CN202694090U - Measurement and control system of wave and current synchronous simulation device - Google Patents
Measurement and control system of wave and current synchronous simulation device Download PDFInfo
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- CN202694090U CN202694090U CN2012201282872U CN201220128287U CN202694090U CN 202694090 U CN202694090 U CN 202694090U CN 2012201282872 U CN2012201282872 U CN 2012201282872U CN 201220128287 U CN201220128287 U CN 201220128287U CN 202694090 U CN202694090 U CN 202694090U
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Abstract
The utility model discloses a measurement and control system of a wave and current synchronous simulation device. The measurement and control system comprises an industrial control computer, a wave and current electrical control cabinet, an alternating current servo motor, an alternating current variable frequency motor, a wave generating plate, a water pump, a wave height meter, and a current meter. A wave and current instruction is input through a human-machine operation interface of the industrial control computer. A servo controller controlled through CAN bus communication drives the alternating current servo motor to drive the wave generating plate to generate waves. A rotary transformer is employed to feed back real-time data of the alternating current servo motor. Actual wave height data is sampled by the wave height meter. The graphical display of actual operation tracks of the wave generating plate and sampled wave forms is performed by the human-machine operation interface. An alternating current frequency converter controlled through RS-485 serial communication drives the alternating current variable frequency motor to drive the water pump to generate current. Actual current velocity values are sampled and recorded by the current meter. The measurement and control system is all-round in function, stable in performance, convenient in operation, and high in measurement efficiency, and can be widely applied to control and measure ocean engineering water tank and port engineering water tank wave and current systems.
Description
Technical field
The utility model belongs to the ocean engineering experiment apparatus field, relates to oceanographic engineering and harbor work's flume wave creator TT﹠C system, particularly can the synchronously simulating wave and the TT﹠C system of the wave current synchronously simulating device of ocean current motion.
Background technology
China begins the research work that the ripple aspect is made in the pond from the fifties, but up to the present, and the wave making machine of domestic independent research is still take hydraulic-driven as main, and rarely has successful case with the wave making machine of AC servo machinery driving.Because the complete wave system system of making not only comprises complete hardware facility, also comprise supporting TT﹠C system, TT﹠C system is whole soul of making the wave system system, the aspects such as it has directly determined to make the ripple kind, makes the ripple effect, the easy degree of observing and controlling, security performance.On the other hand, in real ocean, can not only there be a kind of physical phenomenon of wave simultaneously, when wave occurs, the often generation of simultaneous ocean current motion.In order under truer oceanic condition, to carry out physical model test, need a kind of can the synchronously simulating wave and the testing equipment of ocean current motion.
Wave current synchronously simulating device be a kind of can be in tank the ocean engineering experiment equipment of synchronously simulating wave and ocean current motion.Mainly formed by ball screw, slide block, wave paddle, frame on the wave current synchronously simulating device for mechanical structure.Wave paddle is wide 1.2 meters, and the lower end flushes with bottom of gullet, is immersed in the water.Make ripple instruction control servo controller by input and drive the action of AC servo motor drive ball-screw, slide block promotes lower slider at ball-screw, drives wave paddle and implements to make ripple; Make stream instruction control AC converter by input and drive the alternating-current variable frequency motor running, drive water pump and implement to make stream.
The utility model content
For the existing existing deficiency of ripple control system implementation and control aspect of making, and for the moving situation that can simulate more really the marine physics phenomenon satisfying the needs of experimental study, the utility model provides that a kind of automaticity is higher, performance is more stable, the wave current synchronously simulating device TT﹠C system of more perfect functions.
