CN111504532B - Measurement and control system of hydraulic dynamometer - Google Patents
Measurement and control system of hydraulic dynamometer Download PDFInfo
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- CN111504532B CN111504532B CN202010384881.7A CN202010384881A CN111504532B CN 111504532 B CN111504532 B CN 111504532B CN 202010384881 A CN202010384881 A CN 202010384881A CN 111504532 B CN111504532 B CN 111504532B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
A measurement and control system of a hydraulic dynamometer relates to the technical field of measurement and control. The invention aims to solve the problem that the currently adopted measurement and control system aiming at the hydraulic dynamometer cannot be used as the optimal selection. The field part of the invention comprises: measurement element, acquisition unit, execution unit and field communication unit, the part includes between the control: the measurement and control unit is used for measuring the operation parameters of the hydraulic dynamometer, the acquisition unit is used for converting the operation parameters obtained by the measurement unit into digital signals and sending the digital signals to the control room communication unit through the field communication unit, the measurement and control unit is used for displaying the digital signals obtained by the control room communication unit, valve position control instructions of the water inlet valve and the water discharge valve are obtained by utilizing an open-loop control strategy and a closed-loop control strategy respectively, the valve position control instructions are sent to the field communication unit through the control room communication unit, and the execution unit is used for controlling the opening degrees of the water inlet valve and the water discharge valve through the valve position control instructions.
Description
Technical Field
The invention belongs to the technical field of measurement and control, and particularly relates to measurement and control of a hydraulic dynamometer.
Background
The hydraulic dynamometer is widely applied to the field of power test of various prime movers at present, can measure the output power of the prime mover as the load of a load test of the prime mover, and is matched with the prime mover to carry out various working condition point transformation tests. Under the condition of ensuring the stability of joint regulation of the hydraulic dynamometer and the prime motor, various safe operation indexes of the hydraulic dynamometer are also met, and the hydraulic dynamometer is required to have a corresponding monitoring function. With the development of electronic equipment, automation, software and other technologies, the measurement and control system of the hydraulic dynamometer is developed from original local manual operation and instrument panel display to centralized display and control. In order to reduce the difficulty of equipment maintenance, reduce the manpower required in the test process, and realize accurate control and precision measurement, the existing measurement and control system is required to realize the functions of data acquisition, control, display, alarm and the like in the joint debugging test process.
In order to realize the high-performance operation of the hydraulic dynamometer, the following measurement and control point distribution principle is supposed to be followed:
1) parameter measurement
The types and the installation positions of the sensors and the actuators on the hydraulic dynamometer body are set according to the measurement and control requirements of the hydraulic dynamometer, and the conventional measuring points of the hydraulic dynamometer comprise: temperature, pressure, valve position, rotational speed, torque. The temperature comprises the temperature of water flowing into a water cavity of the hydraulic dynamometer and the temperature of a bearing of the hydraulic dynamometer, the absorption power of the hydraulic dynamometer is estimated through the temperature rise of the water temperature, and whether the mechanical part of the hydraulic dynamometer is safe or not is mastered through the shaft temperature. The pressure is used to evaluate the water condition before and after the valve. The valve position is used for mastering the action of the actuator in real time. The rotating speed is used for monitoring the operation condition of the hydraulic dynamometer, the rotating speed and the torque are used for calculating the absorbed power, and the power and the temperature rise are used for calculating the water quantity demand of the hydraulic dynamometer.
2) Parameter control
The measurement and control system of the hydraulic dynamometer is used for matching with a prime motor experiment, and the hydraulic dynamometer is usually required to be adjusted to enable the prime motor to stably work at a certain specific working condition point or to be adjusted to another working condition from a certain working condition along with the prime motor. The prime mover controls the working condition, i.e. power and rotating speed, and the hydraulic dynamometer controls the water quantity, i.e. torque, in the water cavity in cooperation with the working condition. The control of the water quantity is realized by adjusting the water inflow and the water discharge of the hydraulic dynamometer, the water inflow is controlled by a water inlet valve, and the water discharge is controlled by a water discharge valve.
