基于整车的自卸车举升机构优化设计平台开发
|
摘要
本文以企业的实际需求为出发点,以基于整车的自卸车举升机构优化设计平台为研究对象,对优化设计平台开发全过程进行了研究。此平台开发改善了企业对液压举升机构的设计手段和方法,以快速、高效、保质、保量完成液压举升机构的优化设计,在ADAMS软件中二次开发建立起国内六种常见举升机构优化设计平台,解决了六种举升机构各铰接点布置问题。
论文首先综合论述了国内外对自卸车举升机构方面的研究现状,结合项目需要,以软件开发流程为总线,对企业需求进行了全面分析,明确了优化设计平台的设计需求、功能需求、理论需求和其它需求,设计了该优化平台的功能级数据流图并对其进一步细化,同时对优化设计平台运行过程中的数据流向进行了详细研究。随后从全局高度出发,对优化设计平台总体设计过程进行详细研究,在总体设计中首先确定了平台开发方式,然后设计了平台体系结构,基本功能结构以及对各功能模块作用进行具体分析并确定优化设计平台的运行流程。
基于整车的自卸车举升机构优化设计平台开发研究,须有整车的参数化模型和举升机构优化的数学模型。为此论文分别对自卸车底盘和举升机构(包括货厢)参数化展开详细的研究,在举升机构优化数学模型中确定了各优化设计变量、约束条件和优化目标。
随后,论文对设计平台的具体实现进行了研究,对平台进行详细的菜单、对话框和各功能模块的设计并编写有关实现自动建模和仿真控制的程序来满足用户的某些特定要求。同时通过对完成平台进行测试,结果运行稳定,能快速完成设计作业。论文最后利用所开发的平台对典型自卸车辆仿真分析和优化设计得出:通过比较整车模型在静力学和动态仿真中油缸推力曲线变化,举升机构在正常举升情况下,动态仿真的油缸推力最大值比静力学仿真所得的油缸推力最大值大10%—15%。平台同时对举升机构进行两种优化设计,当对举升机构中各铰接点直接进行优化设计时,优化后油缸最大推力比优化前降低了20.68%,当考虑不改变三角板形状时,优化后油缸最大推力比优化前降低了12.41%。
本文的研究不仅为自卸车举升机构优化设计提供了先进的工具,解决了企业的迫切需要,同时也可为同类问题研究提供良好借鉴。
This paper regards actual demand of enterprise as the starting point and regards the second-development of truck lifting mechanism optimization design platform based on whole model as the research object, researched the whole process of platform. The platform changed hydraulic pressure lifting mechanism design method, rapidly, efficiency, quality assurance. The platforms for six kinds of lifting mechanism familiar in China are developed and established, and the hinged points of the six kinds are arranged with ADAMS software.
Firstly, this paper describes the current domestic and foreign situation of researching in truck lifting mechanism, connect the project requirements, regards the flow (path) of software second development as bus, overall analysis demand of enterprise, and confirms design demand, function demand, theory demand and other demand of the platform. Designs dataflow of platform in function level and carries on detailed research to the data in the operation course of the platform at the same time. Subsequently, the paper stands the global point to carry on detail research to the overall design process. In process, confirms the development way of the platform at first. Then designs system architecture, basic functions model and makes a concrete analysis to the function module, provides the operation procedure of platform.
Researching the platform of truck lifting mechanism optimization design based on whole mode must be have the whole parameterized truck model and lifting mechanism's mathematical model for optimization, so the paper dentally research the truck chassis parameterized and lifting mechanism (carriage) parameterized, and confirms all kinds of design variable, constraint condition, optimization object.
Afterwards, the paper researches how to design the platform concrete, designs the menu, dialog and function modules, and provides the realization codes of automatic build the whole truck model and simulation control to satisfaction of customer demanding. After several experiment, the result indicates that the platform runs steadily, its can quickly finish the lifting mechanism design. Finally, the typical truck is simulated, analyzed and optimization designed with the developed platform. By means of which the curves displaying thrust changing separated from static and dynamic simulation on whole model, it's found that the maximum dynamic thrust is 10%-15% more than the static's while the lifting mechanism being normal. At the same time, two different optimization designs about lifting mechanism are carried out. The maximum thrust is induced by 20.68% compared to the initial condition with all the joints being considered, when the maximum thrust is only induced by 12.41% compared to the initial condition while without changing the triangular shape.