The technical solution of the utility model is as follows:
A kind of wave current synchronously simulating device TT﹠C system comprises industrial computer, wave current electrical control cabinet, AC servo motor, alternating-current variable frequency motor, wave paddle and water pump; Contain servo controller and AC converter in the described wave current electrical control cabinet; Link to each other by CAN bus communication mode between industrial computer and the servo controller; Link to each other by the RS-485 communication modes between industrial computer and the AC converter; Servo controller is connected with AC servo motor, and AC servo motor is connected with wave paddle; AC converter is connected with alternating-current variable frequency motor, and alternating-current variable frequency motor is connected with water pump; Described industrial computer drives AC servo motor drive wave paddle by CAN bus communication control servo controller and implements to make ripple, drives water pump by RS-485 Communication Control AC converter driving alternating-current variable frequency motor and implements to make stream.
Its further technical scheme is: be connected with stroke meta approach switch and front and back limit travel switch on the described servo controller.
Its further technical scheme is: described AC servo motor connects servo controller by rotary transformer, and described rotary transformer to servo controller, forms closed-loop control with the real data Real-time Feedback of AC servo motor.
Its further technical scheme is: also comprise current meter, be used for the actual flow velocity value is carried out sample record.
Its further technical scheme is: also comprise wave height recorder, described wave height recorder is connected with the A/D capture card of industrial computer by terminal strip, is used for sampling unrestrained high data.
Its further technical scheme is: described industrial computer is connected with man machine operation interface, and described man machine operation interface is used for input wave paddle stroke and makes ripple frequency setting value, flow velocity and flow field direction setting value; Figure shows and wave paddle actual motion track and sample waveform preserved in record.
Useful technique effect of the present utility model is:
1, the utility model has the function of synchronously simulating wave and ocean current motion take servo controller and AC converter as the core driving element.Adopted simultaneously CAN bus communication and RS-485 communication in the communication modes, made ripple and adopt the CAN bus communication, made stream and adopt the RS-485 communication.Simultaneously, regular wave starts with the irregular wave startup interlock function.
2, man machine operation interface control system of the present utility model the functions such as basic wave current parameter is inputted, starts, stopped, sampling, also possesses the monitoring of wave paddle movement locus, sample waveform graphical display function except having; Possess the signal condition monitoring functions such as servo controller and AC converter communication, preparation, operation, zero-bit, flow field direction, extreme position, fault alarm.
3, the utility model possesses perfect automatic seeking zero, zero-bit location and extreme position defencive function, making ripple zero-bit employing stroke meta approach switch control location, has the wavefront of making automatic seeking zero power energy; The limit travel switch carries out position limitation protection before and after making the employing of ripple extreme position.
4, the utility model adopts rotary transformer that the AC servo motor real data is carried out Real-time Feedback, consists of the closed loop position control, and monitors thus wave paddle actual motion track, but show at the man machine operation interface real-time graph.
5, the utility model utilizes wave height recorder to carry out the high sampling of wave, and the unrestrained high data of sampling input to industrial computer via the A/D capture card, and figure shows on man machine operation interface, also record is preserved.
Description of drawings
Fig. 1 is general structure schematic block diagram of the present utility model.
Fig. 2 is host computer man machine operation interface schematic diagram of the present utility model.
Fig. 3 is regular wave control system realization flow schematic diagram of the present utility model.
Fig. 4 is irregular wave control system realization flow schematic diagram of the present utility model.
Fig. 5 is the flow control system realization flow schematic diagram of making of the present utility model.
Embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is described further.
One, as shown in Figure 1, the utility model mainly is comprised of industrial control computer (the lower industrial computer that is called for short), wave current electrical control cabinet, AC servo motor, alternating-current variable frequency motor, wave height recorder, current meter.Contain servo controller and AC converter two large core driver parts in the wave current electrical control cabinet.The industrial computer of man machine operation interface control system is installed and servo controller is housed and the wave current electrical control cabinet of AC converter is built up in the pulpit of wave current tank near middle.Link to each other by CAN bus communication mode between the servo controller in industrial computer and the wave current electrical control cabinet; Link to each other by the RS-485 communication modes between the AC converter in industrial computer and the wave current electrical control cabinet.Power at wave current electrical control cabinet panel, the shut-down operation button.Servo controller in the wave current electrical control cabinet is connected with AC servo motor; AC converter in the wave current electrical control cabinet is connected with alternating-current variable frequency motor.Wave height recorder is connected with A/D capture card in the industrial computer.
