CN1452065A - Speed synchronously controlled electrohydraulic load simulator - Google Patents
Speed synchronously controlled electrohydraulic load simulator Download PDFInfo
- Publication number
- CN1452065A CN1452065A CN 02116591 CN02116591A CN1452065A CN 1452065 A CN1452065 A CN 1452065A CN 02116591 CN02116591 CN 02116591 CN 02116591 A CN02116591 A CN 02116591A CN 1452065 A CN1452065 A CN 1452065A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- input
- torque
- compensator
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
An electro-hydraulic load simulator with synchronous control of speed is an improvement on electro-hydraulic servo loading system for the rudder of fly vehicle, and is composed of a position servo system, a torque servo system and simulative momental between the first two. Its feature is that the output of rudder driver in position servo system is connected with the input of compensator in torque servo system. Its advantages are high effect on eliminating excess force and high interference eliminating power up to 95%.
Description
Technical field.The invention belongs to simulation technical field, relate to improvement vehicle rudder electro-hydraulic servo charger.
Background of invention.Electricity fluid moment load simulator is based on the Hydraulic Servo Control principle, utilizes the moment feedback to realize the closed-loop control of moment, and the steering wheel motion artifacts is the key factor that influences the moment control accuracy, promptly so-called redundant force.By the extension system frequency range with carry out the performance that redundant force compensation can improve system, improve the tracking accuracy of loading spectrum.The structural principle of existing electro-hydraulic servo loading system as shown in Figure 1, the left side is a positional servosystem, control steering wheel deflection.The right side is a torque servo system, produces loading moment.The centre is a load simulation, and a simulated inertia J is arranged
lSteering wheel rotating shaft, simulated inertia J
lRotating shaft and load mutual coaxial connection of motor shaft, realize the moment of steering wheel is loaded.Steering gear control system is to drive 10 motions of steering wheel servo-valve 7 control steering engine actuators by steering wheel driver 6, and steering wheel angular displacement sensor 8 feeds back to steering wheel driver 6 with the position signalling of steering wheel, thereby realizes the position control of steering wheel.In practical flight, its output shaft will directly drive the vehicle rudder motion.Torque command drives by loading control 4 and loads servo-valve 1, and control loaded motor 11, then through torque sensor 3, and angular displacement sensor 2 and simulated inertia J
l, link to each other with the output shaft of steering wheel by output shaft.Loading motor 11 in the course of the work will together move with steering wheel, also will require to the steering wheel imposed load according to torque command simultaneously, and this will produce a kind of perturbed force inevitably, promptly so-called redundant force.The method of traditional elimination steering wheel motion artifacts is the structure principle of invariance, and compensation tache as shown in Figure 1 passes through the inverting input that compensator 5 is input to loading control 4 by angular displacement sensor 2 output signals exactly, and redundant force is implemented compensation.This technology is widely-used in real system, but obviously existing disappears disturbs effect and is difficult to improved problem again, particularly be subjected to the influence of motion forcing frequency, disappear and disturb effect bigger difference is arranged, best in the market disappears the ability of disturbing about 80%, and too big with the forcing frequency correlativity, redundant force was eliminated effect and will be become very poor when particularly frequency was higher.Referring to Liu Changnian work " Hydrauservo System optimal design theory ", metallurgical industry publishing house (1989).
Summary of the invention.
The objective of the invention is: a kind of vehicle rudder electro-hydraulic servo charger of more effectively eliminating the steering wheel motion artifacts is provided, the ability of disturbing that disappears can be brought up to more than 95%.