The existing manual operation and instrument panel display in situ have problems of different degrees in the using process, such as: the method has the practical defects of multiple faults, difficult maintenance, poor instrument interchangeability, complex operation, unfriendly instrument interface and the like. At present, two mature control forms, namely DCS and PLC, can be selected in the market aiming at a measurement and control system of a hydraulic dynamometer. DCS focuses on the field of process control (such as chemical engineering, metallurgy, pharmacy and the like), mainly monitors and adjusts and controls field parameters, PLC focuses on logic control (mechanical processing type), and PLC can also be applied to process problem treatment, but is not as professional as DCS. The DCS is a distributed control system, and the PLC is only a control device, which are differences between systems and devices. The system can realize the functions and coordination of any device, and the device only realizes the functions of the unit. From the control IO point, the analog quantity is more than 100 points, a DCS is generally adopted, and the analog quantity within 100 points is generally adopted by a PLC. According to the monitoring and control requirements, about 30 measurement and control points of the hydraulic dynamometer exist, the IO point scale does not support the selection of DCS, but if the PLC is selected, if some functions need to be increased or reduced at any time as test equipment, the PLC and the DCS cannot be flexibly realized, and the PLC and the DCS are not the optimal selection.
Disclosure of Invention
The invention aims to solve the problem that the currently adopted measurement and control system aiming at the hydraulic dynamometer cannot be used as the optimal selection, and the measurement and control system of the hydraulic dynamometer is provided.
The measurement and control system of the hydraulic dynamometer comprises a control room part and a field part,
the field part comprises: measurement element, acquisition unit, execution unit and field communication unit, the part includes between the control: a measurement and control unit and a communication unit between the control,
the measuring unit is used for measuring the operation parameters of the hydraulic dynamometer, and the operation parameters comprise: the tension and pressure born by the shell of the hydraulic dynamometer, the water temperature in front of the water inlet valve and behind the water discharge valve, the temperature of the front and rear bearings, the water pressure in front of the water inlet valve and in front of the water discharge valve, the rotating speed of the rotating shaft of the hydraulic dynamometer and the valve positions of the water inlet valve and the water discharge valve of the hydraulic dynamometer,
the acquisition unit is used for converting the operation parameters obtained by the measurement unit into digital signals and sending the digital signals to the control room communication unit through the field communication unit,
the measurement and control unit is used for displaying the digital signals obtained by the control room communication unit, and is also used for obtaining valve position control instructions of the water inlet valve and the water discharge valve according to a control strategy by utilizing the valve position, the rotating speed, the pulling force and the pressure, and sending the valve position control instructions to the field communication unit through the control room communication unit,
the execution unit is used for controlling the opening degree of the water inlet valve and the water discharge valve according to the valve position control instruction received by the field communication unit.
Further, the measurement unit includes: the hydraulic dynamometer comprises a force sensor, a thermal resistor, a pressure transmitter, a photoelectric encoder and a valve position sensor, wherein the force sensor is used for measuring tension and pressure borne by a shell of the hydraulic dynamometer, the thermal resistor is used for measuring water temperature in front of a water inlet valve and behind a water discharge valve and the temperature of a front bearing and a rear bearing, the pressure transmitter is used for measuring water pressure in front of the water inlet valve and in front of the water discharge valve, the photoelectric encoder is used for measuring the rotating speed of a rotating shaft of the hydraulic dynamometer, and the valve position sensor is used for measuring valve positions of the water inlet valve and the water discharge valve of the hydraulic dynamometer.