Industrial computer carries out wave current instruction input by man machine operation interface, industrial computer drives AC servo motor drive wave paddle by CAN address card bus communication control servo controller and implements to make ripple, adopt the real time data of rotary transformer feedback communication servomotor, AC servo motor is consisted of the closed loop position control.By the wave height recorder actual wave height data of sampling, wave paddle actual motion track and sample waveform can be shown by the man machine operation interface figure.Drive alternating-current variable frequency motor drive water pump by RS-485 communication port serial communication control AC converter and implement to make stream, the actual flow velocity value adopts the handheld-type intelligent current meter to carry out sample record.
Wave paddle stroke and make the ripple frequency setting value via after the man machine operation interface input; transferred to by its control system and to make the given instruction of ripple; servo controller forms closed-loop control according to the motor real data of making the given instruction of ripple and rotary transformer feedback; the output motor control signal; the control AC servo motor drives wave paddle by the movement locus operation of appointment; monitor simultaneously motor running condition, send normal or alerting signal, in case of emergency can suddenly stop.After flow velocity and flow field direction setting value are inputted via man machine operation interface; by its control system transfer to make stream given instruction; AC converter is according to making the given instruction output motor control signal of stream; the control alternating-current variable frequency motor is by the rotating speed turning operation of appointment; monitor simultaneously motor running condition; send normal or alerting signal, in case of emergency can suddenly stop.
Making ripple control adopts CAN bus communication mode to connect industrial computer and servo controller; Making current control adopts the RS-485 serial communication mode to connect industrial computer and AC converter.
Two, servo controller:
In the wave current electrical control cabinet, the core component of making wave energy is servo controller, and what this TT﹠C system was selected is that the ripple driver is made in the conduct of Lenze 9300 series of servo controllers, and according to system requirements, its overall arrangement is as follows:
Feedback system (X7): rotary transformer feedback feeds back to servo controller with the real time data of servomotor.
Communication module (X4): the system bus mode, realize that with industrial computer the communication of CAN bus is connected.
Digital signal input (X5): the realization that is used for the input of servo controller enable signal, makes the input of ripple zero signal, makes the function such as ripple limit position signal input.
Digital signal output (X5): be used for the realization of the functions such as the output of operation indicator signal, failure alarm signal output.
The servo controller function realizes mainly being finished by following several large functional modules:
Motor control module (MCTRL): have current controller, torque amplitude limit, speed control, setting speed amplitude limit, phase controller, the function such as stop soon.
Operation controller module (DCTRL): have soon stop, move enable with forbid, controller enables with forbid, trip the functions such as setting, controller state.
System bus module (CAN-IN)
System bus module (CAN-OUT)
Digital input module (DIGIN) freely is set
Digital output module (DIGOUT) freely is set
The performed function of servo controller mainly comprises following a few major part:
Make ripple operation control module: servo controller is made the ripple instruction by what the CAN bus communication received that host computer man machine operation interface control system sends, obtain the servomotor real data by the rotary transformer feedback again, form thus closed-loop control and obtain the Electric Machine Control instruction, the ripple task of making is finished in the running of driving servomotor.
Make wavy attitude feedback module: servo controller with information Real-time Feedbacks such as communication state, standby condition, running status, zero-bit state, motor data, ultimate limit states to the host computer man machine operation interface.
Make ripple real-time working condition processing module: servo controller is judged the ripple instruction of making that receives, is filtered false command; Simultaneously the real time status of servomotor is monitored, when noting abnormalities, sent alerting signal or stop fast.
