CN205678117U - A kind of without clutch AMT speed changer structure - Google Patents
A kind of without clutch AMT speed changer structure Download PDFInfo
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- CN205678117U CN205678117U CN201620573858.1U CN201620573858U CN205678117U CN 205678117 U CN205678117 U CN 205678117U CN 201620573858 U CN201620573858 U CN 201620573858U CN 205678117 U CN205678117 U CN 205678117U
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- clutch
- power shaft
- speed changer
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Abstract
This utility model relates to a kind of without clutch AMT speed changer structure, including AMT device (11) and AMT control unit (5), AMT device (11) includes AMT power shaft (7), AMT power shaft (7) axle side is provided with power shaft speed probe (6), and power shaft speed probe (6) is connected with AMT control unit (5).This utility model compared with prior art provides the benefit that: this utility model is by arranging power shaft speed probe 6 in AMT device 11, it is achieved that at the internal rotating speed V directly gathering AMT power shaft 7 of AMT device1Technique effect, and by rotating speed V1Signal is fed directly to AMT control unit 5；Rotating speed V due to the AMT output shaft 2 that OSS 3 is gathered2The rotating speed V of the AMT power shaft 7 that signal and power shaft speed probe 6 are gathered1There is not time difference in signal in terms of communication transfer, thus gearshift control accuracy is greatly improved；This utility model not only increases versatility and the suitability of AMT device, also improves the reliability of AMT device simultaneously.
Description
Technical field
This utility model relates to a kind of without clutch AMT speed changer structure, particularly relates to a kind of pure electric vehicle and becomes without clutch AMT
Speed device structure.
Background technology
Existing electric motor car is substantially all employing manual transmission, and this typically requires and relies on the experience of driver itself to sentence
Disconnected Shift gear moment, if Shift gear moment selection is improper, not only can not improve dynamic property and the economy of vehicle, can make vehicle on the contrary
Operating mode deteriorate.In order to eliminate this deleterious situation, people begin attempt to install AMT speed change gear in electric motor car additional.So
And, existing AMT device directly cannot carry out Matching installation use with driving motor, and the use of described Matching installation not only includes must
The mechanical connecting device wanted, in addition it is also necessary to set up corresponding signal communication, as transmitted motor speed signal as power shaft rotating speed
Deng, this suitability that can directly result in AMT device reduces；Simultaneously as signal communication certainly exist delayed even make mistakes can
Can, therefore can be delayed optimal gearshift opportunity and increase shift time, the reliability in turn resulting in overall speed change system also can be significantly
Reduce.
The Chinese utility model patent of Patent No. ZL201320700479.0 discloses a kind of integrated with AMT based on motor
The drive system of electric automobile changed, this drive system includes: drive motor, variator assembly, shift-selecting and changing actuating mechanism；Become
Speed device drive assembly includes the main driven gear of four gears, two splined hub, two clutch collars, output transducers.Described drive
Galvanic electricity machine is DC brushless motor；The output shaft of this driving motor is provided with internal spline, drives the housing of motor and described variator
Casing integration is joined directly together with fine-pitch screw after being positioned by steady pin, and motor internal spline output shaft is positioned at motor, described
Transmission input shaft is connected with motor internal spline output shaft in being inserted directly into motor；This system eliminates clutch, reduces and changes
Power interruption time during gear, also reduces cost.For clutch collar and target during by driving the active speed governing of motor to realize shifting gears
The control mode of the synchronization of shift gear provides architecture basics, and change speed gear box eliminates the lock unit high to material requirements, enters one
Step reduces cost.But this utility model is not provided with speed probe in AMT device power shaft side, and this will result in TCU can not be direct
The tach signal of Gather and input axle side, therefore cannot overcome existing using transmission motor speed signal as power shaft tach signal
Carry out during signal communication, there is the delayed technological deficiency even made mistakes.