Further, the above-mentioned collection unit includes: the pressure sensor comprises a tension pressure acquisition module, a temperature acquisition module, a pressure acquisition module, a rotating speed acquisition module and a valve position acquisition module, wherein a signal output end of a force sensor is connected with a signal input end of the tension pressure acquisition module, a signal output end of a thermal resistor is connected with a signal input end of the temperature acquisition module, a signal output end of a pressure transmitter is connected with a signal input end of the pressure acquisition module, a signal output end of a photoelectric encoder is connected with a signal input end of the rotating speed acquisition module, a signal output end of the valve position sensor is connected with a signal input end of the valve position acquisition module, a signal output end of the tension pressure acquisition module, a signal output end of the temperature acquisition module, a signal output end of the pressure acquisition module, a signal output end of the rotating speed acquisition module and a signal output end of the valve position acquisition module are simultaneously connected with an operation parameter input end of a field communication unit.
Further, in the above control strategy, the control strategy of the water inlet valve is an open-loop control strategy.
Further, in the above control strategy, the control strategy of the drain valve is a closed-loop control strategy, which specifically includes: and calculating a valve position control command of the drain valve by using the difference value of the current torque and the target torque, wherein the current torque is obtained by calculating the tension and the pressure born by the shell of the hydraulic dynamometer.
And further, calculating a valve position control command of the drain valve by utilizing a PID algorithm or a segmented PID algorithm.
Further, the above target torque M is obtained by the following formula:
wherein, P is the power of the working point of the prime motor, and n is the rotating speed of the rotating shaft of the hydraulic dynamometer under the corresponding working point.
Furthermore, the field part also comprises a power supply unit which is used for supplying power to the measuring unit, the acquisition unit, the execution unit and the field communication unit.
Compared with the prior art, the hydraulic dynamometer measurement and control system has the advantages that:
in the aspect of software, the typical advantages of a DCS software system are inherited, the software is compiled, checked and debugged by using a uniform tool kit, and the method has the functions of checking fault information, recording logs and a database.
In the aspect of hardware, the form of using a local junction box brings convenience in debugging, maintenance and management to the maximum extent, data is transmitted in the form of a communication cable, the structure is simplified, and the problems of signal attenuation and interference possibly faced by analog signals in long-distance transmission are avoided.
Drawings
FIG. 1 is a schematic diagram of a hardware structure of a measurement and control system of a hydraulic dynamometer;
FIG. 2 is a schematic diagram of a hydraulic dynamometer measurement and control system;
FIG. 3 is a graph of valve position versus rotational speed;
fig. 4 is a block diagram of target torque and valve position control of the drain valve.
Detailed Description
Generally, when the hydraulic dynamometer is used as a load to match with a prime motor for testing, the body of the hydraulic dynamometer and the prime motor are arranged at a test site, and a human-computer interface of the hydraulic dynamometer is arranged in a control room. On one hand, the interference of noise, dust and the like during field operation is avoided; on the other hand, the control system of the prime motor is put together, so that an operator can know the current states of the prime motor and the load more timely and can issue an emergency reasonable test instruction at any time. In order to make the hydraulic dynamometer realize the control task stably, reliably, flexibly and conveniently, a novel control system is provided, and the control system comprises a control room part and a test field part, and the structure and the function are respectively as described in the first embodiment mode.
The first embodiment is as follows: the embodiment is specifically described with reference to fig. 1 and fig. 2, and the measurement and control system of the hydraulic dynamometer in the embodiment includes a control room part and a field part, and the field part includes: measurement element, acquisition unit, execution unit, site communication unit and power supply unit, the part includes between the control: a measurement and control unit and a communication unit between the controls.
The measuring unit is used for measuring the operation parameter of the hydraulic dynamometer, and specifically comprises: the hydraulic dynamometer comprises a force sensor, a thermal resistor, a pressure transmitter, a photoelectric encoder and a valve position sensor, wherein the force sensor is used for measuring tension and pressure borne by a shell of the hydraulic dynamometer, the thermal resistor is used for measuring water temperature in front of a water inlet valve and behind a water discharge valve and the temperature of a front bearing and a rear bearing, the pressure transmitter is used for measuring water pressure in front of the water inlet valve and in front of the water discharge valve, the photoelectric encoder is used for measuring the rotating speed of a rotating shaft of the hydraulic dynamometer, and the valve position sensor is used for measuring valve positions of the water inlet valve and the water discharge valve of the hydraulic dynamometer.
The acquisition unit is used for converting the operation parameters obtained by the measurement unit into digital signals and sending the digital signals to the control room communication unit through the field communication unit. Specifically, the acquisition unit includes: the device comprises a pulling pressure acquisition module, a temperature acquisition module, a pressure acquisition module, a rotating speed acquisition module and a valve position acquisition module; the signal output end of the force sensor is connected with the signal input end of the tension and pressure acquisition module, the signal output end of the thermal resistor is connected with the signal input end of the temperature acquisition module, the signal output end of the pressure transmitter is connected with the signal input end of the pressure acquisition module, the signal output end of the photoelectric encoder is connected with the signal input end of the rotating speed acquisition module, and the signal output end of the valve position sensor is connected with the signal input end of the valve position acquisition module; the signal output end of the pull pressure acquisition module, the signal output end of the temperature acquisition module, the signal output end of the pressure acquisition module, the signal output end of the rotating speed acquisition module and the signal output end of the valve position acquisition module are simultaneously connected with the operation parameter input end of the field communication unit through buses.
The measurement and control unit (i.e. the industrial personal computer) is used as a main body of the control system and can bear continuous and stable operation of monitoring software. The measurement and control unit is used for displaying the digital signals obtained by the inter-control communication unit, and the monitoring interface can be configured by self; the system is also used for obtaining valve position control instructions of the water inlet valve and the water discharge valve according to a control strategy by utilizing the valve position, the rotating speed, the pulling force and the pressure, and sending the valve position control instructions to the field communication unit through the inter-control communication unit; the control program can be developed for the second time, cut or improved according to the requirement at any time, and has the functions of a database and a fault query log. When the control mode is manual control, the actuator can be directly controlled. Meanwhile, the obtained digital signals can be judged, when an alarm item appears, sound and light alarm action can be generated to warn, and when an emergency item appears, quick closing operation can be performed to protect the unit.
In the above control strategy, the control strategy of the water inlet valve is an open-loop control strategy. The input of the open-loop control is the rotating speed, and the output is the valve position of the water inlet valve. In order to stabilize the hydraulic dynamometer at a certain operating point, the water inlet valve and the water discharge valve need to be kept at a certain position to maintain the torque of the operating point. At low rotational speed, the torque of the hydraulic dynamometer is small, and at high rotational speed, the torque of the hydraulic dynamometer is large. Generally, the water inlet valve can be fixed with a valve position of the water inlet valve within the whole working condition range. At this time, the valve position of the drain valve will change along with the torque requirement of the hydraulic dynamometer. The valve works in the range of good linearity and high efficiency as much as possible, and the butterfly valve is generally between 25 and 75 percent. If the inlet valve opening is fixed at a value within this range and the range of variation of the drain valve is beyond the performance optimization range, then adjustment of the position of the inlet valve can be considered. As shown in fig. 3, when the rotation speed is less than a, the inlet valve position is set to C, and when the rotation speed is greater than B, the inlet valve position is set to D. Before formal test, the hydraulic dynamometer and the prime mover can be run in under the current test condition, and at the moment, the unit can be operated at each working condition point by manually adjusting the water inlet valve and the water discharge valve. The value of A, B, C, D can be obtained by hand trial and error.
The control strategy of the drainage valve is a closed-loop control strategy, and specifically comprises the following steps: the input of the closed-loop control is target torque, the output is valve position of the drain valve, and a control block diagram is shown in figure 4. Calculating a valve position control instruction of the drain valve by using a difference value between the target torque and the current torque, wherein the current torque is obtained by calculating the tension and the pressure born by the shell of the hydraulic dynamometer; the control method of the controller comprises the following steps: PID algorithm or segmented PID algorithm. On the premise that the water inlet valve is controlled by an open loop, the water inlet valve controls the water inlet amount, and the water discharge valve is required to adjust the water discharge amount for the torque required by the hydraulic dynamometer at different working condition points. Generally, the drain valve control algorithm only needs to use a PID algorithm, and corresponds to the setting of a group of P, I, D parameters. However, the working condition range of the hydraulic dynamometer is large, and when the rotating speed is low, the torque of the hydraulic dynamometer is small, the water quantity in the water cavity is small, the water ring is thin, and the PID control reaction is slow. When the rotating speed is high, the torque of the hydraulic dynamometer is large, the water quantity in the water cavity is large, the water ring is thick, and the PID control response is sensitive. At this time, a group of PID algorithms may have a phenomenon that the control effect of a certain working condition section is poor. Then a segmented PID control may be considered and different P, I, D parameters set for different operating conditions segments when the control algorithm is implemented. The parameters can be obtained by on-line setting test.
