CN112780403A - Device and method for improving transient characteristics of high-power V-shaped marine diesel engine based on main pipe independent air supply - Google Patents
Device and method for improving transient characteristics of high-power V-shaped marine diesel engine based on main pipe independent air supply Download PDFInfo
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- CN112780403A CN112780403A CN202110239288.8A CN202110239288A CN112780403A CN 112780403 A CN112780403 A CN 112780403A CN 202110239288 A CN202110239288 A CN 202110239288A CN 112780403 A CN112780403 A CN 112780403A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B39/00—Component parts, details, or accessories relating to, driven charging or scavenging pumps, not provided for in groups F02B33/00 - F02B37/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B37/00—Engines characterised by provision of pumps driven at least for part of the time by exhaust
- F02B37/12—Control of the pumps
- F02B37/22—Control of the pumps by varying cross-section of exhaust passages or air passages, e.g. by throttling turbine inlets or outlets or by varying effective number of guide conduits
- F02B37/225—Control of the pumps by varying cross-section of exhaust passages or air passages, e.g. by throttling turbine inlets or outlets or by varying effective number of guide conduits air passages
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B39/00—Component parts, details, or accessories relating to, driven charging or scavenging pumps, not provided for in groups F02B33/00 - F02B37/00
- F02B39/16—Other safety measures for, or other control of, pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B77/00—Component parts, details or accessories, not otherwise provided for
- F02B77/08—Safety, indicating or supervising devices
- F02B77/081—Safety, indicating or supervising devices relating to endless members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Supercharger (AREA)
Abstract
The invention aims to provide a device and a method for improving the transient characteristic of a high-power V-shaped marine diesel engine based on main pipe independent air supply, which mainly comprise the following steps: the device comprises a high-pressure compressed air source, an air supplementing pipe, an air supplementing injection valve, a high-pressure nozzle, an air inlet pressure sensor, a crank angle sensor, a control unit and the like. The air supplement device is arranged on the air inlet main pipes on two sides of the V-shaped diesel engine, the sensors for detecting the rotating speed, the pressure of the air inlet main pipes and the like are arranged on the diesel engine, the operation working condition of the diesel engine is transmitted to the control system, the operation state of the diesel engine is collected in real time, and the operation of the air supplement device is controlled by the control system, so that air is supplemented quantitatively when the air of the diesel engine is insufficient, the quick requirement of transient condition air quantity is met, the transient characteristic of the diesel engine is further improved, and the combustion and emission deterioration are avoided.
Description
Technical Field
The invention relates to a diesel engine, in particular to an air inlet and exhaust device of the diesel engine and a control method.
Background
With the continuous development of marine diesel engines, high-power V-type diesel engines are more and more widely used, and turbocharging also becomes one of the indispensable technologies for improving the performance of diesel engines. However, the problem of insufficient torque under low working conditions can occur in practical use of a large diesel engine supercharged by a single engine, so that the problem is solved by adopting a sequential supercharging technology. Sequential supercharging techniques are also a trend in future development. The basic principle of a sequential supercharged diesel engine is: the supercharged diesel engine adopts a plurality of superchargers, and the superchargers are successively put into operation along with the increase of the rotating speed and the load, so that the optimum matching of the superchargers and the diesel engine is achieved, and the diesel engine has higher supercharging ratio and better economy in the whole operation area.
However, during the sequential supercharging switching, the intake air amount may be significantly insufficient because the air valve may open later than the exhaust valve, resulting in slow intake response during the transient period of supercharger switching. In addition, when the diesel engine is accelerated or loaded suddenly in the running process, the load can be increased suddenly, so that the fuel injection quantity in the transient process can be increased, and the air intake quantity of each cylinder can be obviously insufficient due to the fact that air intake of each cylinder has a hysteresis phenomenon, so that combustion in the transient process is deteriorated. Therefore, aiming at the problem that the air input of the diesel engine is insufficient in the transient process, the air supplementing device needs to be assembled for supplementing air, and therefore the transient characteristic of the diesel engine is improved. However, the air is directly supplemented in the communicating pipe connected with the two rows of air inlet main pipes, so that the paths of the air entering the two rows of air cylinders are different, and the air is supplemented unevenly. And if the air supplement device is not matched with the control system, the air supplement timing and the air supplement amount are difficult to control, so that the air supplement is difficult to meet the improvement requirement of the transient process of the diesel engine.
At present, the research on the air supplement device of the sequential supercharged diesel engine still has a plurality of defects, and the control of air supplement loss, the air supplement timing and the air supplement amount have certain problems. Patent CN 203035338U invented a sequential supercharging structure with air-supplementing function, which only connects the high-pressure compressed air source with the communicating pipe between the two air intake manifolds, so that the stroke of supplementing air to each cylinder is longer, the loss of air-supplementing energy is easily caused, and the air-supplementing effect is poorer.
Disclosure of Invention
The invention aims to provide a device and a method for improving transient characteristics of a high-power V-shaped marine diesel engine based on header pipe independent air supply, which solve the problems that the transient characteristics of the diesel engine are poor due to insufficient air input in the transient process, air supply distribution of two rows of air cylinders is uneven due to air supply of a communicating pipe, air supply cannot be performed regularly and quantitatively, and the like.
The purpose of the invention is realized as follows:
the invention relates to a high-power V-shaped marine diesel engine transient characteristic improving device based on main pipe independent air supply, which is characterized in that: the system comprises a basic turbocharger, a controlled turbocharger, an A row of cylinders, a B row of cylinders, an A row of air supply sources and a B row of air supply sources, wherein a compressor of the basic turbocharger is connected with the A row of cylinders through an A row of air inlet main pipe, a turbine of the basic turbocharger is connected with the A row of cylinders through an A row of exhaust main pipe, the compressor of the controlled turbocharger is connected with the B row of cylinders through a B row of air inlet main pipe, a turbine of the controlled turbocharger is connected with the B row of cylinders through a B row of exhaust main pipe, the A row of air inlet main pipe is communicated with the B row of air inlet main pipe through an air inlet communicating pipe, the A row of exhaust main pipe is communicated with the B row of exhaust main pipe through an exhaust communicating pipe, the A row of air inlet main pipe is provided with the A row of intercooler, the A row of air supply sources is connected with the A row of air inlet main pipe through an, a row B of air supply sources are connected with a row B of air inlet header pipes through a row B of air supply pipes, the row B of air supply pipes are positioned between the air inlet communicating pipes and the row B of intercoolers, the row A of air supply pipes are provided with a row A of air supply injection valves, the row B of air supply injection valves are arranged on the row B of air supply pipes, the row B of air inlet header pipes between the air compressor of the controlled turbocharger and the air inlet communicating pipes are provided with air valves, the row B of air outlet header pipes between the turbine of the controlled turbocharger and the air outlet communicating pipes are provided with waste gas valves, and the row A of air supply injection valves, the row B of air supply injection.
The invention relates to a high-power V-shaped marine diesel engine transient characteristic improving device based on main pipe independent air supply, which also comprises:
1. one side of the air supply pipe in the row A is bent to be deep into the air inlet main pipe in the row A, the end part of the side is provided with a high-pressure nozzle, the nozzle direction of the high-pressure nozzle is consistent with the air circulation direction, one side of the air supply pipe in the row B is bent to be deep into the air inlet main pipe in the row B, the end part of the side is provided with a high-pressure nozzle, and the nozzle direction of the high-pressure nozzle is consistent with the air circulation direction.
The invention relates to a method for improving the transient characteristic of a high-power V-shaped marine diesel engine based on main pipe independent air supply, which is characterized by comprising the following steps of: when the supercharged diesel engine runs, a rotating speed sensor arranged on a crankshaft detects the rotating speed of the diesel engine in real time, the rotating speed change rate for measuring the speed of the change of the rotating speed is calculated in real time in a control unit, the critical rotating speed change rate n1 when the load of the diesel engine suddenly increases is set in the control unit, and when the rotating speed sensor detects that the current rotating speed change rate delta n is greater than or equal to the target rotating speed change rate n1, the diesel engine is in the transient process of sudden acceleration loading; if the detected delta n is smaller than n1, detecting whether the waste gas valve is opened or not in real time through a sensor arranged on the waste gas valve, and if the waste gas valve is not detected to be opened, continuing returning to the state of detecting the rotating speed of the crankshaft when the diesel engine does not need to supplement air; if the opening of the exhaust valve is detected, the diesel engine carries out the cut-in process of the controlled supercharger, when the diesel engine runs in two dynamic processes of accelerating loading and supercharger switching, the phenomenon of insufficient air inlet of the diesel engine occurs, at the moment, the problem of insufficient air inlet in the transient process is solved based on the intervention of an air-supplementing transient characteristic lifting device, the air inlet pressure of two rows of air inlet main pipes is detected, the total actual air inlet amount of the two rows of air cylinders at the moment is judged through a speed density method, the total oil injection amount required by the two rows of air cylinders is respectively determined according to the measured real-time rotating speed change rate delta n, the required theoretical air inlet amount is respectively determined according to the target air-fuel ratio, the actual air inlet amount of each cylinder is subtracted, so that the air amount required to be supplemented by the two rows of air cylinders is determined, the air replenishing device starts to replenish air, closes the air replenishing injection valves on the two sides according to the set injection pulse width and stops replenishing air; judging whether the diesel engine stops working or not, if the diesel engine is still in a working state, detecting the rotating speed of the crankshaft and the state of the waste gas valve in real time again, and ensuring that the transient characteristic lifting device based on gas supplement can be started again to supplement gas to the diesel engine when the diesel engine enters a transient process again; if the diesel engine stops working, the air supply control flow is ended.
The invention has the advantages that: the transient characteristic improving device is arranged on the two rows of air inlet main pipes of the high-power V-shaped diesel engine, so that the air supplement quantity of the two rows of air cylinders can be accurately controlled, and the uneven distribution of the air supplement quantity entering the two rows of air cylinders caused by direct air supplement of the air inlet communicating pipe can be avoided. The air supplement device can be matched with a control system, the running state of the diesel engine is detected in real time by acquiring the rotating speed of the diesel engine and the pressure signal of the air inlet main pipe, and the air supplement amount of each row of cylinders is controlled according to the running state, so that the requirement for more accurate air supplement is met. The air is supplied to the air inlet main pipe of the diesel engine in the transient process, so that the requirements on quick response of air and air quantity are met, and the problem of poor transient characteristic of the high-power V-shaped diesel engine is solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the high pressure nozzle;
fig. 3 is a flow chart of air supply control.
Detailed Description
The invention will now be described in more detail by way of example with reference to the accompanying drawings in which:
referring to fig. 1-3, fig. 1 is a general structure diagram of a high-power V-type diesel engine with an air make-up device. The supercharged diesel engine adopts a sequential supercharging technology, and the basic components of the supercharged diesel engine comprise an A-row air inlet manifold 1, a basic turbocharger 2, an A-row exhaust manifold 3 and an A-row intercooler 18 on the side of an A-row cylinder 17(A1, A2, A3, A4, A5 and A6) of the diesel engine; the B-bank cylinders 14(B1, B2, B3, B4, B5, B6) include, on the side thereof, a B-bank intake manifold 9, a controlled turbocharger 7, a B-bank exhaust manifold 6, an exhaust gas valve 5, an air valve 8, and a B-bank intercooler 13, as well as an intake communicating pipe 4 communicating the two-bank intake manifolds and an exhaust communicating pipe 15 connecting the two-bank exhaust manifolds. The transient characteristic lifting device based on air supplement is arranged on two rows of air inlet main pipes of the diesel engine, and respectively consists of a high-compression air supplement air source, an air supplement pipe and air supplement injection valves, and the control unit 16 controls the opening and closing of the injection valves on two sides and the injection pulse width. The transient characteristic improving device for the high-power V-shaped marine diesel engine based on the main pipe independent air supply detects the running state of the diesel engine by detecting the change rate of the rotating speed of a crankshaft, the pressure of an air inlet main pipe and the like, so that the air supply timing and the air supply amount are determined.
The cylinder of the A row is connected with a basic turbocharger, and the cylinder of the B row is connected with a controlled turbocharger. The transient characteristic improving devices are arranged on two sides of the diesel engine, have the same composition and are respectively controlled by the control unit. High-pressure air is stored in a high-pressure air source, an outlet is connected with an air supply pipe, an air supply injection valve is arranged on the air supply pipe, the other side of the air supply pipe is bent to be deep into an air inlet main pipe, a high-pressure nozzle is arranged at the tail end of the air supply pipe, and the nozzle direction of the nozzle is consistent with the air circulation direction. The diesel engine is provided with a sensor for detecting the rotating speed of the diesel engine and the pressure of an air inlet main pipe, and the waste gas valve is provided with a sensor for detecting the opening and closing state of the waste gas valve. The sensor transmits the running state of the diesel engine to the control unit in real time, and the control system can control the running of the air supplement device according to the specific working condition of the diesel engine. The high-power V-shaped marine diesel engine transient characteristic improving device based on the main pipe independent air supply is characterized in that: the air supply device can determine the running state of the supercharged diesel engine in succession by detecting each parameter of the V-shaped marine diesel engine during running, and has a corresponding mode matched with the air supply device under different working conditions of the diesel engine.
The device is arranged on two sides of a V-shaped diesel engine, and the two side devices are respectively operated to control the air supplementing process of the air cylinder on each side, so that air supplementing can be completed more accurately and rapidly in the transient process.
The device adopts the solenoid valve as the tonifying qi injection valve of device. The jet pulse width of the device is accurately controlled by the electromagnetic valve, so that the air supplement amount is convenient to control.
The air supply pipe is bent to extend into the air inlet manifold, the injection nozzle is arranged on the air supply pipe, the cavity of the injection nozzle is designed to be thin in pipe diameter, the injection nozzle is short in length, high-pressure air jet flow can be rapidly injected to the air inlet manifold, energy loss is small, and rapid air supply is achieved.
The device adopts the electronic control unit, according to signals such as diesel engine rotational speed, exhaust valve state, air intake manifold pressure, grasps the running state of diesel engine in real time, control transient characteristic hoisting device is regularly quantitative to supply qi.
FIG. 2 is a cross-sectional view of a high pressure nozzle. The air supply devices on the two sides are designed in the same way, taking B as an example, the air supply pipe is arranged on one side of the air inlet main pipe, and the part entering the air inlet main pipe is designed in a bent way, so that the tail direction of the air supply pipe is consistent with the air inlet direction of the main pipe, and the energy loss in the air supply process caused by different air flow directions is reduced. The high-pressure nozzle is arranged at the tail part of the air supply pipe extending into the air inlet main pipe, the internal length of the high-pressure nozzle is shorter, and the internal diameter adopts the design of smooth transition from thick to thin, so that the pressure loss of the sprayed gas is smaller, the spraying speed is faster, the delay is lower, and the high-pressure nozzle is more beneficial to reducing the energy loss in the air supply process.
FIG. 3 is a flow chart of the control of the gas supply device. The invention also introduces a method for improving the transient characteristic of the high-power V-shaped marine diesel engine based on the main pipe independent air supply. The specific control flow of the method is as follows: when the high-power V-shaped sequential supercharged diesel engine runs, a rotating speed sensor arranged on a crankshaft detects the rotating speed of the diesel engine in real time, the rotating speed change rate for measuring the speed of the change of the rotating speed is calculated in real time in a control unit, the critical rotating speed change rate n1 when the load of the diesel engine is suddenly increased is set in the control unit according to experience, and when the rotating speed sensor detects that the current rotating speed change rate delta n is greater than the target rotating speed change rate n1, the diesel engine is in the transient process of sudden acceleration loading; if the detected delta n is smaller than n1, detecting whether the waste gas valve is opened or not in real time through a sensor arranged on the waste gas valve, and if the waste gas valve is not detected to be opened, indicating that the diesel engine does not need air supplement at the moment, continuing returning to the state of detecting the rotating speed of the crankshaft; if the opening of the exhaust valve is detected, the sequential supercharged diesel engine is explained to carry out the cut-in process of the controlled supercharger. When the diesel engine runs in two dynamic processes of acceleration loading and supercharger switching, the phenomenon of insufficient air intake can occur to the diesel engine, and the problem of insufficient air intake in the transient process is solved by intervention of the transient characteristic improving device based on air supplement. And detecting the air inlet pressure of the two rows of air inlet main pipes at the moment, and judging the total actual air inlet amount of the two rows of air cylinders at the moment by a speed density method. And respectively determining the total oil injection amount required by the two rows of cylinders according to the measured real-time rotating speed change rate delta n, respectively determining the required theoretical air inflow by the target air-fuel ratio, and subtracting the actual air inflow of each cylinder, thereby determining the air amount required to be supplemented by the two rows of cylinders. And then determining the injection pulse widths of the two air make-up injection valves according to the flow characteristics of the air make-up injection valves. And then opening the air supply injection valves at the two sides, starting air supply by the air supply device, and then closing the air supply injection valves at the two sides according to the set injection pulse width to stop air supply. Judging whether the diesel engine stops working or not, if the diesel engine is still in a working state, detecting the rotating speed of the crankshaft and the state of the waste gas valve in real time again, and ensuring that the transient characteristic lifting device based on gas supplement can be started again to supplement gas to the diesel engine when the diesel engine enters a transient process again; if the diesel engine stops working, the air supply control flow is ended.
Claims (3)
1. The utility model provides a high-power V type marine diesel engine transient characteristic hoisting device based on house steward independently tonifying qi which characterized by: the system comprises a basic turbocharger, a controlled turbocharger, an A row of cylinders, a B row of cylinders, an A row of air supply sources and a B row of air supply sources, wherein a compressor of the basic turbocharger is connected with the A row of cylinders through an A row of air inlet main pipe, a turbine of the basic turbocharger is connected with the A row of cylinders through an A row of exhaust main pipe, the compressor of the controlled turbocharger is connected with the B row of cylinders through a B row of air inlet main pipe, a turbine of the controlled turbocharger is connected with the B row of cylinders through a B row of exhaust main pipe, the A row of air inlet main pipe is communicated with the B row of air inlet main pipe through an air inlet communicating pipe, the A row of exhaust main pipe is communicated with the B row of exhaust main pipe through an exhaust communicating pipe, the A row of air inlet main pipe is provided with the A row of intercooler, the A row of air supply sources is connected with the A row of air inlet main pipe through an, a row B of air supply sources are connected with a row B of air inlet header pipes through a row B of air supply pipes, the row B of air supply pipes are positioned between the air inlet communicating pipes and the row B of intercoolers, the row A of air supply pipes are provided with a row A of air supply injection valves, the row B of air supply injection valves are arranged on the row B of air supply pipes, the row B of air inlet header pipes between the air compressor of the controlled turbocharger and the air inlet communicating pipes are provided with air valves, the row B of air outlet header pipes between the turbine of the controlled turbocharger and the air outlet communicating pipes are provided with waste gas valves, and the row A of air supply injection valves, the row B of air supply injection.
2. The device for improving the transient characteristic of the high-power V-shaped marine diesel engine based on the main pipe independent air supply of claim 1, is characterized in that: one side of the air supply pipe in the row A is bent to be deep into the air inlet main pipe in the row A, the end part of the side is provided with a high-pressure nozzle, the nozzle direction of the high-pressure nozzle is consistent with the air circulation direction, one side of the air supply pipe in the row B is bent to be deep into the air inlet main pipe in the row B, the end part of the side is provided with a high-pressure nozzle, and the nozzle direction of the high-pressure nozzle is consistent with the air circulation direction.
3. A method for improving transient characteristics of a high-power V-shaped marine diesel engine based on main pipe independent air supply is characterized by comprising the following steps: when the supercharged diesel engine runs, a rotating speed sensor arranged on a crankshaft detects the rotating speed of the diesel engine in real time, the rotating speed change rate for measuring the speed of the change of the rotating speed is calculated in real time in a control unit, the critical rotating speed change rate n1 when the load of the diesel engine suddenly increases is set in the control unit, and when the rotating speed sensor detects that the current rotating speed change rate delta n is greater than or equal to the target rotating speed change rate n1, the diesel engine is in the transient process of sudden acceleration loading; if the detected delta n is smaller than n1, detecting whether the waste gas valve is opened or not in real time through a sensor arranged on the waste gas valve, and if the waste gas valve is not detected to be opened, continuing returning to the state of detecting the rotating speed of the crankshaft when the diesel engine does not need to supplement air; if the opening of the exhaust valve is detected, the diesel engine carries out the cut-in process of the controlled supercharger, when the diesel engine runs in two dynamic processes of accelerating loading and supercharger switching, the phenomenon of insufficient air inlet of the diesel engine occurs, at the moment, the problem of insufficient air inlet in the transient process is solved based on the intervention of an air-supplementing transient characteristic lifting device, the air inlet pressure of two rows of air inlet main pipes is detected, the total actual air inlet amount of the two rows of air cylinders at the moment is judged through a speed density method, the total oil injection amount required by the two rows of air cylinders is respectively determined according to the measured real-time rotating speed change rate delta n, the required theoretical air inlet amount is respectively determined according to the target air-fuel ratio, the actual air inlet amount of each cylinder is subtracted, so that the air amount required to be supplemented by the two rows of air cylinders is determined, the air replenishing device starts to replenish air, closes the air replenishing injection valves on the two sides according to the set injection pulse width and stops replenishing air; judging whether the diesel engine stops working or not, if the diesel engine is still in a working state, detecting the rotating speed of the crankshaft and the state of the waste gas valve in real time again, and ensuring that the transient characteristic lifting device based on gas supplement can be started again to supplement gas to the diesel engine when the diesel engine enters a transient process again; if the diesel engine stops working, the air supply control flow is ended.
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| CN202110239288.8A CN112780403B (en) | 2021-03-04 | 2021-03-04 | Device and method for improving transient characteristics of high-power V-shaped marine diesel engine based on main pipe independent air supply |
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2021
- 2021-03-04 CN CN202110239288.8A patent/CN112780403B/en active Active
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| CN2736549Y (en) * | 2004-08-20 | 2005-10-26 | 余琛 | Electronic air replenishment system for internal combustion engine and electric control installation therefor |
| US20140366529A1 (en) * | 2012-02-13 | 2014-12-18 | Isuzu Motors Limited | Diesel engine |
| CN105221244A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工程大学 | A kind of sequential supercharged diesel engine device peculiar to vessel and controlling method thereof |
| CN109458253A (en) * | 2018-12-12 | 2019-03-12 | 中国船舶重工集团公司第七研究所 | Air compensating system and gas supply control method |
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