The Chinese utility model patent of Patent No. ZL201220644696.8 discloses a kind of automotive dynamoelectric machine formula certainly
Dynamic variator test system, described system includes mechanically and electrically two large divisions；The mechanical part of system is by cast iron platform, former car
Motor, AMT bracing frame, driving torque sensor, electric motor car AMT, back axle, and shaft coupling, loading torque sensor, loading electricity
Machine forms.The electric part of system is by chopper, inlet wire catalyst, active filter, active rectifier, former car set of cells, former
Car inversion module, former vehicle motor, inversion module, loading motor, control unit, control bus and dc bus composition.This practicality
Mechanical energy can not only be recycled by novel test system at test process, it is thus also avoided that the electricity that tradition dynamometer machine uses
A large amount of heatings that eddy current or magnetic powder load are brought, without cooling system, save refrigeration costs and energy.This utility model
It is applicable to the test of automotive dynamoelectric machine formula automatic transmission.Although this utility model is provided with driving torque sensor and loads torsion
Square sensor, but described sensor is not arranged on AMT device power shaft axle side, and the sensor installation position of described test system
Put typically according to test needs carry out random, arbitrarily arrange, this technical scheme also will result in TCU can not directly collect input
The tach signal of axle axle side, the most still cannot overcome existing using transmission motor speed signal carry out as power shaft tach signal
The delayed technological deficiency even made mistakes is there is during signal communication.
Utility model content
In order to solve the technological deficiency that the above-mentioned existing speed changer structure of AMT without clutch exists, this utility model provides one
The speed change gear of AMT without clutch for pure electric vehicle that the suitability is good, functional integration is high, highly reliable, the technical side of employing
Case is as follows:
A kind of without clutch AMT speed changer structure, including AMT device and AMT control unit, described AMT device includes that AMT is defeated
Entering axle, described AMT power shaft axle side is provided with power shaft speed probe, and described power shaft speed probe is controlled with described AMT
Unit processed is connected, and the described i.e. TCU of AMT control unit can directly gather the tach signal of described AMT power shaft axle side, input
Axle rotating speed is by the signal that must gather during gearshift decision-making, thus the response speed of described AMT device is greatly improved, and reduces
Described AMT device and drive the signal communication between motor, and then the versatility of described AMT device is greatly improved, enter one
Step reduces shift time, improves the reliability of whole transmission system to greatest extent.
Preferably, described power shaft speed probe is encapsulated in inside described AMT device.
In any of the above-described scheme preferably, described AMT device also includes clutch collar, AMT output shaft, output shaft rotating speed
Sensor and AMT jackshaft.
In any of the above-described scheme preferably, including driving motor, described AMT power shaft is driven with described by shaft coupling
Galvanic electricity machine is connected.Gather necessary signal at described AMT device internal autonomy, and only need to carry out must with described driving motor
The drive command wanted and feedback of status communication.
In any of the above-described scheme preferably, including motor control unit, described motor control unit and described driving
Motor is connected.
In any of the above-described scheme preferably, described motor control unit is also connected with described AMT control unit.
In any of the above-described scheme preferably, described OSS is connected with described AMT control unit.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use analog speed probe.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use digital speed probe.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use Mageneto-sensitive type speed probe.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use laser type speed probe.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use magnetoelectric tachometric transducer.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use capacitive tachometer transducer.
In any of the above-described scheme preferably, described power shaft speed probe and described OSS are adopted
Use variable reluctance speed probe.
In any of the above-described scheme preferably, described capacitive tachometer transducer uses area change type condenser type rotating speed
Sensor.
In any of the above-described scheme preferably, described capacitive tachometer transducer uses Measuring Apparatus of Medium Changing Type formula rotating speed
Sensor.
In any of the above-described scheme preferably, described variable reluctance speed probe uses inductance type transducer.
In any of the above-described scheme preferably, described variable reluctance speed probe uses transformer type sensor.
