39results about "Speed/accelaration control using electric means" patented technology

This invention discusses relevant aspects of the operating principles of bicycles and, from there, devised a method for bicycle-type vehicles (vehicles with front and rear wheels, such as bicycles, electric bicycles, and motorcycles) to travel according to directional requirements in an automatic control mode. [Solution] This replaces the driver's vehicle balance sensing and control actions. In this invention, a straight line determined by the ground contact points of the bicycle's two wheels is used as the axis of rotation, and the rotational motion of the vehicle body relative to this axis is controlled by controlling the change in the steering angle of the directional wheels through the measurement and calculation of related variables. Control requirements for this motion are set in combination with travel direction adjustment requirements, thereby unifying vehicle balance control and travel direction adjustment.

A method comprises: applying, by a motor controller of an electric motor, a bandpass filter to a signal from a sensor on a rotor of the electric motor, the signal indicating rotational speed of the rotor to detect a torsional oscillation or vibration in a driveline of the electric motor to be attenuated; providing the filtered signal to a proportional derivative controller configured for disturbance rejection; generating, by the proportional derivative controller, an attenuation signal for attenuating the torsional oscillation or vibration in the driveline; combining the attenuation signal with a driver torque command signal to produce a combined torque command signal, the driver torque command signal indicating an amount of torque requested from the electric motor; and producing torque with the electric motor based on the combined torque command signal.

This application relates to a high-precision motion control system and method for a coordinate measuring machine (CMM). The high-precision motion control system includes: a control handle for generating a corresponding target control signal in response to control operations; a motion controller communicatively connected to the control handle and the CMM; the motion controller receives the target control signal, queries a preset control curve based on the target control signal, determines the speed control coefficient corresponding to the target control signal, generates a target control command for controlling the probe based on the speed control coefficient, and sends the target control command to the CMM; wherein the target control command controls the movement direction and speed of the probe for measuring the workpiece. This solves the problems of low efficiency and poor accuracy caused by inflexible speed control in manual operation, improves the flexibility and accuracy of speed control in manual operation of the CMM, thereby enhancing measurement efficiency and reliability.

The application provides a turnout beam, which comprises a plurality of beam body units connected in sequence, the beam body unit comprises a box beam, an inner lateral transverse rib plate and a side edge assembly, a plurality of inner lateral transverse rib plates and a plurality of side edge assemblies are arranged on both sides of the box beam along the length direction at intervals, and the inner lateral transverse rib plates and the side edge assemblies on both sides of the box beam are symmetrically arranged; the length direction of the side edge assembly is parallel to the length direction of the box beam, a single side edge assembly is connected with a plurality of inner lateral transverse rib plates corresponding to the single side edge assembly, and the upper top surface of the side edge assembly is flush with the upper top surface of the box beam. The structural form of the turnout beam of the application can effectively reduce the driving force required when the line type is switched, compared with the existing turnout beam. The application further provides a high-speed magnetic levitation turnout and a switching control method thereof, the switching time is less than or equal to 24s, the lateral line type precision error is within 2mm per full line length, the line type fitting precision is not less than the existing eight-car arrangement scheme, and the driving force is much smaller than the three-car arrangement scheme.

This application discloses a robot speed control method, including: Step A, the robot calculates the command speed and the measured speed according to the kinematic model; then executes Step B; Step B, the robot adjusts the command speed to fall within the measured speed disturbance range by performing a bisection method; then executes Step C; Step C, the robot calculates the cosine similarity using the measured speed and the command speed falling within the measured speed disturbance range; then executes Step D; Step D, when the cosine similarity falls within the fit range of the motor response curve, the disturbance parameter corresponding to the measured speed is configured as the optimal response limit parameter of the motor, and the command speed falling within the measured speed disturbance range is configured as the optimized motion speed, so that the robot walks according to the optimized motion speed.