The research of this paper has not merely offered an advanced tool for enterprise, solved the problem of enterprise, at the some time, it provides a good reference to solve the similar problem.
论文首先综合论述了国内外对自卸车举升机构方面的研究现状,结合项目需要,以软件开发流程为总线,对企业需求进行了全面分析,明确了优化设计平台的设计需求、功能需求、理论需求和其它需求,设计了该优化平台的功能级数据流图并对其进一步细化,同时对优化设计平台运行过程中的数据流向进行了详细研究。随后从全局高度出发,对优化设计平台总体设计过程进行详细研究,在总体设计中首先确定了平台开发方式,然后设计了平台体系结构,基本功能结构以及对各功能模块作用进行具体分析并确定优化设计平台的运行流程。
基于整车的自卸车举升机构优化设计平台开发研究,须有整车的参数化模型和举升机构优化的数学模型。为此论文分别对自卸车底盘和举升机构(包括货厢)参数化展开详细的研究,在举升机构优化数学模型中确定了各优化设计变量、约束条件和优化目标。
随后,论文对设计平台的具体实现进行了研究,对平台进行详细的菜单、对话框和各功能模块的设计并编写有关实现自动建模和仿真控制的程序来满足用户的某些特定要求。同时通过对完成平台进行测试,结果运行稳定,能快速完成设计作业。论文最后利用所开发的平台对典型自卸车辆仿真分析和优化设计得出:通过比较整车模型在静力学和动态仿真中油缸推力曲线变化,举升机构在正常举升情况下,动态仿真的油缸推力最大值比静力学仿真所得的油缸推力最大值大10%—15%。平台同时对举升机构进行两种优化设计,当对举升机构中各铰接点直接进行优化设计时,优化后油缸最大推力比优化前降低了20.68%,当考虑不改变三角板形状时,优化后油缸最大推力比优化前降低了12.41%。
本文的研究不仅为自卸车举升机构优化设计提供了先进的工具,解决了企业的迫切需要,同时也可为同类问题研究提供良好借鉴。
This paper regards actual demand of enterprise as the starting point and regards the second-development of truck lifting mechanism optimization design platform based on whole model as the research object, researched the whole process of platform. The platform changed hydraulic pressure lifting mechanism design method, rapidly, efficiency, quality assurance. The platforms for six kinds of lifting mechanism familiar in China are developed and established, and the hinged points of the six kinds are arranged with ADAMS software.
Firstly, this paper describes the current domestic and foreign situation of researching in truck lifting mechanism, connect the project requirements, regards the flow (path) of software second development as bus, overall analysis demand of enterprise, and confirms design demand, function demand, theory demand and other demand of the platform. Designs dataflow of platform in function level and carries on detailed research to the data in the operation course of the platform at the same time. Subsequently, the paper stands the global point to carry on detail research to the overall design process. In process, confirms the development way of the platform at first. Then designs system architecture, basic functions model and makes a concrete analysis to the function module, provides the operation procedure of platform.
Researching the platform of truck lifting mechanism optimization design based on whole mode must be have the whole parameterized truck model and lifting mechanism's mathematical model for optimization, so the paper dentally research the truck chassis parameterized and lifting mechanism (carriage) parameterized, and confirms all kinds of design variable, constraint condition, optimization object.
Afterwards, the paper researches how to design the platform concrete, designs the menu, dialog and function modules, and provides the realization codes of automatic build the whole truck model and simulation control to satisfaction of customer demanding. After several experiment, the result indicates that the platform runs steadily, its can quickly finish the lifting mechanism design. Finally, the typical truck is simulated, analyzed and optimization designed with the developed platform. By means of which the curves displaying thrust changing separated from static and dynamic simulation on whole model, it's found that the maximum dynamic thrust is 10%-15% more than the static's while the lifting mechanism being normal. At the same time, two different optimization designs about lifting mechanism are carried out. The maximum thrust is induced by 20.68% compared to the initial condition with all the joints being considered, when the maximum thrust is only induced by 12.41% compared to the initial condition while without changing the triangular shape.
The research of this paper has not merely offered an advanced tool for enterprise, solved the problem of enterprise, at the some time, it provides a good reference to solve the similar problem.