In any of the above-described scheme preferably, described variable reluctance speed probe uses eddy current sensor.
This utility model compared with prior art provides the benefit that: this utility model is by arranging in AMT device 11
Power shaft speed probe 6, it is achieved that at the internal rotating speed V directly gathering AMT power shaft 7 of AMT device1, and by rotating speed V1Signal
It is fed directly to AMT control unit 5, thereby reduces between AMT control unit 5 and motor control unit 10 driving motor speed
The communication of signal, and only need to be controlled the communication of order and feedback signal；Owing to OSS 3 is gathered
The rotating speed V of AMT output shaft 22The rotating speed V of the AMT power shaft 7 that signal and power shaft speed probe 6 are gathered1Signal is logical
There is not time difference in news transmission aspect, therefore, it is possible to the relative precision of semaphore when improving decision-making computing, and be greatly improved and change
Gear control accuracy；This utility model not only increases versatility and the suitability of AMT device, also improves AMT device simultaneously
Reliability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the preferred embodiment of the speed changer structure of AMT without clutch of the present utility model；
Fig. 2 is that the variator population structure of the embodiment illustrated in fig. 1 of the speed changer structure of AMT without clutch of the present utility model shows
It is intended to.
Description of reference numerals:
1 clutch collar；2AMT output shaft；3 OSSs；4AMT jackshaft；5AMT control unit；6 power shafts
Speed probe；7AMT power shaft；8 shaft couplings；9 drive motor；10 motor control units；11AMT device.
Detailed description of the invention
In order to be more fully understood that this utility model, below in conjunction with specific embodiment, this utility model is explained in detail,
It is clear that this utility model can be carried out different modification and remodeling and new without departing from this practicality of appended claims
Type broader spirit and scope.Therefore, following example are to have exemplary and do not have conditional implication.
Embodiment 1:
As shown in Figure 1-2, a kind of without clutch AMT speed changer structure, including AMT device 11 and AMT control unit 5, AMT fills
Put 11 and include that AMT power shaft 7, AMT power shaft 7 axle side are provided with power shaft speed probe 6, power shaft speed probe 6 with
AMT control unit 5 is connected, and it is internal that power shaft speed probe 6 is encapsulated in AMT device 11, and AMT device 11 also includes clutch collar
1, AMT output shaft 2, OSS 3 and AMT jackshaft 4, including driving motor 9, AMT power shaft 7 passes through shaft coupling
8 are connected with driving motor 9, and including motor control unit 10, motor control unit 10 is connected with driving motor 9, motor control
Unit 10 processed is also connected with AMT control unit 5, and OSS 3 is connected with AMT control unit 5, and power shaft turns
Speed sensor 6 and OSS 3 use magnetoelectric tachometric transducer, the rotating speed V of power shaft 71Signal is to pass through AMT
Device 11 internal autonomy collection, drives motor 9 only need to be mechanically connected with AMT device 11 formation by existing shaft coupling 8,
Associated drives control command of the prior art only need to be kept between motor control unit 10 and AMT control unit 5 with anti-simultaneously
Feedback signal communication, and increase communication line and communications protocol without extra.This technical scheme is greatly improved described AMT device
Response speed, decreases described AMT device and drives the signal communication between motor, and then described AMT device is greatly improved
Versatility, reduce shift time further, improve the reliability of whole transmission system to greatest extent.
AMT variator is also referred to as AMT change speed gear box or automatic gear-box, and it is the abbreviation of electric-controlled mechanical automatic gear-box.It
It is on the basis of gear-shift mechanism, install micro-processor controlled automatic speed-changing system additional.Its operation principle is at mechanical gear box (manually
Shelves) transform on original base, main change hand shift actuating element.I.e. logical in the case of overall drive mechanism is constant
Cross the automatization installing micro-processor controlled automatic handling system additional to realize gear shift.Therefore AMT is actually controlled by a computer
Make a robot system and complete gear selecting action.The core technology of AMT is that microcomputer control, electronic technology and quality will directly be determined
Determine performance and the running quality of AMT.