Three, AC converter:
In the wave current electrical control cabinet, the core component of making the stream function is AC converter, and what this TT﹠C system was selected is that the stream driver is made in the conduct of SIEMENS MICROMASTER 440 General Converters, and according to system requirements, its overall arrangement performance is as follows:
Without sensor vector control (SLVC)
Fast current limitation function (FCL)
The acceleration/deceleration slope characteristic has programmable smoothing function
Closed-loop control (PID) with ratio, integration, differential control function
The performed function of AC converter mainly comprises following a few major part:
Make the flow operation control module: AC converter is made the stream instruction by what the RS-485 communication received that host computer man machine operation interface control system sends, obtains the Electric Machine Control instruction, drives the alternating current generator running, finishes the stream task of making.
Make the stream mode feedback module: AC converter with information Real-time Feedbacks such as communication state, running status, motor traffic directions to the host computer man machine operation interface.
Make stream real-time working condition processing module: AC converter is judged the stream instruction of making that receives, is filtered false command; Simultaneously the real time status of alternating current generator is monitored, when noting abnormalities, sent alerting signal or stop motor.
Four, man machine operation interface:
In the wave current synchronously simulating device, all observing and controlling instructions all are to input and issue by the host computer man machine operation interface, all Real-time Feedback information, measure sampling and graph curve shows it all is to read by man machine operation interface, without any a canned software so appropriateness finish this function.For this reason, the man machine operation interface control system of this TT﹠C system that adopted specially the VB software programming.As shown in Figure 2, man machine operation interface is comprised of the functional block of several aspects:
Make wavy attitude monitoring module: monitoring is made ripple transmitting-receiving instruction, is made ripple communication state, wave paddle location status.
Make the stream mode monitoring module: monitoring is made stream transmitting-receiving instruction, makes circulation news state, is made circulation news warning message.
The servo controller monitoring module: the state feedback information of monitoring servo controller comprises before the limit behind servo communication, servo preparation, wave paddle zero-bit, servo operation, servo fault, the wave paddle, the wave paddle signals such as the limit.
AC converter state indicating module: the state feedback information of monitoring AC converter comprises the signals such as inverter communication, frequency converter operation, motor forward, motor reversal, frequency converter warning.
Fault alarm processing module: the failure alarm signal in the control system scan round supervisory control system running; when breaking down alerting signal; servo controller or AC converter can be according to the differences of concrete reason; make anxious stopping or the processing that gives a warning; the fault alarm pilot lamp is bright in the man machine operation interface; the fault alarm code shows, by the fault look facility, checks the fault alarm reason.
Make ripple extreme position protection module: after man machine operation interface started, control system judged at first whether wave paddle is positioned at extreme position, if be positioned at extreme position, then ejects the warning dialog box, reminded and carried out the wave paddle reset function, and forbid making ripple.
Make ripple automatic seeking zero module: after man machine operation interface starts, make ripple start enable before, control system can be judged whether wave paddle is in and make the ripple zero-bit, if be not in zero-bit, then make ripple start enable after, system automatically opens and seeks the zero power energy, automatic seeking zero just begins to make ripple after finding zero-bit.
Regular wave control module: comprise that the regular wave parameter arranges module, regular wave start and stop module, regular wave sampling module, regular wave graph curve display module.Arrange in the module in the regular wave parameter, after the input parameter (make ripple frequency, wave height or wave paddle stroke, make the ripple time span) of regular wave is set, control system generates makes the ripple aim curve, when in the start and stop module make ripple start enable after, and wave paddle is in zero-bit, control system is sent to the speed of aim curve with per 10 milliseconds of 1 data in the servo controller, servo controller receives the motor data of rotary transformer feedback simultaneously, form thus closed-loop control and obtain the Electric Machine Control instruction, drive servomotor and finish the regular wave task of making.In making wave process, the wave paddle actual motion track that the actual wave height data that regular wave graph curve display module will be obtained by A/D transition card input and rotary transformer obtain shows in real time with the form of graph curve.The regular wave sampling module will be preserved the unrestrained high data recording of needed reality.
