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2786results about How to "Achieve stability" patented technology

Electric motor car differential steeling control method based on slip rate control

The invention provides an electric motor car differential steeling control method based on slip rate control. The method comprises the following steps of: (1) measuring the back wheel speed of the electric motor car, the actual output torque of a drive motor and the side speed of the car according to a wheel sped sensor; and (2) calculating the side speed and the heading angle peed of the electric motor car according to two freedom steering models, and then calculating the slip angles of four wheels, thereby calculating the rotational speed of the four wheels; and using a special arithmetic to realize the control on the electric differential steeling of a hub electric motor car. The electric motor car differential steeling control method based on slip rate control combines the calculation of torque distribution with the slip rate of the wheels to lead a designed electric differential steeling mechanism to have the effect of differential lock simultaneously when having the differential and also have the functions of reducing the speed and increasing the torque, thus greatly improving the running trafficability characteristic and the steering performance of the electric motor car, not only achieving the effect of a mechanical differential mechanism on the aspect of function, but also improving the transmission efficiency and reducing the complexity of a mechanical system.
Owner:CHONGQING UNIV

Stage method for improving uniform expansion effect of granular fruits and vegetables during microwave spouted drying

The invention discloses a stage method for improving the uniform expansion effect of granular fruits and vegetables during microwave spouted drying, which belongs to the technical field of the processing of fruit and vegetable foods. The method mainly comprises the steps of: performing selection, washing, dicing, enzyme killing by blanching, and color protection treatment on fruit and vegetable raw materials; placing the pretreated fruit and vegetable cubes into a microwave spouted drying bed; setting the microwave power and the air inlet heating temperature; then performing the combined drying of stage hot air drying and microwave drying; and controlling different spouted air intakes at different drying stages, wherein the uniform expansion effect of products is improved during the quick microwave drying. The method has the advantages that the method ensures that the granular fruits and vegetables are evenly heated in a microwave field through a hot air and microwave spouted drying stage method, has quick moisture evaporation, ensures that the fruits and vegetables have porous structures after the drying, effectively improves the expansion degree of the products, also improves the expansion effect of the products and ensures the uniform expansion of the products while the granular fruits and vegetables are quickly dried, and has the characteristics of good preservation of nutrient content and good qualities of color luster, sense and the like.
Owner:JIANGNAN UNIV +1

Ultrasonic welding method of Al/Ti dissimilar metal TIG (Tungsten Inert Gas) electrical arc micro-melting brazing and following welding

The invention provides an ultrasonic welding method of Al/Ti dissimilar metal TIG electrical arc micro-melting brazing and following welding, wherein an isochronous and stable ultrasonic vibration system is added in the TIG micro-melting brazing process, and the simultaneous and equi-directional welding of TIG micro-melting brazing and following welding is realized through a spherical interlinking device. The method comprises the following steps of: enabling a welding gun tungsten electrode and a test piece to reach reasonable welding height by vertically adjusting the position of a welding gun; enabling a continuous vibration ball to cling to the surface of the test piece by vertically adjusting an ultrasonic transmitting device; measuring the distance d from the contact point of the continuous vibration ball and the surface of the test piece to a TIG welding gun tungsten electrode by horizontally adjusting an ultrasonic generating device to enable d to satisfy welding requirements; and reasonably matching an ultrasonic vibration device and a TIG welding gun by adjusting d, and adjusting the acting position of ultrasonic vibration by adjusting d. The invention has strong process applicability and good stability, realizes the semi-automatic welding of Al/Ti dissimilar metal connection, and has wider usability and good improving action for the welding joints of TIG micro-melting brazing for various dissimilar metals.
Owner:HARBIN INST OF TECH

Method for calculating optimal admitting ability for wind power multipoint access of regional power grid

The invention discloses a method for calculating the optimal admitting ability for wind power multipoint access of a regional power grid and belongs to the technical field of wind power penetration methods of the power grid. The method for calculating the optimal admitting ability for the wind power multipoint access of the regional power grid comprises the steps that the installed capacity of all wind power plants is initialized, and data such as the local wind speed are acquired; the output condition of all the wind power plants is calculated, and unit commitment and optimization within all dispatching cycles are conducted, so that an annual unit commitment mode of an electric power system comprising the wind power plants is obtained; power flow calculation is conducted based on each period of time, whether an operation constraint condition of the system is met is verified, and a final objective function value is calculated after simulation is conducted on the system for more than 8760 hours; the installed capacity of the wind power plants is updated, optimized iteration is conducted on an objective function, and optimal solution of the wind power generating capacity is achieved, namely the optimal admitting ability of the power grid which enables the economical efficiency of the system to be optimized on the premise that the safety and stability constraint conditions are met is achieved. According to the method for calculating the optimal admitting ability for the wind power multipoint access of the regional power grid, an optimal wind power admitting capacity calculation model with the largest net earning of a wind power plant and power grid combination system (with the environmental benefit considered) as the purpose is established, and suggestions can be provided for the proper establishment of the installed capacity of the regional wind power plants.
Owner:NORTH CHINA ELECTRIC POWER UNIV (BAODING)

Frost-less air-source heat pump hot water unit and proportional-integral-differential control method for same

The invention discloses a frost-less air-source heat pump hot water unit and a proportional-integral-differential control method for the same. The proportional-integral-differential control method includes performing computation according to received air temperature and humidity parameters, received air pressure parameters and received surface temperature parameters of an evaporator when outdoor temperature parameters which are transmitted by a temperature and humidity sensor and are received by a computation controller are lower than 0 DEG C, controlling the opening of an electronic expansion valve according to a computation result and regulating the surface temperature of the evaporator by means of increasing or reducing the opening of the electronic expansion valve so that the surface temperature of the evaporator is constantly higher than a frost formation point; and enabling a silicon-controlled power regulator to judge a suction superheat degree of a compressor according to received suction temperature and suction pressure of the compressor, increasing or reducing the power of an electric heater and maintaining that the suction superheat degree of the compressor only varies within a set value range. The frost-less air-source heat pump hot water unit and the proportional-integral-differential control method have the advantage that adjustment for the opening of the electronic expansion valve is matched with adjustment for the power of the electronic heater, so that the purpose of maintaining safe and efficient running of a system is achieved.
Owner:NANJING NORMAL UNIVERSITY +1

Compliant and coordinated control method for in-orbit capturing process of space robot

The invention discloses a compliant and coordinated control method for the in-orbit capturing process of a space robot. The compliant and coordinated control method includes the steps that a space robot model oriented to control is established according to dynamics and kinematics equations; a mechanical arm compliant capturing control rule is established according to the space robot model oriented to control; a base posture control rule based on a base gas spraying device is determined; a mechanical arm compliant control loop is established according to the mechanical arm compliant capturing control rule; a base posture control loop is established according to the base posture control rule and a PSR pulse modulator; the control amounts calculated by the mechanical arm compliant control loop and the base posture control loop serve as the control input of a mechanical arm of a space robot system and the control input of the base gas spraying device of the space robot system correspondingly; and meanwhile control force of the base serves as a feed-forward item and is input into the mechanical arm control rule to offset the interference of base control to mechanical arm tail end compliant control. By means of the compliant and coordinated control method, stability of the base is ensured while a target is stably captured.
Owner:BEIJING INST OF SPACECRAFT SYST ENG

Hybrid finite time control method for quadrotor accurate trajectory tracking

The invention provides a hybrid finite time control method for quadrotor accurate trajectory tracking. The method comprises the steps: establishing a kinematic model and a dynamical model of a quad-rotor unmanned aerial vehicle; designing a vertical control law of the vertical motion according to a height tracking error of the quadrotor unmanned aerial vehicle and an adaptive integral sliding surface design; on the basis of a horizontal position tracking error of the quadrotor unmanned aerial vehicle, designing a horizontal control law of the horizontal motion based on a backstepping method; and designing a finite time disturbance observer based on the attitude angle of quadrotor unmanned aerial vehicle and designing a precise attitude stability control law by combining a non-singular terminal sliding-mode control law and the finite time disturbance observer. According to the invention, the quad-rotor is classified into three subsystems of the height, horizontal position and attitude and three kinds of control strategies are designed respectively; and on the basis of the hybrid control scheme, the trajectory tracking error is stabilized rapidly. The accurate trajectory tracking ofthe quadrotor can be realized under the condition that the unknown model parameters and the external disturbance are allowed; and the manipulation is more flexible.
Owner:DALIAN MARITIME UNIVERSITY