Described speed probe is the sensor that the rotating speed of rotating object is converted to electricity output.Speed probe belongs to
Indirect type measurement apparatus, available machinery, electrically, magnetic, light and the method manufacture such as hybrid.Speed probe is made to feel by mistor
Answer element, be novel speed probe.Core component is the employing mistor element as detection, then through brand-new letter
Number process circuitorder noise reduce, function is more perfect.Contrasted by the output waveform with other type tooth speed probe, surveyed
Error to rotating speed is minimum and linear characteristic has good concordance.Sensing object is magnetic material or permeability magnetic material, as
Magnet steel, ferrum and electrical sheet etc..When magnetic or permeability magnetic material with protruding (or depression) on measured body, along with testee rotates
Time, the pulse signal that sensor output is relevant to speed, reach to test the speed or the sender purpose of displacement detecting.Gear rotational speed passes
Sensor has a characteristic that highly sensitive, high reliability, life-span length, to trigger distance remote, and signal triggers as ferrum (soft) magnetic material,
Can realize long-distance sand transport, anti-electromagnetic interference capability is strong, good impact resistance and shock resistance.
Corner displacement can be converted into the signal of telecommunication and supply rolling counters forward by described magnetic power rotation speed sensor, as long as noncontact is with regard to energy
Measure various permeability magnetic material such as: such as gear, impeller, the rotating speed of (or groove, screw) with holes disk and linear velocity.Described magnetoelectricity rotating speed
Sensor has volume reliable, life-span length little, solid, is not required to the advantage such as power supply and lubricating oil, all can join with general secondary meter
With.
Embodiment 2:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses analog speed probe.
Embodiment 3:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses digital speed probe.
Embodiment 4:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses Mageneto-sensitive type speed probe.
Embodiment 5:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses laser type speed probe.
The major function of described laser type speed probe and feature: utilize laser-bounce principle, it is thus achieved that rotor rotates
Signal, can measure the rotating speed of rotor.Feature is that resolution is high, and distance is remote, and usage range is wide, frequency response width, and reliability is high.Inside put
Big shaping circuit, is output as the square-wave signal of amplitude stabilization, can realize long-distance transmissions.Described laser type rotating speed sensor case
Employing stainless steel material is made, sturdy and durable, is mainly used in that test environment is poor, vibration acutely (such as: electromotor etc.).For
Measure rotating speed, cycle, speed.Waterproof construction is simple, and voltage endurance capability is strong, it is reliable to seal, and does not uses any waterproof colloid.
Embodiment 6:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses capacitive tachometer transducer, and described capacitive tachometer transducer uses area change type electric capacity
Formula speed probe.
Described area change type capacitive tachometer transducer be by two pieces of fixed metal plates and be connected with rotary shaft movable
Metallic plate is constituted.Movable metallic plate is in the position that capacitance is maximum, is then in capacitance when rotary shaft rotates 180 ° minimum
Position.The mechanical periodicity speed of capacitance is rotating speed.Can pass through continuous current excitation, ac-excited and with variable capacitance constitute shake
The modes such as the tank swinging device obtain the measurement signal of rotating speed.
Embodiment 7:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses capacitive tachometer transducer, and described capacitive tachometer transducer uses Measuring Apparatus of Medium Changing Type
Formula speed probe.
Described Measuring Apparatus of Medium Changing Type formula speed probe is to embed one piece between two fixed plate electrodes of capacitor
The movable platen of high-k and constitute.Movable dielectric-slab is connected with rotary shaft, along with the rotation of rotary shaft, between condenser armature
The change of dielectric constant generating period and cause the cyclically-varying of capacitance, its speed is equal to the rotating speed of rotary shaft.
Embodiment 8:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses variable reluctance speed probe, and described variable reluctance speed probe uses inductance type sensing
Device.