Technical scheme of the present invention is: a kind of speed synchronously controlled electrohydraulic load simulator, comprise a positional servosystem of forming by steering wheel driver 6, steering wheel servo-valve 7, steering wheel angular displacement sensor 8 and steering engine actuator 10, the in-phase input end of steering wheel command signal input steering wheel driver 6, the inverting input of the output signal input steering wheel driver 6 of steering wheel angular displacement sensor 8; Also comprise a torque servo system of forming by loading control 4, loading servo-valve 1, load driver device 4, loading motor 11, torque sensor 3, angular displacement sensor 2 and compensator 5, loading control 4 is made of the two-stage amplifier series connection, the in-phase input end of torque command input first order amplifier, the output signal input first order amplifier's inverting input of torque sensor 3, the in-phase input end of the output signal input second level amplifier of first order amplifier, the output signal input second level amplifier's inverting input of compensator 5; Simulated inertia J
lCoaxial connection of rotating shaft with positional servosystem and torque servo system is positioned between the two, it is characterized in that, the output terminal of steering wheel driver 6 is connected with the input end of compensator 5.
Advantage of the present invention is: the elimination effect to redundant force is obvious, the experiment proved that the best ability of disturbing that disappears can reach more than 95%, is better than present other technologies scheme greatly.And method is simple, need not increase any equipment and just can realize, is convenient to promote the use of.
Embodiment.
Description of drawings.
Fig. 1 is the electric liquid loading structure synoptic diagram of existing employing structure principle of invariance.
Fig. 2 is an electric liquid loading structure synoptic diagram of the present invention.
Fig. 3 disturbs the method synoptic diagram based on disappearing of speed synchronization control principle
Fig. 4 is a design sketch of eliminating unnecessary moment with the speed synchronization control compensation scheme of the present invention that Computer Simulation goes out.
Fig. 5 speed synchronization scheme is eliminated unnecessary moment empirical curve, wherein: (a) be the contrast and experiment of steering wheel frequency unnecessary moment when being 1Hz; (b) be the contrast and experiment of steering wheel frequency unnecessary moment when being 5Hz; (c) be the contrast and experiment of steering wheel frequency unnecessary moment when being 10Hz; (d) be the contrast and experiment of steering wheel frequency unnecessary moment when being 15Hz.
Fig. 6 is that the unnecessary moment under the big torque-motor situation is eliminated the effect empirical curve, (a) is the size of original unnecessary moment; (b) be that the unnecessary moment that disappears after disturbing is eliminated situation.
Below in conjunction with accompanying drawing the present invention is described in further details.The present invention is based on such thought, in essence, if the transient motion speed of the transient motion speed of steering wheel and charger can be consistent in real time, does not just have the interference problem of redundant force.Core of the present invention is to adopt the speed synchronization command signal of the control signal of steering wheel as loader, participate in Fig. 2, speed synchronously controlled electrohydraulic load simulator of the present invention, comprise a positional servosystem of forming by steering wheel driver 6, steering wheel servo-valve 7, steering wheel angular displacement sensor 8 and steering engine actuator 10, the in-phase input end of steering wheel command signal input steering wheel driver 6, the inverting input of the output signal input steering wheel driver 6 of steering wheel angular displacement sensor 8; Also comprise a torque servo system of forming by loading control 4, loading servo-valve 1, load driver device 4, loading motor 11, torque sensor 3, angular displacement sensor 2 and compensator 5, loading control 4 is made of the two-stage amplifier series connection, the in-phase input end of torque command input first order amplifier, the output signal input input first order amplifier's inverting input of torque sensor 3, the in-phase input end of the output signal input second level amplifier of first order amplifier, the output signal input second level amplifier's inverting input of compensator 5; Simulated inertia J
lCoaxial connection of rotating shaft with positional servosystem and torque servo system is positioned between the two, it is characterized in that, the output terminal of steering wheel driver 6 is connected with the input end of compensator 5.Like this, be equivalent to control steering wheel simultaneously and load motor, thereby guarantee that redundant force reaches very low level with identical speed control signal.
Isolate better in order to make between steering wheel driver 6 and the compensator 5, isolator 9 of series connection between them, it is the amplifier of a high input impedance, can make between driver 6 and the compensator 5 effectively to isolate, to prevent interference.At this moment, the output terminal of steering wheel driver 6 is through connecting the input end of compensator 5 after the isolator 9.
