CN213238768U - Device for measuring quadrature error of torquer coil - Google Patents
Device for measuring quadrature error of torquer coil Download PDFInfo
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- CN213238768U CN213238768U CN202022710311.0U CN202022710311U CN213238768U CN 213238768 U CN213238768 U CN 213238768U CN 202022710311 U CN202022710311 U CN 202022710311U CN 213238768 U CN213238768 U CN 213238768U
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Abstract
The utility model discloses a device for measuring quadrature error of torquer coil, which comprises a test box body, a servo motor drives an excitation mandrel to rotate, the excitation mandrel is provided with an excitation coil positioned at the inner side of a torque device to be measured, the excitation coil is used for generating an alternating magnetic field, and a plurality of torquer coils are arranged in the circumferential direction at the outer side of the torque device to be measured; the acquisition board is electrically connected with a moment device to be measured, acquires the induced voltage value of a moment device coil, is electrically connected with the encoder and is used for acquiring the exciting coil axis angle value acquired by the encoder, the exciting coil rotates in the moment device to be measured, when the exciting coil is superposed with the magnetic axis of one moment device coil of the moment device to be measured, a peak value appears in the induced voltage value of the moment device coil, the exciting coil axis angle value corresponding to the peak value is read by the encoder, the acquisition board acquires the exciting coil axis angle value read by the encoder and transmits the value to the main board, and the orthogonal error value of the moment device coil is calculated.
Description
Technical Field
The utility model relates to a technical field of flexible top, concretely relates to device of measurement torquer coil quadrature error.
Background
The existing detection method for the flexible gyroscope torquer coil is influenced by the detection means, and mostly only comprises contents such as direct current resistance, insulation resistance, voltage resistance, polarity and the like. However, more and more applications of the flexible gyroscope torquer coil indicate that, when manufacturing a high-precision gyroscope, a quantification requirement must be provided for the quadrature error of the flexible gyroscope torquer coil, in journal paper of instrument technology and sensor of leijin city, zhao hei, 2003, development of a device for detecting the quadrature error of a fixed coil assembly of a dynamic gyroscope tuning machine torquer is disclosed, a motor with stable rotation speed is used to drive a permanent magnet to generate a rotating magnetic field, an induced voltage signal is generated in the rotating magnetic field by a torquer stator coil, the signal is processed by a detection circuit to become a 4-path square wave signal, and the square wave signal is used as a gate control signal for controlling a synchronous measurement counter. Meanwhile, the circuit detects the peak value of the induced voltage and records the time value of the induced voltage. And the synchronous measurement counter counts the induction voltage peak value of each period under the control of a new square wave signal.
However, the alternating magnetic field in the journal paper is generated by a permanent magnet rotating at a high speed, and in order to achieve a certain measurement accuracy, the rotational speed stability of the permanent magnet needs to be within 0.3%, which puts strict requirements on the motor itself and a control circuit thereof, and meanwhile, the device hardware is difficult to achieve the rotational speed stability of the permanent magnet; secondly, the journal article records the time of the peak value of the induced voltage, counts the occurrence frequency of the peak value of the induced voltage, and finally processes data to obtain the position of each coil.
SUMMERY OF THE UTILITY MODEL
The above-mentioned not enough to prior art exists, the utility model aims to provide a simple structure, required software and hardware cost is lower, the device of measurement torquer coil quadrature error easy and simple to handle.
Solve the technical problem, the utility model discloses a following technical scheme:
a device for measuring quadrature errors of torquer coils comprises a test box body, wherein a collecting plate, a main board and a transmission structure are arranged in the test box body, the main board is electrically connected with the collecting plate, a mounting plate used for sealing the test box body is arranged above the test box body, a first mounting hole and a second mounting hole are formed in the mounting plate, the first mounting hole is used for mounting a torque device to be measured, the second mounting hole is used for mounting a servo motor, an encoder is connected to the torque device to be measured, a magnetizing mandrel connected with the encoder shaft is arranged in the torque device to be measured, the servo motor drives the magnetizing mandrel to rotate, a magnetizing coil positioned on the inner side of the torque device to be measured is arranged on the magnetizing mandrel, the magnetizing coil is used for generating an alternating magnetic field, and a plurality of torquer coils are arranged in the circumferential direction of the outer side of the torque device to be measured; the acquisition board is electrically connected with a moment device to be measured, acquires the induced voltage value of a moment device coil, is electrically connected with the encoder and is used for acquiring the exciting coil axis angle value acquired by the encoder, the exciting coil rotates in the moment device to be measured, when the exciting coil is superposed with the magnetic axis of one moment device coil of the moment device to be measured, a peak value appears in the induced voltage value of the moment device coil, the exciting coil axis angle value corresponding to the peak value is read by the encoder, the acquisition board acquires the exciting coil axis angle value read by the encoder and transmits the value to the main board, and the orthogonal error value of the moment device coil is calculated.
According to the scheme, the test box body is used for supporting the servo motor and the moment device to be tested, and according to the electromagnetic induction principle, when the exciting coil is superposed with the magnetic axis of the moment device coil, the peak value of the induced voltage output by the moment device coil reaches the maximum value, so that the position of the exciting coil can be adopted to determine the position of the magnetic axis of the moment device coil, and the orthogonal error value of the moment device coil is further calculated; the scheme drives the exciting coil to rotate through the servo motor, the torquer coil and the exciting coil are coaxially arranged, and the exciting coil rotates in the torque device to be measured, so the whole device for measuring the quadrature error of the torquer coil is simple in structure, the cost of required software and hardware is low, meanwhile, exciting current with constant amplitude is led into the exciting coil through the mainboard to generate exciting current, the servo motor is started and stopped through an instruction sent by the mainboard to rotate, the induced voltage value of the torquer coil changes along with the relative position of the exciting coil and the torquer coil, when a plurality of peak values appear, the exciting coil is superposed with the magnetic axis of the corresponding torquer coil, the angle value of the exciting coil axis corresponding to the peak value is obtained through the encoder and is transmitted into the collecting board, the collecting board is electrically connected with the mainboard to realize data exchange, the acquisition board transmits the data to the main board, and the orthogonal error value of the torquer coil is calculated through the main board, so that the operation is simple and convenient, and no special requirement is required on the measurement environment.
Furthermore, the mainboard is electrically connected with the servo motor and used for controlling the servo motor to be opened and closed, and the mainboard is electrically connected with the excitation coil and used for generating excitation current.
The design is like this, sends down the instruction through the mainboard, and drive servo motor is rotatory, simultaneously, is connected through mainboard and excitation coil electricity, realizes that excitation coil has the excitation current of the invariable amplitude together, and easy operation is convenient.
Furthermore, the mainboard is electrically connected with external display equipment and used for data communication. By means of the design, the quadrature error value of the torquer coil can be obtained in real time through the external display device.
The device further comprises a transmission structure, the transmission structure comprises a first belt wheel connected with the excitation mandrel shaft and a second belt wheel connected with the servo motor shaft, and the first belt wheel and the second belt wheel are connected through a synchronous belt.
The servo motor drives the second belt wheel to rotate, so that the rotating speed of the second belt wheel is twice that of the first belt wheel, the first belt wheel drives the exciting mandrel to rotate at a speed lower than that of the servo motor, the rotating speed of the exciting mandrel is prevented from being too fast, and the acquisition difficulty is increased.
Further, a shaft sleeve, a bearing and a bearing seat are sequentially arranged in the first mounting hole from inside to outside, and the shaft sleeve is connected with an output shaft of the encoder.
The moment measuring device is fixed and positioned through the shaft sleeve, the bearing and the bearing seat on the mounting plate, and meanwhile, the shaft sleeve is of a hollow structure, so that a lead of the exciting coil can conveniently penetrate through the shaft sleeve, and the lead is prevented from interfering with other structural components.
Further, the first mounting hole is opposite to the first belt wheel, and the second mounting hole is opposite to the second belt wheel. The moment device to be measured and the servo motor can be ensured to be positioned on the same horizontal plane.
Further, still include frock clamp, frock clamp is including fixing the fixing base on the mounting panel, the fixing base with the bearing frame is coaxial to be set up. Therefore, the stable connection between the encoder and the moment device to be measured can be ensured, and the obtained data is more accurate.
Further, the excitation mandrel is installed in the fixing seat, and a coil pressing plate used for fixing the excitation coil is arranged on the excitation mandrel. Through the cooperation of excitation dabber and coil clamp plate, realize the firm installation to excitation coil, can guarantee that the data that detect are accurate.
Further, the encoder includes an encoder stator and an encoder rotor, the encoder rotor being located inside the encoder rotor. The encoder is composed of two sub-components of an encoder stator and an encoder rotor, and high-precision angle measurement is achieved through the electromagnetic induction principle that mutual inductance of a multi-pole planar winding of the encoder stator and the encoder rotor changes along with the position.
Compared with the prior art, the utility model has the advantages of as follows:
the utility model discloses think about ingenious, simple structure produces alternating magnetic field through exciting coil, like this, just guarantees very easily that the excitation is excitedCurrent frequency stability is 10-3Compared with the prior art in which the rotation speed stability is realized through the permanent magnet, the utility model has relatively simple hardware and is easy to realize; and simultaneously, the utility model discloses the measuring principle is also different, through taking notes constantly to the induced voltage peak value among the prior art, counts the number of times that it appears, carries out data processing at last and reachs the position of each coil, and the utility model discloses only detect the induced voltage peak value of torquer coil to record its constantly, through encoder output excitation coil axle angle value, be the angular position of each coil promptly, simple structure, with low costs, the reliability is high.
Drawings
FIG. 1 is an exploded view of the apparatus for measuring quadrature error of a torquer coil in accordance with the present invention;
FIG. 2 is a schematic view of the installation of the excitation coil and the torquer coil in the apparatus for measuring quadrature error of the torquer coil according to the present invention;
FIG. 3 is a schematic diagram of the relative positions of the excitation coil and the torquer coil in the apparatus for measuring quadrature error of the torquer coil of the present invention;
FIG. 4 is a top view of the relative positions of the exciter coil and the torquer coil of FIG. 3.
In the figure: the device comprises a test box body 1, a collecting plate 2, a main plate 3, a synchronous belt 4, a first belt wheel 5, an encoder rotor 6, a second belt wheel 7, a mounting plate 8, a motor shaft 9, a servo motor 10, an encoder stator 11, a shaft sleeve 12, a bearing 13, a bearing seat 14, an excitation mandrel 15, a fixing seat 16, a moment device 17 to be measured, an excitation coil 18, a coil pressing plate 19 and a moment device coil 20.
Detailed Description
The present invention will be described with reference to the accompanying drawings and examples.
In this embodiment: referring to fig. 1 to 4, a device for measuring quadrature error of a torquer coil comprises a test box body 1, a collecting plate 2 is arranged in the test box body 1, the main board 3 and the transmission structure are electrically connected with the acquisition board 2, a mounting plate 8 used for sealing the test box body 1 is arranged above the test box body 1, a first mounting hole and a second mounting hole are formed in the mounting plate 8, the first mounting hole is used for mounting a torque device 17 to be measured, the second mounting hole is used for mounting a servo motor 10, an encoder is connected to the torque device 17 to be measured, an excitation mandrel 15 connected with the encoder shaft is arranged in the torque device 17 to be measured, the servo motor 10 drives the excitation mandrel to rotate, an excitation coil 18 positioned on the inner side of the torque device 17 to be measured is arranged on the excitation mandrel 15, the excitation coil 18 is used for generating an alternating magnetic field, the excitation coil 18 rotates along with the excitation mandrel 15, and a plurality of torquer coils 20 are arranged in the circumferential direction outside the torque device 17 to be measured; the acquisition board 2 is electrically connected with the moment device 17 to be measured, the acquisition board 2 acquires an induced voltage value of the moment device coil 20, the acquisition board 2 is electrically connected with the encoder and is used for acquiring an axial angle value of the exciting coil 18 acquired by the encoder, the exciting coil 18 rotates in the moment device 17 to be measured, when the exciting coil 18 is overlapped with a magnetic axis of one moment device coil 20 of the moment device 17 to be measured, a peak value appears in the induced voltage value of the moment device coil 20, the axial angle value of the exciting coil 18 corresponding to the peak value is read by the encoder, the acquisition board 2 acquires the axial angle value of the exciting coil 18 read by the encoder and transmits the axial angle value to the main board 3, and an orthogonal error value of the moment device coil 20 is calculated.
According to the scheme, the test box body 1 is used for supporting the servo motor 10 and the moment device 17 to be measured, according to the electromagnetic induction principle, when the magnetic axes of the exciting coil 18 and the moment device coil 20 are superposed, the peak value of the induced voltage output by the moment device coil 20 is maximum, so that the position of the magnetic axis of the moment device coil 20 can be determined by adopting the position of the exciting coil 18, and the orthogonal error value of the moment device coil 20 is further calculated; in the scheme, a servo motor 10 drives an excitation mandrel to rotate, a torquer coil 20 and an excitation coil 18 are coaxially arranged, and the excitation coil 18 rotates in a torque device 17 to be measured, so that the whole device for measuring the orthogonal error of the torquer coil 20 is simple in structure and low in cost of required software and hardware, meanwhile, excitation current with constant amplitude is conducted into the excitation coil 18 through a main board 3 to generate excitation current, the servo motor 10 is started and stopped through an instruction sent by the main board 3 to rotate the servo motor 10, the induction voltage value of the torquer coil 20 changes along with the relative positions of the excitation coil 18 and the torquer coil 20, when a plurality of peak values appear, the excitation coil 18 is overlapped with the magnetic axis of the corresponding torquer coil 20, the axial angle value of the excitation coil 18 corresponding to the peak values is obtained through an encoder and is transmitted into a collecting board 2, the acquisition board 2 is electrically connected with the mainboard 3 to realize data exchange, the acquisition board 2 transmits the data to the mainboard 3, the orthogonal error value of the torquer coil 20 is calculated through the mainboard 3, the operation is simple and convenient, and no special requirement is required on the measuring environment.
Preferably, the main board 3 is electrically connected with the servo motor 10 and used for controlling the servo motor 10 to be turned on and off, and the main board 3 is electrically connected with the excitation coil 18 and used for generating excitation current.
The design is that the main board 3 issues an instruction to drive the servo motor 10 to rotate, and meanwhile, the main board 3 is electrically connected with the exciting coil 18, so that the exciting coil 18 has exciting current with constant amplitude, and the operation is simple and convenient.
Preferably, the main board 3 is electrically connected to an external display device for data communication. By means of the design, the quadrature error value of the torquer coil 20 can be obtained in real time through an external display device.
Preferably, the device further comprises a conveying structure, wherein the conveying structure comprises a first belt wheel 5 connected with the excitation mandrel 15 in a shaft mode, and a second belt wheel 7 connected with the servo motor 10 in a shaft mode 9, and the first belt wheel 5 and the second belt wheel 7 are connected through a synchronous belt 4.
The servo motor 10 drives the second belt wheel 7 to rotate, so that the rotating speed of the second belt wheel 7 is twice that of the first belt wheel 5, the rotating speed of the exciting mandrel 15 driven by the first belt wheel 5 is lower than that of the servo motor 10, the rotating speed of the exciting mandrel 15 is prevented from being too fast, and the acquisition difficulty is increased.
Preferably, a shaft sleeve 12, a bearing 13 and a bearing 13 seat are sequentially arranged in the first mounting hole from inside to outside, and the shaft sleeve 12 is connected with an output shaft of the encoder.
The moment measurer 17 is fixed and positioned through the shaft sleeve 12, the bearing 13 and the bearing 13 seat on the mounting plate 8, and meanwhile, the shaft sleeve 12 is of a hollow structure, so that a lead of the exciting coil 18 can conveniently pass through the hollow structure, and the lead is prevented from interfering with other structural components.
Preferably, the first mounting hole is arranged opposite to the first belt pulley 5, and the second mounting hole is arranged opposite to the second belt pulley 7. The moment device 17 to be measured and the servo motor 10 can be ensured to be positioned on the same horizontal plane.
Preferably, the fixture comprises a fixture, the fixture comprises a fixed seat 16 fixed on the mounting plate 8, and the fixed seat 16 is coaxially arranged with the bearing 13. Therefore, the stable connection between the encoder and the moment device 17 to be measured can be ensured, and the obtained data is more accurate.
Preferably, the excitation core shaft 15 is installed in the fixing seat 16, and the excitation core shaft 15 is provided with a coil pressing plate 19 for fixing the excitation coil 18. Through the cooperation of excitation dabber 15 and coil clamp plate 19, realize the firm installation to excitation coil 18, can guarantee that the data that detect are accurate.
Preferably, the encoder includes an encoder stator 11 and an encoder rotor 6, and the encoder rotor 6 is located inside the encoder rotor 6. The encoder is composed of two sub-components of an encoder stator 11 and an encoder rotor 6, and high-precision angle measurement is achieved through the electromagnetic induction principle that mutual inductance of a multi-pole planar winding of the encoder stator 11 and the encoder rotor 6 changes along with position.
The utility model has the advantages of ingenious conception and simple structure, and can easily ensure the frequency stability of the exciting current to be within 10-3 by generating the alternating magnetic field through the exciting coil 18, and compared with the prior art which realizes the stability of the rotating speed through the permanent magnet, the utility model has the advantages of relatively simple hardware and easy realization; and simultaneously, the utility model discloses the measuring principle is also different, through taking notes constantly to the induced voltage peak value among the prior art, counts the number of times that it appears, carries out data processing at last and reachs the position of each coil, and the utility model discloses only detect the induced voltage peak value of torquer coil 20 to record its constantly, through the 18 axial angle values of encoder output excitation coil, be the angular position of each coil promptly, simple structure, with low costs, the reliability is high.
Wherein the utility model discloses in the shafting of constituteing by axle sleeve 12, bearing 13 and bearing 13 seat, the one-level reduction gearing who comprises first band pulley 5, second band pulley 7 and hold-in range 4, the drive assembly who comprises servo motor 10 and motor shaft 9, the angle sensor who comprises encoder stator 11 and encoder rotor 6, the control box of constituteing by mainboard 3, acquisition board 2 and test box 1.
The fixed part of the shafting is a bearing 13 seat, connected with the bearing are an encoder stator 11 and a fixed seat 16, and the fixed seat 16 is used for installing a torque converter 17 to be measured; the rotating part of the shafting is a shaft sleeve 12, and a first belt wheel 5, an encoder rotor 6 and an excitation mandrel 15 are connected with the shaft sleeve, and the excitation mandrel 15 is used for installing an excitation coil 18. The output shafts of a first belt wheel 5 and a second belt wheel 7 of a primary speed reduction transmission system are respectively installed in a first installation hole and a second installation hole of an installation plate 8, a shaft system is installed in the first installation hole, a driving part is installed in the first installation hole, and finally the driving part is embedded in a test box body 1 of a control box to form a complete torquer orthogonal error measuring device.
In the device, the main board 3 is electrically connected with the servo motor 10 to provide a driving power supply and a control signal for the servo motor, the main board 3 is electrically connected with the exciting coil 18 to provide exciting current for the main board, the main board 3 is electrically connected with the acquisition board 2 to receive signals such as voltage and shaft angle acquired by the main board and store and calculate the signals, and the main board 3 also has the functions of program control and communication with external equipment. The acquisition board 2 is electrically connected with the encoder stator 11 and the encoder rotor 6, acquires the shaft angle value output by the encoder, is electrically connected with the torquer coil 20 of the torque device 17 to be measured, acquires the induced voltage value generated in the acquisition board 2, and sends the induced voltage value and the angle value to the main board 3 in real time.
