CN117219425A - Discrete reluctance rotary transformer - Google Patents
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- CN117219425A CN117219425A CN202311187239.XA CN202311187239A CN117219425A CN 117219425 A CN117219425 A CN 117219425A CN 202311187239 A CN202311187239 A CN 202311187239A CN 117219425 A CN117219425 A CN 117219425A
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Abstract
The invention discloses a discrete reluctance type rotary transformer, which comprises: the device comprises a rotary rotor iron core, a rotary stator iron core, an output winding, a ring-shaped stator magnetizer, a ring-shaped rotor magnetizer and an excitation winding; the rotary stator iron core and the rotary stator iron core are concentrically arranged along the radial direction, the output winding is wound on the rotary stator iron core, the annular stator magnetizer and the annular rotor magnetizer are concentrically arranged along the radial direction, the annular stator magnetizer and the annular rotor magnetizer are enclosed to form a mounting groove, the excitation winding is wound in the mounting groove, a magnetic circuit is formed among the rotary stator iron core, the annular stator magnetizer and the annular rotor magnetizer, and the air gap magnetic field distribution between the rotary stator iron core and the rotary stator iron core is changed regularly along with the rotation angle of the rotary stator iron core. According to the split reluctance type rotary transformer, no winding is arranged on the rotor core, and the split reluctance type rotary transformer has the characteristic of high reliability.
Description
Technical Field
The present invention relates to a reluctance resolver, and more particularly, to a split reluctance resolver.
Background
In the prior art, a rotary transformer with a brush structure as shown in fig. 1a first appears, a secondary side signal output winding 2 is arranged on a rotary transformer stator 3 of the rotary transformer, a primary side exciting winding 4 is arranged on a rotary transformer rotor 1, and exciting voltage is led in and led out through sliding contact of a slip ring 6 and an electric brush 5. Because of the electrical sliding contact, contact unreliability and spark can occur, which is a great reliability hazard, and the structure, process implementation, and material selection are difficult.
In order to cancel the electrical contact and eliminate the reliability hidden trouble, a structure as shown in fig. 1b appears, in this structure, the electrical signal is led in and out of the rotors 8,7 to be stators through the coupling of the concentric ring transformers, the ring-shaped rotor winding 9 is connected with the rotary-shaped rotor winding 10, the voltage signal is led into the rotary-shaped rotor winding 10 to generate an exciting magnetic field, the electric brushes and the slip rings are cancelled, and the sliding contact without electricity is realized. The arrow in fig. 1b shows a schematic diagram of the magnetic circuit of a conventional wound rotary transformer, where the magnetic circuits of the rotary part and the toroidal part are independent and there is no magnetic connection between them. Since the magnetic circuit of the gyratory part of the toroidal gyratory is the same as that of the general gyratory, only the magnetic flux path of the toroidal gyratory is shown.
Brush rotary transformers are currently essentially no longer used for reliability reasons. In order to further improve the reliability, the reluctance type rotary transformer shown in the figure 1c is realized without placing windings on the rotor, the rotor 11 of the rotary transformer with the structure does not have any windings, the size and the shape of the outer surface of the rotor 11 are changed regularly according to a certain functional relation, and then the size of an air gap is changed regularly along with a rotating angle; the exciting winding and the output winding are both in the same slot of the stator 12, the exciting winding is wound by turns, and the output winding is an alternating current winding in a special form. It should be noted that in the reluctance resolver, the number of slots must be even, and the number of slots cannot be odd because the number of exciting winding elements is arranged in pairs in the forward and reverse windings. The exciting winding current generates magnetic flux, and the magnetic flux passes through an air gap which changes regularly along with the corner size, so that a magnetic field in the air gap consists of two parts: a constant amplitude non-rotation angle varying portion and a rotation angle varying portion. The induced potential of each element of the output winding is correspondingly composed of two parts: a constant component that is constant with the amplitude of the rotation angle and an alternating component that is regularly variable with the rotation angle. In the output winding of a reluctance resolver, the constant component of the total resultant output potential must be zero after algebraic addition of the element potentials, otherwise the resulting angle error is not likely to work.
