5results about How to "Achieve smooth control" patented technology

The application relates to the field of compression detection, and discloses an impact test device for a power cable protection pipe and a method thereof. The device comprises a rack and a controller. A machine table is arranged on the rack. A saddle part is arranged on the machine table. The saddle part is used for bearing the protection pipe to be tested. A hydraulic telescopic cylinder body is fixedly arranged at the rack directly above the saddle part. An electromagnetic chuck is detachably fixed to the end of the hydraulic telescopic cylinder body. A hammer head is magnetically attracted to the bottom of the electromagnetic chuck. Vertical limiting support columns are arranged around the hammer head. The top ends of the limiting support columns are fixed to the rack, and the bottom ends are fixed to the edges of the machine table. A detection mechanism is further arranged on one side of the machine table. The detection mechanism enters the protection pipe and leaves a gap during the test. The impact force of the protection pipe during the impact of the hammer head is detected by a force sensor. The detection mechanism is arranged to effectively detect the impact force and effectively avoid the impact, so that the force sensor is protected.

The invention relates to a soft start circuit for a flyback switching power supply, and the circuit comprises a control chip which is configured to monitor a voltage value fed back from a secondary side of an isolation conversion module through a feedback end in a power-on process of the isolation conversion module; the current limiting loop comprises at least one current limiting resistor and a relay, the relay comprises a magnetic attraction switch and a control coil, and the magnetic attraction switch is configured to connect the at least one current limiting resistor between the positive electrode of the high-voltage battery and the power input end of the control chip in series when the isolation conversion module is powered on; and the feedback control loop is connected between the feedback end of the control chip and the control coil of the relay, and is configured to electrify the control coil of the relay when the voltage value received from the feedback end exceeds a set value so as to switch off the magnetic attraction switch. The invention also relates to a flyback switching power supply comprising the soft start circuit.

The application discloses a design method and a control device of a human-imitating walking stability controller based on model reference self-adaption, and comprises the following steps: S1, a dynamic equation of a continuous swing stage of a biped robot and a mapping model of a discrete collision stage are established; S2, a virtual constraint function y=h(q) is designed to make the motion of drive joints and under-actuated joints of the biped robot coupled; S3, input / output feedback linearization processing is performed on the virtual constraint function; S4, a PD tracking controller is designed for a linear subsystem; S5, an adaptive reference model is established; S6, based on an energy minimization criterion, parameters of a desired joint trajectory of the biped robot are optimized by combining a Bezier polynomial fitting method to generate an energy-saving periodic desired trajectory; and S7, the asymptotic stability of a closed-loop system is proved by using a control Lyapunov function and a Poincare mapping to ensure that the system is periodically stable in walking.

The invention discloses a safety-first game incremental man-machine transverse shared driving control method, and belongs to the technical field of automobile automatic driving and man-machine co-driving, and the method comprises the steps: obtaining a driving intention safety factor of a driver; acquiring an expected track of the driver and the intelligent system; calculating a man-machine intention consistency coefficient according to the safety factor and the discrete point position information of the man-machine expected trajectory; according to the safety factor and the man-machine intention consistency coefficient, a driving control right distribution strategy with safety priority is designed, driving control right coefficients Wh and Wm are calculated, and Wh and Wm are weight coefficients of a driver and a machine control torque item in the man-machine shared driving controller respectively; establishing a human-vehicle-road closed-loop system preview error dynamical model of tactile interaction; and combining a game theory and an incremental model prediction control theory to construct a man-machine transverse sharing driving control method based on a safety-first driving control right distribution rule.