In the device, a moment device 17 to be measured and an exciting coil 18 are coaxially installed, wherein the moment device 17 to be measured is installed at a fixed part of a shaft system, the exciting coil 18 is installed at a rotating part of the shaft system, the exciting coil 18 rotates inside the moment device 17 to be measured under the driving of a servo motor 10, a rotating angle value is output by an encoder, a high-frequency alternating magnetic field can be generated due to high-frequency exciting current in the exciting coil 18, the alternating magnetic field can generate induced voltage with the same frequency in the moment device coil 20, the amplitude of the induced voltage is related to the space angle position of the two coils, the moment when the maximum value of the induced voltage appears indicates that the magnetic axes of the two coils are aligned, and the angle value output by the encoder is the absolute angle of one moment device coil 20 in the moment device 17 to be measured.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that those modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all should be covered in the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a measure device of torquer coil quadrature error, includes test box (1), its characterized in that: the test box body (1) is internally provided with a collecting plate (2), a main board (3) electrically connected with the collecting plate (2) and a conveying structure, a mounting plate (8) used for sealing the test box body (1) is arranged above the test box body (1), the mounting plate (8) is provided with a first mounting hole and a second mounting hole, the first mounting hole is used for mounting a torque device (17) to be measured, and the second mounting hole is used for mounting a servo motor (10);
the torque device to be measured (17) is connected with an encoder, an excitation mandrel connected with the encoder shaft is arranged in the torque device to be measured (17), a servo motor (10) drives the excitation mandrel to rotate, an excitation coil positioned on the inner side of the torque device to be measured (17) is arranged on the excitation mandrel, the excitation coil (18) is used for generating an alternating magnetic field, and a plurality of torque device coils (20) are arranged in the circumferential direction of the outer side of the torque device to be measured (17);
the acquisition board (2) is electrically connected with a torque device (17) to be measured, the acquisition board (2) acquires an induced voltage value of a torque device coil (20), the acquisition board (2) is electrically connected with the encoder and is used for acquiring an axial angle value of an excitation coil (18) acquired by the encoder, and the excitation coil (18) rotates inside the torque device (17) to be measured;
when the magnetic axis of the exciting coil (18) is coincided with the magnetic axis of one torquer coil (20) of the torquer (17) to be measured, a peak value appears in the induced voltage value of the torquer coil (20), the axial angle value of the exciting coil (18) corresponding to the peak value is read by the encoder, the axial angle value of the exciting coil (18) read by the encoder is collected by the collecting board (2) and is transmitted to the main board (3), and the orthogonal error value of the torquer coil (20) is obtained through calculation.
2. The device for measuring the quadrature error of the torquer coil as claimed in claim 1, wherein the main board (3) is electrically connected with the servo motor (10) for controlling the servo motor (10) to be turned on and off, and the main board (3) is electrically connected with the exciting coil (18) for generating exciting current.
3. The apparatus for measuring quadrature error of torquer coils as claimed in claim 2, wherein the main board (3) is electrically connected to an external display device for data communication.
4. The device for measuring quadrature error of torquer coils as claimed in claim 1, wherein the transmission structure comprises a first pulley (5) connected with the excitation spindle shaft and a second pulley (7) connected with the output shaft of the servo motor (10), and the first pulley (5) and the second pulley (7) are connected through a synchronous belt (4).
5. The device for measuring the quadrature error of the torquer coil as recited in claim 1, wherein a shaft sleeve (12), a bearing (13) and a bearing seat (14) are sequentially installed in the first installation hole from inside to outside, and the shaft sleeve (12) is connected with an output shaft of the encoder.
6. The apparatus for measuring quadrature error of torquer coils as recited in claim 4, wherein said first mounting hole is disposed opposite said first pulley (5) and said second mounting hole is disposed opposite said second pulley (7).
7. The device for measuring the quadrature error of the torquer coil as recited in claim 5, further comprising a tooling fixture, wherein the tooling fixture comprises a fixed seat (16) fixed on a mounting plate (8), and the fixed seat (16) is coaxially arranged with the bearing seat (14).
8. The device for measuring the quadrature error of the torquer coil as recited in claim 7, wherein the excitation mandrel (15) is installed in a fixed seat (16), and a coil pressing plate (19) for fixing the excitation coil is arranged on the excitation mandrel (15).
9. Device for measuring quadrature error of torquer coils as claimed in any of claims 1-8, characterised in that the encoder comprises an encoder stator (11) and an encoder rotor (6), the encoder rotor (6) being located inside the encoder rotor (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022710311.0U CN213238768U (en) | 2020-11-20 | 2020-11-20 | Device for measuring quadrature error of torquer coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022710311.0U CN213238768U (en) | 2020-11-20 | 2020-11-20 | Device for measuring quadrature error of torquer coil |
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| Publication Number | Publication Date |
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| CN213238768U true CN213238768U (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022710311.0U Active CN213238768U (en) | 2020-11-20 | 2020-11-20 | Device for measuring quadrature error of torquer coil |
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| Country | Link |
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| CN (1) | CN213238768U (en) |
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