CN114325075A - Motor back electromotive force signal acquisition equipment for motor contact rotating speed tester - Google Patents
Motor back electromotive force signal acquisition equipment for motor contact rotating speed tester Download PDFInfo
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Abstract
The invention discloses a motor back electromotive force signal acquisition device for a motor contact rotating speed tester, which comprises: the differential signal processing unit is used for acquiring an original back electromotive force signal of the motor to be detected, automatically adjusting amplification gain according to a voltage gear of the original back electromotive force signal and a corresponding amplification factor gear, amplifying the original back electromotive force signal, outputting the amplified back electromotive force signal to the AD conversion unit, and sending a voltage gear identifier to the AD conversion unit; the AD conversion unit is used for AD converting the motor back electromotive force signal to obtain a motor back electromotive force digital signal; the AD signal reading unit restores the motor back electromotive force digital signal according to the corresponding amplification factor according to the amplification factor gear identification to obtain the motor back electromotive force digital signal with the amplitude consistent with that of the original motor back electromotive force signal; the communication unit synchronously transmits the motor back electromotive force digital signals to an upper computer in real time; and the upper computer data reading unit draws the received motor back electromotive force data into a motor back electromotive force curve.
Description
Technical Field
The invention belongs to the technical field of contact rotating speed testers, and particularly relates to motor back electromotive force signal acquisition equipment for a motor contact rotating speed tester.
Background
The contact rotating speed of the motor is that after the motor is powered off, the rotor body of the motor continues to decelerate by means of inertia, and when the rotating part (ball bowl) of the air bearing is in a certain rotating speed from a completely separated state to a moment when the rotating part (ball bowl) of the air bearing is in contact with the part (hemisphere) where the bearing is not moved, the corresponding rotating speed at the moment is the contact rotating speed of the motor.
The motor contact rotating speed tester can obtain parameters such as load moment, friction moment, inertia time, contact rotating speed, stall rotating speed, slip time and suspension time of the motor by testing the counter potential signal after the motor is powered off, provides a test means for deeply analyzing the performance of the motor, can carry out design improvement and process improvement on the motor more pertinently through testing, and improves the performance and the reliability of the motor.
At present, the existing scheme can only realize direct collection and uploading of the back electromotive force of the motor, but because the range of the back electromotive force of the motor is large, the peak value of the back electromotive force of the motor can reach more than 100V when the rotating speed is highest, the back electromotive force of the motor is small at the moment of contact, and can only reach the mV level, and the traditional collection mode has the problems of small voltage sampling range and low small signal sampling precision; and the existing motor contact rotating speed test equipment adopts a one-way communication uploading mode, so that the test failure is easily caused by the communication problem, and the communication reliability is low.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of small sampling range, low sampling precision and poor communication reliability of the conventional motor contact rotating speed tester are overcome, the motor back electromotive force signal acquisition equipment for the motor contact rotating speed tester is provided, and the high-precision back electromotive force acquisition in a large range from mV to 100V is realized.
The technical scheme of the invention is as follows: a motor back electromotive force signal acquisition device for a motor contact rotating speed tester comprises a differential signal processing unit, an AD conversion unit, an AD signal reading unit, a two-way synchronous communication unit and an upper computer data reading unit;
the differential signal processing unit is used for acquiring an original back electromotive force signal of the motor to be detected, automatically adjusting amplification gain according to a voltage gear of the original back electromotive force signal and a corresponding amplification factor gear, amplifying the original back electromotive force signal, outputting the amplified back electromotive force signal to the AD conversion unit, and sending a voltage gear identifier to the AD conversion unit;
the AD conversion unit is used for AD converting the motor back electromotive force signal processed by the differential signal processing unit to obtain a motor back electromotive force digital signal;
the AD signal reading unit restores the motor back electromotive force digital signal according to the corresponding amplification factor according to the amplification factor gear identification to obtain the motor back electromotive force digital signal with the amplitude consistent with that of the original motor back electromotive force signal;
the communication unit synchronously transmits the motor back electromotive force digital signals to an upper computer in real time;
and the upper computer data reading unit draws the received motor back electromotive force data into a motor back electromotive force curve.
Preferably, the differential signal processing unit comprises a voltage sampling circuit, an isolation amplifying circuit, a voltage comparing circuit and an automatic gain adjusting voltage amplifying circuit;
the voltage sampling circuit is used for collecting an original back electromotive force signal of the tested motor, and outputting the original back electromotive force signal to the isolation amplifying circuit after sampling by equal proportion voltage;
the isolation amplifying circuit is used for isolating and amplifying the motor counter potential signal after equal proportion voltage sampling and outputting the motor counter potential signal to the voltage comparison circuit;
the automatic gain adjusting circuit receives the motor back electromotive force signals processed by the isolation amplifying circuit, judges and identifies which gear of the motor back electromotive force belongs to the preset high, medium and low three-gear voltage ranges, sends the voltage gear identification to the AD signal reading unit, selects the corresponding voltage amplification factor according to the voltage gear identification, and performs gain adjustment on the voltage output by the isolation amplifying circuit, so that the output voltage is kept in the preset range.
Preferably, the automatic gain adjusting circuit comprises a first voltage comparison circuit, a second voltage comparison circuit, a third voltage comparison circuit, a first optical coupling isolation module, a second optical coupling isolation module, a third optical coupling isolation module, a first relay, a second relay, a third relay, a resistor R3, a resistor R4, a resistor R5, a resistor R6 and an operational amplifier;
the output end of the isolation amplifying circuit is connected with the input ends of the first voltage comparator, the second voltage comparator and the third voltage comparator and one end of a resistor R6, the other end of the resistor R6 is connected with the positive input end of an operational amplifier, and the output end of the operational amplifier is connected to the AD conversion unit;
the first optical coupling isolation module transmits an output signal of the first voltage comparator to a switch control end of a first relay, one end of the first relay switch is connected with an output end of the operational amplifier through a resistor R3, and the other end of the first relay switch is fed back to a positive input end of the operational amplifier;
the second optical coupling isolation module transmits an output signal of the second voltage comparator to a switch control end of a second relay, one end of the second relay switch is connected with the output end of the operational amplifier through a resistor R4, and the other end of the second relay switch is fed back to the positive input end of the operational amplifier;
the third optical coupling isolation module transmits an output signal of the third voltage comparator to a switch control end of a third relay, one end of the third relay switch is connected with the output end of the operational amplifier through a resistor R5, and the other end of the third relay switch is fed back to the positive input end of the operational amplifier;
when the voltage of the output signal of the isolation amplifying circuit is greater than a preset first voltage comparison value, the first voltage comparison circuit outputs a high level, and the second voltage comparison circuit and the third comparison circuit output a low level; the first relay switch is switched on, and the resistor R3 is connected into a feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R3/the resistance value of the resistor R6;
when the voltage of the output signal of the isolation amplifying circuit is smaller than a preset first voltage comparison value and larger than a preset second voltage comparison value, the second voltage comparison circuit outputs a high level, and the first voltage comparison circuit and the third voltage comparison circuit output a low level; the second relay switch is switched on, and the resistor R4 is connected into the feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R4/the resistance value of the resistor R6;
when the voltage of the output signal of the isolation amplifying circuit is smaller than a preset second voltage comparison value, the third voltage comparison circuit outputs a high level, and the first voltage comparison circuit and the second voltage comparison circuit output a low level; the second relay switch is switched on, and the resistor R5 is connected into the feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R5/the resistance value of the resistor R6; the first voltage comparison value is greater than the second voltage comparison value.
Preferably, the communication unit is a two-way synchronous communication unit, two communication modes are adopted to respectively transmit the motor back electromotive force digital signals to the upper computer synchronously in real time, and the two ways of motor back electromotive force digital signals are mutually backed up.
Preferably, the two-way synchronous communication unit comprises a unit for converting SPI to USB at one way and a unit for converting RS485 to USB at the other way.
Preferably, the input ends of the SPI-to-USB communication unit and the RS 485-to-USB communication unit are AD signal reading units, the AD signal reading units send motor back electromotive force digital signal frames by using a synchronous clock, and the synchronism of signal transmission is ensured by a method of adding a sequence number to a frame header of each frame of the motor back electromotive force digital signal frame, and the upper computer verifies the synchronism of the two paths of motor back electromotive force digital signal frames, thereby realizing two-path synchronous communication.
Preferably, the upper computer reading unit comprises a data receiving unit, a synchronous checking unit and a data processing unit;
the data receiving unit receives the two-way USB transmission data through a communication protocol; the synchronous checking unit is used for ensuring the synchronism and the integrity of data by detecting the serial number of the data frame; and the data processing unit is used for drawing the motor back electromotive force data into a motor back electromotive force curve.
Preferably, any two phases of the tested motor are connected with the differential signal line at the input end of the differential signal processing unit during measurement. Compared with the prior art, the invention has the beneficial effects that:
(1) the invention increases the voltage signal acquisition range and improves the voltage acquisition precision of the micro signal by the automatic signal amplification gain adjustment method.
(2) The invention outputs the amplified signal from the output end through the voltage comparison circuit and the automatic adjustment amplifying gain, thereby improving the voltage sampling range and the sampling precision of weak signals;
(3) the invention respectively transmits data to the upper computer through two communication modes, ensures the synchronism of signal transmission, enhances the reliability of the acquisition system, solves the problem of test failure caused by unstable communication and the like of the existing contact rotating speed tester, and avoids the influence caused by repeated tests.
Drawings
FIG. 1 is a schematic diagram of a signal acquisition system for a motor contact tachometer of the prior art;
FIG. 2 is a schematic connection diagram of a signal acquisition system for a motor contact tachometer according to an embodiment of the present invention;
fig. 3 is a diagram illustrating a connection relationship between modules of the differential signal processing unit according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
As shown in fig. 2, the present invention provides a motor back electromotive force signal collecting device for a motor contact tachometer, which comprises a differential signal processing unit, an AD conversion unit, an AD signal reading unit, a two-way synchronous communication unit, an upper computer data reading unit and signal cables connected in sequence.
The differential signal processing unit is used for acquiring an original back electromotive force signal of the motor to be detected, automatically adjusting amplification gain according to a voltage gear of the original back electromotive force signal and a corresponding amplification factor gear, amplifying the original back electromotive force signal, outputting the amplified back electromotive force signal to the AD conversion unit, and sending a voltage gear identifier to the AD conversion unit; when measuring, any two phases of the motor to be measured are connected with two input ends of the differential signal wire, and the communication unit is connected with the upper computer through the communication wire.
The AD conversion unit is used for AD converting the motor back electromotive force signal processed by the differential signal processing unit to obtain a motor back electromotive force digital signal;
the AD signal reading unit restores the motor back electromotive force digital signal according to the corresponding amplification factor according to the amplification factor gear identification to obtain the motor back electromotive force digital signal with the amplitude consistent with that of the original motor back electromotive force signal;
the communication unit synchronously transmits the motor back electromotive force digital signals to an upper computer in real time;
and the upper computer data reading unit draws the received motor back electromotive force data into a motor back electromotive force curve. And the motor back electromotive force curve is used for solving the curve and performing multi-order fitting to obtain the motor contact rotating speed.
Preferably, the differential signal processing unit comprises a voltage sampling circuit, an isolation amplifying circuit, a voltage comparing circuit and an automatic gain adjusting voltage amplifying circuit.
The voltage sampling circuit is used for collecting an original back electromotive force signal of the tested motor, and outputting the original back electromotive force signal to the isolation amplifying circuit after sampling by equal proportion voltage; in one embodiment of the present invention, the counter potential is converted to the original signal 1/20 by a precision resistor divider circuit.
The isolation amplifying circuit is used for isolating and amplifying the motor counter potential signal after equal proportion voltage sampling and outputting the motor counter potential signal to the voltage comparison circuit;
the automatic gain adjusting circuit receives the motor back electromotive force signals processed by the isolation amplifying circuit, judges and identifies which gear of the motor back electromotive force belongs to the preset high, medium and low three-gear voltage ranges, sends the voltage gear identification to the AD signal reading unit, selects the corresponding voltage amplification factor according to the voltage gear identification, and performs gain adjustment on the voltage output by the isolation amplifying circuit, so that the output voltage is kept in the preset range.
Preferably, the automatic gain adjusting circuit comprises a first voltage comparison circuit, a second voltage comparison circuit, a third voltage comparison circuit, a first optical coupling isolation module, a second optical coupling isolation module, a third optical coupling isolation module, a first relay, a second relay, a third relay, a resistor R3, a resistor R4, a resistor R5, a resistor R6 and an operational amplifier;
the output end of the isolation amplifying circuit is connected with the input ends of the first voltage comparator, the second voltage comparator and the third voltage comparator and one end of a resistor R6, the other end of the resistor R6 is connected with the positive input end of an operational amplifier, and the output end of the operational amplifier is connected to the AD conversion unit;
the first optical coupling isolation module transmits an output signal of the first voltage comparator to a switch control end of a first relay, one end of the first relay switch is connected with an output end of the operational amplifier through a resistor R3, and the other end of the first relay switch is fed back to a positive input end of the operational amplifier;
the second optical coupling isolation module transmits an output signal of the second voltage comparator to a switch control end of a second relay, one end of the second relay switch is connected with the output end of the operational amplifier through a resistor R4, and the other end of the second relay switch is fed back to the positive input end of the operational amplifier;
the third optical coupling isolation module transmits an output signal of the third voltage comparator to a switch control end of a third relay, one end of the third relay switch is connected with the output end of the operational amplifier through a resistor R5, and the other end of the third relay switch is fed back to the positive input end of the operational amplifier;
when the voltage of the output signal of the isolation amplifying circuit is greater than a preset first voltage comparison value, the first voltage comparison circuit outputs a high level, and the second voltage comparison circuit and the third comparison circuit output a low level; the first relay switch is switched on, and the resistor R3 is connected into a feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R3/the resistance value of the resistor R6;
when the voltage of the output signal of the isolation amplifying circuit is smaller than a preset first voltage comparison value and larger than a preset second voltage comparison value, the second voltage comparison circuit outputs a high level, and the first voltage comparison circuit and the third voltage comparison circuit output a low level; the second relay switch is switched on, and the resistor R4 is connected into the feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R4/the resistance value of the resistor R6;
when the voltage of the output signal of the isolation amplifying circuit is smaller than a preset second voltage comparison value, the third voltage comparison circuit outputs a high level, and the first voltage comparison circuit and the second voltage comparison circuit output a low level; the second relay switch is switched on, and the resistor R5 is connected into the feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R5/the resistance value of the resistor R6; the first voltage comparison value is greater than the second voltage comparison value.
The resistance of the resistor R3 is less than the resistance of the resistor R4 is less than the resistance of the resistor R5, and the amplification factor is lower as the original electromotive voltage value of the motor is larger.
The input end of the voltage amplifying circuit outputs a voltage signal to the isolating amplifying circuit, the amplification factor is controlled by the feedback resistance of the voltage amplifying circuit, the level of the output end of the voltage comparing circuit is connected to the optical coupling isolating circuit, the output of the optical coupling isolating circuit controls the feedback resistance connected to the voltage amplifying circuit, and the amplified signal is output to the AD conversion circuit.
The input of optical coupling buffer circuit receives the high level or the low level of voltage comparison circuit output, the output also is the high level when optical coupling buffer circuit's input is the high level, the relay switch that corresponds is closed, corresponding feedback resistance is inserted the circuit, simultaneously with voltage comparison circuit output signal input to AD converting circuit, carry out data reduction in AD signal reading unit after AD conversion, AD signal reading unit can realize with FPGA, the signal after reading is at the inside analog quantity and the corresponding relation of digital quantity according to AD converting unit of FPGA, restore digital signal to original signal, the reeutput.
Preferably, the communication unit is a two-way synchronous communication unit, two communication modes are adopted to respectively transmit the motor back electromotive force digital signals to the upper computer synchronously in real time, and the two ways of motor back electromotive force digital signals are mutually backed up.