Inertia/GNSS (Global Navigation Satellite System)/satellite beacon based integrated communication on the move antenna stabilization tracking method

An inertia/GNSS/satellite beacon based integrated antenna stabilization tracking system utilizes a low-cost MEMS (Micro Electro Mechanical System) inertia/GNSS integrated navigation system as a motion sensor, the system is installed on a base of the antenna stabilization tracking control system, the control system solves the angular rate output by the integrated navigation system through coordinate transformation to obtain the motion angular velocity of the antenna surface, and an antenna is subjected to first-stage inertia stabilization tracking control; in addition, the inertia/GNSS integrated navigation system can calculate to obtain the high-precision angle of pitch, roll angle and azimuth of the base through a Kalman filtering integrated navigation algorithm to perform second-stage stabilization tracking control on the antenna surface; besides, a satellite signal receiver can calculate to obtain the azimuth and angle of pitch of the current antenna surface deviating from a satellite through the antenna surface active scanning motion and the signal peak recognition technology for completing third-stage stabilization tracking control so as to control the antenna to obtain good tracking effects and to further form closed-loop stabilization control.
Owner:北京星网卫通科技开发有限公司

High speed multi-dimensional vibration measuring device and method based on stripe target

The invention relates to a high speed multi-dimensional vibration measuring device and method based on a stripe target. The device comprises a stripe target, an imaging module, a signal control and processing module and a display module. The method includes the following steps: arranging the stripe target on a vibration structure to be measured; adopting an image module to conduct continuous imaging and recording on the stripe target; utilizing the imaging module to transmit the image of the stripe target to the signal control and processing module; utilizing the signal control and processing module to conduct Fourier transform on the stripes at the same position of the same stripe target in each frame of the image, adopting a certain peak value frequency correction method to accurate correct the peak value frequency, and then utilizing the imaging mathematical relation and the corrected peak value frequency to obtain a time domain curve with stripe target structure vibration, namely acquiring structure vibration signals through reduction; displaying an image processing result through a display module or conducting further data processing through vibration signals. By means of the device and method, vibration measurement of points, lines and faces in certain range is achieved, the measurement speed is high, and the accuracy is high.
Owner:FUZHOU UNIV

Method for continuously producing large-particle spherical cobalt carbonate

The invention relates to a method for continuously producing large-particle spherical cobalt carbonate. The method comprises the following steps: manufacturing a turbid liquid containing small-particle-size cobalt carbonate seed crystal and manufacturing a turbid liquid containing large-particle spherical cobalt carbonate, stirring the turbid liquid containing the small-particle-size cobalt carbonate seed crystal and the turbid liquid containing large-particle-size cobalt carbonate to form a mixed liquid, carrying out solid-liquid separation, washing and filter pressing to obtain a filter cake as a large-particle cobalt carbonate filter cake, drying the filter cake, and repeatedly operating to obtain the large-particle cobalt carbonate powder. According to the method disclosed by the invention, the small-particle-size cobalt carbonate seed crystal is adopted to control the particle size of the large-particle cobalt carbonate in reaction mother liquor, so that the degree of sphericity of cobalt carbonate produced by continuous production can be ensured to be high, the particle size can be stably controlled within the range of 15+/-0.5 microns, and the consistency and the stability of the particle size of the large-particle spherical cobalt carbonate through large-scale continuous production can be realized; the method is simple in process, easy to operate and low in cost, and can provide the high-quality raw material for producing high-end lithium cobalt oxide; the carbonate is used as a precipitant, so that the environment can be optimized; the production efficiency can be improved, and the wide application prospect can be achieved.
Owner:CHINA ELECTRONIC TECH GRP CORP NO 18 RES INST
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