconds, 30 seconds, etc., and the unit time for powering up is set because the rotation speed of the inner barrel 2 is very fast, the outward moving distance of the counter weight 31 is very small when the counter weight passes through the outer barrel coil 4 every time, and there is no influence on the amplitude, so that the outer barrel coil 4 needs to be powered up for a period of time, during the powering up period, the counter weight 31 moves outward every time the counter weight passes through the outer barrel coil 4, and when the power-up time of the outer barrel coil 4 is over, the counter weight 31 moves outward by the unit distance a.
6) When the balancing weight 31 passes through the outer barrel coil 4, the balancing weight is electrified and moves outwards under the action of cutting magnetic induction lines (the balancing weight 31 which is not electrified can be damped to prevent movement), when the balancing weight moves for a unit distance a, the controller stops electrifying the outer barrel coil 4, the vibration sensor detects the amplitude H (n) and transmits the amplitude H (n) to the controller, and the controller compares the amplitude H (n) with a threshold value H and the amplitude H (n-1) respectively;
where n is the number of times the weight 31 moves outward by the unit distance a, and n is 1, 2, 3 …;
7) if H ≦ H (n) < H (n-1), the controller continues to power on the outer barrel coil 4, and returns to step (6);
if H (n) is less than H, judging that the eccentricity is eliminated, and continuously accelerating until the dehydration process is finished;
if H (n) > H and H (n) > H (n-1), adjusting the power-on phase difference, increasing the power-on phase difference of the outer barrel coil 4 by 1/3 × 2 π/w phase, powering up the balancing weight 31 in the next lifting rib 3, and returning to step (6);
in the steps (6) - (7), the rotating speed sensor detects the rotating speed of the inner barrel 2 in real time and transmits the rotating speed value to the controller, when the controller judges that the received rotating speed reaches the dehydration rated rotating speed w0 and keeps the dehydration rated rotating speed w0 for a set time, the dehydration is successfully completed, and the speed is reduced to be static again; then, the controller provides alternate-phase alternating current to the outer barrel coil 4 to control the inner barrel 2 to reversely rotate, so that the balancing weight 31 in the lifting rib 3 is reset.
The above-mentioned amplitude threshold H, the dehydration rated rotation speed w0, the initial low speed D1, the power-on phase difference and power-on unit time of the outer tub coil 4, and the unit distance a of the weight block 31 moving in unit time in the single lifting rib 3 are all preset in the controller, and before dehydration, the initial position of the weight block 31 is the innermost side of the inner tub 2.
The invention adjusts the balancing weight 31 in each lifting rib 3 step by step until H (n) is less than H, then the eccentricity is eliminated, the adjusting procedure is stopped, and the controller controls the driving device to continue accelerating until the dehydration procedure is completed.
The eccentricity is eliminated because the balancing weight 31 moves towards the opening of the inner barrel 2 in the axial direction according to the method of the invention, so as to balance the weight of the clothes in the inner barrel 2, redistribute the gravity in the inner barrel 2, homogenize the gravity, eliminate the eccentricity and quickly achieve dynamic balance. If the clothes on one side of the inner tub 2 are piled up, the counter weight 31 in the lifting rib 3 opposite to the piled clothes moves outwards in the axial direction, so that the gravity inside the inner tub 2 is uniformly distributed, the eccentricity of the washing machine is eliminated, and the dynamic balance is achieved.
Claims (5)
1. An active balance control system of a drum washing machine comprises at least three lifting ribs (3) which are parallel to the axis of an inner barrel (2) and are circumferentially and uniformly distributed on the inner wall of the inner barrel (2), a vibration sensor for detecting the amplitude of an outer barrel (1), a rotating speed sensor for detecting the rotating speed of the inner barrel (2), and the vibration sensor and the rotating speed sensor are connected with a controller; the lifting device is characterized in that at least one outer barrel coil (4) is mounted on the outer wall of an outer barrel (1) along the axial direction, the outer barrel coil (4) is connected with a controller, a balancing weight (31) with a coil winding and a sliding rail (32) with damping are arranged inside each lifting rib (3), the sliding rail (32) penetrates through the balancing weight (31), the two ends of the sliding rail (32) are respectively fixed at the two ends of each lifting rib (3) along the axial direction, and the balancing weight (31) can move along the sliding rail (32); the initial position of the balancing weight (31) is at the innermost side of the inner barrel (2);
the controller is internally preset with an amplitude threshold value H, a dehydration rated rotating speed w0, an initial low speed D1 and unit time of electrifying the outer barrel coil (4), and the unit distance a of moving the balancing weight (31) in a single lifting rib (3) in the unit time is set.
