1540results about "Linear/angular speed measurement" patented technology

The invention provides an unmanned aerial vehicle motor rotating speed control method based on active disturbance rejection. The method comprises the following steps: 1) measuring the rotating speed of a motor by adopting a high-precision rotating speed sensor based on a quantum effect; 2) designing a tracking differentiator TD to smooth an expected rotating speed, and outputting a rotating speed tracking signal and a rotating speed tracking signal change rate; 3) introducing a dynamic weight matrix to form a dynamic weight expansion state observer DWESO, and taking an output state variable estimation value and a total disturbance estimation value as the input of the NLSEF; 4) automatically searching the optimal combination of the gain parameters of the DWESO by adopting an ALA (artificial Louver Mouse Algorithm), so that the optimal state variable estimation value and the optimal total disturbance estimation value are output to the NLSEF; compared with the prior art, the method for controlling the rotating speed of the unmanned aerial vehicle has the advantages that the dynamic response speed, the anti-jamming capability and the parameter adaptability of the system are remarkably improved, and the flight performance and the robustness of the unmanned aerial vehicle are improved.

An electrical propulsion system for a vertical take-off and landing (VTOL) aircraft comprises an electrical motor assembly and an inverter assembly. The inverter assembly comprises a housing, a capacitor assembly, at least one printed circuit board assembly (PCBA), and a plurality of positioning pins. The capacitor assembly comprises a center hole, at least one capacitor, a capacitor housing having at least one busbar, and a plurality of through holes in the capacitor housing. The capacitor assembly and the at least one PCBA are positioned inside the housing. The plurality of positioning pins pass through the through the plurality of through holes of the capacitor housing and the at least one PCBA and are connected to the housing.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle power control system based on fault detection. The system collects state data of each component of the unmanned aerial vehicle in real time, the data calculation module accurately calculates key parameters such as battery remaining capacity and energy, fault states such as over-charging, over-discharging and temperature abnormity of the battery are rapidly judged, and meanwhile, the rotating speed and the load condition of the motor are monitored; the power management module dynamically calculates residual flight time and an optimal power distribution strategy according to data monitored in real time, power output can be rapidly adjusted when abnormal conditions are detected, and the feedback control module controls the power distribution strategy according to the flight attitude angle of the unmanned aerial vehicle. The power output of the motor is adjusted in real time, the power management and fault detection capability of the unmanned aerial vehicle in a complex environment is remarkably improved, the problems of over-charging, over-discharging and the like of the battery are effectively avoided, and the safety and reliability of the unmanned aerial vehicle are enhanced.

The invention belongs to the technical field of sintering pallets, and particularly discloses a sintering pallet motor fault monitoring system which comprises a data acquisition module, a model construction module, a hidden danger judgment module, an early warning module, a cloud collaboration module and a database. The data acquisition module is used for acquiring temperature, vibration, current and rotating speed data and analyzing the characteristics of temperature rise rate, spectrum asymmetry, harmonic content, rotating speed fluctuation and the like; the model construction module extracts a characteristic set of winding overheating, bearing wear, current imbalance and rotating speed abnormity based on historical fault data, and establishes an intelligent identification model; the hidden danger judgment module analyzes and determines the fault risk according to the matching degree of the real-time operation data and the model, and the early warning module evaluates the fault type and grade according to the matching degree. According to the system, through multi-source data fusion and intelligent model matching, real-time monitoring, accurate diagnosis and active early warning of motor faults are realized, and the operation reliability of equipment is effectively improved.

The present invention relates to the technical field of bridge construction, and in particular to a method for constructing a sliding hanger across a continuous beam closure section of an existing line, comprising: installing a construction track above the section to be closed, mounting the hanger on the track through a suspension system, preliminarily determining the diameter and quantity of the fine-rolled steel according to the weight of the hanger, and verifying it according to the construction duration. The hanger is moved to determine its stability with the suspension system, and after the closure section is rotated and raised, the hanger is moved to the closure area for construction, and is returned and removed after completion. The present invention avoids long-term and large-scale installation and removal of hangers above existing lines through the construction of sliding hangers, reduces interference with the operation of existing lines, and reduces safety risks. Its installation, positioning and removal are simple and quick, shortening the construction period and improving efficiency. During construction, the performance of the hanger is accurately measured and controlled, and verified to ensure construction quality, reduce costs, and have good economic benefits.