Preferably, the two-way synchronous communication unit comprises a unit for converting SPI to USB at one way and a unit for converting RS485 to USB at the other way. And the USB interface of the SPI-USB communication unit is an A-type male interface. And the USB interface of the SPI-USB communication unit is a B-type male interface, so that misplug is prevented.
Preferably, the input ends of the SPI-to-USB communication unit and the RS 485-to-USB communication unit are AD signal reading units, the SPI-to-USB communication unit and the RS 485-to-USB communication unit send motor back electromotive force digital signal frames by using a synchronous clock, and the synchronization of signal transmission is ensured by a method of adding a sequence number to a frame header of each frame of the motor back electromotive force digital signal frame, and the upper computer checks the synchronization of two paths of motor back electromotive force digital signal frames, thereby realizing two-path synchronous communication.
Preferably, the upper computer reading unit comprises a data receiving unit, a synchronous checking unit and a data processing unit;
the data receiving unit receives the two-way USB transmission data through a communication protocol; the synchronous check unit guarantees the synchronism and integrity of data by detecting the serial number of the data frame, and the specific operation is as follows: verifying whether the serial numbers of the two-way data are consistent, and if not, taking the serial number as the data of the serial number plus 1 of the previous frame data as the standard; and the data processing unit is used for drawing the motor back electromotive force data into a motor back electromotive force curve.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (8)
1. A motor back electromotive force signal acquisition device for a motor contact rotating speed tester is characterized by comprising a differential signal processing unit, an AD conversion unit, an AD signal reading unit, a two-way synchronous communication unit and an upper computer data reading unit;
the differential signal processing unit is used for acquiring an original back electromotive force signal of the motor to be detected, automatically adjusting amplification gain according to a voltage gear of the original back electromotive force signal and a corresponding amplification factor gear, amplifying the original back electromotive force signal, outputting the amplified back electromotive force signal to the AD conversion unit, and sending a voltage gear identifier to the AD conversion unit;
the AD conversion unit is used for AD converting the motor back electromotive force signal processed by the differential signal processing unit to obtain a motor back electromotive force digital signal;
the AD signal reading unit restores the motor back electromotive force digital signal according to the corresponding amplification factor according to the amplification factor gear identification to obtain the motor back electromotive force digital signal with the amplitude consistent with that of the original motor back electromotive force signal;
the communication unit synchronously transmits the motor back electromotive force digital signals to an upper computer in real time;
and the upper computer data reading unit draws the received motor back electromotive force data into a motor back electromotive force curve.
2. The motor back electromotive force signal collection device for the motor contact revolution speed tester as claimed in claim 1, wherein said differential signal processing unit comprises a voltage sampling circuit, an isolation amplifying circuit, a voltage comparing circuit, an automatic gain adjusting voltage amplifying circuit;
the voltage sampling circuit is used for collecting an original back electromotive force signal of the tested motor, and outputting the original back electromotive force signal to the isolation amplifying circuit after sampling by equal proportion voltage;
the isolation amplifying circuit is used for isolating and amplifying the motor counter potential signal after equal proportion voltage sampling and outputting the motor counter potential signal to the voltage comparison circuit;
the automatic gain adjusting circuit receives the motor back electromotive force signals processed by the isolation amplifying circuit, judges and identifies which gear of the motor back electromotive force belongs to the preset high, medium and low three-gear voltage ranges, sends the voltage gear identification to the AD signal reading unit, selects the corresponding voltage amplification factor according to the voltage gear identification, and performs gain adjustment on the voltage output by the isolation amplifying circuit, so that the output voltage is kept in the preset range.
3. The motor back electromotive force signal collection device for the motor contact rotation speed tester as claimed in claim 2, wherein the automatic gain adjustment circuit comprises a first voltage comparison circuit, a second voltage comparison circuit, a third voltage comparison circuit, a first optical coupling isolation module, a second optical coupling isolation module, a third optical coupling isolation module, a first relay, a second relay, a third relay, a resistor R3, a resistor R4, a resistor R5, a resistor R6, and an operational amplifier;
the output end of the isolation amplifying circuit is connected with the input ends of the first voltage comparator, the second voltage comparator and the third voltage comparator and one end of a resistor R6, the other end of the resistor R6 is connected with the positive input end of an operational amplifier, and the output end of the operational amplifier is connected to the AD conversion unit;
the first optical coupling isolation module transmits an output signal of the first voltage comparator to a switch control end of a first relay, one end of the first relay switch is connected with an output end of the operational amplifier through a resistor R3, and the other end of the first relay switch is fed back to a positive input end of the operational amplifier;
the second optical coupling isolation module transmits an output signal of the second voltage comparator to a switch control end of a second relay, one end of the second relay switch is connected with the output end of the operational amplifier through a resistor R4, and the other end of the second relay switch is fed back to the positive input end of the operational amplifier;
the third optical coupling isolation module transmits an output signal of the third voltage comparator to a switch control end of a third relay, one end of the third relay switch is connected with the output end of the operational amplifier through a resistor R5, and the other end of the third relay switch is fed back to the positive input end of the operational amplifier;
when the voltage of the output signal of the isolation amplifying circuit is greater than a preset first voltage comparison value, the first voltage comparison circuit outputs a high level, and the second voltage comparison circuit and the third comparison circuit output a low level; the first relay switch is switched on, and the resistor R3 is connected into a feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R3/the resistance value of the resistor R6;
when the voltage of the output signal of the isolation amplifying circuit is smaller than a preset first voltage comparison value and larger than a preset second voltage comparison value, the second voltage comparison circuit outputs a high level, and the first voltage comparison circuit and the third voltage comparison circuit output a low level; the second relay switch is switched on, and the resistor R4 is connected into the feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R4/the resistance value of the resistor R6;
when the voltage of the output signal of the isolation amplifying circuit is smaller than a preset second voltage comparison value, the third voltage comparison circuit outputs a high level, and the first voltage comparison circuit and the second voltage comparison circuit output a low level; the second relay switch is switched on, and the resistor R5 is connected into the feedback branch of the operational amplifier, so that the amplification factor is the resistance value of the resistor R5/the resistance value of the resistor R6; the first voltage comparison value is greater than the second voltage comparison value.
4. The motor back electromotive force signal collecting device for motor contact tachometer of claim 1, wherein the communication unit is a two-way synchronous communication unit, and two communication methods are adopted to transmit the motor back electromotive force digital signal to the host computer synchronously in real time, and the two motor back electromotive force digital signals are backup each other.
5. The motor back electromotive force signal collection device for motor contact tachometer of claim 4, wherein the two-way synchronous communication unit comprises one way of SPI to USB communication unit and the other way of RS485 to USB communication unit.
6. The motor back electromotive force signal collecting apparatus for a motor contact revolution speed tester as claimed in claim 1, wherein:
the input end of the SPI-USB communication unit and the input end of the RS 485-USB communication unit are AD signal reading units, the AD signal reading units send motor back electromotive force digital signal frames by using synchronous clocks, the synchronism of signal transmission is guaranteed by a method of adding sequence numbers to frame headers of the motor back electromotive force digital signal frames of each frame, and the upper computer checks the synchronism of the two paths of motor back electromotive force digital signal frames to realize two-path synchronous communication.
7. The motor back electromotive force signal acquisition device for the motor contact revolution speed tester as claimed in claim 1, wherein the upper computer reading unit comprises a data receiving unit, a synchronous checking unit, a data processing unit;
the data receiving unit receives the two-way USB transmission data through a communication protocol; the synchronous checking unit is used for ensuring the synchronism and the integrity of data by detecting the serial number of the data frame; and the data processing unit is used for drawing the motor back electromotive force data into a motor back electromotive force curve.
8. The motor back electromotive force signal collecting device for a motor contact revolution speed tester as claimed in claim 1, wherein at the time of measurement, any two phases of the motor under test are connected to the differential signal line at the input terminal of the differential signal processing unit.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115389928A (en) * | 2022-07-29 | 2022-11-25 | 北京航天控制仪器研究所 | Hysteresis dynamic pressure motor performance test system and test method |
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