The application provides a floating body anchor pile steel wire rope automatic adjusting system and method. The adjusting system comprises a floating body square matrix, an anchor pile fixed on the water bottom and an anchoring steel wire rope connecting the floating body square matrix and the anchor pile, further comprises a displacement sensor installed on the floating body square matrix, a tension sensor installed on the anchoring steel wire rope, an electric winding mechanism for controlling the anchoring steel wire rope and a controller; the signal output ends of the displacement sensor and the tension sensor are connected with the signal input end of the controller, and the signal output end of the controller is connected with the control end of the electric winding mechanism; by presetting the partition tension threshold value, the anchor block adaptation coefficient and the storm mode parameters, the tension and water level data are collected in real time, and after the terrain compensation algorithm processing, the rope length is automatically adjusted. The application is suitable for ±3m water level fluctuation and 0-50m / s wind speed, does not need to transform the existing structure, significantly improves the anchoring stability, reliability and operation and maintenance efficiency, and reduces the labor cost and safety hidden danger.

The application provides a pickling unit automatic speed control method and system based on multi-factor constraints, and relates to the technical field of cold-rolled strip steel production. In view of the defects that the existing control relies on manual operation or primary automation and is difficult to cope with multiple constraints and instantaneous working conditions, the method comprises the following steps: constructing a multi-factor constraint model covering process, equipment, logistics, acid liquid and instantaneous working conditions; collecting corresponding data in real time; dynamically calculating a global optimal speed setting value through multi-layer decision logic, calculating a basic speed first and then superimposing an instantaneous working condition constraint, and directly triggering emergency disposal through high-priority alarm; issuing an instruction for execution and closed-loop feedback, and combining machine learning for self-learning optimization. The application realizes automatic intelligent control of the unit speed, guarantees quality and equipment safety, improves production efficiency and continuity, and reduces energy consumption cost.

The application relates to the technical field of mixer rotating speed control, and relates to a mixer rotating speed control method and system based on real-time feedback, which comprises the following steps: for each sampling period in a sampling period set, the following operations are performed: data of a mixer to be controlled is collected to obtain a current pulse value, an adjacent previous pulse value is obtained, a mixer rotating speed value is calculated based on a pulse difference value and the sampling period, fuzzy calculation is performed based on the mixer rotating speed value and a target rotating speed value to obtain a fuzzy rotating speed error and a fuzzy error change rate, a PID control amount is calculated based on the fuzzy rotating speed error and the fuzzy error change rate, rotating speed control is performed on the mixer to be controlled to obtain a controlled mixer, the controlled mixers are integrated to obtain a rotating speed control mixer, and the mixer based on the rotating speed control is used to complete the mixer rotating speed control based on the real-time feedback. The application can realize automatic adaptation of control parameters to working condition changes.

This invention discloses a self-moving device, comprising: a cutting component for cutting vegetation; a main body for supporting the cutting component; and a walking system for moving the main body. The walking system includes at least: walking wheels; a hub motor integrated within the walking wheels; and a control circuit for controlling the operation of the hub motor. The control circuit includes: a drive circuit comprising multiple switching elements for driving the hub motor; a detection circuit for acquiring the operating parameters of the hub motor; and a controller connected to the drive circuit, which outputs control signals based on the operating parameters to change the conduction state of the switching elements and control the hub motor speed to be greater than or equal to 8 rpm. By integrating the motor into the hub and implementing a low-speed control closed-loop design for the hub motor, the overall size and weight of the device are reduced, the low-speed control strategy is simplified, and the speed adjustment accuracy is high.

This utility model discloses an electric drive control system for high-speed precision seeding of maize, characterized by including a main controller, a host computer, a unit controller, a Hall sensor, a quadrature encoder, a DC brushed motor, a motor driver, a gearbox, and a seed guide tube; when the seed metering device is operating, the host computer sends the target rotation speed and seeding density parameters, counts through the Hall sensor, calculates the operating speed, and then feeds back the motor speed through the encoder. The logic adaptive PID dynamically adjusts and corrects the parameters to match the seed metering device speed with the operating speed, thereby achieving precise synchronization between the seed metering speed and the operating speed.

This invention relates to a method and system for identifying the load state of a paint disperser based on current characteristic analysis, relating to the field of paint dispersion. The method includes: Step 100: acquiring motor current; Step 101: determining the motor load based on the motor current; Step 102: determining the dispersion progress in response to the motor load; Step 103: determining the dispersion speed based on the dispersion progress; Step 104: generating and displaying paint dispersion information in response to the dispersion speed. This application improves the ease of use of paint dispersers and enhances the efficiency of paint dispersion.

This invention provides a green plant protection drone system and an intelligent spraying method. The system includes an ozone water preparation device, a drone unit, and a decision module. The ozone water preparation device, located on the drone unit, generates ozone water with a target concentration and spray volume based on ozone water concentration preparation parameters sent by the decision module. The drone unit drives the ozone water preparation device to release ozone water based on the target spraying route. The decision module inputs farmland environmental data and crop status data corresponding to the target spraying route into an ozone water intelligent decision engine to obtain ozone water concentration preparation parameters output by the engine. The ozone water intelligent decision engine is constructed based on an improved graph neural network and reinforcement learning algorithm. The improved graph neural network is trained based on an association graph constructed from farmland data, crop data, and environmental data. This invention improves the operational efficiency, precision, and intelligence of green plant protection equipment.

The application relates to a machine learning-based gravure water-based ink intelligent manufacturing method and system, and relates to the technical field of gravure water-based ink, which comprises the following steps: collecting ink specifications of gravure water-based ink; obtaining pigment aggregate specifications through the ink specifications; combining the pigment aggregate specifications with a preset fusion solution to obtain a detection shear force; obtaining a stirring speed according to the detection shear force; constructing a detection stirring model based on the pigment aggregate specifications, the fusion solution and the stirring speed; calling an aggregation range from the detection stirring model; obtaining a stirring specification according to the detection stirring model, the aggregation range and the stirring speed; obtaining a change specification according to the stirring specification and a preset reference specification, and controlling a preset stirring device to operate at the change specification and the stirring speed. The application has the effect of improving the manufacturing efficiency of gravure water-based ink.

The application belongs to the technical field of aero-engine control, and provides a reference rotating speed scheduling method and device for acceleration and deceleration of an aero-engine. The method comprises the following steps: training an agent dynamics model to learn transient state transition relationship through time sequence data (containing state variables and fuel actions); in a simulation environment constructed by the model, taking state variables and environmental parameters as inputs and fuel flow as actions, generating original control outputs through reinforcement learning strategy optimization, and the optimization process is based on a reward function and meets engineering constraints such as turbine inlet temperature, surge margin, rotating speed and fuel change rate; implementing governance processing on the original outputs to ensure that they meet the actuator dynamic limit; and taking the reference rotating speed sequence after the governance as a set point input into an inner loop tracking controller, and only using fuel as an actuator to complete the acceleration and deceleration transition by the controller. The application realizes intelligent rotating speed scheduling which is safe, smooth, constraint-compliant and only relies on a single actuator, and is suitable for the whole flight envelope.

A kind of rolling reaction force control method with adaptive function, including the following steps: starting equipment, set parameters in control box;Production mode setting;Electric push rod is started to drive rotary lever rotation, realize discharge port closure;Electric push rod is started to drive seat plate and each component on it rise to the highest position, cantilever makes suspension cover turn to vertical, manually or by conveyor to rolling barrel feeding;After feeding is completed, electric push rod is started to drive seat plate and each component on it drop to preset position, cantilever makes suspension cover turn to horizontal;Motor is started to run according to the set parameters, drive arm movement to drive barrel frame eccentric rotation relative to rolling disc center, tea base gradually forms strip in the space composed of rolling disc, suspension cover and rolling barrel and interacts with rib;Rolling disc discharge port opens, tea base is transported out of rolling barrel, realizes discharge through the discharge port of rolling disc, and rolling process is completed.Rolling force process is matched with rolling barrel speed, realizes fine control of rolling process, and improves tea quality.

The application relates to a satellite-borne servo antenna control system based on a heterogeneous FPGA and a control method thereof, and belongs to the technical field of satellite-borne servo antenna control. The system comprises a heterogeneous FPGA, an S-shaped curve planner, a position type PID controller, a micro-step subdivision controller, a double-H-bridge driving chip, a stepping motor, a double-channel rotary transformer and a rotary transformer decoding chip; the heterogeneous FPGA comprises a PS end and a PL end. The system constructs a software and hardware collaborative control architecture based on the heterogeneous FPGA, places complex trajectory planning and PID calculation control algorithms in the PS end to improve development flexibility and maintainability, and places high real-time micro-step subdivision control in the PL end to ensure control certainty. On this basis, through feedforward-feedback compound closed-loop control formed by the PS end and the PL end, the smoothness of an antenna operation trajectory and high tracking precision are ensured, and jitter in the stepping motor control process is optimized.

The present invention relates to the technical field of hull cleaning vehicle control methods. Disclosed is a reinforcement learning-based control method for a differential steering drive system of a wall‑climbing cleaning vehicle. The method comprises the following steps: model establishment: modeling a differential steering drive control process of a wall-climbing cleaning vehicle as a Markov decision process; completing the definition of a state space and an action space; constructing a state transition model of a differential steering drive system; acquiring current state data, and generating a steering wheel speed and steering time allocation strategy by means of the model; executing a steering action strategy, and updating the state data when an action is executed; returning a reward on the basis of an actual execution effect to evaluate whether the action strategy is good or not; performing model optimization by means of an experience replay buffer; and resetting a scene, continuing training until the model converges, and finally obtaining a trained differential steering drive system model. The present invention reduces the complexity of path planning and control algorithms, meets the requirement of maximizing coverage cleaning, and simplifies path planning and control algorithms.

This invention provides an intelligent speed control method, device, and system for a compressed garbage truck, comprising: acquiring operating parameters of the working mechanism and drive mechanism during vehicle operation; determining the current operating state of the vehicle based on the operating parameters; matching a target speed control rule corresponding to the current operating state; generating a target speed control result based on the target speed control rule; and outputting a control signal corresponding to the target speed control result to control the operation of the drive mechanism and adjust the operating speed of the working mechanism. Through this method, the speed of the drive mechanism can be intelligently adjusted according to different operating states, achieving adaptive control of the operating speed of the working mechanism, thereby improving the problems of high noise, high energy consumption, uneven operating speed, deceleration during linked operations, and single operating mode in existing compressed garbage trucks.

The application provides a kind of proton accelerator control system based on virtual technology, including physical layer, virtual twin layer, control decision layer, application layer connected in turn communication;Multi-dimensional modeling module of physical layer is integrated to obtain digital twin;After real-time synchronization module of virtual twin layer obtains complete state snapshot, inject digital twin, realize millisecond level state synchronization of digital twin and physical device;Data fusion unit of control decision layer fuses to obtain complete state snapshot;Intelligent decision unit outputs target or strategy;Closed-loop control unit generates specific control instruction by sequentially circulating execution of online simulation, instruction generation, entity execution, data feedback according to the combination of feedforward control quantity and feedback control quantity.The application constructs an intelligent control environment with high-fidelity simulation by deeply integrating virtual technology, which is parallel to the entity proton accelerator and interacts, solves the problems of low efficiency, passive response, training difficulty, slow iteration and optimization localization, etc.

The application discloses a nonlinear stage equipment speed control method, comprising the following steps: S1, constructing a plurality of groups of equipment control channels, and based on dynamic evaluation of equipment fingerprints and channel capacity, adaptively matching and safely binding each group of equipment control channels with target stage equipment; S2, based on stage plot requirements, configuring corresponding motion parameters for each stage equipment; S3, acquiring current position information of the stage equipment, and combining the motion parameters, real-time planning and generating a feasible and smooth target speed curve; S4, in each control period through a high-precision timer, and according to the target speed curve, calculating motion data information and packaging into motion control instructions, and issuing to the corresponding equipment driver through the equipment control channel, driving the corresponding stage equipment to run; S5, real-time monitoring of the real-time running state of the stage equipment, the dynamic parameters of the S-shaped speed curve and the alarm information, and dynamically adjusting according to the monitoring data.

A system and method for controlling the vibrations of a mandrel (5) of an extruder head used in the forming of tubular films for food products, which extruder head is of the type immersed inside a coagulation tank (7) and whose rotating elements are driven by an electric motor. The control method comprises: detecting the vibrations undergone by the free end (5b) of the mandrel (5) by means of a proximity sensor (13); sending the signal detected by the proximity sensor (13) to a controller (17) which, on the basis of the signal, calculates the necessary correction of the rotation frequency of the motor so as to move the rotation frequency of the motor away from a harmonic frequency of the natural oscillation frequency of the mandrel (5); and modifying the rotation speed of the motor until said calculated frequency correction is reached, so that the mandrel (5) does not resonate.

This invention discloses an automatic throttle speed control method and system for aircraft based on dynamic inverse, belonging to the field of design technology. The method includes: multiplying the difference between the ground speed command and the ground speed feedback by an acceleration gain proportional term to obtain the desired ground speed acceleration increment; solving for the ground speed acceleration increment using climb angle, angle of attack, sideslip angle, axial overload, lateral overload, and normal overload; multiplying the difference between the desired ground speed acceleration increment and the ground speed acceleration increment by a state function related to the aircraft's mass to obtain the desired thrust acceleration increment; obtaining the engine thrust efficiency matrix by taking the partial derivative of the engine thrust with respect to the throttle opening; multiplying the calculated desired thrust acceleration increment by the inverse of the thrust efficiency matrix, and then adding the throttle state variable from the previous cycle to obtain the final throttle control command. The automatic throttle control law of this invention is derived from pure equations of motion, with clear physical meaning. The control law structure does not contain integrators, feedforward compensation, or other terms, reducing the "trial and error" work of gain preset while achieving consistent control performance. It exhibits high robustness and has broad engineering application prospects.

The application provides a kind of hybrid vehicle engine speed smooth control method and system, belong to automobile engine control technical field, the method includes: obtaining the engine parameter of hybrid vehicle, motor interference parameter and current state parameter;Based on the engine parameter, motor interference parameter and current state parameter, identify the current working condition of hybrid vehicle;According to the current working condition of the hybrid vehicle, dynamically generate the target speed of engine;Using the cooperative control strategy of subsection adaptive PID adjustment and torque pre-compensation to adjust the engine speed to the target speed transition.The application controls the fluctuation within the range of human perception by the cooperative effect of subsection PID accurate correction and torque pre-compensation pre-judgment interference when the engine speed to the target speed transition, the speed changes gently without sudden rise and sudden drop, completely avoids the driving frustration.

This invention provides a user-posture-based motion control method and system for fishing reel motors. The method includes: acquiring the user's current posture parameters and corresponding parameter feature values ​​when holding the fishing reel within a preset time window using a posture sensor built into the reel; identifying the fishing reel's usage scenario based on the parameter feature values ​​to obtain the target scenario where the reel is currently located, and identifying the reel's movement direction based on the posture parameters to obtain the target movement direction of the fishing rod; the target movement direction includes upward lifting, downward descent, and remaining stationary; when the target movement direction is downward descent, determining the line reeling control parameters for the current usage scenario based on the target scenario and current posture parameters, and executing the motor line reeling action based on the line reeling control parameters; when the target movement direction is stationary, gradually reducing the motor output based on a preset smooth attenuation strategy until the motor smoothly shuts off. This invention enhances the user's fishing experience.

This invention relates to the field of laundry and dyeing machine control technology, and discloses a dynamic balance control method for high-speed dehydration in a large-capacity laundry and dyeing machine. The method includes the following steps: acquiring continuous vibration data based on real-time rotational speed data using a segmented sampling strategy, converting it into discrete sampling signals, filtering the discrete sampling signals to locate the eccentric phase angle, extracting the triaxial acceleration signal to calculate the triaxial composite amplitude, extracting subsequent observation data after passing through a fluid stability window to calculate the phase drift rate, constraining the output target water injection quality based on this, constructing a PI control topology with a vibration suppression loop and a capacity constraint loop in parallel, superimposing forward and reverse duty cycles to generate a total control command, calculating the real-time proportional gain, and using a discrete accumulation mechanism to combine the total control command with the target water injection quality to convert it into a pulse water injection command for balanced closed-loop regulation until the laundry and dyeing machine reaches a steady state. This invention filters out broadband noise, eliminates phase observation lag and dead zone of the water replenishment valve, and prevents resonance and overflow.

The invention relates to the technical field of ocean resource exploration, in particular to an ocean OBN node rope automatic take-up and pay-off control method and system.The method comprises the steps that after a cable pay-off instruction is received, the cable pay-off speed is calculated according to the real-time ship speed and the ocean current speed, and a winch is controlled to pay off a cable; when the anchor cup reaches the preset position, the hydraulic brake is closed, the winch releases the cable at the preset speed, and the winch stops when the rope length reaches the standard; after a hooking completion instruction is received, if an unreleased node exists, the brake is disconnected, the cable is paid off at the original speed, and the steps are repeated. After a cable take-up instruction is received, the cable take-up speed is calculated according to the real-time ship speed and the ocean current speed, and a winch is controlled to take up the cable; stopping the winch when the sensor detection node reaches a launching operation platform; and after an unhooking completion instruction is received, if nodes which are not recovered exist, the cable is collected according to the original speed, and the steps are repeated. According to the technical scheme, automatic cable unwinding and winding can be achieved, the control precision is high, the operation efficiency is high, and the safety is high.

The application discloses a kind of trajectory optimization method, device and related medium of differential robot, the method includes obtaining the maximum speed threshold and acceleration upper limit value of differential kinematic model and respectively configuring car body level and wheel end level to obtain multi-dimensional motion constraint parameter set, then the speed limiting and acceleration constraint of car body level and wheel end level are executed, wheel speed is scaled according to difference keeping rule for wheel end acceleration overrun, and redistribution speed data is obtained by inverse kinematic model, the deviation of turning radius is calculated and the linear velocity is corrected when the deviation is overrun, and the multi-dimensional motion constraint parameter set is adjusted to optimize by collecting running feedback data.The application solves the technical problems that existing differential robot speed control technology cannot consider hardware safety, motion stability and trajectory tracking accuracy by multi-level progressive speed and acceleration constraint, difference keeping type wheel speed redistribution, and dynamic verification of turning radius and closed-loop parameter adaptive feedback.

The application belongs to the technical field of rudder machine instruction processing, and specifically discloses a rudder machine instruction smoothing speed limiting method based on a differential step length. The method comprises the following steps: receiving an instruction frame sent by an upper computer according to a communication protocol, and analyzing the instruction frame to determine a rudder control instruction; determining a closed-loop instruction by using the rudder control instruction; obtaining potentiometer data, and processing the potentiometer data to obtain rudder feedback data, wherein the potentiometer is used to obtain the displacement of a motor output shaft of a rudder machine driven by a driver; processing the closed-loop instruction and the rudder feedback data according to a rudder machine mathematical model to obtain a control signal, which is used for driver control. The scheme solves the three core problems in the control of a traditional electric rudder machine, i.e., the technical difficulties of instantaneous current impact, mechanical vibration and overshoot, and back electromotive force hazards.

A kind of mining disturbance roadway surrounding rock stress redistribution regulation method and system belong to mine strata control and underground engineering support technical field, method: design stress guide layer space layout and material performance curve, numerical simulation is optimized layout parameter and regulation threshold value;Construction directional drilling injection controllable rheological composite material forms artificial guide layer, and constructs monitoring network;Calculate stress migration criterion index and migration rate, according to initial, through, diffusion three stages implement grading intervention;Through cumulative stress diffusion index evaluates efficiency.The system: guide layer construction subsystem is used for construction directional drilling and injection controllable rheological material forms artificial stress guide layer;Perception regulation subsystem is used for by multi-source sensor real-time monitoring stress state and executing intervention instruction;Intelligent decision-making subsystem is used for based on monitoring data to identify stress migration stage, regulation intervention dose and evaluate efficiency, forms closed-loop control.The present application can significantly improve the stability and safety of mining disturbance roadway.

This invention relates to a dual-motor drive control method for the forward and reverse rotation of an extra-long drive shaft in a rotor spinning machine. The control system comprises a programmable logic controller (PLC), a head-end drive motor, and a tail-end drive motor. The head-end and tail-end drive motors are respectively connected to the two ends of the extra-long drive shaft of the rotor spinning machine. The dual-motor drive control method for the extra-long drive shaft of the rotor spinning machine includes the following steps: Step 1, parameter setting, setting the steady-state preload torque value T and the position deviation value A; Step 2, eliminating backlash; Step 3, the tail-end drive motor rotates in reverse; Step 4, the head-end drive motor rotates in the forward direction. The advantage of this invention is that by implementing a cooperative control strategy between the two drive motors, a controllable preload force is actively established and maintained inside the extra-long drive shaft of the rotor spinning machine, thereby dynamically eliminating the influence of spline backlash and achieving forward and reverse rotation without delay and with low impact, thus improving the yarn splicing quality and yarn splicing success rate of the rotor spinning machine.