190results about How to "Easy to control in real time" patented technology

The invention discloses an intelligent early warning system for the closing of a train and an early warning method of the intelligent early warning system. The intelligent early warning system comprises an early warning server. The early warning method comprises the following steps: receiving train position information transmitted by vehicle-mounted equipment through a public wireless network by the early warning server; transmitting early warning information of the closing of the train to a path opening terminal through the public wireless network by the early warning server, and besides receiving path opening position information collected by the path opening terminal; also transmitting the early warning information of the closing of the train to mobile equipment of working personnel through the public wireless network by the early warning server, and besides receiving position information collected by the working personnel or an operation point. The early warning server is arranged in a machine room and connected with accession equipment of the public wireless network through optical fibers and twisted-pair lines. The intelligent early warning system and the early warning method, which are disclosed by the invention, have the benefits of being suitable for a line zone with automatic blocking and an in-station accouterment monitoring system and being also suitable for full-automatic intelligent early warning system for the closing of the train in a non-automatic blocking zone.

The invention discloses an internet of vehicles based hierarchical energy management control method for a hybrid vehicle. An upper controller acquires a range of a target speed of the hybrid vehicle on the basis of traffic signal light timing and sets the target speed of the hybrid vehicle as an upper limit of the range of the target speed, and a fast model prediction algorithm is provided for predicating an optimal target speed sequence within a given time window. Compared with the prior art, the internet of vehicles based hierarchical energy management control method for the hybrid vehicle has the advantages that by predication of the optimal target speed of the hybrid vehicle on the basis of traffic signal light timing, stopping or collision of the hybrid vehicle at a red light can be effectively avoided; by acquisition of the optimal target speed sequence according to the fast model prediction algorithm, time cost of model prediction is reduced on the premise that predicated data precision and fuel economy of the hybrid vehicle are guaranteed, and program execution efficiency is effectively improved.

The invention relates to a five-freedom-degree hybrid robot which comprises a fixing frame, a moveable platform, a positioning head, a first branch chain, a second branch chain and a third branch chain, wherein the positioning head is connected with the tail end of the moveable platform; the first, second and third branch chains are same in structure; each of the branch chains comprises a first hinge, a second hinge, a connecting rod and a driving device arranged at one end of the connecting rod; the first branch chain and the second branch chain are symmetrically connected with the two sides of the upper end of the fixing frame through own first hinges; the third branch chain passes through the fixing frame, is located under the first branch chain and the second branch chain and is connected with the middle part inside the fixing frame through the own first hinge; one ends of the first, second and third branch chains away from the driving device are respectively connected with the moveable platform through the corresponding second hinges; moveable planes of the first branch chain and the second branch chain are located in a same plane or are two mutually parallel planes; and the moveable planes of the first branch chain and the second branch chain are vertical to the moveable plane of the third branch chain. The five-freedom-degree hybrid robot is conveniently controlled in real time, the rigidity of the mechanism is effectively increased and the size of a cantilever is reduced.

The invention belongs to the technical field of medical optometry equipment and especially relates to an intelligent portable hand-held vision screening instrument and an optometry method. The instrument comprises an optometry system, a camera shooting system, an integral control system and a wireless communication system which are connected to a central processing unit, wherein the optometry system is composed of a light source, a diaphragm and a lens and is used for emission of the light source, diaphragm isolation and lens transmission; functions of distance and temperature measurement are achieved through combination of an ultrasonic ranging and a temperature sensor; the optometry system can shoot eye images by an infrared lens and a visible light lens; the integral control system executes different modes including a preview mode, a camera shooting mode and a checking mode; the wireless communication system carries out card reading functions of a social insurance card and a medical service card as well as wireless data transmission; and the central processing unit carries out collection and processing of data, image recognition, gray analysis and diopter computation. The intelligent portable hand-held vision screening instrument is connected to an intelligent medical cloud platform by a wireless communication system.

The invention discloses a multi-scale test machine for measuring lubricating oil film by optical interference method, comprising a base, an electric motor, a drive device, a supporting device and a loading device; the motor drives a flat glass horizontally and slidingly arranged on the base to move horizontally to and fro through the drive device; the supporting device is a floating supporting device and supports the test pieces to be rotatably contacted with the lower surface of the flat glass; the loading device is a lever type loading device and supports the floating supporting device to cause the test pieces to exert pressure and load on the flat glass, upper part of which is fixed with a microscope for measuring oil film; lens of the microscope aligns to the rotatable contact line between the flat glass and test pieces. The invention has the advantages of pure rotating, continuousness and multi-scale, overload, simple structure and strong practicality.

The invention discloses an adaptive output feedback inverse control method for a piezoelectric precision position platform. An adaptive output feedback inverse control scheme based on a neural network can be achieved and is firstly designed according to nonlinear hysteresis systems. The inverse control method is characterized by including the steps: estimating states of a system by a designed high-gain state observer, and processing uncertain items in system and environment disturbance; testing on the piezoelectric precision position platform through the control scheme; adjusting the state observer and the initial conditions of adaptive laws of unknown parameters to achieve arbitrarily small L norms of following errors. The piezoelectric precision position platform is a three-level system, has system output and can be measured.

The invention relates to a novel modeling and controlling method of a drain pipe network hydraulics system. The conventional computation method is more time-consuming and not beneficial to real-time control. The novel modeling and controlling method disclosed by the invention is a method for rapidly computing the water depth of a pipeline by utilizing a transfer function model. Through the adoption of the method disclosed by the invention, the regional sewage overflow pollution is minimized on the premise of fully utilizing all water storage equipment of a system so that the urban flood-prevention and anti-waterlogging capabilities are improved; in addition, a basis is settled for the conversion from manual operation to automatic operation of a combined sewerage system; meanwhile, the situation that sewage overflow happens while residual water storage systems are idle at a specific region is avoided; and therefore the regional sewage overflow pollution is finally minimized.

The invention discloses a method for controlling glide flying ballistic curve damping. The method comprises the following three major steps: step 1: taking into consideration influence of earth curvature, ignoring influence of earth rotation, studying three degree-of-freedom kinematical equation of gliding of an aircraft, and acquiring condition of furthest distance of powerless gliding of the aircraft; step 2: based on the atmosphere model and the aircraft aerodynamic force model already known, performing force analysis on the longitudinal plane of the aircraft under stable gliding condition, and acquiring stable gliding ballistic curve angle of inclination gamma*; step 3: adding feedback to the control instruction, introducing ballistic curve damping control. The method is a guidance method enabling stable gliding of the aircraft, and is applicable to aircrafts having a glide ballistic curve, including a cannonball of a low speed and a short range as well as a long-distance, reentry, and hypersonic-velocity aircraft.

Provided is a full-domain constant-balance overload six-degree-of-freedom parallel mechanism. The full-domain constant-balance overload six-degree-of-freedom parallel mechanism comprises a moving platform, a fixing platform, a weight-bearing platform, six driving branches of a same structure and three weight-bearing branches of a same structure. The six driving branches are connected with the moving platform and the fixing platform to form a parallel driving mechanism, the three weight-bearing branches are connected with the weight-bearing platform and the fixing platform to form a parallel balancing mechanism, and the center of the weight-bearing platform is connected with the moving platform through a second spherical hinge. The six driving branches are of a UPS structure, each driving branch is composed of an electric cylinder, a first omni-directional hinge and a first spherical hinge. The three weight-bearing branches of a PRUR structure, each weight-bearing branch is composed of a balance hydraulic cylinder or balance air cylinder, a first rotating pair, a second omni-directional hinge and a second rotating pair. On the condition that a input force of the balancing mechanism is maintained to be constant, all poses in the whole space, namely, full-domain constant-balance overload six-degree-of-freedom parallel mechanism achieves a constant gravity balance performance in full domains, and the full-domain constant-balance overload six-degree-of-freedom parallel mechanism is high in the weight-bearing capacity and the positioning accuracy, and simple to control.

The invention discloses a middle point voltage control device and method based on modulation wave interval division. The device comprises a three-level inverter, a digital processing control module and a driving circuit, wherein the digital processing control module comprises a sampling unit, a closed-loop control unit, a sine pulse width modulation unit, a modulation wave interval division unit and a zero-sequence component calculation unit. The method comprises steps that an offset angle of a zero-crossing point after adding a zero-sequence component to a three-phase modulation signal is calculated; the modulation wave interval is divided, and the zero-sequence component required to suppress the midpoint voltage fluctuation is calculated; the sign of the zero sequence component is determined through comparing instantaneous voltages of upper and lower capacitors of the DC side; the zero-sequence component is added to the three-phase modulation signal and is then processed by the sinepulse width modulation unit to acquire a pulse width modulation control signal, and a switch tube of the three-level inverter is controlled by the driving circuit for operation. The device is advantaged in that hardware cost is low, accurate control is realized, the application scope is wide, the midpoint voltage fluctuation can be effectively inhibited, and the distortion rate of the network current is reduced.

The invention discloses a fully-isotropic parallel robot mechanism with a three-dimensional movement function and a two-dimensional rotation function. The fully-isotropic parallel robot mechanism comprises a fixed platform (1), a movable platform (19) and four branched chains connected between the two platforms. The four branched chains are located on the four sides of the movable platform, the first branched chain is composed of a movable pair, a parallelogram hinge, three rotary pairs and four connecting rods, and the second branched chain and the fourth branched chain are completely the same in structure and are each composed of two movable pairs, three rotary pairs and four connecting rods. The third branched chain is formed by a movable pair perpendicular to the fixed platform, five rotary pairs and five connecting rods. Five drive pairs include the movable pair (P<11>), the movable pair (P<21>), the movable pair (P<31>), the rotary pair (R<43>) and the rotary pair (R<13>) respectively, and the input speed and the output speed of five-freedom-degree motion of three-dimensional movement and two-dimensional rotation are in one-to-one correspondence linear relation. The fully-isotropic parallel robot mechanism has the beneficial effects that control is easy, no drive singularity exists, and motion is completely decoupled; and the mechanism can be used for a five-freedom-degree virtual axis parallel machine tool.

The invention relates to the technical field of position sensorless control of switched reluctance motors, in particular to a position sensorless control method for three-phase switched reluctance motors based on pulse injection. The invention proposes a three-phase switched reluctance motor position sensorless control method based on pulse injection, which is suitable for the control of three-phase switched reluctance motors. Phase chopper control is performed, the phase current is detected by the current sensor, and the current slope difference is calculated. Then, the three-phase equivalent inductance is obtained according to the current slope difference, and the inductance vector is synthesized. Finally, the rotor position information is extracted from the inductance vector to obtain the rotor speed. The invention has the advantages of simple structure and easy realization, greatly reduced calculation amount, and high reliability and precision.

The invention discloses a method fpr coupling denitrifying dephosphatation and partial nitrification, and belongs to the field of municipal wastewater treatment. Firstly, raw water enters an (A/A/O)-SBR reactor; carbon pick-up synthesis polyhydroxyalkanoate (PHA) and phosphorus release reaction at an anaerobic phase are carried out; oxidation-reduction potential (ORP) is controlled at -30mv to -240mv; dissolved oxygen (DO) is smaller than or equal to 0.2mg/L, and then nitrifying reflux liquid containing NO2<-> from N-SBR is injected to carry out anaerobic denitrifying dephosphorization reaction; the ORP is controlled at -90mv to -210mv; the DO is smaller than or equal to 0.2mg/L. The flow of the nitrifying reflux liquid is adjusted at the stage according to the anaerobic phosphorus-release condition. The transient aeration, nitrogen stripping and aerobic phosphorus absorption are carried out after complete reaction; the DO is controlled to 2-3mg/L; sediments are stilled; discharged water enters the N-SBR reactor to carry out aerobic aeration. Nitration is controlled at a short-range stage through an 'ammonia valley' on a pH curve and an 'ammonia-nitrogen jump point' on a DO curve in the process; still deposition is carried out after the reaction is ended; a part of supernate is returned and the other part is discharged; the discharged water quantity is equal to the initial water inflow of the system. The denitrifying dephosphatation principle and the partial nitrification principle are applied, energy conservation and consumption reduction are achieved, and the method is applicable to a domestic wastewater with low C/N ratio, so as to achieve a synchronous and deep nitrogen and phosphorus removal effect.