Irregular wave control module: comprise irregular wave wave spectrum calling module, irregular wave start and stop module, irregular wave sampling module, irregular wave graph curve display module.In irregular wave wave spectrum calling module, adopt the mode of data call, the wave datum of making of required target wave spectrum is loaded in the control system, when in the irregular wave start and stop module make ripple start enable after, and wave paddle is in zero-bit, and control system sends to the speed of target wave spectrum with per 10 milliseconds of 1 data in the servo controller, and servo controller is simultaneously according to the real electrical machinery data that receive, obtain the Electric Machine Control instruction, drive servomotor and finish the irregular wave task of making.In making wave process, the wave paddle actual motion track that the actual wave height data that irregular wave graph curve display module will be obtained by A/D transition card input and rotary transformer obtain shows in real time with the form of graph curve.The irregular wave sampling module will be preserved the unrestrained high data recording of needed reality.
Make flow control module: comprise that making the stream parameter arranges module, makes stream start and stop module.Make stream parameter arrange in the module, after the parameters such as the depth of water, flow velocity, flow field direction are set, control system is made the stream target data with generation, and the relevant parameter converter parameter is loaded in the frequency converter, in making stream start and stop module making stream start enable after, control system will to carry out data transmit-receive between the speed of per 100 milliseconds of 1 group of data and the frequency converter, be finished the stream task of making by the transducer drive pump motor.
CAN bus communication module: host computer TT﹠C system and make and adopt system bus (CAN) communication between the ripple servo controller.The message format of CAN agreement employing here is standard format.In standard format, it at first is the start bit (SOF) of message, then the arbitration field that is formed by 11 bit identifiers and long-range transmission request position (RTR), then be 6 controlling filed, it comprises identifier extension position (IDE), keeps the data length (DLC) of position, four bytes, then is the data fields of 8 bytes, is thereafter a Cyclical Redundancy Check (CRC), replying (ACK) and comprise response bits and reply separator, is frame end at last.
RS-485 communication module: host computer TT﹠C system and make between the stream AC converter and adopt general serial interface protocol (USS) communication.The USSR agreement forms by start bit (STX), message length (LGE), tributary address (ADR), verification with (BCC).
Five, in the utility model, the realization of man machine operation interface function calls to realize by control system scan round, functional module:
(1) the regular wave control system realizes.As shown in Figure 3, after regular wave TT﹠C system man machine operation interface enabled, control system was at first carried out the CAN bus communication module, and carries out exchanges data with the CAN bus mode between the servo controller.Call the servo controller monitoring module and make wavy attitude monitoring module, control system detects CAN bus communication state, servo controller failure alarm signal, wave paddle limit position signal, wave paddle zero signal, servo controller standby condition signal, operating state signal etc. with the frequency scan round of 100Hz.If there is failure alarm signal, then call the fault alarm processing module, system can continue operation after removing fault.If wave paddle is positioned at extreme position, then call wave paddle extreme position protection module, carry out its reset function, wave paddle is moved to the extreme position reverse direction.Executing rule ripple control module, the regular wave input parameter is arranged, in regular wave start and stop module make ripple start enable after, system calls first and makes ripple automatic seeking zero module, judge whether wave paddle is positioned at and make the ripple zero-bit, if not, then open automatic seeking zero power energy, Automatic-searching is made the ripple zero-bit, find zero-bit after, the automatic record of system, this regular wave is made ripple and has been found zero-bit, and the automatic seeking zero power can be closed, and the regular wave control module continues to carry out makes the ripple order, the circulation of regular wave target data constantly is issued to servo controller, and ripple is made in control; Do not make the ripple zero-bit if do not find, then the regular wave control module stops to carry out, and makes ripple and stops; In making wave process, but executing rule ripple graph curve display module real time inspection wave paddle running orbit curve and actual wave height curve; But executing rule ripple sampling module records preservation to needed wave height data.
(2) the irregular wave control system realizes.As shown in Figure 4, after irregular wave TT﹠C system man machine operation interface enabled, control system was at first carried out the CAN bus communication module, and carries out exchanges data with the CAN bus mode between the servo controller.Call the servo controller monitoring module and make wavy attitude monitoring module, control system detects CAN bus communication state, servo controller failure alarm signal, wave paddle limit position signal, wave paddle zero signal, servo controller standby condition signal, operating state signal etc. with the frequency scan round of 100Hz.If there is failure alarm signal, then call the fault alarm processing module, system can continue operation after removing fault.If wave paddle is positioned at extreme position, then call wave paddle extreme position protection module, carry out its reset function, wave paddle is moved to the extreme position reverse direction.Call the irregular wave control module, carry out irregular wave wave spectrum calling module, in irregular wave start and stop module make ripple start enable after, system calls first and makes ripple automatic seeking zero module, judge whether wave paddle is positioned at and make the ripple zero-bit, if not, then open automatic seeking zero power energy, Automatic-searching is made the ripple zero-bit, find zero-bit after, the automatic record of system, this irregular wave is made ripple and has been found zero-bit, and the automatic seeking zero power can be closed, and the irregular wave control module continues to carry out makes the ripple order, the datacycle of irregular wave target wave spectrum constantly is issued to servo controller, and ripple is made in control; Do not make the ripple zero-bit if do not find, then the irregular wave control module stops to carry out, and makes ripple and stops; In making wave process, can carry out irregular wave graph curve display module real time inspection wave paddle running orbit curve and actual wave height curve; Can carry out the irregular wave sampling module needed wave height data are recorded preservation.
(3) making the ripple control system realizes.As shown in Figure 5, after making ripple TT﹠C system man machine operation interface and enabling, control system is at first carried out the RS-485 communication module, and carries out exchanges data with the RS-485 communication modes between the AC converter.Call the frequency converter monitoring module and make the stream mode monitoring module, control system detects RS-485 communication state, frequency converter failure alerting signal, operating state signal etc. with the frequency scan round of 10Hz.If there is failure alarm signal, then call the fault alarm processing module, system can continue operation after removing fault.The stream control module is made in execution, arrange making the stream input parameter, call and make the stream parameter and module is set generates and to make the stream target data, and relevant parameter is loaded in the frequency converter, in making stream start and stop module making stream start enable after, control system will constantly and between the frequency converter be carried out data transmit-receive with the circulation of 10Hz frequency, and the driving pump motor is finished and made stream.
Above-described only is preferred implementation of the present utility model, and the utility model is not limited to above embodiment.Be appreciated that other improvement and variation that those skilled in the art directly derive or associate under the prerequisite that does not break away from basic conception of the present utility model, all should think to be included within the protection domain of the present utility model.
Claims (6)
1. a wave current synchronously simulating device TT﹠C system is characterized in that: comprise industrial computer, wave current electrical control cabinet, AC servo motor, alternating-current variable frequency motor, wave paddle and water pump; Contain servo controller and AC converter in the described wave current electrical control cabinet; Link to each other by CAN bus communication mode between industrial computer and the servo controller; Link to each other by the RS-485 communication modes between industrial computer and the AC converter; Servo controller is connected with AC servo motor, and AC servo motor is connected with wave paddle; AC converter is connected with alternating-current variable frequency motor, and alternating-current variable frequency motor is connected with water pump; Described industrial computer drives AC servo motor drive wave paddle by CAN bus communication control servo controller and implements to make ripple, drives water pump by RS-485 Communication Control AC converter driving alternating-current variable frequency motor and implements to make stream.
2. described wave current synchronously simulating device TT﹠C system according to claim 1 is characterized in that: be connected with stroke meta approach switch and front and back limit travel switch on the described servo controller.
