WO2004010030A1 - Mecanisme de changement de vitesse comprenant une transmission toroidale a variation continue - Google Patents

Mecanisme de changement de vitesse comprenant une transmission toroidale a variation continue Download PDF

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Publication number
WO2004010030A1
WO2004010030A1 PCT/EP2003/006695 EP0306695W WO2004010030A1 WO 2004010030 A1 WO2004010030 A1 WO 2004010030A1 EP 0306695 W EP0306695 W EP 0306695W WO 2004010030 A1 WO2004010030 A1 WO 2004010030A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
change gear
control
gear according
hydraulic
Prior art date
Application number
PCT/EP2003/006695
Other languages
German (de)
English (en)
Inventor
Steffen Henzler
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Priority to JP2004522182A priority Critical patent/JP2006501410A/ja
Publication of WO2004010030A1 publication Critical patent/WO2004010030A1/fr
Priority to US11/037,397 priority patent/US20050148426A1/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
    • F16H61/664—Friction gearings
    • F16H61/6649—Friction gearings characterised by the means for controlling the torque transmitting capability of the gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H15/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members
    • F16H15/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by friction between rotary members without members having orbital motion
    • F16H15/04—Gearings providing a continuous range of gear ratios
    • F16H15/06—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B
    • F16H15/32—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line
    • F16H15/36—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with concave friction surface, e.g. a hollow toroid surface
    • F16H15/38—Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with concave friction surface, e.g. a hollow toroid surface with two members B having hollow toroid surfaces opposite to each other, the member or members A being adjustably mounted between the surfaces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F16H37/0833—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths
    • F16H37/084—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths at least one power path being a continuously variable transmission, i.e. CVT
    • F16H2037/088—Power split variators with summing differentials, with the input of the CVT connected or connectable to the input shaft
    • F16H2037/0886—Power split variators with summing differentials, with the input of the CVT connected or connectable to the input shaft with switching means, e.g. to change ranges
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F16H37/0833—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths
    • F16H37/084—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths at least one power path being a continuously variable transmission, i.e. CVT
    • F16H37/086—CVT using two coaxial friction members cooperating with at least one intermediate friction member

Definitions

  • the invention relates to a change gear in which a stepless toroidal transmission is arranged in the power flow between an input shaft and an output shaft, according to selected features of claim 1.
  • Object of the present invention is to propose a change gear with a continuously variable toroidal transmission, which has ü- optimized means for applying the contact pressure.
  • a stepless toroidal transmission is arranged in the power flow between an input shaft and an output shaft.
  • more transmission groups may be provided in the transmission.
  • the change gear is a power-split transmission, for example, with several driving ranges.
  • the stepless toroidal transmission has at least one drive pulley, at least one output pulley and at least one roller, which is clamped between the drive and driven pulley with a contact pressure.
  • a drive torque of a drive unit from the drive pulley to the driven pulley takes place.
  • the ratio is infinitely variable.
  • Such a toroidal variator may be one having one or more chambers connected one behind the other, and thus one or more drive and driven orbital discs and scooters.
  • At least one torus disk is mounted axially displaceable along an axis. This shift degree of freedom serves to realize a contact force between the Torususionn and the scooter.
  • the displaceable Torusscene can be acted upon by a contact force.
  • the contact pressure is at least partially generated by a hydraulic piston, on whose piston surface a hydraulic pressure acts.
  • the transmission of the contact pressure on the Torusscope can indirectly, for example via mechanical fasteners, or directly, ie by direct action of the hydraulic pressure on the Torusscope done.
  • the hydraulic pressure is the control pressure of a control slide valve.
  • a control slide valve to ensure (at least part of) the contact pressure of a Toroidvariators represents a particularly effective, safe and simple guarantee of contact pressure. This can be used per se known and manufactured in large numbers control slide valves.
  • a further advantage is that by suitable design of the area ratios of the control slide of the control slide valve by means of a small control pressure, a larger control pressure can be set exactly. As a result, the effort to control, for example, small-sized control devices are minimized.
  • control pressure is provided by a control solenoid valve.
  • control solenoid valves are particularly advantageous in terms of cost and control quality, since the specification of an electrical signal, the hydraulic signal can be specified accurately and with high dynamics.
  • a spring device is provided in parallel or series connection to the hydraulic pressure, which applies at least part of the contact pressure, at least in partial operating ranges of the change gear. This is particularly advantageous if even with a hydraulic pressure that is not present, for example at a start of the drive unit, a detoxanpresskraft is required, which can be provided by the spring means. Furthermore, the spring device can provide a minimum or permanently necessary force available. The spring device can take effect in support of the hydraulic pressure, so that the performance of the hydraulic pressure necessary devices can be made smaller.
  • the hydraulic pressure acts directly on the Torusscope.
  • the contact force applying spring is arranged in a pressure chamber which is formed with the displaceable piston and a working cylinder. This results in a particularly compact arrangement.
  • the hydraulic pressure is fed back to the control slide of the control slide valve.
  • a measuring sensor for detecting the hydraulic pressure is unnecessary.
  • 2 shows a partial section of a variator according to the invention with parallel connection of the potential energy store and the pressure-medium-actuated force transmitter
  • 3 is a partial section of a variator with series connection of the potential energy storage and the pressure-medium-actuated force transmitter
  • Fig. 4 is a schematic diagram of a hydraulic system for acting on the pressure-medium-actuated force transmitter with a solenoid valve and a control slide and
  • Fig. 5 is an exemplary friction characteristic of the contact medium between the roller and Torusluden depending on the contact pressure.
  • the invention finds use in change transmissions, especially for motor vehicles.
  • the change gear is a single or multi-range transmission with or without power split and with or without a direct gear.
  • a continuously variable toroidal transmission 7, a Planetenvid- intermediate gear 8 and a Planetenvid- final gear 9 are arranged in the power flow between one of a drive motor in a conventional manner driven input shaft 5 and a couplable to the vehicle wheels of a motor vehicle in a conventional manner.
  • the input shaft 5 is immovably connected to the adjacent toroidal central drive pulley 11 of the toroidal transmission 7 and a coaxial central intermediate shaft 10 with a two-pronged planetary carrier 18 of the intermediate gear 8, which in turn arranged with the second central, adjacent to the first drive pulley 11 in the power flow Toroidal drive pulley 12 of the toroidal transmission 7 is rotatably connected.
  • a to the common geometric axis of rotation 52-52 of input and output shaft 5 and 6 arranged coaxially and interspersed by the central intermediate shaft 10 with clearance concentric intermediate shaft 14 is connected to the two mutually adjacent central toroidal driven pulleys 16 and 17 of the toroidal transmission 7 and with a inner central wheel 19 of the intermediate gear 8 immovably connected.
  • roller 13 and 15 in frictional contact, both about its own axis of rotation rotatable and one to their Rotational axis vertical pivot axis pivotally - are arranged in the rest, however, relative to the position coinciding with the axis of rotation 52-52 central axis of the toroidal transmission 7 position immutable.
  • the inner central wheel 20 includes at a web of the planet carrier 18 of the intermediate gear 8 mounted main planetary 46 arranged on both sides of a radial drive ridge of the planet carrier 18 sprockets 43, one of which a sprocket 43 with the concentric intermediate shaft 14 connected inner central wheel 19 and the other Sprocket 43 with a axially disposed on the other side of the radial drive ridge second inner central gear 48 meshes, which in turn - in turn - a clutch engageable and disengageable coupling K2 - having 50 with the first gear member of the final transmission forming inner central gear 21.
  • the meshing with the one inner central wheel 19 of the intermediate gear 8 sprocket 43 of the main planetary 46 is also in mesh with a minor planet 63, which is mounted on the second web of the planet carrier 18 and in turn meshes with an outer central wheel 22, that - a - and disengageable clutch Kl containing - drive connection 23 with a second gear member of the final gear 9 forming outer central gear 24 has.
  • the final gear 9 know a third gear member in the form of a planet carrier 25 which is fixed non-rotatably by a radial Abstützsteg 36 against a non-rotating housing part 26 and planet gears 34 with two sprockets 37 of the same number of teeth superimposed, which are arranged on both sides of the Abstützsteges 36, and the one, the intermediate Be 8 lying adjacent sprocket 37 meshes with both the inner and with the outer gear 21 and 24 respectively.
  • the final gear 9 has a fourth gear member in the form of a second outer central wheel 27, which meshes with the other ring gear 37 of the planet gears 34 and has a driven connection 28 with the output shaft 6.
  • a parking lock wheel 33 is arranged concentrically and immovably.
  • the sprockets 44 and 45 of the main planetary gear 47 in the intermediate gear 8 may have the same or different numbers of teeth. By varying the ratio of the numbers of teeth of the sprockets 44 and 45, the gear ratio can be varied in the upper travel range.
  • FIGS. 2 and 3 show exemplary embodiments of a rotationally fixed connection of a Torususion to a shaft with the possibility of applying a oriented in the direction of the axis 52-52 normal force on the Torussay, which to ensure the frictional contact between the Torususionn and serve at least one scooter.
  • the principle according to the invention is illustrated by way of example with reference to the connection of the drive stator disc 11 to the input shaft 5.
  • the drive shaft 5 has, in a region 100 facing the drive unit, an external thread 101, a partial region 102 adjoining therewith in the direction of the intermediate gear 8 with a splined toothing 103, the outer diameter of which is slightly larger than the thread 101, and a cylindrical partial region 104 adjoining this.
  • a flange 105 is connected, which has a hub 106 and a transverse to the axis 52-52 oriented flange 107.
  • the hub 106 has a corresponding to the outer geometry of the portion 102 formed inner geometry, so that the shaft 5 and the hub 106 form a rotationally fixed connection.
  • the flange 105 is supported on a shaft nut 108, which is screwed onto the thread 101.
  • an exact positioning of the flange 105 can be made additionally via the shaft nut 108.
  • a screw 109 screwed into the flange plate 107 carries a securing means
  • An intermediate carrier 111 is arranged coaxially with the axis 52-52 and has a hub 112.
  • the hub 112 has an internal spline 113, which is followed by a cylindrical bore 114 in the direction of the partial transmission 8.
  • the spline 113 forms a rotationally fixed connection with the spline 103.
  • a sealing element 115 is arranged, which seals the hub 112 relative to the drive shaft 5 in the partial region 104.
  • In the intermediate gear 8 facing away from the end portion of the hub 112 has the intermediate carrier
  • the extension 116 surrounds the hub 106 to form a play or transition fit.
  • the intermediate carrier 111 has a in the U-shaped in the partial cross section shown in Fig. 2 working cylinder 117.
  • the (about the axis 52-52 encircling) U-shaped cross-section of the working cylinder is formed with an inner side leg 118 formed by the hub 112, a transverse to the axis 52- 52 oriented (annular) base leg 119 and an outer side legs 120 formed.
  • the working cylinder 117 is opened in the direction of the intermediate gear 8.
  • the Antriebstorussay 11 has in the end facing the drive unit an (annular) piston 121, which takes place in the working cylinder 117 such that a toothing 122 between the side legs 120 and the outer surface of the Antriebstorussay 11 the Antriebstorussay 11 and the HäzylInder 117 rotatably, but axially 29iebiezing connected to each other, and that the piston 121 with the working cylinder 117 forms a working space 123 which is sealed by sealing elements 124,125 in the side leg 118,120.
  • the sealing element 124 is received in an outer annular groove of the hub 112 and enters into operative connection with the piston 121 in the region of an inner cylindrical lateral surface thereof.
  • the sealing element 125 is received in a radially outer annular groove of the piston 121 and enters into operative connection with the side legs 120th
  • the working space 123 is hydraulically connected to a hydraulic connection 126.
  • the hydraulic connection 126 is an annular channel, by means of which a supply of a hydraulic medium is made possible with a rotating intermediate carrier 111.
  • the hydraulic connection 126 is preferably arranged in the region of the hub 112 and sealed by means of two sealing elements 170, 171.
  • the connection of the hydraulic connection 126 with the working space 123 is carried out according to FIG. 2 by one of the Hydraulic port 126 outgoing blind bore 127, which is oriented transversely to the axis 52-52, and inclined from the working space 123 in the direction of the drive unit at an acute angle to the axis 52,52 blind bore 128, the blind holes 127,128 open into one another in their end.
  • axially acting (s) spring element In the working space 123 is one (or more) axially acting (s) spring element (s) are arranged. According to the embodiment shown in Fig. 2, it is in the spring element via a plate spring 132, which is arranged coaxially to the axis 52,52.
  • a spring element 133 is disposed between the extension 116 and the flange 107 in an alternative or complementary embodiment, so that the spring element 133 causes a displacement of the intermediate carrier 111 and thus the Antriebstorussay 11 in the direction of the intermediate gear 8. With additional pressurization of the working space 123, the hydraulic force and the force of the spring element 133 act in mechanical parallel connection.
  • a working pressure line 140 a working pressure is available, which, for example, by a driven by a prime mover pump, the hydraulic fluid from a tank in the Ar- supply pressure line is provided.
  • a supply pressure line 141 a (constant), low supply pressure is provided.
  • the supply pressure line 141 is connected to an input of a solenoid valve 142.
  • the solenoid valve 142 In accordance with an electrical signal 143, the solenoid valve 142 generates a control pressure, which forms the output of the solenoid valve 142 in a control pressure line 144.
  • the control pressure is variable in accordance with the electrical signal 143 in a predetermined interval.
  • a regulating slide 145 is supplied with the working pressure line 140 and the control pressure line 144 as input.
  • the control slide 145 processes in a manner known per se the working pressure and the control pressure to a control pressure, which is supplied to the hydraulic connection 126 via a regulating pressure line 146 (if necessary with feedback to the control slide 145).
  • a predetermined by a control device electrical signal can be transformed into a proportional hydraulic pressure signal.
  • the control slide valve 145 has a housing 200 in which a control slide 201 is guided axially displaceably in the direction of an axis 202-202.
  • the control pressure 144 acts in a control pressure chamber 203 on an end face of the control slide 201.
  • the control slide valve 145 has a radially arranged by the control slide 201 annular channel 204 which is connected to the control pressure line 144. Between the control pressure chamber 203 and the annular channel 204, a crossover cross section is provided which, depending on the position of the control slide 201 by a control edge 205 of the control slide 201 can be closed or reduced.
  • control slide valve 145 has a control pressure chamber 206, which is hydraulically connected to the control pressure line 146.
  • An annular space 207 is connected to the working pressure line 140.
  • a control edge 208 controls the over- occurs from the annular space 207 in the control pressure chamber 206, wherein the Ü berstorysquerites is completely closed depending on the position of the control slide 201 or can be partially opened.
  • control pressure of the control pressure line 146 is fed back into a bypass space 210 via a bypass line 207.
  • the recirculated control pressure acts on end faces of the control spool 201 in such a way that a force-resultant which depends on the recirculated control pressure remains.
  • a control surface 201 of the control slide 201 opposite the control pressure chamber 203 serves to support the control slide with respect to the housing 200 with the interposition of a potential energy store, in particular a compression spring.
  • Fig. 5 shows the course. a coefficient of friction of a traction medium with the indication of the coefficient of friction 152 on the contact or normal force 153 between the Torususionn 11,16 and 17,12 and the associated roller 13 and 15. Below a critical contact pressure 150 ("glass transition") drops the friction characteristic 151 rapidly to small values, while above the critical contact force large Reibkoeffi cient at an approximately constant level.
  • the friction characteristic shown in Fig. 5 is variable with respect to the operating conditions.
  • the critical contact pressure 150 is of operating parameters, for example the peripheral speed of the traction bodies, fluctuation quantities operating conditions, an engine start or the temperature of the traction medium.
  • Conventional design techniques determine the critical contact force 150 for all or a majority of possible operating conditions. Deviating from this, according to the invention, the critical contact pressure 150 is determined with or without a reduced safety margin and / or only in optimized operating ranges, and the basic contact pressure is designed by the spring element 130, 134 in such a way that at best In selected operating states, the critical pressing force is provided by the spring element 133, 134.
  • a further contact force required in further operating states as a result of a shift in the critical contact pressure 150 is provided by the hydraulic system.
  • the contact pressure provided by the potential energy store is 700 N / mm 2 , 1500 N / mm 2 or 1800 N / mm 2 , after which a design of the spring element 132, 133 takes place.
  • the maximum contact force is up to 4000 N / mm 2 .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Friction Gearing (AREA)
  • Control Of Transmission Device (AREA)

Abstract

L'invention concerne un mécanisme de changement de vitesse pourvu d'un variateur toroïdal permettant de changer les rapports de vitesse en continu. L'objectif de cette invention est de concevoir des moyens améliorés pour appliquer la force de pression entre un rouleau et les poulies toroïdales d'un variateur toroïdal. A cet effet, une face arrière de la poulie toroïdale (11) à déplacement axial constitue un piston qui est actionné par un moyen hydraulique. La pression hydraulique est générée par une soupape de régulation à tiroir alimentée par la pression de sortie d'une soupape magnétique de régulation qui sert de pression de commande. L'invention se rapporte en outre à un mécanisme de changement de vitesse en continu de véhicules automobiles.
PCT/EP2003/006695 2002-07-19 2003-06-25 Mecanisme de changement de vitesse comprenant une transmission toroidale a variation continue WO2004010030A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2004522182A JP2006501410A (ja) 2002-07-19 2003-06-25 連続可変トロイダル駆動機構を備えた無段変速機
US11/037,397 US20050148426A1 (en) 2002-07-19 2005-01-18 Variable speed transmission having a continuously variable toroidal drive

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2002133091 DE10233091A1 (de) 2002-07-19 2002-07-19 Wechselgetriebe mit einem stufenlosen Toroidgetriebe
DE10233091.3 2002-07-19

Publications (1)

Publication Number Publication Date
WO2004010030A1 true WO2004010030A1 (fr) 2004-01-29

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PCT/EP2003/006695 WO2004010030A1 (fr) 2002-07-19 2003-06-25 Mecanisme de changement de vitesse comprenant une transmission toroidale a variation continue

Country Status (3)

Country Link
JP (1) JP2006501410A (fr)
DE (1) DE10233091A1 (fr)
WO (1) WO2004010030A1 (fr)

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US20100286631A1 (en) * 2005-08-08 2010-11-11 Kiyoshi Miyazawa Skin moisturizing pad

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GB0701057D0 (en) * 2007-01-19 2007-02-28 Torotrak Dev Ltd Twin variator transmission arrangement
KR102452601B1 (ko) 2021-05-28 2022-10-06 두산에너빌리티 주식회사 출력 제어 메커니즘을 가진 대용량 유동형 수동력계

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