Fig. 3 is the control mechanism signal of load simulator of the present invention.The generation of unnecessary moment and steering wheel motion angular velocity are directly related, just can eliminate unnecessary moment if can accomplish both speed synchronization.In fact, have only, could produce required moment when loading the motor output shaft angular displacement when having differential seat angle with the equivalent angular displacement of steering wheel output shaft.The target of position synchronous control is to reduce this differential seat angle, this and Torque Control contradict, have very strong coupled relation between position closed loop and the moment closed loop, only the frequency span of torque servo system is much larger than positional servosystem, so the position synchronous compensation is resultful.But if reach higher precision, must accomplish as much as possible that the angular velocity of two output shafts is synchronous, yet because problems such as the precision of speed pickup and installation make that direct speed control closed loop is difficult to realize.Since it is so, have other approach so or not? answer is sure.Since the signal behind the circuit differential and the signal of angular-rate sensor do not satisfy requirement, can find other the useful signal that exists in the steering gear system so? on physical concept, use angular velocity signal to feedover, it is nothing but the movable information of wishing to obtain in advance steering wheel, so that in time catch up with the motion of steering wheel, apply power (square) simultaneously, such signal can obtain from the control loop of steering wheel fully.Topworks's internal leakage of steering wheel is very little, on low-frequency range, can be approximated to be an integral element, it is output as the displacement of steering wheel, at this moment input (control signal of steering wheel servo-valve) is approximately rate signal in fact, this signal noise is little, lag behind seldom, can be used for eliminating unnecessary moment fully.The advantage of this scheme do not need to be increase equipment, only needs corresponding software of change and input signal just passable, greatly reduces the improvement cost of system, has given full play to the dirigibility of computing machine.
From another angle, the topworks of hydraulic sterring engine is similar on mathematical model with the topworks of Hydrauliload Simulator, as long as therefore make the servo-valve opening of load simulator and steering wheel servo-valve opening keep just can making two system angle speed near-synchronous synchronously.In view of the difference of two system valve openings, just need to add correction link and compensate to the transport function of output.The complex model of load simulator topworks points out that unnecessary moment is not only relevant with the equivalent angular velocity of steering wheel output shaft, and also relevant with its angular acceleration, especially this influence is more outstanding when frequency is higher.So the general type that compensation tache adopts is:
Wherein: T
1Be the time constant of filtering link, the frequency range of wave filter is typically chosen in more than 5 times of steering gear system frequency range; K
ComGain for compensation tache; T
ComBe the derivative time constant in the compensation tache.When the load simulator input instruction signal is 0, when steering wheel disturbed to θ (t)=0.061sin (20 π t), system adopted simulation curve that this scheme eliminates unnecessary moment as shown in Figure 4, among the figure, and the amplitude of redundant force when dashed curve is represented not compensate; Block curve is the redundant force amplitude behind employing the present invention, and as seen, redundant force is eliminated substantially.
Fig. 5 a to Fig. 5 d is the empirical curve that certain load simulator embodiment of the present invention unnecessary moment under different frequency is eliminated situation, and the maximum angular rate of steering wheel is 220 °/s.The curve of top is the unnecessary moment when not taking indemnifying measure among each figure, and following curve is the unnecessary moment behind use the present invention; Fig. 6 is that the unnecessary moment under the big torque-motor situation is eliminated the effect empirical curve, (a) is the size of original unnecessary moment; (b) be that the unnecessary moment that disappears after disturbing is eliminated situation.As can be seen, adopt after the present invention, reduced unnecessary moment greatly, particularly at high band.The unnecessary moment of general residue is less than 5% to 10% before compensating.Emulation and experimental result have proved validity of the present invention.
