{
  "schema_version": "equipment-functional-bom-1.0",
  "title": "500mm双轮独立加载冰雪摩擦装置：设备功能询价清单",
  "status": "导师审阅/条件询价；非采购指令、定型设计或安全能力声明",
  "date": "2026-10-18",
  "architecture": {
    "specimen_diameter_mm": 500,
    "contact_radius_mm": 140,
    "tire_reference_mm": [
      447,
      133
    ],
    "tire_max_mm": [
      470,
      145
    ],
    "loading_axes": 2,
    "wheel_drive_axes": 2,
    "table_drive_axes": 1,
    "controlled_axes_total": 5,
    "actual_wheel_speed_feedback": 2,
    "actual_table_speed_feedback": 1,
    "vertical_position_feedback": 2,
    "independent_force_paths": 2,
    "cold_zone_base_C": -20,
    "load_status": "2kN/轮仅分析算例；最终目标载荷、上限、速度及滑移范围尚未批准"
  },
  "quotation_rules": [
    "S01A与S01B二选一，均是每轮1套/合计2套，不得合计为4只采购",
    "内置位移/真实轴编码满足要求可复用，电机编码未跨过传动链不能默认替代实际输出轴编码",
    "5受控轴的电机驱动已分列L01/W01/T01，控制柜内不重复计价",
    "所有精度/采样数字是建议询价目标，须与最小可辨摩擦差和最终协议确认；不是已实现或用户批准阈值",
    "每个主机包应标明包含与排除，原始桥路调理/数字接口不重复采购",
    "未取得型号证据前不填品牌、额定kW或报价金额"
  ],
  "items": [
    {
      "id": "L01",
      "subsystem": "独立加载",
      "item": "伺服电动缸/丝杠加载执行器（含加载电机与驱动器）",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "每轮独立Fz闭环，升降与接触搜索；总计2加载轴",
      "selection_inputs": "Fz目标范围、下游质量m、az、摩擦、力控带宽、速度、行程、工作循环",
      "continuous_peak": "上/下推力双向核算：上行提升至少mg+maz+摩擦；接触时按整岛自由体Fz、mg、maz求执行器力；连续/RMS与冲击峰值分列；不是用200kg配重换算执行器",
      "precision_calibration": "位移闭环+Fz反馈；空载找零/低速接触/低温调参；建议询价静态力控误差≤设定值1%（在约定下限以上），须由试验协议确认",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "L02",
      "subsystem": "独立加载",
      "item": "加载导向横梁、直线导轨与防转组件",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "承受横向载荷/力矩，导向只接测力接口上游",
      "selection_inputs": "Ft/Fy/Fz包络、h、质心、偏心、电缆作用；模型姿态窗口不是额定行程",
      "continuous_peak": "额定承载/疲劳/刚度按组合载荷；行程覆盖冰雪80mm高度差+轮胎压缩/雪沉陷+抬升服务裕度，另核机械限位",
      "precision_calibration": "回填直线度、刚度、间隙；不得旁路测力岛",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "L03",
      "subsystem": "独立加载",
      "item": "垂直轴失电保持与检修机械支撑",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "防重力坠落；检修承托",
      "selection_inputs": "移动岛质量、停止距离、失电状态、风险评估",
      "continuous_peak": "保持制动器按静态重量及安全裕度；需动态制动时另核可用次数/能量，不能以保持制动替代动态制动",
      "precision_calibration": "失电/急停验证；解除保持前确认驱动力建立",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "L04",
      "subsystem": "独立加载",
      "item": "实际竖向位置反馈",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "记录z、行程限制与压缩/沉陷辅助量",
      "selection_inputs": "执行器内置传感器是否代表真实横梁位置；传动间隙",
      "continuous_peak": "量程覆盖实际全行程；内置合格可复用，外置为替代而非重复采购",
      "precision_calibration": "建议分辨率≤0.01mm、系统误差≤0.1mm用于询价；不能把执行器位移单独当接触斑或纯轮胎压缩",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "W01",
      "subsystem": "轮端驱动",
      "item": "轮端伺服电机+四象限驱动器",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "两轮独立速度/扭矩/滑移率控制",
      "selection_inputs": "最大Ft、有效滚动半径、轮速、J、角加速度、效率、连续停留及占空比",
      "continuous_peak": "|T轮接触|=|Ft|*r_eff；按约定Ft为盘对轮局部正向力，电机轮端驱动转矩=−Ft*r_eff+J轮*α+有符号损耗项；电机按减速比/效率换算，分别报连续与峰值和峰值时长；不能从2kN直接报kW",
      "precision_calibration": "低速转矩纹波/测速精度、响应时间、负载标定；内置电机编码器不自动等于轮轴反馈",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "W02",
      "subsystem": "轮端驱动",
      "item": "轮传动、轮轴、轮毂、U叉及轴承组件",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "每轮双侧支承；带轮贴近外支承",
      "selection_inputs": "轮胎447×133、最大470×145mm；支承中心±105mm；带轮外伸55mm是当前几何占位",
      "continuous_peak": "含2叉/2轴/2轮毂、4轴承位置；每位置实际轴承配对数量由厂家定；联算弯扭疲劳、Fy、皮带预紧与低温",
      "precision_calibration": "轴向定位/浮动、同轴度、跳动、带张力、护罩间隙验收；附件不得绕开力接口",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "W03",
      "subsystem": "轮端驱动",
      "item": "独立轮端动态制动单元",
      "quantity": 2,
      "unit": "套",
      "priority": "条件可选",
      "alternative_group": null,
      "function": "锁轮或独立摩擦制动研究；主方案伺服再生可执行负转矩",
      "selection_inputs": "是否要求机械锁轮/持续摩擦制动、停止能量/次数",
      "continuous_peak": "若实验需要则2套盘/钳/驱动及温度保护；额定制动扭矩、单次能量及连续热容量独立核验",
      "precision_calibration": "与伺服负转矩方案分列边界；模型有占位不代表必须采购；安全制动另由风险评估确定",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "W04",
      "subsystem": "轮胎与轮辋",
      "item": "工作轮胎、匹配轮辋与气门组件",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "两轮各1完整轮胎轮辋总成，匹配轮毂",
      "selection_inputs": "447×133mm参考、470×145mm最大包络；具体胎型/层级/轮辋与允许压力确认",
      "continuous_peak": "不由标称20/22kN或1.6MPa表值推出本机能力或试验设定；低温速度/载荷/胎压组合由产品证据确定",
      "precision_calibration": "轮胎批次、加载半径/接触斑、跳动、动平衡和冷态胎压记录；备用轮胎M03另列",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "T01",
      "subsystem": "转盘驱动",
      "item": "转盘伺服电机+四象限驱动器",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "独立控制试样盘实际转速，第5受控轴",
      "selection_inputs": "R=.14m、Ft1/Ft2、盘/试样J、加速时间、效率/占空比",
      "continuous_peak": "T盘=R*(Ft1+Ft2)+J盘*α+损耗（同向阻力算例；实际按有符号合矩）；连续/RMS、峰值/时长分列",
      "precision_calibration": "盘速与轮轴速同步采样并闭环；不可用电机指令转速代替实测",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "T02",
      "subsystem": "转盘驱动",
      "item": "转盘减速/传动与主轴承单元",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "驱动540mm金属托盘及500mm试样；承轴向、倾覆、径向载荷",
      "selection_inputs": "Fz1+Fz2、两轮失衡/单轮加载、Fy、质心、惯量、轴承结构",
      "continuous_peak": "减速机输出扭矩/背隙/刚度；独立主轴承组合轴向/径向/倾覆容量与寿命；不得默认减速机可兼作承载轴承",
      "precision_calibration": "实际盘面跳动、摆差、传动刚度实测；模型120×120×100mm仅占位",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S01A",
      "subsystem": "接触测力",
      "item": "三轴力测量链（每轮Ft/Fy/Fz）",
      "quantity": 2,
      "unit": "套",
      "priority": "互斥基础报价",
      "alternative_group": "FORCE_CHAIN_SELECT_ONE",
      "function": "最低研究量Ft/Fz；曲面轨迹推荐保留Fy，故基础完整询价选3轴输出",
      "selection_inputs": "每轴测量量程、接口全部六分量机械包络、最低有用Ft、h=.6085m参考",
      "continuous_peak": "虽仅输出3力，仍需证明承受Mx≈hFy、My≈−hFt及自重/惯性/偏心；三轴力型号若无法承矩则必须改拓扑并重新校准",
      "precision_calibration": "含标定矩阵/调理/低温零漂、串扰、加载卸载和装机校准；量程内精度不等于组合负载允许",
      "environment": "冷区最低−20°C，厂家书面确认温补范围/防潮",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S01B",
      "subsystem": "接触测力",
      "item": "六轴力/力矩测量链（每轮3力+3矩）",
      "quantity": 2,
      "unit": "套",
      "priority": "互斥升级报价",
      "alternative_group": "FORCE_CHAIN_SELECT_ONE",
      "function": "保留与当前模型六轴占位一致的6分量观测",
      "selection_inputs": "同S01A，增加每矩轴测量范围与装机惯量识别",
      "continuous_peak": "Fx/Fy/Fz及Mx/My/Mz分别列连续测量/机械极限和组合载荷图；1000N Ft已给608.5Nm参考矩；最大470mm外径刚性相切姿态h=.620m则620Nm，不含其余项",
      "precision_calibration": "含匹配调理、标定矩阵、全量程不确定度/串扰/动态滤波；大矩量程可能牺牲低力分辨率",
      "environment": "冷区最低−20°C，厂家书面确认温补范围/防潮",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S02",
      "subsystem": "转速与滑移",
      "item": "实际轮轴编码器反馈链",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "每轮实际轴角/转速用于滑移率",
      "selection_inputs": "n轮范围、最低转速、传动间隙、时间窗、零速行为",
      "continuous_peak": "2条实际轮轴反馈；直驱且内置传感器确实测轮轴可复用；皮带/减速后通常需输出轴传感器",
      "precision_calibration": "回填每转计数/插值、系统角误差及测速时间窗；建议速度相对误差≤0.1%于指定非零范围，低速用绝对误差约束",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S03",
      "subsystem": "转速与滑移",
      "item": "实际转盘轴编码器反馈链",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "盘角/盘速用于相位对齐与滑移率",
      "selection_inputs": "低速范围、减速器输出、同步硬件接口",
      "continuous_peak": "1条实际盘轴反馈；输出侧已有合格反馈可复用",
      "precision_calibration": "同S02，报告符号/索引与时间戳；共享时基",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S04",
      "subsystem": "扭矩测量",
      "item": "旋转轴扭矩传感器及耦合附件",
      "quantity": 2,
      "unit": "套",
      "priority": "可选",
      "alternative_group": null,
      "function": "校核轮轴传递扭矩/传动损耗；不替代接触Ft测量",
      "selection_inputs": "轮轴扭矩/转速、双向、动态响应、允许弯矩/轴向载荷、空间",
      "continuous_peak": "2只独立选项；不采购也可用主测力计算μ；电机电流估计不能宣称高精度轮轴扭矩",
      "precision_calibration": "静态已知力臂标定及转动零点；须防止传感器承受未经许可的轴承载荷",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S05",
      "subsystem": "温度",
      "item": "接触温度与温区测量包",
      "quantity": 1,
      "unit": "套",
      "priority": "必须功能/推荐点位",
      "alternative_group": null,
      "function": "空气、试样近表层/内部/基底温度；推荐两轮胎面及轮辋状态",
      "selection_inputs": "点位清单与布线；静止/旋转测点；时间响应及传感器对试样影响",
      "continuous_peak": "先按1套报价，探头数量随点位图确认；建议预留8温度通道；具体探头数随点位图确认，不把每点都强制在线；本项基本价含接触式探头/接口，IR另见S06选项不重复计价；可复用的探头/调理明确扣除",
      "precision_calibration": "建议参考测温系统校准误差≤0.5°C；空气/试样至少具可追溯实测；旋转胎面接触探头不得拖曳；轮辋可停车前后接触测量",
      "environment": "−20°C及凝露；温度模块可置温区；旋转接线需安全滑环/遥测另报",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S06",
      "subsystem": "温度",
      "item": "红外胎面/表面测温增补",
      "quantity": 1,
      "unit": "套",
      "priority": "可选",
      "alternative_group": null,
      "function": "非接触观察旋转胎面或表面温升",
      "selection_inputs": "目标尺寸、距离/光斑、表面状态、发射率/反射背景、窗口透过率",
      "continuous_peak": "数量按点位确定，通常双轮需覆盖两轮；不是所有空气/冰雪温度的替代",
      "precision_calibration": "冰雪/水膜/霜改变辐射条件，需对照接触温度校验；说明视窗和喷溅遮挡误差",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "S07",
      "subsystem": "胎压",
      "item": "兼容轮胎气门的压力表/检测接口",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "两轮独立胎压记录及充放气接口",
      "selection_inputs": "实际轮胎允许压力及冷态试验压力、气门、温区",
      "continuous_peak": "范围/耐压按批准胎压选择；1.6MPa不是统一设定值；在线传感器可替代对应表，不重复采购",
      "precision_calibration": "每轮可追溯校准，建议测量误差≤目标压力1%；冷态与温升后分开记录",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "D01",
      "subsystem": "采集",
      "item": "同步DAQ主机、采集/计数模块与隔离调理",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "统一力、转速、位移与温度数据；与控制记录对齐",
      "selection_inputs": "基础6力输出/升级12力矩输出；3实际轴编码；2位移；温度建议8通道容量；任一测力方案均可另选2扭矩",
      "continuous_peak": "见功能通道预算，原始桥路通道数按厂家架构回填；不是6轴名称即6个模拟输入的保证",
      "precision_calibration": "建议询价动态力/编码同步1kS/s起、可配滤波；实际带宽/采样率按研究频带及防混叠确定，报告偏移、延迟和时钟漂移",
      "environment": "DAQ与调理优先温区；冷区仅合格探头、接线与密封穿舱",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "C01",
      "subsystem": "控制",
      "item": "PLC/运动控制器、I/O、安全通信与实验软件",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "5受控轴：2加载+2轮+1盘；载荷、速度、滑移独立闭环；状态机与数据记录",
      "selection_inputs": "2路Fz闭环、3路实轴速度；滑移率零速禁区/限幅；低温启动流程",
      "continuous_peak": "明确五轴驱动包已计L01/W01/T01，不再次加五电机；控制器周期/带宽验证",
      "precision_calibration": "本地Ft/Fz符号、κ定义、时间基准、报警日志、CSV导出、原始值/滤波值保存；数据采集不兼任安全系统",
      "environment": "PLC/IPC置温区；冷室内只置额定合格设备",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "C02",
      "subsystem": "控制",
      "item": "工业PC、HMI、数据存储与软件许可",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "试验配方、趋势、报告与数据管理",
      "selection_inputs": "实时控制与上位机职责；容量/备份；离线许可",
      "continuous_peak": "1套含屏幕/必要授权，不与C01重复软件收费",
      "precision_calibration": "保存版本、标定系数、原始数据、单位/时间戳/样本ID；断线安全停机",
      "environment": "温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "E01",
      "subsystem": "电气与能量",
      "item": "配电控制柜、供电、接地、线缆及穿舱",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "隔离/保护/端子/接触器、动力及测量布线",
      "selection_inputs": "现场电源/功率、柜外冷区长度、运动拖链/最小弯曲半径",
      "continuous_peak": "列总装机功率、最大输入电流、保护/接地、控制电源；电缆力不能构成测力旁路",
      "precision_calibration": "电气图、I/O表、接地屏蔽测试、断电恢复状态",
      "environment": "柜体温区；穿舱密封及冷凝管理",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "E02",
      "subsystem": "电气与能量",
      "item": "再生能量与制动电阻/回馈单元方案",
      "quantity": 1,
      "unit": "套",
      "priority": "必须方案/按方案采购",
      "alternative_group": null,
      "function": "吸收轮/盘负转矩及减速能量",
      "selection_inputs": "三旋转轴能量流、Jω²/2、启停周期、持续负功率、共享母线兼容",
      "continuous_peak": "按完整兼容包报价，避免重复器件：共享直流母线可循环功率，但仍需电网回馈、额定制动电阻或定容储能之一吸收残余/同时减速能量；这些功能可共存，不能把共享母线当唯一能量汇；连续热功率和单次能量均核算",
      "precision_calibration": "须含母线过压保护及最坏停止测试；动力循环不是所有轴机械功率相加即净热",
      "environment": "散热件尽量温区；向冷室泄热列账",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "P01",
      "subsystem": "安全",
      "item": "安全继电器或安全PLC、STO及急停/护门联锁",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "人员防护与危险运动停止",
      "selection_inputs": "风险评估决定所需性能等级/停机类别；所有可达门/控制点",
      "continuous_peak": "至少5驱动轴安全接口；急停与门开停机/锁门、失电防坠、轮盘超速、过载/超温等独立保护；数量按最终门位/I/O图",
      "precision_calibration": "功能验证与故障注入记录；STO不等于机械停止或垂直防坠；不得宣称已认证",
      "environment": "按冷/温区位置分别选型",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "P02",
      "subsystem": "安全",
      "item": "双加载轴硬限位/原点、机械止挡及超载保护",
      "quantity": 2,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "每轴上/下行程保护及独立故障停止",
      "selection_inputs": "每轴上下2方向，共至少4方向限位；额外原点可复用经验证设备",
      "continuous_peak": "2套；机械止挡承载/缓冲吸能核算；测力超载阈值在最弱件额定以下确定",
      "precision_calibration": "硬件线路、控制联锁及极限状态试验；不能只用软件位置限位",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "M01",
      "subsystem": "机械与服务",
      "item": "机架、完整护罩、承载脚/移运附件",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "支承两岛与转盘；防卷入/甩出/飞溅",
      "selection_inputs": "整体质量、刚度模态、单轮不平衡、碎冰动能、通道和吊点",
      "continuous_peak": "按最终载荷包络与安装地面核算，脚轮只用于允许的移运工况",
      "precision_calibration": "加工/焊接/防腐、关键尺寸检查、护罩开门维护性与联锁验收",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "M02",
      "subsystem": "机械与服务",
      "item": "500mm试样盒/托盘、锁紧、冰/雪套筒及转移支撑",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "50mm冰与50mm底层+80mm雪两模式安全换样",
      "selection_inputs": "500mm试样、540mm盘；套筒随模式；伸出750mm、抬轮80mm为几何占位",
      "continuous_peak": "1工作套含两高度套筒；锁止防甩、支撑承载/防倾覆/跨接刚度须定型；抽拉不是已验证自动换样",
      "precision_calibration": "样盒定位重复性、盘面跳动、质量/平衡、锁到位检测；冰雪沉陷不能碰套筒",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "M03",
      "subsystem": "机械与服务",
      "item": "备用试样盒/轮胎耗材/密封带及专用工具",
      "quantity": 1,
      "unit": "套",
      "priority": "推荐单列",
      "alternative_group": null,
      "function": "缩短复冻换样与维护停机",
      "selection_inputs": "建议另报1备用盒、1对备用轮胎（含胎型证据）；耗材清单",
      "continuous_peak": "按批次寿命和低温兼容性说明，不暗含在主机不可比总价中",
      "precision_calibration": "轮胎批次/磨耗、密封件及皮带更换周期可追溯",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "Q01",
      "subsystem": "校准与交付",
      "item": "装机加载校准夹具、力臂、参考器具及工装",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "校准两独立力链、交叉轴干扰、轮径/位移/转速",
      "selection_inputs": "参考力/矩量程、几何力臂、−20°C校准方案",
      "continuous_peak": "夹具额定能力按最终量程；可使用可追溯参考器具/租赁服务并分列",
      "precision_calibration": "多点加载卸载、低力区、温漂/重复性、Fz加载下Ft串扰、线缆旁路检查；提供不确定度预算",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "Q02",
      "subsystem": "校准与交付",
      "item": "制造集成、运输安装、调试培训、文档与验收",
      "quantity": 1,
      "unit": "套",
      "priority": "必须",
      "alternative_group": null,
      "function": "可交付整机而非散件清单",
      "selection_inputs": "现场冷室尺寸/电源/排水/通道、装配质量、授权软件",
      "continuous_peak": "含包装运输保险、安装、培训、备件/质保、图纸电气图程序备份及维护手册；分列税运费",
      "precision_calibration": "工厂/现场验收：几何+低温空载+逐级载荷/转速+同步/安全+重复性；未冻结研究载荷不可当通过能力",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    },
    {
      "id": "X01",
      "subsystem": "冷环境配套",
      "item": "冷室/制冷容量接口核验与增容",
      "quantity": 1,
      "unit": "套",
      "priority": "条件另报",
      "alternative_group": null,
      "function": "确认既有冷室可容纳整机/换样并维持−20°C",
      "selection_inputs": "既有冷室净空、通道/穿舱、机内热源、空气循环、化霜和排水",
      "continuous_peak": "若已有合格冷室则仅核验接口，不重复采购新冷室；不足时单列制冷增容/新冷室",
      "precision_calibration": "稳态及试验周期温度均匀性验证；低温能力不是材料表温补的替代",
      "environment": "冷区最低−20°C；冷启动、凝露/结霜、密封及低温线缆需证明，电控优先置温区",
      "vendor_response": "逐项回填品牌型号/数量/包含件、额定连续及峰值(持续时间/占空比)、尺寸质量、接口、低温适用证据、精度与校准、交期质保、单价税运安装及偏离项；不得用单轴极限代替组合工况额定能力"
    }
  ],
  "daq_channel_budgets": {
    "minimum_research": {
      "force_logical_values": 4,
      "meaning": "每轮Ft/Fz；若此方案单独报价须另论证抗矩结构，主询价采用3轴"
    },
    "base_three_force": {
      "force_logical_values": 6,
      "actual_encoder_streams": 3,
      "vertical_position_streams": 2,
      "temperature_capacity_proposed": 8,
      "rotary_torque_optional": 2,
      "pressure_online_optional": 2
    },
    "upgrade_six_axis": {
      "force_moment_logical_values": 12,
      "actual_encoder_streams": 3,
      "vertical_position_streams": 2,
      "temperature_capacity_proposed": 8,
      "rotary_torque_optional": 2,
      "pressure_online_optional": 2
    },
    "physical_io_warning": "逻辑量不等于物理ADC数：桥式多轴可能有更多原始桥路；数字调理可不占模拟输入；编码器计数/现场总线独列，温度隔离模块独列；供应商提供实际通道表及20%以上扩展余量方案"
  },
  "illustrative_sizing": {
    "warning": "纯筛选算例：Fz=2000N/轮，μ=.1/.5，v=.5/1/2m/s均不是批准工况；r_eff暂用未加载参考半径.2235m，实测后替换；不含加速/损耗/安全裕度；零滑移下非零Ft是假定传递的静摩擦切向载荷，不是预测摩擦力；轮侧列值为功率幅值，可能被吸收/回馈而非正向输入",
    "formulas": [
      "|Ft|=μFz（筛选假定）；|T轮接触|=|Ft|*r_eff；T盘接触=R*(Ft1+Ft2)，Ft为盘对轮局部盘速正向力",
      "|P轮接触|=|Ft*ω轮*r_eff|；表中按零滑移近似ω轮*r_eff=v，给功率幅值；P盘输入接触项=v*(Ft1+Ft2)；轮输入接触项=−Ft*U",
      "按上述Ft符号，T轮驱动=−Ft*r_eff+J轮*α轮+有符号损耗项；T盘驱动=RΣFt+J盘*α盘+有符号损耗项；实际正负转动需按坐标重新映射",
      "减速比i=ωmotor/ωoutput：电动时Tmotor≈Tout/(iη)+电机侧惯性项；回馈方向效率另核",
      "按完整周期求电机T_RMS=√(ΣTj²tj/Σtj)，并检查各速度点连续热限制/峰值时间；驱动电流与冷启动另核",
      "参考测力接口r=(0,0,−h)：Mx=hFy、My=−hFt，h=.6085m；另叠加实际偏心/重量/惯性",
      "加载执行器力用全岛自由体平衡；驱动力不是恒等于Fz，也不等于必须200kg实体配重"
    ],
    "examples": [
      {
        "Fz_each_N": 2000,
        "mu": 0.1,
        "surface_speed_m_s": 0.5,
        "Ft_each_N": 200.0,
        "wheel_torque_contact_only_Nm": 44.7,
        "table_torque_two_equal_resisting_contacts_Nm": 56.0,
        "power_contact_per_wheel_W": 100.0,
        "table_contact_power_two_W": 200.0,
        "table_rpm": 34.105,
        "wheel_rpm_zero_slip_reference": 21.363,
        "sensor_My_abs_contact_only_Nm": 121.7
      },
      {
        "Fz_each_N": 2000,
        "mu": 0.1,
        "surface_speed_m_s": 1,
        "Ft_each_N": 200.0,
        "wheel_torque_contact_only_Nm": 44.7,
        "table_torque_two_equal_resisting_contacts_Nm": 56.0,
        "power_contact_per_wheel_W": 200.0,
        "table_contact_power_two_W": 400.0,
        "table_rpm": 68.209,
        "wheel_rpm_zero_slip_reference": 42.726,
        "sensor_My_abs_contact_only_Nm": 121.7
      },
      {
        "Fz_each_N": 2000,
        "mu": 0.1,
        "surface_speed_m_s": 2,
        "Ft_each_N": 200.0,
        "wheel_torque_contact_only_Nm": 44.7,
        "table_torque_two_equal_resisting_contacts_Nm": 56.0,
        "power_contact_per_wheel_W": 400.0,
        "table_contact_power_two_W": 800.0,
        "table_rpm": 136.419,
        "wheel_rpm_zero_slip_reference": 85.452,
        "sensor_My_abs_contact_only_Nm": 121.7
      },
      {
        "Fz_each_N": 2000,
        "mu": 0.5,
        "surface_speed_m_s": 0.5,
        "Ft_each_N": 1000.0,
        "wheel_torque_contact_only_Nm": 223.5,
        "table_torque_two_equal_resisting_contacts_Nm": 280.0,
        "power_contact_per_wheel_W": 500.0,
        "table_contact_power_two_W": 1000.0,
        "table_rpm": 34.105,
        "wheel_rpm_zero_slip_reference": 21.363,
        "sensor_My_abs_contact_only_Nm": 608.5
      },
      {
        "Fz_each_N": 2000,
        "mu": 0.5,
        "surface_speed_m_s": 1,
        "Ft_each_N": 1000.0,
        "wheel_torque_contact_only_Nm": 223.5,
        "table_torque_two_equal_resisting_contacts_Nm": 280.0,
        "power_contact_per_wheel_W": 1000.0,
        "table_contact_power_two_W": 2000.0,
        "table_rpm": 68.209,
        "wheel_rpm_zero_slip_reference": 42.726,
        "sensor_My_abs_contact_only_Nm": 608.5
      },
      {
        "Fz_each_N": 2000,
        "mu": 0.5,
        "surface_speed_m_s": 2,
        "Ft_each_N": 1000.0,
        "wheel_torque_contact_only_Nm": 223.5,
        "table_torque_two_equal_resisting_contacts_Nm": 280.0,
        "power_contact_per_wheel_W": 2000.0,
        "table_contact_power_two_W": 4000.0,
        "table_rpm": 136.419,
        "wheel_rpm_zero_slip_reference": 85.452,
        "sensor_My_abs_contact_only_Nm": 608.5
      }
    ],
    "energy_note": "驱动盘/轮可在共同母线内部循环功率，不可将盘输出与轮吸收机械功率绝对值相加作为净冷室热负荷。滑动接触热约Σ|Ft*(v盘−v轮)|，另加橡胶滞后/滚阻、传动/电机损耗及冷区制动电阻散热；反向/滑移状态须按能量守恒核账。"
  },
  "freeze_inputs": [
    "每轮Fz最小/最大/载荷谱及允许动态超调",
    "Ft/Fy与滑移/速度/加速度包络、持续时间及重复周期",
    "实际加载半径/接触斑/轮胎压缩和雪沉陷",
    "移动岛质量/质心、轮盘转动惯量与传动效率",
    "最小可辨μ差及不确定度目标、所需动态频带",
    "冷室现场接口及已含设备清单"
  ],
  "sources": [
    {
      "id": "ATI",
      "title": "ATI Force/Torque FAQ，传感器选型、量程/过载与系统接口",
      "url": "https://www.ati-ia.com/zh-CN/library/documents/FT_FAQ.pdf",
      "use": "只用于支持力矩/组合负载、系统接口及校准必须分别核验，不是型号推荐"
    },
    {
      "id": "NI",
      "title": "NI DAQmx Synchronization",
      "url": "https://www.ni.com/en/support/documentation/supplemental/10/synchronization-explained.html",
      "use": "支持共享时基/同步和扫描延迟核验，不保证任何未选硬件性能"
    },
    {
      "id": "BECKHOFF",
      "title": "Beckhoff holding-brake configuration",
      "url": "https://infosys.beckhoff.com/content/1033/ax5000_function_doku_hw2/3274532875.html",
      "use": "支持保持制动与工作制动的区分，具体额定数据由所选产品证明"
    }
  ]
}