The target torque M is obtained by the following formula:
wherein, P is the power of the working point of the prime motor, and n is the rotating speed of the rotating shaft of the hydraulic dynamometer under the corresponding working point.
The execution unit is used for controlling the opening degree of the water inlet valve and the water discharge valve according to the valve position control instruction received by the field communication unit.
The power supply unit is used for supplying power for the measuring unit, the acquisition unit, the execution unit and the field communication unit.
In practical application, the field part is intensively arranged in the local junction box, and signal interaction is carried out with a communication unit positioned in a control room through a single communication cable. The acquisition unit is arranged to enable wiring to be simpler, the defects that transmission of a plurality of analog signal cables is subjected to uncontrollable interference and signal attenuation are overcome, shock resistance and impact resistance protection are facilitated, and faults are managed and analyzed.
The measurement and control system of the hydraulic dynamometer in the embodiment is different from the existing control device PLC, is too simple, has small information amount and is not flexible enough. And the system is also different from the current control system DCS, is too complex, uses small materials and wastes resources. The embodiment adopts the industrial personal computer with stable and reliable performance, and the industrial personal computer has partial advantages of the DCS platform, such as integrating monitoring software and control software into a whole and being capable of inquiring trend and fault logs. The bottom layer does not need a controller to execute a control program, only needs to be responsible for communication, and the control algorithm can be completed by an upper industrial personal computer. The advantages of the embodiment are mainly embodied in the following two aspects:
1. software form
The industrial personal computer takes a Windows operating system as a software environment, and the measurement and control software of the hydraulic dynamometer is installed on a Windows operating system platform, so that the friendliness of a use interface of the measurement and control software is greatly improved. The monitoring part and the control part of the measurement and control software of the hydraulic dynamometer are integrated, and a unified toolkit is used for configuration, compiling and debugging. All hardware faults of the measurement and control system, including system level faults, module level faults and channel level faults, can be checked in the monitoring interface. The measurement and control software is combined with a database technology, so that real-time data trends can be displayed, and historical data can be stored. This is very advantageous for the on-line tuning and analysis of the controller parameters. The control part is provided with an open interface for secondary development, and can adjust control strategies according to different prime movers, different test requirements and the like and realize the control strategies by using a programming language.
2. In situ wiring form
In order to realize the measurement and control function of the hydraulic dynamometer, reasonable measurement and control points, proper sensors and proper actuating mechanisms are selected and installed on corresponding positions of the body. A local junction box is arranged at a place close to and suitable for the body. In the form of a local junction box, electronic elements related to measurement and control of the hydraulic dynamometer in a test field are integrated together. Brings convenience in debugging, maintenance and management to the maximum extent. The acquisition board card and the control board card are connected with the communication module in a bus form, so that acquisition signals are collected and control signals are distributed. The local junction box is connected with the industrial personal computer in the control room through a communication cable, so that data uploading and downloading are realized. The analog signal cable connection between the site and the control room is reduced, the structure is simplified, and the problems of signal attenuation and interference which can be faced by the analog signal in long-distance transmission are avoided.