Claims (2)
1, a kind of speed synchronously controlled electrohydraulic load simulator, comprise a positional servosystem of forming by steering wheel driver [6], steering wheel servo-valve [7], steering wheel angular displacement sensor [8] and steering engine actuator [10], the in-phase input end of steering wheel command signal input steering wheel driver [6], the inverting input of the output signal input steering wheel driver [6] of steering wheel angular displacement sensor [8]; Also comprise one by loading control [4], load servo-valve [1], load driver device [4], load motor [11], torque sensor [3], the torque servo system that angular displacement sensor [2] and compensator [5] are formed, loading control [4] is made of the two-stage amplifier series connection, the in-phase input end of torque command input first order amplifier, the output signal input first order amplifier's inverting input of torque sensor [3], the in-phase input end of the output signal input second level amplifier of first order amplifier, the output signal input second level amplifier's inverting input of compensator [5]; Simulated inertia J
lCoaxial connection of rotating shaft with positional servosystem and torque servo system is positioned between the two, it is characterized in that, the output terminal of steering wheel driver [6] is connected with the input end of compensator [5].
2, load simulator according to claim 1 is characterized in that, the output terminal of steering wheel driver [6] connects the input end of compensator [5] afterwards through isolator [9].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02116591 CN1216328C (en) | 2002-04-12 | 2002-04-12 | Speed synchronously controlled electrohydraulic load simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02116591 CN1216328C (en) | 2002-04-12 | 2002-04-12 | Speed synchronously controlled electrohydraulic load simulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1452065A true CN1452065A (en) | 2003-10-29 |
| CN1216328C CN1216328C (en) | 2005-08-24 |
Family
ID=29220994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02116591 Expired - Fee Related CN1216328C (en) | 2002-04-12 | 2002-04-12 | Speed synchronously controlled electrohydraulic load simulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1216328C (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122135A (en) * | 2010-06-25 | 2011-07-13 | 北京理工大学 | Closed loop load rigidity changing device |
| CN102945001A (en) * | 2011-08-15 | 2013-02-27 | 中国航空工业集团公司西安飞机设计研究所 | Servo actuator system simulator and simulation method thereof |
| CN103048139A (en) * | 2012-12-19 | 2013-04-17 | 天津工程机械研究院 | Inertia load loading device for hydraulic motor test |
| CN103413474A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Servo mechanism load simulator |
| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
| CN103558050A (en) * | 2013-11-21 | 2014-02-05 | 北京航空航天大学 | Multifunctional load stimulation test stand |
| CN103577244A (en) * | 2013-10-10 | 2014-02-12 | 北京航空航天大学 | Speed synchronous control method and system for load simulator |
| CN104564915A (en) * | 2015-01-28 | 2015-04-29 | 太原理工大学 | Pump-valve composite two-degree-of-freedom electro-hydraulic motion loading control method |
| CN104765289A (en) * | 2015-02-09 | 2015-07-08 | 重庆大学 | Control system of magnetorheological fluid load simulator and control method thereof |
| CN105045134A (en) * | 2015-05-25 | 2015-11-11 | 哈尔滨工业大学 | Double-friction-disk loading mechanism and bidirectional friction loading-type no-additional-torque electro-hydraulic load simulator employing same |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN105956325A (en) * | 2016-05-24 | 2016-09-21 | 北京航空航天大学 | Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator |
| CN106323618A (en) * | 2016-08-30 | 2017-01-11 | 北京交通大学 | Electric servo mechanism load simulation system and simulation method thereof |