3. described wave current synchronously simulating device TT﹠C system according to claim 1, it is characterized in that: described AC servo motor connects servo controller by rotary transformer, described rotary transformer to servo controller, forms closed-loop control with the real data Real-time Feedback of AC servo motor.
4. described wave current synchronously simulating device TT﹠C system according to claim 1 is characterized in that: also comprise current meter, be used for the actual flow velocity value is carried out sample record.
5. described wave current synchronously simulating device TT﹠C system according to claim 1, it is characterized in that: also comprise wave height recorder, described wave height recorder is connected with the A/D capture card of industrial computer by terminal strip, is used for sampling unrestrained high data.
6. described wave current synchronously simulating device TT﹠C system according to claim 1, it is characterized in that: described industrial computer is connected with man machine operation interface, and described man machine operation interface is used for input wave paddle stroke and makes ripple frequency setting value, flow velocity and flow field direction setting value; Figure shows and wave paddle actual motion track and sample waveform preserved in record.
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| CN2012201282872U CN202694090U (en) | 2012-03-30 | 2012-03-30 | Measurement and control system of wave and current synchronous simulation device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460579A (en) * | 2013-09-24 | 2015-03-25 | 帕沃思株式会社 | Device and method for outputting sound wave, and mobile device and method for generating control information corresponding to the sound wave |
| CN105334018A (en) * | 2015-11-20 | 2016-02-17 | 上海交通大学 | Experimental device for simulating current loads by using fan |
| CN105372037A (en) * | 2015-11-20 | 2016-03-02 | 上海交通大学 | Device for simulating wind load in ship model test |
| CN105486485A (en) * | 2015-11-20 | 2016-04-13 | 上海交通大学 | Experimental device using deep-immersion propellers to simulate current load |
| CN106353070A (en) * | 2016-09-30 | 2017-01-25 | 武汉菲仕运动控制系统有限公司 | Wave maker movement control method and system |
| CN111624950A (en) * | 2020-06-02 | 2020-09-04 | 西门子工厂自动化工程有限公司 | Wave-making data processing method and device, motion controller and wave-making system |
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2012
- 2012-03-30 CN CN2012201282872U patent/CN202694090U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460579A (en) * | 2013-09-24 | 2015-03-25 | 帕沃思株式会社 | Device and method for outputting sound wave, and mobile device and method for generating control information corresponding to the sound wave |
| CN104460579B (en) * | 2013-09-24 | 2018-01-30 | 帕沃思株式会社 | Sound wave output equipment and method and generation sound wave correspond to control information mobile device |
| CN105334018A (en) * | 2015-11-20 | 2016-02-17 | 上海交通大学 | Experimental device for simulating current loads by using fan |
| CN105372037A (en) * | 2015-11-20 | 2016-03-02 | 上海交通大学 | Device for simulating wind load in ship model test |
| CN105486485A (en) * | 2015-11-20 | 2016-04-13 | 上海交通大学 | Experimental device using deep-immersion propellers to simulate current load |
| CN105334018B (en) * | 2015-11-20 | 2018-02-09 | 上海交通大学 | Utilize the experimental provision of fan simulation stream loading |
| CN105372037B (en) * | 2015-11-20 | 2018-03-23 | 上海交通大学 | The device of simulated wind load in ship model experiment |
| CN105486485B (en) * | 2015-11-20 | 2018-04-17 | 上海交通大学 | Utilize the experimental provision of deep submergence propeller simulation stream loading |
| CN106353070A (en) * | 2016-09-30 | 2017-01-25 | 武汉菲仕运动控制系统有限公司 | Wave maker movement control method and system |
| CN111624950A (en) * | 2020-06-02 | 2020-09-04 | 西门子工厂自动化工程有限公司 | Wave-making data processing method and device, motion controller and wave-making system |
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