2. The active balance control system of a drum washing machine according to claim 1, characterized in that the outer drum coil (4) is provided with a pair, the length of which in the axial direction is not less than the length of the lifting rib (3), and the width in the radial direction is not less than the width of the lifting rib (3).
3. A balancing method of an active balance control system of a drum washing machine is characterized by comprising the following steps:
1) when the dewatering is started, the inner barrel (2) of the washing machine starts to rotate in an accelerating way, and the rotating speed sensor detects the real-time rotating speed of the inner barrel (2) and transmits the real-time rotating speed to the controller;
2) the controller compares the received real-time rotating speed with an initial low speed D1 set inside, and when the rotating speed of the inner barrel (2) reaches the initial low speed D1, the clothes begin to gradually attach to the inner wall of the inner barrel (2) through centrifugal force;
3) the vibration sensor detects the real-time amplitude H of the vibration of the outer barrel (1) and transmits the real-time amplitude H to the controller, the controller compares the amplitude with an amplitude threshold value H, if the amplitude is not greater than the amplitude threshold value H, the inner barrel (2) is controlled to continuously accelerate, and the step (4) is carried out; otherwise, entering the step (5);
4) repeating the step (3) to increase the rotating speed of the inner barrel (2) of the washing machine step by step until the amplitude detected by the vibration sensor is greater than the amplitude threshold value H, and entering the step (5);
5) the controller controls the inner barrel (2) to rotate at a constant speed, and simultaneously, a pulse alternating current signal is applied to the outer barrel coil (4), the pulse frequency is w/2 pi, the electrifying time is 1/N x 2 pi/w, and the electrifying interval is N-1/N x 2 pi/w;
wherein w represents the current rotating speed, and N represents the number of the lifting ribs (3);
6) when the balancing weight (31) passes through the outer barrel coil (4), the balancing weight is electrified and moves outwards under the action of cutting the magnetic induction line, after the balancing weight moves for a unit distance a, the controller stops electrifying the outer barrel coil (4), meanwhile, the vibration sensor detects the amplitude H (n) and transmits the amplitude H (n) to the controller, and the controller compares the amplitude H (n) with a threshold value H and the amplitude H (n-1) respectively;
wherein n is the number of times the counterweight (31) moves outwards by the unit distance a, and n is 1, 2 and 3 …;
7) if H ≦ H (n) < H (n-1), the controller powers on the outer barrel coil (4), and returns to step (6);
if H (n) < H, continuing accelerating until the dehydration process is finished;
if H (n) > H and H (n) ≧ H (n-1), adjusting the electrifying phase difference of the outer barrel coil (4), electrifying the next balancing weight (31), and returning to the step (6);
in the steps (6) - (7), the rotating speed sensor detects the real-time rotating speed of the inner barrel (2) in real time and transmits the rotating speed value to the controller, when the controller judges that the received real-time rotating speed reaches the dehydration rated rotating speed w0 and keeps the rated rotating speed w0 for a set time, the dehydration is successfully completed, and the speed is reduced to be static again; then, the controller provides alternate-phase alternating current for the outer barrel coil (4) to control the inner barrel (2) to rotate reversely, so that the balancing weight (31) in the lifting rib (3) is reset.
4. The balancing method of the active balance control system of the drum washing machine according to claim 3, wherein in the step (8), the phase difference of the outer drum coil (4) is adjusted by the following method:
if H (N) > H and H (N) > H (N-1), the electrical phase difference of the outer barrel coil (4) is increased by 1/N × 2 pi/w phase.
5. The balancing method of the active balance control system of the drum washing machine according to claim 3 or 4, wherein in the step (6), two outer drum coils (4) are symmetrically arranged, and the power-on data of the second outer drum coil (4) is one-half phase later than that of the first outer drum coil.
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| CN201910953929.9A CN110699921B (en) | 2019-10-09 | 2019-10-09 | Active balance control system of drum washing machine and balancing method thereof |
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| CN111254641A (en) * | 2020-03-26 | 2020-06-09 | 青岛海尔洗衣机有限公司 | Control method of washing machine and washing machine |
| CN111347284A (en) * | 2020-04-08 | 2020-06-30 | 新代科技(苏州)有限公司 | Online dynamic balance checking and adjusting device and method in lathe hub machining |
| CN113107840A (en) * | 2021-04-09 | 2021-07-13 | 华中科技大学 | Screw pump vibration control structure and method |
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| CN110699921B (en) | 2020-06-30 |
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