引文
[1]余志生.汽车理论(第3版).机械工业出版社.2000[2](德)M.米奇克.汽车动力学。机械工业出版社.1980,2
[3](英)Dave Crolla,喻凡.车辆动力学及其控制.人民交通出版社.2003
[4]徐达,陆锦荣.专用汽车工作装置的原理与计算.北京理工大学出版社,1997
[5]徐达,蒋崇贤.专用汽车结构与设计.北京:北京理工大学出版社,1998
[6]蒋崇贤,何明辉.专用汽车设计.武汉:武汉工业大学出版社,1994
[7]张越今.汽车多体动力学及计算机仿真.吉林科学技术出版社.1998
[8]郑建荣.ADAMS-虚拟样机技术入门与提高.机械工业出版社.2001
[9]李军,邢俊文,覃文洁等.ADAMS实例教程.北京理工大学.2002
[10]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程.清华大学出版社.2005
[11]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践.西北工业大学.2001
[12](美)MSC.Software.MAC.ADAMS/VIEW高级培训教程(邢俊文、陶永忠译).清华大学出版社.2004
[13]Using ADAMS/Solver,2002(Mechanical Dynamics inc,Ann Arbor,Michigan)
[14]洪嘉振.计算多体系统动力学.高等教育出版社.1998
[15]包继华,张建武,于岩.汽车整车多体系统动力学建模和仿真[J].计算机仿真,第21卷,第1期,2004年1月
[16]郭晓强.基于ADAMS的虚拟仿真技术在汽车设计中的应用[D].吉林大学硕士学位论文,2005
[17]项俊.轿车多体动力学建模仿真及应用研究[D].华中科技大学硕士学位论文,2005
[18]汪惠群,郑建荣.在ADAMS软件中虚拟样机的参数化建模与分析.机械制造42卷第482期.2004,10,41-43
[19]张越今.多体动力学在轿车动力学仿真及优化研究中的应用.博士学位论文.清华大学汽车系.1997
[20]林柏忠,杨得军,郭得立,郭孔辉等.具有模块化结构的动力学仿真模型的初步研究.汽车工程,2003(Vol.25)No.4
[21]饶剑.基于ADAMS的悬架系统动力学仿真分析与优化设计[D].武汉理工大学硕士学位论文,2006
[22]满开美.大规模定制专用汽车企业发展的新模式[J].时代汽车,2005(2),71-72
[23]满开美,马力,邓亚东等.面向大规模定制的专用车参数化设计系统开发[J].机电工程技术,2004,33(3),27-28
[24]李小华,马力,满开美等.面向大规模定制的自卸车举升机构产品配置优化设计.机电工程技术.2006年第35卷第3期,94-96
[25]成耀龙,马力,张毅等.基于虚拟样机技术的自卸车举升机构优化设计平台的开发.专用汽车
[26]吴森,王承,汪新云等.基于虚拟样机技术的自卸车举升机构仿真与优化.武汉理工大学学报,2003(3),78-80
[27]张海波.基于虚拟样机技术的自卸汽车作业稳定性研究[D].青岛大学硕士学位论文,2006
[28]韩术亭.轻型农用自卸车液压举升机构优化设计[D].大连理工大学硕士学位论文,2003
[29]叶军祥.自卸车液压举升机构的受力分析与计算方法.专用汽车.1993,3,15-17
[30]崔新涛,毕凤荣.自卸汽车举升机构动力学仿真分析[D].机械设计与制造,2004(1),44-45
[31]周廷美,崔元捷,王仲范.重型自卸车举升机构的计算机辅助设计.专用汽车,2001,4,3-6
[32]刘敏杰,林玉德,刘聚德.油缸后推杠杆平衡式举升机构的设计研究.青岛建筑工程学院学报,1999(4)
[33]愈雪梅,吴平.自卸汽车F式举升机构的设计.重型汽车,2004,4,22-23
[34]夏建芳,叶南海.自卸车油缸推力分析.贵州大学学报,2002,8,217-220
[35]叶南海.自卸车油缸位置的改变对其最大举升角的影响[J].湘潭大学学报,2000(4)
[36]王松江.自卸汽车最大举升角的确定[J].专用汽车,1999
[37]张冬岩.举升机构铰支点初始位置的优化计算.专用汽车,1997,2,8-10
[38]张毅.基于ADAMS的自卸车举升机构机构优化设计.专用汽车,2005,3
[39]常思勤,王元良,主书亭等.自卸汽车举升机构的优化设计及CAD系统.重型汽车.1995(2)总27期,10-13
[40]梁海林,李青山.关于前推连杆组合式举升机构计算机优化设计数学模型的探讨.城市车辆,1994,4,16-23
[41]刘敏杰,刘晓斌,张元胤.自卸汽车举升机构优化设计约束条件的研究.青岛建筑工程 学院学报,2001(3)
[42]Ryan R R.ADAMS-Multi-Body Dynamics:Vehicles:Machines,and Mechanisms,1998(Society of Automotive Engineers,Warrendale,Pennsylvania).