| CN106564617A (en) * | 2016-10-27 | 2017-04-19 | 北京实验工厂 | FLAP control plane loading device and function testing method |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN108281061A (en) * | 2018-03-08 | 2018-07-13 | 北京航空航天大学 | Compensating control method and device based on speed with the double synchronous decouplings of acceleration |
| CN108550313A (en) * | 2018-03-05 | 2018-09-18 | 北京航空航天大学 | Hollow spindle formula electrohydraulic load simulator |
| CN109264024A (en) * | 2018-10-24 | 2019-01-25 | 杨晓伟 | Aircraft steering engine dynamic performance integrated test platform |
| CN109426149A (en) * | 2017-08-25 | 2019-03-05 | 南京理工大学 | The adaptive RISE control method of load simulator based on New model |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915589B (en) * | 2010-08-19 | 2011-12-14 | 中国航空工业第六一八研究所 | Zero-debugging method of sensor for main control valve of steering engine actuator |
| CN102589919B (en) * | 2012-02-29 | 2014-04-02 | 北京航空航天大学 | Load simulator based on follow-up moment load |
-
2002
- 2002-04-12 CN CN 02116591 patent/CN1216328C/en not_active Expired - Fee Related
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122135B (en) * | 2010-06-25 | 2013-06-26 | 北京理工大学 | Closed loop load rigidity changing device |
| CN102122135A (en) * | 2010-06-25 | 2011-07-13 | 北京理工大学 | Closed loop load rigidity changing device |
| CN102945001B (en) * | 2011-08-15 | 2015-01-14 | 中国航空工业集团公司西安飞机设计研究所 | Servo actuator system simulator and simulation method thereof |
| CN102945001A (en) * | 2011-08-15 | 2013-02-27 | 中国航空工业集团公司西安飞机设计研究所 | Servo actuator system simulator and simulation method thereof |
| CN103048139A (en) * | 2012-12-19 | 2013-04-17 | 天津工程机械研究院 | Inertia load loading device for hydraulic motor test |
| CN103048139B (en) * | 2012-12-19 | 2018-01-16 | 天津工程机械研究院 | Inertia load loading device is used in a kind of hydraulic motor test |
| CN103413474A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Servo mechanism load simulator |
| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
| CN103577244A (en) * | 2013-10-10 | 2014-02-12 | 北京航空航天大学 | Speed synchronous control method and system for load simulator |
| CN103577244B (en) * | 2013-10-10 | 2017-03-15 | 北京航空航天大学 | The speed synchronizing control method of load simulator and system |
| CN103558050A (en) * | 2013-11-21 | 2014-02-05 | 北京航空航天大学 | Multifunctional load stimulation test stand |
| CN103558050B (en) * | 2013-11-21 | 2015-11-04 | 北京航空航天大学 | A kind of Multifunctional load stimulation test stand |
| CN104564915A (en) * | 2015-01-28 | 2015-04-29 | 太原理工大学 | Pump-valve composite two-degree-of-freedom electro-hydraulic motion loading control method |
| CN104765289A (en) * | 2015-02-09 | 2015-07-08 | 重庆大学 | Control system of magnetorheological fluid load simulator and control method thereof |
| CN104765289B (en) * | 2015-02-09 | 2017-05-10 | 重庆大学 | Control system of magnetorheological fluid load simulator and control method thereof |
| CN105045134A (en) * | 2015-05-25 | 2015-11-11 | 哈尔滨工业大学 | Double-friction-disk loading mechanism and bidirectional friction loading-type no-additional-torque electro-hydraulic load simulator employing same |
| CN105045134B (en) * | 2015-05-25 | 2017-08-25 | 哈尔滨工业大学 | The bi-directional friction loaded type of double frictional disk load maintainers and the use mechanism is without Surplus Moment electrohydraulic load simulator |
| CN105159076B (en) * | 2015-08-24 | 2018-01-05 | 南京理工大学 | Electrohydraulic load simulator force control method based on pattern of fusion ADAPTIVE ROBUST |
| CN105159076A (en) * | 2015-08-24 | 2015-12-16 | 南京理工大学 | Fusion type adaptive robust-based electro-hydraulic load simulator force control method |
| CN105956325B (en) * | 2016-05-24 | 2019-03-15 | 北京航空航天大学 | The dynamic speed synchronisation control means of electrohydraulic load simulator redundant force |
| CN105956325A (en) * | 2016-05-24 | 2016-09-21 | 北京航空航天大学 | Dynamic speed synchronous control method for redundant force of electro-hydraulic load simulator |
| CN106323618A (en) * | 2016-08-30 | 2017-01-11 | 北京交通大学 | Electric servo mechanism load simulation system and simulation method thereof |
| CN106323618B (en) * | 2016-08-30 | 2019-01-22 | 北京交通大学 | Electric servomechanism load simulation system and its analogy method |
| CN106564617A (en) * | 2016-10-27 | 2017-04-19 | 北京实验工厂 | FLAP control plane loading device and function testing method |
| CN107345535B (en) * | 2017-07-04 | 2018-07-20 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN109426149A (en) * | 2017-08-25 | 2019-03-05 | 南京理工大学 | The adaptive RISE control method of load simulator based on New model |
| CN109426149B (en) * | 2017-08-25 | 2022-02-01 | 南京理工大学 | Load simulator self-adaptive RISE control method based on third-order mathematical model |
| CN108550313A (en) * | 2018-03-05 | 2018-09-18 | 北京航空航天大学 | Hollow spindle formula electrohydraulic load simulator |
| CN108281061A (en) * | 2018-03-08 | 2018-07-13 | 北京航空航天大学 | Compensating control method and device based on speed with the double synchronous decouplings of acceleration |
| CN109264024A (en) * | 2018-10-24 | 2019-01-25 | 杨晓伟 | Aircraft steering engine dynamic performance integrated test platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1216328C (en) | 2005-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1216328C (en) | Speed synchronously controlled electrohydraulic load simulator | |
| CN1891552B (en) | Electric booster steering system with active turn-right and damp control | |
| CN101105423B (en) | Rigidity-variable steering engine simulated loading device | |
| CN104564915B (en) | Pump valve Composite Double degree of freedom electrohydraulic motion loading control method | |
| CN104260107A (en) | Method for achieving tooth space compensation for flexible joint of space manipulator | |
| CN110361150B (en) | Active-disturbance-rejection control method for six-degree-of-freedom electro-hydraulic vibration table | |
| CN109884894B (en) | Neural network integral sliding mode control method for electro-hydraulic power-assisted steering system | |
| CN106640846B (en) | Servo actuator high dynamic loading device based on linear electric motors driving reinforcement module | |
| CN101539476B (en) | Aerocraft steering engine non-rubber deviation load torque following mechanism | |
| CN107345535A (en) | A kind of flow pressure divides chamber to coordinate control load simulation method | |
| CN103577244A (en) | Speed synchronous control method and system for load simulator | |
| CN112506192B (en) | Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults | |
| CN2225705Y (en) | Electric liquid load simulator | |
| CN105956325B (en) | The dynamic speed synchronisation control means of electrohydraulic load simulator redundant force | |
| CN109426150A (en) | Load simulator backstepping control method based on extended state observer | |
| CN106020222A (en) | Active disturbance rejection control method for 3-DOF (Degree Of Freedom) helicopter attitude | |
| CN102490781A (en) | Steering system and steering method for engineering vehicle | |
| CN105045134A (en) | Double-friction-disk loading mechanism and bidirectional friction loading-type no-additional-torque electro-hydraulic load simulator employing same | |
| CN103900818A (en) | Static pressure oil cavity loading system and method for recurrence of wind turbine five-degree-of-freedom load | |
| CN101532517A (en) | Method for simulating servo system load by electrohydraulic servo | |
| Daher et al. | Pump controlled steer-by-wire system | |
| CN102122135B (en) | Closed loop load rigidity changing device | |
| CN101532516B (en) | Device for simulating servo system load by electrohydraulic servo | |
| CN108626206B (en) | A kind of state parameter acquisition device for electrohydraulic servo-controlling system | |
| CN204178582U (en) | Based on the power sense simulation system of C-EPS structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |