10results about How to "Achieve smooth control" patented technology

The invention discloses an intelligent networked passenger car torque gradient self-adaptive adjustment control method and system, and relates to the technical field of intelligent networked vehicles, and the method comprises the steps: obtaining state data in a vehicle driving process in real time; according to the acquired data, determining a motor driving torque required at the current moment, and further determining a motor expected torque at the current moment; the driving state of the vehicle at the current moment is determined, and the lifting torque state and the expected torque gradient at the current moment are determined in combination with the expected torque of the motor; based on the expected torque gradient at the current moment and the actual torque gradient at the previous moment, torque gradient self-adaptive adjustment based on set scale progressive increase or progressive decrease is carried out, and the actual torque gradient at the current moment is obtained; and adding and subtracting the actual torque of the motor based on the actual torque gradient at the current moment, calculating to obtain a final target request torque, and sending the final target request torque to a motor controller for torque smooth control. Smooth control over the torque can be achieved, the driving comfort is improved, and the service life of the vehicle is prolonged.

The invention provides a predictive control method and device for a remote control model, equipment and a storage medium. The method comprises the following steps: monitoring whether a remote control model receives a channel value within continuous time points or not; in response to monitoring that the remote control model does not receive the channel value at the first time point, inputting a target curve section in the first channel value curve into a predictive control algorithm to obtain a first channel value output by the predictive control algorithm; wherein the first channel value curve is constructed based on channel values received by the remote control model before a first time point, the target curve segment is composed of a specified number of channel values finally received by the remote control model, and the first channel value represents a channel value which is not received by the remote control model at the first time point; and performing model control according to the first channel value. According to the method provided by the invention, sudden stop or abnormal behaviors of the remote control model can be avoided under the condition of signal loss or delay, and the stability of the system and the user experience are improved.

The invention relates to the technical field of engineering machinery, and particularly discloses a rotation system control method, a rotation system and an engineering vehicle, the rotation system control method comprises the following steps: S10, recording the real-time state of the rotation system, the real-time state comprising an acceleration state and a deceleration state; s20, whether the rotation system is in the state switching moment between the acceleration state and the deceleration state or not is judged, if yes, S30 is executed, and if not, S10 is executed; s30, the real-time actual torque and the real-time target torque of the rotation system are recorded; s40, according to the real-time actual torque and the real-time target torque, whether the rotation system is at the torque switching moment or not is judged, if yes, S50 is executed, and if not, S30 is executed; and S50, the change of the torque T of the rotary system along with time t tends to 0, T = f (t), and t is greater than or equal to 0 and less than or equal to a. According to the control method of the rotary system, when the rotary clearance is eliminated, the change of the torque can be continuously adjusted, so that the rotary system is effectively prevented from generating large impact, and the shaking of the rotary system is avoided.

The method and verification device for dynamic shock wave closed-loop control disclosed in the present invention at least partially solve the technical problems of unstable operation such as shock wave pulsation in the inlet of the existing engine. Based on the real-time control of the dynamic shock wave induced by the dynamic shock wave generator by the arc plasma exciter, the verification device sequentially arranges the plasma exciter and the dynamic shock wave generator along the airflow direction, and a first pressure sensor is installed at the upstream position of the plasma exciter, and a second pressure sensor is installed at a preset position downstream of the rotating shaft of the shock wave generator along the airflow direction; the current shock wave intensity is determined by obtaining the measurement values ​​of the first sensor and the second sensor, and the closed-loop controller monitors the switch state quantity of the plasma exciter and the theoretical value of the shock wave intensity in real time; according to the currently measured shock wave intensity, a closed-loop control is formed and the working parameters of the plasma exciter are adjusted in real time to achieve the stable control of the dynamic shock wave pressure ratio and achieve the preset control target value.

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.

The application relates to the technical field of motor control, and provides a phase current limiting method, system, device and medium of a permanent magnet synchronous motor. The implementation scheme is as follows: operation parameters and a current commutation state of the permanent magnet synchronous motor in a current control period are acquired; each current prediction model is constructed based on a three-phase voltage equation and a three-phase flux linkage equation of the permanent magnet synchronous motor, and a target current prediction model is determined from each current prediction model based on the current commutation state; the operation parameters and the current commutation state are input into the target current prediction model to predict a predicted current in a next control period; if the predicted current is greater than a preset current limiting threshold, the target current prediction model is inversely solved based on the current limiting threshold and the operation parameters to obtain a target duty cycle; and the inverter bridge is controlled to drive the permanent magnet synchronous motor to operate according to a pulse width modulation signal generated by the target duty cycle and the current commutation state, so as to limit the phase current of the permanent magnet synchronous motor. The embodiment of the application can realize smooth control of the phase current.