The invention discloses a low-altitude target sensing method, a low-altitude target sensing device and a low-altitude target sensing system based on multi-base station cooperation. The low-altitude target sensing method comprises the following steps: performing down-conversion, cyclic prefix removal, discrete time sampling and DFT on a received time domain OFDM signal to obtain a frequency domain discrete signal observed quantity; smoothing the frequency domain discrete signal observed quantity into a plurality of sub-signal observed quantities by constructing a reconstruction rotation matrix and a reflection coefficient matrix; obtaining a parameter estimation result by using a four-dimensional joint ESPRIT algorithm; clustering the positioning estimation result of each ISAC base station by setting a threshold value; and based on the positioning estimation result of each ISAC base station, analyzing to obtain the real movement speed of the low-altitude target. Aiming at a one-transmitting-multiple-receiving multi-base-station cooperative sensing low-altitude target scene, multiple receiving stations cooperatively fuse the sensing data of each station, perform cooperative positioning on a low-altitude target, analyze the real three-dimensional speed of the target, fully utilize the observation information of each base station, and combine the good anti-interference performance and multi-carrier characteristics of OFDM signals, so that the multi-base-station cooperative sensing low-altitude target positioning method is realized. And multi-parameter joint estimation of the low-altitude target is realized.

The invention relates to the field of water cloth wrapping and unwrapping machines, in particular to an automatic water cloth wrapping and unwrapping machine running state monitoring method and system. The method comprises the following steps: acquiring observation data at a target moment; constructing a window, constructing a coordinate system by taking the serial number of the sampling moment in the window as an abscissa and the rotating speed as an ordinate, and calculating the initial noise probability of the target moment according to the position of the sampling moment in the coordinate system; constructing the rotating speed at each sampling moment in the window into a rotating speed sequence, constructing the traction speed at each sampling moment in the window into a traction speed sequence, and calculating a correction factor according to the rotating speed sequence and the traction speed sequence for correcting the initial noise probability to obtain a final noise probability; and determining the filtering length of the observation data according to the final noise probability, and filtering the observation data by using Vondrak to complete state monitoring. According to the technical scheme, the accuracy of the monitoring result of the running state of the water cloth wrapping and unwrapping machine can be improved.

The invention discloses a pump set vibration monitoring method and system based on distributed sensing. The method comprises the steps that vibration collection signals and real-time working condition parameters of distributed sensing nodes are obtained, multi-node clock synchronization correction is executed, and synchronous vibration data frames are formed; time-frequency feature extraction is carried out on the multi-channel vibration data set, abnormal channels are identified through inter-channel consistency analysis, a local fault correlation frequency band is extracted, and a vibration feature vector is constructed; associating the vibration feature vector with a real-time working condition parameter to form a working condition-feature mapping table, identifying a feature mutation rotating speed point for the feature baseline, adaptively dividing a rotating speed interval to generate an adaptive working condition threshold value, and implementing out-of-limit detection to generate an abnormal trigger identifier; determining a traceability analysis window based on the abnormal trigger identifier, and executing multi-measuring-point coherence calculation and energy attenuation gradient analysis to construct an energy transfer link diagram; and finally, vibration source position positioning is performed to form fault source probability distribution, a fault mode label is matched, pump set vibration monitoring is completed, and quantitative positioning of a fault source is realized.

The invention belongs to the field of hydraulic machinery state monitoring, and particularly discloses a digital twinning-based pumped storage unit shafting operation state monitoring method and system, and the method comprises the steps: building a multi-physics field coupling finite element full-order model of a pumped storage unit shafting, carrying out the model reduction of the finite element full-order model, and obtaining a digital twinning model; utilizing a multi-physics field coupling reduced-order model to construct a digital twinborn body of the pumping and storage unit shafting for real-time simulation; acquiring operation state data corresponding to the monitoring signal, and establishing an operation state knowledge base of the pumped storage unit; and according to the established virtual-real interaction subsystem, the three-dimensional visualization subsystem and the operation state knowledge base, constructing an operation state monitoring system of the pumping and storage unit shaft system, and performing real-time data transmission of the operation state monitoring system by using a sensor so as to evaluate the operation state of the pumping and storage unit in real time and realize operation state early warning of the pumping and storage unit. According to the invention, the real-time performance of monitoring the operation state of the shaft system of the pumping and storage unit can be improved, and the monitoring efficiency is further improved.