[43]F.Mancosu.Non-Linear Modal Rolling Tire Model For Dynamic Simulation With ADAMS.European Adams users' conference - November 18th-19th 1998 Paris.1998
[44]Thomas E.Renner&Andrew J.Barber.Accurate Tire Models for Vehicle Handling Using the Empirical Dynamics Method.international ADAMS User conference.2000
[45]W.Kortum,W.Schiehlen.General Purpose Vehicle System Dynamics Software Based on Mutibody Formalisms.Vehicle System Dynamics.1985(14):35-38
[46]Murphy,Ray W.(1970),"A Hybrid Computer System for the Simulation of Vehicle Dynamics",SAE Technical Paper Series #700154.
[47]Tiffany,N,O,G,A.Cornell and R.L.Code.(1970)."A Hybrid Simulation of Vehicle Computer Simulations Developed for Dynamics Stability Analysis",SAE Technical Paper Series #920054.
[48]Allen,R.Wade,Theodore J.Rosenthal(1990)."Field Testing and Computer Simulation Analysis of Ground Vehicle Dynamics Stability",SAE Technical Paper Series #900127
[49]ADAMS Users Reference Manual,MDI,1997
[50]A.A.Shabana.Dynamisc of Multibody System.New York,Wiley,1989
[51]Pan,Weidong.Flexible Multibody Dynamics Simulation.The University of Iowa,1998
[52]Kortum W.and Sharp R.S.,A report on the state of affairs on application of multi-body computer codes to veicle System dynamics.Vehicle System Dynamics,1991,20(3-4),177-184
[53]CHIEH CHEN.Lateral Control of Commercial Heavy Vehicles[J].Vehicle System Dynamics,2000(33):391-420.
[54]王国权,余群,吕伟.8自由度乘坐动力学模型及时域仿真.中国农业大学学报,2002,7(2),99-103
[55]段敏,付铁军,栗新德等.LZ6400轻型客车行驶的平顺性及后悬架的改进设计.吉林大学学报(工学版).2002,7(3),48-52
[56]李力.商用车驾驶室悬置系统设计平台开发[D].武汉理工大学硕士学位论文,2006
[57]张云清,陈立平,任为群等.ADAMS在某微轿整车动力学仿真中的应用及其二次开发.美国MDI(Mechanical Dynamics Inc)公司2001年中国用户年会论文集,221-228
[58]任卫群,杨勇等.采用多体系统动力学的平衡悬架牵引车平顺性研究.汽车工程,2004,6(3),331-335
[59]孙靖民.机械优化设计[M].机械工业出版社,1990
[60]陈宝林.最优化理论与算法.清华大学出版社.1989,8
[61]吴祈宗.运筹学与最优化方法.机械工业出版社.2003,9
[62]范鸣玉等编.最优化技术基础.清华大学出版社.1981
[63]陈松乔,任胜兵,王国军.现代软件工程.清华大学出版社.2004,6
[64]张海藩.软件工程导论.清华大学出版社.1998,1
[65]李春葆.现代软件工程学[M].北京:清华大学出版社,2000
[66]张越今.多体系统动力学分析的两大软件-ADAMS和DADS[J].汽车技术,1997,3:16-20
[67]杨一平.现代软件工程技术与CMM的融合[M].北京:人民邮电出版社,2002
[68]张峰,李兆前,黄传真,参数化设计的研究现状与发展趋势[J].机械工程师,2002,1:13-15
[69]张朴.汽车计算机辅助开发技术[M].北京:北京理工大学出版社,1999
[3](英)Dave Crolla,喻凡.车辆动力学及其控制.人民交通出版社.2003
[4]徐达,陆锦荣.专用汽车工作装置的原理与计算.北京理工大学出版社,1997
[5]徐达,蒋崇贤.专用汽车结构与设计.北京:北京理工大学出版社,1998
[6]蒋崇贤,何明辉.专用汽车设计.武汉:武汉工业大学出版社,1994
[7]张越今.汽车多体动力学及计算机仿真.吉林科学技术出版社.1998
[8]郑建荣.ADAMS-虚拟样机技术入门与提高.机械工业出版社.2001
[9]李军,邢俊文,覃文洁等.ADAMS实例教程.北京理工大学.2002
[10]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程.清华大学出版社.2005
[11]王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践.西北工业大学.2001
[12](美)MSC.Software.MAC.ADAMS/VIEW高级培训教程(邢俊文、陶永忠译).清华大学出版社.2004
[13]Using ADAMS/Solver,2002(Mechanical Dynamics inc,Ann Arbor,Michigan)
[14]洪嘉振.计算多体系统动力学.高等教育出版社.1998
[15]包继华,张建武,于岩.汽车整车多体系统动力学建模和仿真[J].计算机仿真,第21卷,第1期,2004年1月
[16]郭晓强.基于ADAMS的虚拟仿真技术在汽车设计中的应用[D].吉林大学硕士学位论文,2005
[17]项俊.轿车多体动力学建模仿真及应用研究[D].华中科技大学硕士学位论文,2005
[18]汪惠群,郑建荣.在ADAMS软件中虚拟样机的参数化建模与分析.机械制造42卷第482期.2004,10,41-43
[19]张越今.多体动力学在轿车动力学仿真及优化研究中的应用.博士学位论文.清华大学汽车系.1997
[20]林柏忠,杨得军,郭得立,郭孔辉等.具有模块化结构的动力学仿真模型的初步研究.汽车工程,2003(Vol.25)No.4
[21]饶剑.基于ADAMS的悬架系统动力学仿真分析与优化设计[D].武汉理工大学硕士学位论文,2006
[22]满开美.大规模定制专用汽车企业发展的新模式[J].时代汽车,2005(2),71-72
[23]满开美,马力,邓亚东等.面向大规模定制的专用车参数化设计系统开发[J].机电工程技术,2004,33(3),27-28
[24]李小华,马力,满开美等.面向大规模定制的自卸车举升机构产品配置优化设计.机电工程技术.2006年第35卷第3期,94-96
[25]成耀龙,马力,张毅等.基于虚拟样机技术的自卸车举升机构优化设计平台的开发.专用汽车
[26]吴森,王承,汪新云等.基于虚拟样机技术的自卸车举升机构仿真与优化.武汉理工大学学报,2003(3),78-80
[27]张海波.基于虚拟样机技术的自卸汽车作业稳定性研究[D].青岛大学硕士学位论文,2006
[28]韩术亭.轻型农用自卸车液压举升机构优化设计[D].大连理工大学硕士学位论文,2003
[29]叶军祥.自卸车液压举升机构的受力分析与计算方法.专用汽车.1993,3,15-17
[30]崔新涛,毕凤荣.自卸汽车举升机构动力学仿真分析[D].机械设计与制造,2004(1),44-45
[31]周廷美,崔元捷,王仲范.重型自卸车举升机构的计算机辅助设计.专用汽车,2001,4,3-6
[32]刘敏杰,林玉德,刘聚德.油缸后推杠杆平衡式举升机构的设计研究.青岛建筑工程学院学报,1999(4)
[33]愈雪梅,吴平.自卸汽车F式举升机构的设计.重型汽车,2004,4,22-23
[34]夏建芳,叶南海.自卸车油缸推力分析.贵州大学学报,2002,8,217-220
[35]叶南海.自卸车油缸位置的改变对其最大举升角的影响[J].湘潭大学学报,2000(4)
[36]王松江.自卸汽车最大举升角的确定[J].专用汽车,1999
[37]张冬岩.举升机构铰支点初始位置的优化计算.专用汽车,1997,2,8-10
[38]张毅.基于ADAMS的自卸车举升机构机构优化设计.专用汽车,2005,3
[39]常思勤,王元良,主书亭等.自卸汽车举升机构的优化设计及CAD系统.重型汽车.1995(2)总27期,10-13
[40]梁海林,李青山.关于前推连杆组合式举升机构计算机优化设计数学模型的探讨.城市车辆,1994,4,16-23
[41]刘敏杰,刘晓斌,张元胤.自卸汽车举升机构优化设计约束条件的研究.青岛建筑工程 学院学报,2001(3)
[42]Ryan R R.ADAMS-Multi-Body Dynamics:Vehicles:Machines,and Mechanisms,1998(Society of Automotive Engineers,Warrendale,Pennsylvania).
[43]F.Mancosu.Non-Linear Modal Rolling Tire Model For Dynamic Simulation With ADAMS.European Adams users' conference - November 18th-19th 1998 Paris.1998
[44]Thomas E.Renner&Andrew J.Barber.Accurate Tire Models for Vehicle Handling Using the Empirical Dynamics Method.international ADAMS User conference.2000
[45]W.Kortum,W.Schiehlen.General Purpose Vehicle System Dynamics Software Based on Mutibody Formalisms.Vehicle System Dynamics.1985(14):35-38
[46]Murphy,Ray W.(1970),"A Hybrid Computer System for the Simulation of Vehicle Dynamics",SAE Technical Paper Series #700154.
[47]Tiffany,N,O,G,A.Cornell and R.L.Code.(1970)."A Hybrid Simulation of Vehicle Computer Simulations Developed for Dynamics Stability Analysis",SAE Technical Paper Series #920054.
[48]Allen,R.Wade,Theodore J.Rosenthal(1990)."Field Testing and Computer Simulation Analysis of Ground Vehicle Dynamics Stability",SAE Technical Paper Series #900127
[49]ADAMS Users Reference Manual,MDI,1997
[50]A.A.Shabana.Dynamisc of Multibody System.New York,Wiley,1989
[51]Pan,Weidong.Flexible Multibody Dynamics Simulation.The University of Iowa,1998
[52]Kortum W.and Sharp R.S.,A report on the state of affairs on application of multi-body computer codes to veicle System dynamics.Vehicle System Dynamics,1991,20(3-4),177-184
[53]CHIEH CHEN.Lateral Control of Commercial Heavy Vehicles[J].Vehicle System Dynamics,2000(33):391-420.
[54]王国权,余群,吕伟.8自由度乘坐动力学模型及时域仿真.中国农业大学学报,2002,7(2),99-103
[55]段敏,付铁军,栗新德等.LZ6400轻型客车行驶的平顺性及后悬架的改进设计.吉林大学学报(工学版).2002,7(3),48-52
[56]李力.商用车驾驶室悬置系统设计平台开发[D].武汉理工大学硕士学位论文,2006
[57]张云清,陈立平,任为群等.ADAMS在某微轿整车动力学仿真中的应用及其二次开发.美国MDI(Mechanical Dynamics Inc)公司2001年中国用户年会论文集,221-228
[58]任卫群,杨勇等.采用多体系统动力学的平衡悬架牵引车平顺性研究.汽车工程,2004,6(3),331-335
[59]孙靖民.机械优化设计[M].机械工业出版社,1990
[60]陈宝林.最优化理论与算法.清华大学出版社.1989,8
[61]吴祈宗.运筹学与最优化方法.机械工业出版社.2003,9
[62]范鸣玉等编.最优化技术基础.清华大学出版社.1981
[63]陈松乔,任胜兵,王国军.现代软件工程.清华大学出版社.2004,6
[64]张海藩.软件工程导论.清华大学出版社.1998,1
[65]李春葆.现代软件工程学[M].北京:清华大学出版社,2000
[66]张越今.多体系统动力学分析的两大软件-ADAMS和DADS[J].汽车技术,1997,3:16-20
[67]杨一平.现代软件工程技术与CMM的融合[M].北京:人民邮电出版社,2002
[68]张峰,李兆前,黄传真,参数化设计的研究现状与发展趋势[J].机械工程师,2002,1:13-15
[69]张朴.汽车计算机辅助开发技术[M].北京:北京理工大学出版社,1999
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |