CN113834506A - 一种平移摇杆传感器及利用其的控制器 - Google Patents

一种平移摇杆传感器及利用其的控制器 Download PDF

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CN113834506A
CN113834506A CN202111062644.XA CN202111062644A CN113834506A CN 113834506 A CN113834506 A CN 113834506A CN 202111062644 A CN202111062644 A CN 202111062644A CN 113834506 A CN113834506 A CN 113834506A
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rocker
swing
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曾晓
赵建波
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Guangdong K Silver Industrial Co Ltd
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Guangdong K Silver Industrial Co Ltd
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    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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Abstract

本发明公开了一种平移摇杆传感器及利用其的控制器，涉及新型传感器技术领域，平移摇杆传感器包括摇杆组件和平移位移检测组件；摇杆组件用于产生相互垂直的第一方向和第二方向的摆动；平移位移检测组件用于将第一方向和第二方向的摆动分别转换成左右平移和前后平移的移动，并通过位移检测器分别测得左右平移和前后平移的移动量并将其分别转换成第一电信号和第二电信号并输出。本发明具有使用寿命长、控制精度和灵敏度高的优点。

Description

一种平移摇杆传感器及利用其的控制器
技术领域
本发明涉及新型传感器技术领域，具体涉及一种平移摇杆传感器及利用其的控制器。
背景技术
摇杆传感器是传感器中的一种，常被用作无人机操作手柄、游戏手柄等控制器。摇杆传感器主要包括摇杆和两个摇臂(上摇臂和下摇臂)，拨动摇杆带动两个摇臂运作，使电位调节模组能够输出特定的电阻或电压。
现有的摇杆传感器主要有两种，一种是由电刷、电路板以及设置在电路板上的碳阻等组成的，通过外力使得电刷在碳阻上移动而在电路板上产生不同电阻值，然后由不同的电阻值产生的电信号不同达到利用摇杆传感器控制方向的作用。但是，这种通过电刷和碳阻接触调节的方式普遍存在以下缺陷：若利用弹性较大的金属作为电刷时，电刷磨损的快，使用寿命短，若利用弹性较小的金属作为电刷时，电刷和碳阻之间容易出现接触不好、失灵的问题；且若使用高硬度的碳阻，电刷磨损的快，会产生较大的电性噪音，若使用低硬度的碳阻，碳阻上的碳粉很快就会被电刷磨掉，碳粉还会粘在电刷上，影响了电刷的电气性能，使得电位器出现功能异常的问题。所以此类电位器普遍存在使用寿命短和性能差的缺陷。
发明内容
因此，为了克服上述缺陷，本发明实施例提供一种平移摇杆传感器及利用其的控制器，具有控制精度高的优点。
为此，本发明实施例的一种平移摇杆传感器，包括摇杆组件和平移位移检测组件；
摇杆组件用于产生相互垂直的第一方向和第二方向的摆动；
平移位移检测组件用于将所述第一方向和第二方向的摆动分别转换成左右平移和前后平移的移动，并通过位移检测器分别测得左右平移和前后平移的移动量并将其分别转换成第一电信号和第二电信号并输出。
优选地，所述摇杆组件包括摇杆、上摇臂和下摇臂；
上摇臂和下摇臂分别套设在摇杆上，摇杆推动上摇臂进行第一方向的摆动，摇杆推动下摇臂进行第二方向的摆动。
优选地，所述平移位移检测组件包括平移磁铁组件和磁感应组件；
平移磁铁组件包括第一平移磁铁组件和第二平移磁铁组件；第一平移磁铁组件用于使第一磁块随第一方向的摆动而左右平移；第二平移磁铁组件用于使第二磁块随第二方向的摆动而前后平移；
磁感应组件包括第一磁感应元件和第二磁感应元件；第一磁感应元件安装于第一平移磁铁组件的下方，用于产生与第一磁块的左右平移相对应的第一电信号并输出；第二磁感应元件安装于第二平移磁铁组件的下方，用于产生与第二磁块的前后平移相对应的第二电信号并输出。
优选地，所述第一平移磁铁组件包括第一滑动组件和第一磁块；
第一滑动组件包括第一固定部、第一活动部、转轴、连杆、滑杆、导向槽、滑块和滑槽；第一活动部上固定安装有置于滑槽内的滑块，连杆的一端通过转轴与滑块连接，另一端与滑杆连接，滑杆置于开设在上摇臂一端上的导向槽内，用于在上摇臂的带动下滑杆在导向槽内移动，通过连杆带动滑块在滑槽内左右平移，从而带动与滑块连接的第一活动部进行左右平移；第一磁块安装在第一活动部的内侧面上，随第一活动部同步平移。
优选地，所述第一平移磁铁组件包括第一滚动组件和第一磁块；
第一滚动组件包括第二固定部、第二活动部、齿条和齿轮；第二活动部上固定安装有齿条，上摇臂一端上固定安装有齿轮，齿轮与齿条之间啮合连接，用于在上摇臂的带动下齿轮转动，带动齿条在齿轮上左右平移，从而带动与齿条连接的第二活动部进行左右平移；第一磁块安装在第二活动部的内侧面上，随第二活动部同步平移。
优选地，所述第一磁感应元件和第二磁感应元件均为线性霍尔元件。
优选地，还包括电路板；
第一磁感应元件和第二磁感应元件分别安装在电路板上；电路板为软板或硬板。
本发明实施例的一种手柄控制器，包括操控手柄和上述的平移摇杆传感器；操控手柄与平移摇杆传感器的摇杆连接，操控手柄摆动时带动摇杆一同摆动。
本发明实施例的一种自动雨刷，包括雨刷杆、摆动驱动电机和上述的平移摇杆传感器；雨刷杆分别与摆动驱动电机和平移摇杆传感器的摇杆连接；摆动驱动电机用于根据平移摇杆传感器的输出信号控制驱动雨刷杆的摆动；平移摇杆传感器的信号输出端与摆动驱动电机连接，用于检测雨刷杆的摆动量并将其反馈给摆动驱动电机。
本发明实施例的一种自动后视镜，包括镜片、转动电机和上述的平移摇杆传感器；镜片分别与转动电机和平移摇杆传感器的摇杆连接；转动电机用于根据平移摇杆传感器的输出信号控制驱动镜片的摆动；平移摇杆传感器的信号输出端与转动电机连接，用于检测镜片的摆动量并将其反馈给转动电机。
本发明实施例的平移摇杆传感器及利用其的控制器，具有如下优点：
1.通过设置平移位移检测组件，将第一方向和第二方向的摆动分别转换成左右平移和前后平移的移动，从而通过检测该两个方向上的在同一平面内移动的平移量来产生传感器的两个电信号的输出，由于平移位移的检测可达到较高的精度，所以该平移摇杆传感器具有控制精度高和灵敏度高的优点。
2.通过设置平移磁铁组件和磁感应组件的组合来检测摇杆组件的两个方向的摆动量并将其转换成电信号输出，平移磁铁组件和磁感应组件之间无摩擦接触，从而提高了使用寿命。
3.通过第一磁感应元件和第二磁感应元件能够更加准确和灵敏地检测出这种平移带来的磁场变化，提高了平移摇杆传感器的控制精度和灵敏度。
4.手柄控制器、自动雨刷和自动后视镜通过设置平移摇杆传感器，具有使用寿命长、控制精度和灵敏度高的优点。
附图说明
为了更清楚地说明本发明具体实施方式中的技术方案，下面将对具体实施方式描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例1中平移摇杆传感器的一个具体示例的爆炸图；
图2为本发明实施例1中摇杆组件的一个具体示例的结构示意图；
图3为本发明实施例1中摇杆组件的另一个具体示例的结构示意图；
图4为本发明实施例1中摇杆组件装配的一个具体示例的结构示意图；
图5为本发明实施例1中摇杆组件装配的另一个具体示例的结构示意图；
图6为本发明实施例1中第一磁感应元件的一个具体示例的结构示意图；
图7为本发明实施例1中第一滑动组件的一个具体示例的结构示意图；
图8为本发明实施例1中第一滚动组件的一个具体示例的结构示意图；
图9为本发明实施例1中软板的一个具体示例的结构示意图；
图10为本发明实施例1中硬板的一个具体示例的结构示意图；
图11为本发明实施例1中复位组件的一个具体示例的剖视示意图；
图12为本发明实施例1中外壳的一个具体示例的结构示意图。
附图标记：1-摇杆组件，11-摇杆，12-上摇臂，13-下摇臂，2-第一平移磁铁组件，21-第一滑动组件，211-第一固定部，212-第一活动部，213-转轴，214-连杆，215-滑杆，216-导向槽，217-滑块，218-滑槽，21’-第一滚动组件，211’-第二固定部，212’-第二活动部，213’-齿条，214’-齿轮，22-第一磁块，3-第二平移磁铁组件，31-第二滑动组件，31’-第二滚动组件，32-第二磁块，4-第一磁感应元件，5-第二磁感应元件，6-电路板，61-软板，62-硬板，7-锅仔片，8-复位组件，81-垫圈，82-弹簧，9-外壳。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，本文所用的术语仅用于描述特定实施例的目的，而并非旨在限制本发明。除非上下文明确指出，否则如本文中所使用的单数形式“一”、“一个”和“该”等意图也包括复数形式。使用“包括”和/或“包含”等术语时，是意图说明存在该特征、整数、步骤、操作、元素和/或组件，而不排除一个或多个其他特征、整数、步骤、操作、元素、组件、和/或其他组合的存在或增加。术语“和/或”包括一个或多个相关列出项目的任何和所有组合。术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，还可以是两个元件内部的连通；可以是无线连接，也可以是有线连接。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
实施例1
本实施例提供一种平移摇杆传感器，包括摇杆组件和平移位移检测组件；
摇杆组件用于产生相互垂直的第一方向和第二方向的摆动；
平移位移检测组件用于将所述第一方向和第二方向的摆动分别转换成左右平移和前后平移的移动，并通过位移检测器分别测得左右平移和前后平移的移动量并将其分别转换成第一电信号和第二电信号并输出。
上述平移摇杆传感器，通过设置平移位移检测组件，将第一方向和第二方向的摆动分别转换成左右平移和前后平移的移动，从而通过检测该两个方向上的在同一平面内移动的平移量来产生传感器的两个电信号的输出，由于平移位移的检测可达到较高的精度，所以该平移摇杆传感器具有控制精度高和灵敏度高的优点。
优选地，如图1-图6所示，所述摇杆组件1包括摇杆11、上摇臂12和下摇臂13；
上摇臂12和下摇臂13分别套设在摇杆11上，摇杆11推动上摇臂12进行第一方向的摆动，摇杆11推动下摇臂13进行第二方向的摆动。
优选地，所述平移位移检测组件包括平移磁铁组件和磁感应组件，即构成位移检测器；
平移磁铁组件包括第一平移磁铁组件2和第二平移磁铁组件3；第一平移磁铁组件2用于使第一磁块随第一方向的摆动而左右平移；第二平移磁铁组件3用于使第二磁块随第二方向的摆动而前后平移；
磁感应组件包括第一磁感应元件4和第二磁感应元件5；第一磁感应元件4安装于第一平移磁铁组件2的下方，用于产生与第一磁块的左右平移相对应的第一电信号并输出；第二磁感应元件5安装于第二平移磁铁组件3的下方，用于产生与第二磁块的前后平移相对应的第二电信号并输出。优选地，第一磁感应元件4和第二磁感应元件5均为线性霍尔元件。
优选地，如图7所示，所述第一平移磁铁组件2包括第一滑动组件21和第一磁块22；
第一滑动组件21包括第一固定部211、第一活动部212、转轴213、连杆214、滑杆215、导向槽216、滑块217和滑槽218；第一活动部212上固定安装有置于滑槽218内的滑块217，连杆214的一端通过转轴213与滑块217连接，另一端与滑杆215连接，滑杆215置于开设在上摇臂12一端上的导向槽216内，用于在上摇臂12的带动下滑杆215在导向槽216内移动，通过连杆214带动滑块217在滑槽218内左右平移，从而带动与滑块217连接的第一活动部212进行左右平移；第一磁块22安装在第一活动部的内侧面上，随第一活动部同步平移。
作为另一种优选方式，如图8所示，所述第一平移磁铁组件2包括第一滚动组件21’和第一磁块22；
第一滚动组件21’包括第二固定部211’、第二活动部212’、齿条213’和齿轮214’；第二活动部212’上固定安装有齿条213’，上摇臂12一端上固定安装有齿轮214’，齿轮214’与齿条213’之间啮合连接，用于在上摇臂12的带动下齿轮214’转动，带动齿条213’在齿轮214’上左右平移，从而带动与齿条213’连接的第二活动部212’进行左右平移；第一磁块22安装在第二活动部的内侧面上，随第二活动部同步平移。通过滚动的方式相比于滑动的方式减小了摩擦阻力，提高了控制精度和灵敏度。
优选地，所述第二平移磁铁组件3的结构与第一平移磁铁组件2的结构相同，包括第二滑动组件31和第二磁块32，或者包括第二滚动组件31’和第二磁块32。第二滑动组件31的第三活动部或第二滚动组件31’的第四活动部与下摇臂13的一端连接，用于在下摇臂13的带动下前后平移；第二磁块32安装在第三活动部或第四活动部的内侧面上，随第三活动部或第四活动部同步平移。
上述平移摇杆传感器，通过设置平移磁铁组件和磁感应组件的组合来检测摇杆组件的两个方向的摆动量并将其转换成电信号输出，平移磁铁组件和磁感应组件之间无摩擦接触，从而提高了使用寿命。并且第一磁感应元件和第二磁感应元件能够更加准确和灵敏地检测出这种平移带来的磁场变化，从而提高了平移摇杆传感器的控制精度和灵敏度。
优选地，所述平移磁铁组件还包括第三平移磁铁组件和第四平移磁铁组件；第三平移磁铁组件用于使第三磁块随第一方向的摆动而左右平移；第四平移磁铁组件用于使第四磁块随第二方向的摆动而前后平移；
所述磁感应组件还包括第三磁感应元件和第四磁感应元件；第三磁感应元件安装于第三平移磁铁组件的下方，用于产生与第三磁块的左右平移相对应的第三电信号并输出；第四磁感应元件安装于第四平移磁铁组件的下方，用于产生与第四磁块的前后平移相对应的第四电信号并输出。优选地，第三磁感应元件和第四磁感应元件均为线性霍尔元件。