The present invention discloses a target tracking method, device, system and program product based on pan-tilt linkage, and relates to the technical field of target tracking. In order to solve the defects that the existing pan-tilt linkage imaging devices use single coordinate and position information when tracking targets, which may lead to target loss and poor automatic tracking accuracy, the method includes: obtaining the tracking target; obtaining the target movement speed of the tracking target relative to the search device or tracking device that collects the tracking target; obtaining the pan-tilt movement speed of the pan-tilt device connected to the tracking device; and controlling the movement of the tracking device according to the target movement speed and the pan-tilt movement speed. The present invention is mainly used for tracking targets.

The invention relates to the technical field of data processing, in particular to an engine running state monitoring method and system, and the method comprises the steps: obtaining a vibration signal and a crankshaft rotating speed signal of an engine in real time, and converting the vibration signal from a time domain to an angle domain by taking the crankshaft rotating speed signal as a reference; performing order spectrum analysis on the vibration signal in the angle domain to generate a real-time order spectrum, and comparing the real-time order spectrum with a reference order spectrum to determine the energy deviation of each order; meanwhile, extracting waveform segments of each order in a plurality of continuous periodic vibration signals, and calculating the similarity between the waveform segments so as to evaluate the morphological dispersion degree and quantify the morphological stability degree; and finally, the energy deviation and the form stability degree are fused, the comprehensive fault risk index of each order is determined, and the operation state of the engine is monitored based on the comprehensive fault risk index of each order. The method improves the accuracy and reliability of engine state monitoring.

The invention provides a motor control method, which comprises the following steps: acquiring operation parameters of a motor, the operation parameters comprising current I, resistance R and rotating speed n; acquiring the temperature rise rate of the motor according to the operation parameters; obtaining a motor temperature change curve T (t) according to the temperature rise rate; and comparing the current operating temperature of the motor with the motor temperature change curve T (t) so as to control the motor to send out an early warning signal or control the motor to operate normally. The problem that motor aging is accelerated due to lagging of motor heat detection in the prior art is solved.

An electrical propulsion system comprises an inverter, an electrical motor assembly, an assembly, and a rotor position sensor. The inverter comprises a printed circuit board assembly (PCBA). The electrical motor assembly comprises a stator and a rotor. The assembly is configured to rotate a propeller and comprises a moving component and a stationary component. The rotor position sensor comprises at least one sensor coupled to the PCBA, and a magnet located on the moving component. The at least one sensor is configured to detect a magnetic field of the magnet through the stationary component.

The invention discloses a grease lubrication friction electricity passive wireless rotating speed sensor for bearing slip monitoring, which comprises two bearing seat cover bodies for mounting a bearing body, a friction nanometer generator, a signal processing module and a power supply management module, and is characterized in that the friction nanometer generator consists of a rotor unit and a stator unit; the inner ring surface of the bearing body is fixedly connected with a rotating shaft, and the rotating shaft can sequentially drive the bearing retainer and the rotor unit to rotate so as to output electric energy. The rotor unit and the stator unit are arranged, an interface grease lubrication strategy is utilized, the energy supply level and durability of the friction nanometer generator are improved at the same time, and wireless real-time monitoring of the slipping state of the bearing body in a compact space in a transmission system can be achieved without the help of an external power source; the working reliability and the intelligent operation and maintenance level of mechanical equipment are improved, and high-performance operation of high-end equipment is further guaranteed.

The multiple rotation angle detection device includes a segment counter that counts segments obtained by dividing one rotation period of a rotating body into two in an angle range exceeding one rotation to generate a count value, a precision absolute angle detector that generates an absolute angle detection value within one rotation period with high resolution, and a calculation device that integrates the count value and the absolute angle detection value to generate a multiple rotation absolute angle detection value. The segment counter includes a power generation sensor, a magnetic field generation source, a sensor element, and a non-volatile memory that stores the count value and information that can identify pulse information. The pulse information includes the output state of the sensor element and the polarity of the pulse voltage. The magnetic field generation source applies an alternating magnetic field of two periods per rotation in the axial direction of the magnetic wire. When power is supplied from an external source, the calculation device performs calculation for integration using the count value stored in the non-volatile memory and the information that can identify pulse information.

Provided is an electric power generating element and the like that are easy to appropriately apply a magnetic field to a magnetic body and easy to be manufactured. Electric power generating element (32) includes magnetic body (40) that exhibits a large Barkhausen effect, coil (42) wound around magnetic body (40), first soft magnetic body (44) positioned outside coil (42) in a winding axis line direction in which winding axis line (B) of coil (42) extends and positioned outside magnetic body (40) in a radial direction around winding axis line (B), and filling member (48) that includes a second soft magnetic body and fills a gap between magnetic body (40) and first soft magnetic body (44).

An electrical propulsion system for a vertical take-off and landing (VTOL) aircraft comprises an electrical motor assembly and an inverter assembly. The inverter assembly comprises a housing, a capacitor assembly, at least one printed circuit board assembly (PCBA), and a plurality of positioning pins. The capacitor assembly comprises a center hole, at least one capacitor, a capacitor housing having at least one busbar, and a plurality of through holes in the capacitor housing. The capacitor assembly and the at least one PCBA are positioned inside the housing. The plurality of positioning pins pass through the through the plurality of through holes of the capacitor housing and the at least one PCBA and are connected to the housing.

The invention relates to a railway track abrasion detection method and system, and aims to realize accurate and efficient detection of turnout sharp point rail abrasion. A detection device carrying a 3D camera, a speed sensor, a signal processing module and a data processing terminal is arranged in a turnout area to be detected, parameter configuration is completed, in the constant-speed moving process, the speed sensor generates a trigger signal according to the specified distance, the 3D camera is driven to synchronously collect point cloud data of the two-dimensional contour of the cross section of the sharp point rail, and a three-dimensional data stream is formed; after data are denoised, section registration splicing and three-dimensional model reconstruction are completed in combination with distance stamps, an actual measurement model and a standard contour model are superposed and compared, abrasion parameters are calculated, and the maximum abrasion point and position are recognized; and finally presenting the abrasion data in the forms of a color cloud picture, a table and the like, and automatically generating a standard detection report containing the contents of line information, defect types and the like. According to the method, automation and visualization of abrasion detection are achieved, the detection precision is high, the efficiency is high, and reliable data support is provided for track maintenance.

An assembly is provided for a turbine engine. This turbine engine assembly includes a rotating assembly configured to rotate about an axis. The rotating assembly includes an engine component and a phonic wheel. The engine component includes a first material and a plurality of apertures arranged circumferentially about the axis. The phonic wheel includes a second material and a plurality of teeth arranged circumferentially about the axis. Each of the teeth projects axially into a respective one of the apertures. One of the first material and the second material is or otherwise includes non-ferromagnetic material. Another one of the first material and the second material is or otherwise includes ferromagnetic material.

The invention discloses a bearing fault detection method based on an auto-encoder reconstruction error. The method belongs to the technical field of mechanical system fault detection, and comprises the following operation steps: selecting a sensor type, determining an installation position and setting related parameters; acquiring one-dimensional synchronous vibration data of k groups of bearings under normal working conditions, and respectively preprocessing the one-dimensional synchronous vibration data; training and testing an auto-encoder model by using the preprocessed data; obtaining one-dimensional synchronous vibration data of the real-time working condition of the bearing, and performing preprocessing; reconstructing the preprocessed real-time working condition data by using the trained auto-encoder model, and calculating a reconstruction error E; judging whether a fault occurs or not; according to the bearing fault detection method based on the self-encoder reconstruction error, the bearing fault can be effectively and reliably detected; the invention belongs to an artificial intelligence algorithm, and needs less manual expert knowledge; when the self-encoder model is trained, only the data in the healthy state of the bearing is used, and the problem of insufficient data volume during model training is solved.

The invention discloses a low-power-consumption winch sensor based on a tunneling magnetoresistance effect. The low-power-consumption winch sensor comprises a measurement module, a signal conversion unit, a shell, a mandrel, a magnetic rotary disc and a detection assembly. The magnetic turntable and the mandrel are connected and rotate synchronously, the detection assembly comprises a TMR sensing element and N magnets, and the magnetic turntable is provided with mounting blind holes for embedding the magnets; the TMR sensing element is arranged on the shell and comprises a mounting plate and two sensing units, the magnetic domain directions of the two sensing units are perpendicular to the rotation axis, magnetic resistance signals of the two sensing units are converted through the signal conversion unit and input into the measuring module, the horizontal distance between the centers of the two sensing units and the magnet and the rotation axis is R, and the center distance L of the two sensing units is smaller than R * sin (180 degrees / N); the sensor is based on the TMR tunneling magnetoresistance effect, is high in detection sensitivity and low in energy consumption, outputs square wave signals with phase differences, can be used for a measurement module to accurately analyze and calculate the rotating speed and the rotating direction of a winch roller, is simple in overall structure, small in radial size and easy to install, and the installation precision is controlled.

The invention provides a range extender operation safety monitoring method and device and terminal equipment, and is suitable for the technical field of new energy automobiles, and the method comprises the steps: obtaining operation parameters, operation parameter duration and operation mode information of a range extender; based on the operation mode information, calculating an operation parameter threshold according to the operation parameters; and obtaining safety monitoring information of the range extender according to the operation mode information, the operation parameter, the operation parameter duration, the operation parameter threshold, a preset target parameter and a preset duration threshold. Real-time monitoring is carried out through the operation parameters and the operation parameter duration time of the range extender, and fault pre-judgment is carried out on the range extender in different operation states through the change condition and the operation parameter duration time of the range extender, so that the range extender can be monitored before the range extender breaks down. And measures are taken in advance in time aiming at possible faults of the range extender, so that the safety and the reliability in the running process of the range extending type automobile are improved.

A vehicle includes a mixing drum rotatably coupled to a chassis, a fill level sensor configured to provide a signal indicative of a fill level of a material within the mixing drum, an axle assembly including a first tractive element, a suspension actuator coupled to the axle assembly and configured to apply a biasing force that forces the first tractive element into engagement with a ground surface, a lift axle including a second tractive element, a lift actuator coupled to the lift axle, and a controller. The controller is configured to calculate a target weight to be supported by at least one of the first tractive element or the second tractive element based on the fill level of the material within the mixing drum and control the suspension actuator to vary the biasing force based on the target weight.

A system and method for determining a position and or speed of a rotating shaft includes a target wheel for securement to a rotatable shaft, the target wheel including a plurality of North / South pole pairs, each pole of each North / South pole pairs being essentially the same size; and a sensor assembly. The sensor assembly includes a first magnetic sensor array for sensing the pole pairs to provide a cosine signal and a sine signal and a second magnetic sensor array for sensing the pole pairs to provide a cosine signal and a sine signal, wherein the second magnetic sensor array is disposed transverse to the first magnetic sensor array. An electronic processor is configured to receive inputs from the first magnetic sensor array and the second magnetic sensor array, and to determine a position and / or speed of the shaft.

The invention discloses a speed measurement method of an optimized speed observer, relates to the technical field of vehicle power control, and solves the problem that a small negative value is easily taken as a large positive value or a small positive value is easily taken as a large negative value due to the fact that a deviation angle crosses a period in angle error calculation of an existing speed observer. The speed measurement method comprises the following steps: the acquisition and processing module acquires and processes a pulse signal of the encoder to obtain a feedback angle; an angle estimation value is calculated; taking the difference between the feedback angle and the angle estimation value as a deviation angle, and performing nonlinear compensation to obtain an angle deviation value; inputting a matrix operation framework of a speed observer, and outputting a linear acceleration estimated value; the pulse signal of the encoder is collected and processed again, a feedback angle is obtained, M-method operation and filtering processing are carried out on the feedback angle and the last feedback angle, and the feed-forward speed is obtained; and the speed observer performs weighted fusion operation on the linear acceleration estimated value, the angle deviation value and the feedback angle to obtain a final angular velocity estimated value, so that a final estimated angle is obtained, and velocity measurement is completed.

The invention provides a wheel speed detection device and a chip system. The wheel speed detection device comprises a first comparator, a second comparator and a signal analyzer, the first comparator and the second comparator are respectively configured with different reference voltages, and the input end of the first comparator and the input end of the second comparator are used for receiving voltage signals generated by the same wheel speed sensor; and the signal analyzer is used for analyzing the wheel speed information according to the first comparison signal output by the first comparator and the second comparison signal output by the second comparator. Thus, the input signal is subjected to multi-threshold judgment by using a double-comparator structure, so that sensor signals of different current levels can be identified and analyzed uniformly, and compatible processing of sensor signals of multiple protocols is realized. Therefore, the problem that the overall system cost is increased due to hardware redundancy and system complexity increase in a traditional scheme is avoided, and the universality and the integration capacity of the interface module are effectively improved in a low-cost mode.

The invention discloses a detectability quantitative model and a filtering method for an underwater multi-source autonomous navigation system, and belongs to an underwater robot integrated navigation and integrated positioning technology. The method comprises the following steps: firstly, respectively carrying out error modeling on SINS, DVL and USBL sensors based on an SINS / DVL / USBL integrated navigation model; establishing a multi-dimensional detectability quantitative model from four dimensions of coverage rate, accuracy rate, real-time rate and availability rate; and finally, based on the established detectability quantitative model, the detectability of the sensor is incorporated into an adaptive Kalman filtering algorithm so as to optimize the problem of computing resource allocation during data fusion. Compared with a traditional detectability method, the underwater environment interference is considered to establish a multi-dimensional detectability quantitative model, a corresponding algorithm is proposed to dynamically allocate computing resources, and the precision and robustness of the underwater vehicle multi-source autonomous navigation system are further improved.

The invention provides a road surface recognition method, electronic equipment, a medium and a vehicle. The road surface recognition method is applied to a multi-motor driven vehicle and comprises the following steps: acquiring a wheel speed signal of a wheel directly driven by each motor; obtaining frequency domain characteristics of each wheel speed signal; and obtaining a road surface identification result based on the frequency domain feature of each wheel speed signal and a pre-established road surface discrimination rule. Through the identification method, different types of pavements can be accurately identified.

The invention discloses a motor vehicle exhaust monitoring and early warning method based on the Internet of Things, and particularly relates to the field of motor vehicle exhaust monitoring, and the method comprises the steps of reference matrix construction and storage, real-time data acquisition, vehicle working condition exhaust concentration weighted comprehensive deviation degree calculation, secondary check, standard exceeding judgment, graded early warning and reference matrix iterative optimization. According to the invention, a three-dimensional tensor exclusive reference matrix is constructed for each registered motor vehicle through the cloud system, the roadside sensing module is combined to collect the multi-component concentration, speed and acceleration data of the tail gas, and the weighted comprehensive deviation degree is quantitatively calculated through matrix operation, so that high-precision tail gas standard exceeding judgment is realized; according to the method, the reference matrix is dynamically optimized through the recursive least square method, monitoring failure caused by misinformation, missed information and reference disjunction is avoided, the environmental protection supervision efficiency is improved, unnecessary supervision resource waste is reduced, and long-term accurate operation of a monitoring system is guaranteed.

This invention discloses a servo-elastic stabilization method based on multi-sensor information fusion, belonging to the field of flight control. Specifically, it involves: extracting and modeling the main load-bearing structure of the aircraft; calculating the modal frequencies, mode shapes, and mode shape slopes of the aircraft under unconstrained conditions; then combining the aircraft, a first sensor, servo motors, and the control system to form a closed-loop servo-elastic system; calculating the open-loop system transfer function from the control input to the feedback input of the control system, drawing an open-loop Bode plot, and determining the dangerous frequencies and corresponding dangerous natural modes; based on this, placing a second angular velocity sensor on the aircraft; then calculating and correcting the weighting coefficients of the two angular velocity sensor signals, and introducing the weighted signal into the control system instead of the original signal; comparing the system characteristics to ensure the servo-elastic stability of the aircraft without affecting the rigid body phase and amplitude.