The reluctance type rotary transformer has the advantages of simple structure, high reliability, easy realization and quite high precision. However, this form of construction has two serious problems: 1. in principle, in order to realize a magnetic field which periodically changes along with the rotation angle in the air gap, the winding directions of the exciting winding coil elements need to be alternately opposite and opposite, and the pairing is equal, so that the number of slots is required to be even. Theoretically, however, in order to reduce tooth harmonic errors due to slotting, the number of slots is usually selected to be even better, and thus the selection of the number of slots of the reluctance resolver is limited greatly; 2. because the primary and secondary windings are arranged in the same stator slot, the windings are in close contact, and besides the coupling of main magnetic flux, the leakage magnetic flux cannot be avoided, and the leakage magnetic flux comprises slot part leakage magnetic flux and end part leakage magnetic flux; because of the relationship of the magnetic circuit structure, the air gap size of the reluctance type rotary transformer is much larger than that of other magnetic circuits, so that the leakage magnetic flux of the winding is relatively large. The constant component potential induced by the constant magnetic field in the air gap can be eliminated by using windings of the correct form. However, the leakage magnetic flux generates a constant component potential with a constant amplitude in the output winding (i.e., the constant component of the induced potential cannot be completely eliminated), and because the leakage magnetic potential is irregularly distributed and difficult to eliminate, a non-negligible electrical error is caused, and the leakage magnetic flux is often a main factor of the error, so that the precision of the reluctance type rotary transformer cannot be further improved.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a novel discrete reluctance type rotary transformer, which can improve reliability and precision.
To achieve the above object, an embodiment of the present invention provides a discrete reluctance resolver including: the rotor comprises a rotor core, an output winding, a ring-shaped stator magnetizer, a ring-shaped rotor magnetizer and an excitation winding.
The rotor iron core and the rotor iron core are concentrically arranged along the radial direction, the output winding is wound on the rotor iron core, the ring stator magnetizer and the ring stator magnetizer are concentrically arranged along the radial direction, the ring stator magnetizer and the ring stator magnetizer are surrounded to form a mounting groove, the excitation winding is wound in the mounting groove, the ring stator magnetizer and the ring stator magnetizer are axially positioned at one side of the rotor iron core and the rotor iron core, the opening direction of the mounting groove is arranged towards the rotor iron core and the rotor iron core, a magnetic circuit is formed among the rotor iron core, the ring stator magnetizer and the ring stator magnetizer, and the air gap magnetic field distribution between the rotor iron core and the rotor iron core is changed regularly along with the rotation angle of the rotor iron core.
In one or more embodiments of the invention, the output winding includes a plurality of connected output winding elements that are placed within stator slots of a rotating stator core.
In one or more embodiments of the invention, each of the output winding element turns is in a sine and cosine distribution.
In one or more embodiments of the invention, the output winding elements are distributed sequentially over each stator tooth of the rotary stator core.
In one or more embodiments of the invention, the output winding elements include forward wound forward output winding elements and reverse wound reverse output winding elements that are connected to cancel a constant component.
In one or more embodiments of the invention, the output winding is an ac distributed winding.
In one or more embodiments of the invention, the outer surface of the rotor core forms one or more pole pairs.
In one or more embodiments of the present invention, two-phase output windings are placed in stator slots of the rotating stator core.
In one or more embodiments of the invention, the field winding is a toroidal coil winding.
Compared with the prior art, the discrete reluctance type rotary transformer provided by the embodiment of the invention has the characteristics that no winding is arranged on the core of the rotary transformer, and the reliability is high; the split reluctance type rotary transformer can ensure that the exciting winding and the output winding are not arranged in the same slot, so that the split reluctance type rotary transformer is different from the conventional reluctance type rotary transformer in that the exciting winding and the output winding are inevitably mutually influenced due to the fact that the exciting winding and the output winding are arranged in the same slot, and serious errors are generated; the discrete reluctance type rotary transformer can realize the free selection of the number of the slots of the stator iron core, and is unnecessary to be even like the reluctance type rotary transformer, so that the selection of the number of the slots can be optimized, the harmonic wave is reduced, and the precision is improved.
Drawings
FIG. 1a is a schematic diagram of a conventional brushed rotary transformer according to the prior art;
FIG. 1b is a schematic diagram of a wound rotary transformer according to the prior art;
FIG. 1c is a schematic diagram of a magnetoresistive resolver according to the prior art;
FIG. 2 is a schematic diagram of a split reluctance resolver according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a ring-change stator magnetizer and a ring-change rotor magnetizer according to an embodiment of the present invention;
fig. 4 is a schematic magnetic circuit diagram of a reluctance resolver according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a rotary rotor core of a reluctance type resolver according to an embodiment of the present invention;
FIG. 6 is a graph of the variation of the air gap field according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an output winding method according to an embodiment of the present invention, in which the slot number z=16 and the pole pair number p=4 are taken as an example;
fig. 8 is a sinusoidal winding development diagram taking the example of a slot number z=13 and a pole pair number p=1 according to an embodiment of the present invention;
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 2, a discrete reluctance resolver according to a preferred embodiment of the present invention includes: the rotary transformer comprises a machine shell 1, a rotating shaft 2, a rotary transformer core 3, a rotary transformer core 4, an output winding 5, a ring transformer magnetizer 6, a ring transformer magnetizer 7 and an excitation winding 8.
At least part of the rotating shaft 2 is positioned in the shell 1, the rotary rotor core 3 is arranged on the rotating shaft 2, and the rotary rotor core 3 and the rotary stator core 4 are concentrically arranged along the radial direction. In one embodiment, the rotary stator core 4 is mounted on the casing 1, the rotary stator core 4 is located at the outer side of the rotary stator core 3, and the inner side of the rotary stator core 3 is fixedly mounted with the rotating shaft 2.
The output winding 5 is wound on the rotary stator core 4, the annular rotary rotor magnetizer 7 is arranged on the rotating shaft 2, the annular rotary rotor magnetizer 7 is axially positioned on one side of the rotary rotor core 3, and the annular rotary rotor magnetizer 7 is tightly contacted with a rotor yoke part of the rotary rotor core 3 without a gap.
The ring-shaped stator magnetizer 6 and the ring-shaped rotor magnetizer 7 are concentrically arranged along the radial direction, the ring-shaped stator magnetizer 6 is arranged on the shell 1, the ring-shaped stator magnetizer 6 and the ring-shaped rotor magnetizer 7 are surrounded to form a mounting groove, namely, the ring-shaped stator magnetizer 6 and the ring-shaped rotor magnetizer 7 are positioned on the same side, the ring-shaped stator magnetizer 6 is also tightly contacted with the stator yoke part of the rotary-shaped stator iron core 4 without a gap, the opening direction of the mounting groove is arranged towards the rotary-shaped rotor iron core 3 and the rotary-shaped stator iron core 4, and the exciting winding 8 is wound in the mounting groove.
The exciting winding 8 and the output winding 5 are independently arranged, the exciting winding 8 and the output winding 5 are not mutually influenced, high precision is guaranteed, the winding forms of the exciting winding 8 and the output winding 5 are different, and in one embodiment, the exciting winding 8 is a ring-shaped coil winding, and the output winding 5 is an alternating current distributed winding; in this embodiment, no rotor winding is provided to achieve high reliability.
As shown in fig. 3, the toroidal transformer stator magnetizer 6 includes a first bottom wall 61 and a first side wall 62, and the toroidal transformer stator magnetizer 7 includes a second bottom wall 71 and a second side wall 72, and the first bottom wall 61, the first side wall 62, the second bottom wall 71 and the second side wall 72 are all annular. The first side wall 62 is connected to one end portion of the first bottom wall 61, the second side wall 72 is connected to one end portion of the second bottom wall 71, the other end portion of the first bottom wall 61 and the other end portion of the second bottom wall 71 are disposed opposite to each other to constitute a bottom wall of the placement groove, and the first side wall 62 and the second side wall 72 constitute two side walls of the placement groove. In one embodiment, the first side wall 62 extends to the position of the rotary stator core 4 and is in close contact with the stator yoke of the rotary stator core 4, and the second side wall 72 extends to the rotary rotor core 3 and is in close contact with the rotor yoke of the rotary rotor core 3.
The rotary stator core 4 is of a multi-tooth groove structure, the number of stator grooves of the rotary stator core 4 can be arbitrarily optimized and selected, and can be odd or even, and two-phase output windings 5 are arranged in the stator grooves of the rotary stator core 4. The outer surface of the rotor core 3 is a core rotor with a regular concave-convex shape.
As shown in fig. 4, a magnetic circuit (indicated by arrows) is formed among the rotary rotor core 3, the rotary stator core 4, the toroidal stator magnetizer 6 and the toroidal stator magnetizer 7, and the magnetic flux passes through the rotary rotor core 3 and the rotary stator core 4 in the axial direction to be closed, and the electric potential is induced by linking the rotary two-phase output windings 5, so that the two-phase output signal electric potential is formed. The air-gap magnetic field distribution between the rotary rotor core 3 and the rotary stator core 4 changes regularly with the rotation angle of the rotary rotor core 3.
As shown in fig. 2, 3 and 4, the field winding 8 is ring-shaped, unlike a wound rotary transformer in which there is no rotor winding; instead of having a separate magnetic circuit itself as in a wound resolver, the entirety of the toroidal stator magnetic conductor 6 and the toroidal rotor magnetic conductor 7 is formed such that the toroidal stator magnetic conductor 6 and the toroidal rotor magnetic conductor 7 are in contact with the yoke portions of the toroidal stator core 3 and the toroidal stator core 4, respectively, only on one side of the toroidal stator core 3 and the toroidal stator core 4, and the first side wall 62 and the second side wall 72 extending in the axial direction are in contact with the yoke portions of the toroidal stator core 4, respectively. The exciting magnetic flux in the ring-shaped variable rotor magnetic conductor 7 must flow axially, pass through the magnetic path channel of the rotary variable rotor iron core 3 after passing through the rotary variable stator iron core 4, and finally return to the ring-shaped variable rotor magnetic conductor 7 to be closed after passing through the ring-shaped variable stator magnetic conductor 6 axially.
When the exciting magnetic flux passes through the air gap between the rotary rotor core 3 and the rotary stator core 4, the shape and the size of the air gap change along with the rotation angle according to a certain function rule, so that the distribution of the air gap flux density also changes along with the rotation angle according to the same function relation. Then a two-phase output potential is induced in the output winding 5 which likewise changes regularly.
The outer surface of the rotor core 3 is a core rotor with a regular concave-convex shape, and in one embodiment, one or more pole pairs are formed on the outer surface of the rotor core 3 according to the need. In one embodiment, as shown in fig. 5, the rotor core 3 is a rotor core having 4 pole pairs, and corresponds to 4 air gaps having the same concave-convex shape. Specifically, the edge of the rotary rotor core 3 has a convex portion 31 and a concave portion 32, and both the convex portion 210 and the concave portion 220 are arc-shaped. The convex portions 31 and the concave portions 32 are uniformly arranged at intervals in the circumferential direction of the rotary rotor core 3. Adjacent one of the convex portions 31 and one of the concave portions 32 are in a group and form an polar pair number.
In one embodiment, the magnetic circuit of the ring transformer is composed of only the ring transformer magnetizer 6 and the ring transformer magnetizer 7, and as can be seen from the magnetic circuit schematic diagram of the magnetic flux in fig. 4, since the ring transformer has only the ring transformer magnetizer 6 and the ring transformer magnetizer 7 on the right side, the magnetic flux generated by the exciting winding 8 must axially pass through the axial portion of the magnetizer, enter the yoke portion of the rotor core 4, radially enter the rotor core 3 through the concave-convex air gap, and axially return to the ring transformer magnetizer 6 and the ring transformer magnetizer 7 to be closed.