优选地，所述第三平移磁铁组件和第四平移磁铁组件的结构分别与第一平移磁铁组件2的结构相同，第三平移磁铁组件包括第三滑动组件和第三磁块，或者包括第三滚动组件和第三磁块。第三滑动组件的第五活动部或第三滚动组件的第六活动部与上摇臂的另一端连接，用于在上摇臂的带动下左右平移；第三磁块安装在第五活动部或第六活动部的内侧面上，随第五活动部或第六活动部同步平移。第四平移磁铁组件包括第四滑动组件和第四磁块，或者包括第四滚动组件和第四磁块。第四滑动组件的第七活动部或第四滚动组件的第八活动部与下摇臂的另一端连接，用于在下摇臂的带动下前后平移；第四磁块安装在第七活动部或第八活动部的内侧面上，随第七活动部或第八活动部同步平移。通过第三平移磁铁组件和第四平移磁铁组件、第三磁感应元件和第四磁感应元件的冗余设置，所产生的第三电信号和第四电信号可分别作为第一电信号和第二电信号的备用信号或误差检验信号，从而进一步提高平移摇杆传感器的控制精度。
优选地，如图1、图9和图10所示，平移摇杆传感器还包括电路板6；
第一磁感应元件4和第二磁感应元件5分别安装在电路板6上。优选地，电路板6为软板61或硬板62。优选地，第三磁感应元件和第四磁感应元件也分别安装在电路板6上。
优选地，平移摇杆传感器还包括锅仔片7，用于作为开关按钮。
优选地，如图11所示，平移摇杆传感器还包括复位组件8；
复位组件8包括垫圈81和弹簧82；弹簧82的横截面积从大到小渐变，安装在摇杆组件1与电路板6之间，横截面积较大的一端通过垫圈81与摇杆组件连接，横截面积较小的一端与电路板6连接，用于使摇杆在无外力作用状态下始终处于垂直复位状态。
优选地，如图12所示，平移摇杆传感器还包括外壳9，用于将摇杆组件1、第一平移磁铁组件2、第二平移磁铁组件3、电路板6和复位组件8等进行包围封装。
实施例2
本实施例提供一种手柄控制器，包括操控手柄和实施例1的平移摇杆传感器；操控手柄与平移摇杆传感器的摇杆连接，操控手柄摆动时带动摇杆一同摆动，从而实现操控手柄摆动量的自动检测，提高了手柄控制器的使用寿命、控制精度和灵敏度。
实施例3
本实施例提供一种自动雨刷，包括雨刷杆、摆动驱动电机和实施例1的平移摇杆传感器；雨刷杆分别与摆动驱动电机和平移摇杆传感器的摇杆连接；摆动驱动电机用于根据平移摇杆传感器的输出信号控制驱动雨刷杆的摆动；平移摇杆传感器的信号输出端与摆动驱动电机连接，用于检测雨刷杆的摆动量并将其反馈给摆动驱动电机。雨刷杆在摆动驱动电机的驱动下进行摆动时带动摇杆一同摆动，同时平移摇杆传感器检测到雨刷杆的摆动量并反馈给摆动驱动电机，以进行驱动调节控制，从而实现雨刷杆摆动量的自动控制，本自动雨刷具有使用寿命长、控制精度和灵敏度高的优点。
实施例4
本实施例提供一种自动后视镜，包括镜片、转动电机和实施例1的平移摇杆传感器；镜片分别与转动电机和平移摇杆传感器的摇杆连接；转动电机用于根据平移摇杆传感器的输出信号控制驱动镜片的摆动；平移摇杆传感器的信号输出端与转动电机连接，用于检测镜片的摆动量并将其反馈给转动电机。镜片在转动电机的驱动下进行摆动时带动摇杆一同摆动，同时平移摇杆传感器检测到镜片的摆动量并反馈给转动电机，以进行驱动调节控制，从而实现镜片摆动量的自动控制，本自动后视镜具有使用寿命长、控制精度和灵敏度高的优点。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

1.一种平移摇杆传感器，其特征在于，包括摇杆组件和平移位移检测组件；
摇杆组件用于产生相互垂直的第一方向和第二方向的摆动；
平移位移检测组件用于将所述第一方向和第二方向的摆动分别转换成左右平移和前后平移的移动，并通过位移检测器分别测得左右平移和前后平移的移动量并将其分别转换成第一电信号和第二电信号并输出。
2.根据权利要求1所述的平移摇杆传感器，其特征在于，所述摇杆组件(1)包括摇杆(11)、上摇臂(12)和下摇臂(13)；
上摇臂(12)和下摇臂(13)分别套设在摇杆(11)上，摇杆(11)推动上摇臂(12)进行第一方向的摆动，摇杆(11)推动下摇臂(13)进行第二方向的摆动。
3.根据权利要求2所述的平移摇杆传感器，其特征在于，所述平移位移检测组件包括平移磁铁组件和磁感应组件；
平移磁铁组件包括第一平移磁铁组件(2)和第二平移磁铁组件(3)；第一平移磁铁组件(2)用于使第一磁块随第一方向的摆动而左右平移；第二平移磁铁组件(3)用于使第二磁块随第二方向的摆动而前后平移；
磁感应组件包括第一磁感应元件(4)和第二磁感应元件(5)；第一磁感应元件(4)安装于第一平移磁铁组件(2)的下方，用于产生与第一磁块的左右平移相对应的第一电信号并输出；第二磁感应元件(5)安装于第二平移磁铁组件(3)的下方，用于产生与第二磁块的前后平移相对应的第二电信号并输出。
4.根据权利要求3所述的平移摇杆传感器，其特征在于，所述第一平移磁铁组件(2)包括第一滑动组件(21)和第一磁块(22)；
第一滑动组件(21)包括第一固定部(211)、第一活动部(212)、转轴(213)、连杆(214)、滑杆(215)、导向槽(216)、滑块(217)和滑槽(218)；第一活动部(212)上固定安装有置于滑槽(218)内的滑块(217)，连杆(214)的一端通过转轴(213)与滑块(217)连接，另一端与滑杆(215)连接，滑杆(215)置于开设在上摇臂(12)一端上的导向槽(216)内，用于在上摇臂(12)的带动下滑杆(215)在导向槽(216)内移动，通过连杆(214)带动滑块(217)在滑槽(218)内左右平移，从而带动与滑块(217)连接的第一活动部(212)进行左右平移；第一磁块(22)安装在第一活动部的内侧面上，随第一活动部同步平移。
5.根据权利要求3所述的平移摇杆传感器，其特征在于，所述第一平移磁铁组件(2)包括第一滚动组件(21’)和第一磁块(22)；
第一滚动组件(21’)包括第二固定部(211’)、第二活动部(212’)、齿条(213’)和齿轮(214’)；第二活动部(212’)上固定安装有齿条(213’)，上摇臂(12)一端上固定安装有齿轮(214’)，齿轮(214’)与齿条(213’)之间啮合连接，用于在上摇臂(12)的带动下齿轮(214’)转动，带动齿条(213’)在齿轮(214’)上左右平移，从而带动与齿条(213’)连接的第二活动部(212’)进行左右平移；第一磁块(22)安装在第二活动部的内侧面上，随第二活动部同步平移。
6.根据权利要求3-5任一项所述的平移摇杆传感器，其特征在于，所述第一磁感应元件(4)和第二磁感应元件(5)均为线性霍尔元件。
7.根据权利要求6所述的平移摇杆传感器，其特征在于，还包括电路板(6)；
第一磁感应元件(4)和第二磁感应元件(5)分别安装在电路板(6)上；电路板(6)为软板(61)或硬板(62)。
8.一种手柄控制器，其特征在于，包括操控手柄和如权利要求1-7任一项所述的平移摇杆传感器；操控手柄与平移摇杆传感器的摇杆连接，操控手柄摆动时带动摇杆一同摆动。
9.一种自动雨刷，其特征在于，包括雨刷杆、摆动驱动电机和如权利要求1-7任一项所述的平移摇杆传感器；雨刷杆分别与摆动驱动电机和平移摇杆传感器的摇杆连接；摆动驱动电机用于根据平移摇杆传感器的输出信号控制驱动雨刷杆的摆动；平移摇杆传感器的信号输出端与摆动驱动电机连接，用于检测雨刷杆的摆动量并将其反馈给摆动驱动电机。
10.一种自动后视镜，其特征在于，包括镜片、转动电机和如权利要求1-7任一项所述的平移摇杆传感器；镜片分别与转动电机和平移摇杆传感器的摇杆连接；转动电机用于根据平移摇杆传感器的输出信号控制驱动镜片的摆动；平移摇杆传感器的信号输出端与转动电机连接，用于检测镜片的摆动量并将其反馈给转动电机。
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