The application of described inductance type speed probe is relatively wide, and it utilizes flux change to produce induced potential, its electromotive force size
Depend on the speed of flux change.This kind of sensor is divided into again open-flux path formula and closed core type two kinds by structure difference.Open-flux path
Formula speed probe is relatively simple for structure, and output signal is less, should not use in the occasion that vibration is violent.Closed core type rotating speed passes
Sensor is made up of the external gear being contained in rotating shaft, internal gear, coil and permanent magnet.Inside and outside gear has the identical number of teeth.When turning
When axle is connected to rotate together on measured axis, due to the relative motion of inside and outside gear, produce magnetic resistance change rate, produce in coil
Alternating current impression electromotive force.The defecation measuring electromotive force can measure corresponding tachometer value.
Embodiment 9:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses variable reluctance speed probe, and described variable reluctance speed probe uses transformer type to pass
Sensor.
Described transformer type sensor is made up of the coil that two or more bands are unshakable in one's determination, the mutual inductance energy between primary and secondary coil
Change with the relative movement between armature or two coils.When with the voltage drive primary coil of appropriate frequency, secondary coil
Output voltage the change with mutual inductance is changed, thus by measured position transfer be changed to voltage output.This sensor is using
In often take the secondary winding coil of two Same Name of Ends concatenation, exporting with differential fashion, passing so being also called differential transformer type
Sensor.The feature of transformer type sensor is identical with inductance type transducer, the most also known as inductance type transducer.But transformer type passes
Sensor has greater flexibility in design, applies the most extensive.Rotary transformer, inductosyn, selsyn all belong to
In transformer type sensor.Transformer type sensor is mainly used in measuring displacement and being converted into the power of displacement, tension force, pressure
The parameters such as power, pressure reduction, acceleration, strain, flow, thickness, proportion, torque.
Embodiment 10:
A kind of without clutch AMT speed changer structure, similar to Example 1, except that: power shaft speed probe 6 He
OSS 3 uses variable reluctance speed probe, and described variable reluctance speed probe uses electric vortex type to pass
Sensor.
Described current vortex sensor can statically and dynamically noncontact, high linearity, the tested metal of high resolution ground measurement
The conductor distance away from detecting head surface.It is a kind of non-contacting linearisation metering outfit.Current vortex sensor can accurately measure quilt
Survey static and dynamic relative displacement change between body (must be metallic conductor) and probe tip face.At high-speed rotating machine and past
The state analysis of composite motion machinery, during vibration research, analysis are measured, to the vibration of non-contacting high accuracy, displacement signal, can connect
The continuous many kinds of parameters collecting rotor oscillation state exactly.Radial vibration, amplitude and axial location such as axle.Move from rotor
Mechanics, the analysis in theory of bearing, the kinestate of large rotating machinery, depend primarily on its core rotating shaft, and electricity whirlpool
Flow sensor, can the state of direct non-cpntact measurement rotating shaft, to the imbalance of such as rotor, misalign, bearing wear, axle crackle
And there is the Early judgement of the mechanical problems such as friction, it is possible to provide crucial information.Current vortex sensor is with its reliable long-term working
Property good, measure wide ranges, highly sensitive, resolution is high, fast response time, interference resistance are affected by force, not by media such as greasy dirts,
Advantages of simple structure and simple, the on-line monitoring in large rotating machinery state is used widely in fault diagnosis.
Claims (19)
1., without a clutch AMT speed changer structure, including AMT device (11) and AMT control unit (5), AMT device (11) includes
AMT power shaft (7), it is characterised in that AMT power shaft (7) axle side is provided with power shaft speed probe (6), power shaft rotating speed
Sensor (6) is connected with AMT control unit (5).
2. as claimed in claim 1 without clutch AMT speed changer structure, it is characterised in that power shaft speed probe (6) encapsulates
Internal at AMT device (11).
3. as claimed in claim 2 without clutch AMT speed changer structure, it is characterised in that AMT device (11) also includes clutch collar
(1), AMT output shaft (2), OSS (3) and AMT jackshaft (4).
4. as claimed in claim 1 without clutch AMT speed changer structure, it is characterised in that including driving motor (9), AMT inputs
Axle (7) is connected with driving motor (9) by shaft coupling (8).
5. as claimed in claim 4 without clutch AMT speed changer structure, it is characterised in that to include motor control unit (10), electricity
Machine control unit (10) is connected with driving motor (9).
6. as claimed in claim 5 without clutch AMT speed changer structure, it is characterised in that motor control unit (10) is gone back and AMT
Control unit (5) is connected.
7. as claimed in claim 3 without clutch AMT speed changer structure, it is characterised in that OSS (3) and
AMT control unit (5) is connected.
8. the speed changer structure of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Analog speed probe is used with OSS (3).
9. the speed changer structure of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Digital speed probe is used with OSS (3).
10. the speed changer structure of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Mageneto-sensitive type speed probe is used with OSS (3).
11. speed changer structures of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Laser type speed probe is used with OSS (3).
12. speed changer structures of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Magnetoelectric tachometric transducer is used with OSS (3).
13. speed changer structures of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Capacitive tachometer transducer is used with OSS (3).
14. speed changer structures of AMT without clutch as described in claim 1 or 3, it is characterised in that power shaft speed probe (6)
Variable reluctance speed probe is used with OSS (3).
15. is as claimed in claim 13 without clutch AMT speed changer structure, it is characterised in that described capacitive tachometer transducer
Use area change type capacitive tachometer transducer.
16. is as claimed in claim 13 without clutch AMT speed changer structure, it is characterised in that described capacitive tachometer transducer
Use Measuring Apparatus of Medium Changing Type formula speed probe.
17. is as claimed in claim 14 without clutch AMT speed changer structure, it is characterised in that described variable reluctance revolution speed sensing
Device uses inductance type transducer.
18. is as claimed in claim 14 without clutch AMT speed changer structure, it is characterised in that described variable reluctance revolution speed sensing
Device uses transformer type sensor.
19. is as claimed in claim 14 without clutch AMT speed changer structure, it is characterised in that described variable reluctance revolution speed sensing
Device uses eddy current sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620573858.1U CN205678117U (en) | 2016-06-15 | 2016-06-15 | A kind of without clutch AMT speed changer structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620573858.1U CN205678117U (en) | 2016-06-15 | 2016-06-15 | A kind of without clutch AMT speed changer structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105909779A (en) * | 2016-06-15 | 2016-08-31 | 北京理工华创电动车技术有限公司 | Clutch-free AMT transmission structure |
| CN109268455A (en) * | 2018-10-25 | 2019-01-25 | 湖南科技大学 | A kind of second gear single-pinion planetary gear speed changer structure |
| CN109683579A (en) * | 2019-02-22 | 2019-04-26 | 西南交通大学 | Distributed four-wheel electric drive new-energy automobile experimental system based on hardware in loop |
-
2016
- 2016-06-15 CN CN201620573858.1U patent/CN205678117U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105909779A (en) * | 2016-06-15 | 2016-08-31 | 北京理工华创电动车技术有限公司 | Clutch-free AMT transmission structure |
| CN109268455A (en) * | 2018-10-25 | 2019-01-25 | 湖南科技大学 | A kind of second gear single-pinion planetary gear speed changer structure |
| CN109683579A (en) * | 2019-02-22 | 2019-04-26 | 西南交通大学 | Distributed four-wheel electric drive new-energy automobile experimental system based on hardware in loop |
| CN109683579B (en) * | 2019-02-22 | 2023-08-22 | 西南交通大学 | Distributed four-wheel electric drive new energy automobile experimental system based on hardware in loop |
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