As shown in fig. 6, since the size of the air gap of the rotary rotor core 3 is regularly changed along with the rotation angle, the distribution of the magnetic density of the air gap magnetic field is regularly changed along with the rotation angle; fig. 6 a) is a variation curve of an actual magnetic field, and fig. 6 b) is a variation curve representing a constant component and an alternating component in an air-gap magnetic field, respectively. The change rule of the alternating component part is sinusoidal as shown in the figure, and the air-gap magnetic field distribution can be represented by B (theta) =B 0 +B 1m sin (Pθ), where P is the pole pair number, θ is the mechanical angle, B 0 Amplitude of constant magnetic flux, B 1m Is the amplitude of the fundamental alternating component.
In one embodiment, the output winding 5 comprises a plurality of connected output winding elements that are placed in stator slots of the resolver stator core 4. The output winding elements include forward wound forward output winding elements and reverse wound reverse output winding elements that are connected to cancel the constant component. The number of turns of each output winding element is in sine and cosine distribution. The output winding elements are distributed at intervals on the stator teeth of the rotary stator core 4, or the output winding elements are distributed sequentially on the stator teeth of the rotary stator core 4.
The output winding elements of the output winding 5 induce a common-frequency varying potential whose amplitude varies equally regularly with the angle of rotation, which output potential can also be divided into a constant component which does not vary with the angle of rotation and an alternating component which varies sinusoidally with the angle of rotation, which constant component must be eliminated in the output signal of the resolver, since it is a factor of error. By theoretical analysis, in the alternating magnetic field, the phase is different at the same time because the positions of the output winding elements are different. The way in which the individual output winding elements are connected to each other must achieve this: (1) the fundamental potential is maximized, (2) the constant component potential is zero, and (3) the harmonic order potential is eliminated as much as possible.
In order to obtain the maximum output potential, the output winding elements with different phases need to be wound in the forward and backward directions, so that the potentials can be added together in phase correspondence. However, the constant component magnetic flux is free from phase change, and when the windings are connected so that the alternating potential output of the windings is maximum, the potentials induced by the constant component magnetic flux are offset from each other, and the total output potential is free from the potential of the constant component.
Fig. 7 shows a winding connection method in which the number of stator slots of the rotary stator core 4 is 16 (even number), the pole pair number of the rotary stator core 3 is 4, and one-phase output winding is taken as an example.
In fig. 7, there are a total of 8 output winding elements, which are spaced apart on each stator tooth of the rotary stator core 4, i.e., the output winding elements are wound on each stator tooth one by one, each 4 stator slots constituting a pair of poles (i.e., stator slots 1, 2, 3, 4 constitute a pair of poles, stator slots 5, 6, 7, 8 constitute a pair of poles, stator slots 9, 10, 11, 12 constitute a pair of poles, and stator slots 13, 14, 15, 16 constitute a pair of poles in fig. 7). The output winding has 4 loops, in each loop, two output winding components are connected oppositely, thus realizing the mutual cancellation of constant components; whereas for the potential of the fundamental component, only the opposite connection is the potential addition, since the two elements are in magnetic fields of opposite polarity. So that the alternating components are maximized in the total potential output, while the constant components cancel each other out and do not appear.
In practice, the exciting magnetic flux in the reluctance resolver has constant components, and the corresponding output winding elements induce constant component potentials, but the constant components in the total potential of the output windings cancel each other out and the alternating components are maximized because of the connection mode of the output winding elements.
The sine winding with strong harmonic elimination capability can improve the precision of the harmonic elimination capability of the rotary transformer, and the sine winding which is ideally distributed theoretically can eliminate constant components and other all harmonics besides the fundamental wave.
The turns of each output winding element in the winding are distributed according to the sine and cosine rules of the positions in the magnetic field, and the electric potential with the amplitude and the phase changing regularly is induced along with the change of the rotation angle. The number of turns N of each output winding element distributed in sinusoidal phase A Ai And the number of turns N of each output winding element distributed in cosine phase B Bi The method comprises the following steps:
wherein K is A Is a constant related to the number of turns, P is the pole pair number, θ 0 The mechanical angle of the reference axis from the first slot is Z, which is the number of stator slots of the resolver stator core 4.
The effective winding coefficients of the output winding 5 for each subharmonic magnetic field are calculated according to equation (2).
Effective number of turns of winding
Wherein Z represents the number of slots of the stator, N i The number of each output winding element is represented, v represents the harmonic order: 0. 1, 2, 3, 4, 5, … … (0 is a constant component magnetic field).
With the correct turns distribution, the effective turns of the windings of each other (including the constant component) except for the 1 st and the fundamental windings are small or reduced to near zero, as in the sinusoidal windings ideally distributed according to equation (1), the effect is better and can be reduced to zero. The total effective number of turns for a constant component magnetic field is the algebraic sum of the turns, and the addition result is certainly zero, as shown in equation (3).
Number of effective turns of constant component
Wherein N is i The values of the symbols are "+" and "-", and the output winding elements are wound in the forward direction as "+" and the output winding elements are wound in the reverse direction as "-", respectively, according to the connection mode of the output winding elements in the output winding.
Fig. 8 is a developed view of an output winding in which the number Z of stator slots of the resolver stator core 4 is 13 (odd number) and the pole pair number P of the resolver stator core 3 is 1, and the output winding is formed by winding according to formula (1). In this output winding, 13 output winding elements are wound on each stator tooth of the resolver stator core 4 in order, 6 output winding elements are forward wound "+", and 7 output winding elements are reverse wound "-". Calculating according to formulas (2) and (3), wherein the fundamental winding coefficient can reach the maximum, and other times are zero; the winding coefficients of the constant component are zero after algebraic addition. And it is noted that the number of stator slots of the resolver stator core 4 herein may be arbitrarily selected to be odd or even, unlike the reluctance resolver.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (9)
1. A discrete reluctance resolver comprising: the device comprises a rotary rotor iron core, a rotary stator iron core, an output winding, a ring-shaped stator magnetizer, a ring-shaped rotor magnetizer and an excitation winding;
the rotor iron core and the rotor iron core are concentrically arranged along the radial direction, the output winding is wound on the rotor iron core, the ring stator magnetizer and the ring stator magnetizer are concentrically arranged along the radial direction, the ring stator magnetizer and the ring stator magnetizer are surrounded to form a mounting groove, the excitation winding is wound in the mounting groove, the ring stator magnetizer and the ring stator magnetizer are axially positioned at one side of the rotor iron core and the rotor iron core, the opening direction of the mounting groove is arranged towards the rotor iron core and the rotor iron core, a magnetic circuit is formed among the rotor iron core, the ring stator magnetizer and the ring stator magnetizer, and the air gap magnetic field distribution between the rotor iron core and the rotor iron core is changed regularly along with the rotation angle of the rotor iron core.
2. The discrete reluctance resolver of claim 1, wherein the output winding includes a plurality of connected output winding elements disposed in stator slots of the resolver stator core.
3. The discrete reluctance resolver of claim 2, wherein the number of turns of each of the output winding elements is in a sine and cosine distribution.
4. The discrete reluctance resolver of claim 2, wherein the output winding elements are distributed sequentially over each stator tooth of the resolver stator core.
5. The discrete reluctance resolver of claim 1, wherein the output winding elements include forward and reverse wound forward and reverse output winding elements connected to cancel a constant component.
6. The discrete reluctance resolver of claim 1, wherein the output winding is an ac distributed winding.
7. The discrete reluctance resolver of claim 1, wherein the outer surface of the resolver core is formed with one or more pole pairs.
8. The discrete reluctance resolver of claim 1, wherein the stator slots of the resolver stator core house two phase output windings.
9. The discrete reluctance resolver as claimed in claim 1, wherein the field winding is a toroidal coil winding.
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| CN202311187239.XA CN117219425A (en) | 2023-09-14 | 2023-09-14 | Discrete reluctance rotary transformer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118073060A (en) * | 2024-03-27 | 2024-05-24 | 天津大学 | A reluctance rotary transformer for underwater environment, use and production process thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118073060A (en) * | 2024-03-27 | 2024-05-24 | 天津大学 | A reluctance rotary transformer for underwater environment, use and production process thereof |
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