Claims (7)
1. The measurement and control system of the hydraulic dynamometer is characterized by comprising a control room part and a field part,
the field part comprises: measurement element, acquisition unit, execution unit and field communication unit, the part includes between the control: a measurement and control unit and a communication unit between the control,
the measuring unit is used for measuring the operation parameters of the hydraulic dynamometer, and the operation parameters comprise: the tension and pressure born by the shell of the hydraulic dynamometer, the water temperature in front of the water inlet valve and behind the water discharge valve, the temperature of the front and rear bearings, the water pressure in front of the water inlet valve and in front of the water discharge valve, the rotating speed of the rotating shaft of the hydraulic dynamometer and the valve positions of the water inlet valve and the water discharge valve of the hydraulic dynamometer,
the measuring unit includes: a force sensor, a thermal resistor, a pressure transmitter, a photoelectric encoder and a valve position sensor,
the force sensor is used for measuring the tensile force and the pressure born by the shell of the hydraulic dynamometer,
the thermal resistor is used for measuring the water temperature in front of the water inlet valve and behind the water discharge valve and the temperature of the front bearing and the rear bearing,
the pressure transmitter is used for measuring the water pressure in front of the water inlet valve and the water discharge valve,
the photoelectric encoder is used for measuring the rotating speed of the rotating shaft of the hydraulic dynamometer,
the valve position sensor is used for measuring the valve positions of a water inlet valve and a water discharge valve of the hydraulic dynamometer;
the acquisition unit is used for converting the operation parameters obtained by the measurement unit into digital signals and sending the digital signals to the control room communication unit through the field communication unit,
the measurement and control unit is used for displaying the digital signals obtained by the control room communication unit, and is also used for obtaining valve position control instructions of the water inlet valve and the water discharge valve according to a control strategy by utilizing the valve position, the rotating speed, the pulling force and the pressure, and sending the valve position control instructions to the field communication unit through the control room communication unit,
the execution unit is used for controlling the opening degree of the water inlet valve and the water discharge valve according to the valve position control instruction received by the field communication unit.
2. The hydraulic dynamometer measurement and control system of claim 1, wherein the acquisition unit comprises: a tension pressure acquisition module, a temperature acquisition module, a pressure acquisition module, a rotating speed acquisition module and a valve position acquisition module,
the signal output end of the force sensor is connected with the signal input end of the pulling and pressing force acquisition module,
the signal output end of the thermal resistor is connected with the signal input end of the temperature acquisition module,
the signal output end of the pressure transmitter is connected with the signal input end of the pressure acquisition module,
the signal output end of the photoelectric encoder is connected with the signal input end of the rotating speed acquisition module,
the signal output end of the valve position sensor is connected with the signal input end of the valve position acquisition module,
the signal output end of the pull pressure acquisition module, the signal output end of the temperature acquisition module, the signal output end of the pressure acquisition module, the signal output end of the rotating speed acquisition module and the signal output end of the valve position acquisition module are simultaneously connected with the operation parameter input end of the field communication unit.
3. The hydraulic dynamometer measurement and control system of claim 1, wherein the control strategy of the inlet valve is an open loop control strategy.
4. The measurement and control system of a hydraulic dynamometer according to claim 1, wherein the control strategy of the drain valve in the control strategy is a closed-loop control strategy, and specifically comprises:
calculating a valve position control command of the drain valve by using the difference value of the current torque and the target torque,
the current torque is obtained by calculating the tension and pressure born by the shell of the hydraulic dynamometer.
5. The measurement and control system of the hydraulic dynamometer of claim 4, wherein the PID algorithm or segmented PID algorithm is used to calculate the drain valve position control command.
6. The hydraulic dynamometer measurement and control system of claim 4, wherein the target torque M is obtained by:
wherein, P is the power of the working point of the prime motor, and n is the rotating speed of the rotating shaft of the hydraulic dynamometer under the corresponding working point.
7. The hydraulic dynamometer measurement and control system of claim 1, wherein the field portion further includes a power supply unit configured to supply power to the measurement unit, the acquisition unit, the execution unit, and the field communication unit.
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| CN113625543B (en) * | 2021-07-07 | 2024-04-16 | 株洲六零八所科技有限公司 | PID control simulation analysis method and system for high-speed hydraulic dynamometer and storage medium |
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