The invention discloses a tiny discharge gap bi-feedback adaptive analytic fuzzy servo control method, and belongs to the technical field of non-traditional micromachining. In the method, interpolar voltage or current signals which are fed back in real time are compared with a control target center so as to obtain signal errors and the change of the errors; a self regulating factor of an analytic fuzzy control rule in the whole field is dynamically adjusted, and the discharge gap servo control performance is improved; and then, in order to adapt to machining conditions and control errors introduced by process random change, a discharge statistics and parameter correction feedback channel is utilized to store and count an open circuit rate and a short circuit rate, and a fast convergence algorithm directly proportional to the open circuit rate and the short circuit rate is adopted, so that the control target center and an electrode advancing and retreating speed scale factor adaptively tend to be optimal simultaneously, and the open circuit rate tends to be equal to the short circuit rate and is the minimum, namely the discharge rate tends to be optimal. The method realizes the quickness, stability and accuracy of tiny discharge gap servo control and improves micro electrical discharge machining efficiency.

The invention provides an improved dual voltage control method and a device thereof for matrix converters. The method comprises the following steps: re-dividing voltage sectors; carrying out custom calculation on variables required by duty ratio and ranking the variables; calculating the duty ratio of the matrix converter system according to the general calculation formula of the duty ratio; obtaining the duty ratio of each two-way power switch based on the corresponding relation between the duty ratio of the matrix converter system and that of each two-way power switch in a switch matrix; calculating the turn-on time of each two-way power switch in real time after the duty ratio of each two-way power switch is multiplied by the switch cycle, and realizing on-off control of the matrix converter. The device comprises an input voltage sampling unit, a DSP control circuit, a CPLD switch gate circuit, a detecting unit of output current direction and a drive circuit. The invention simplifies the system switch combination and the system has little amount of calculation, thus improving the efficiency and real-time and being suitable for application in controlling the matrix converters in the field of AC variable frequency speed regulating.

The invention discloses a 5G energy internet virtual power plant economic dispatching method based on edge intelligence, and belongs to the technical field of virtual power plant cost optimization. According to the invention, the problems of how to integrate new energy to reduce the cost of the power system and reduce the consumption of communication are solved. According to the invention, machinelearning and edge calculation are combined, and an edge intelligent structure is provided for solving the problem of economic dispatch in the energy internet vpp. Compared with traditional edge computing, the structure inherits original characteristics, the burden of cloud computing is reduced, and the computing capacity of edge computing is improved. By splitting the model and deploying part ofthe model at the terminal, real-time control can be conveniently carried out, and the cost of the power system is reduced. Due to mutual transmission between the split model and the corresponding model, only part of information and gradient information are effectively transmitted, communication consumption is reduced, and the requirement for the communication environment is reduced. The method canbe applied to economic dispatching of the virtual power plant.

The invention discloses an intelligent toy robot control system, which is characterized in that the control system comprises a circuit control system and a software control system, wherein a main control unit circuit, a head control unit circuit and a lower control unit circuit of the circuit control system are mutually connected through system buses; an Android operation system core and Android application software are used. The intelligent toy robot control system has the advantages that the control is modularized; the structure is compact; all unit circuits are mutually and harmoniously controlled in a system bus mode; the work division is cooperated; the system is favorably and flexibly expanded. Through connection with Internet, the functions of on-line updating, on-line expansion, network interaction, network monitoring and the like are realized; parents can conveniently master the conditions of children in real time. Relevant APP is flexibly installed or uninstalled; multimedia can enrich the facial expression in a way of combination of form and spirit; good interaction with children is realized, so that the children can achieve the study effect in the game playing process; the goal of education is achieved; the creativity of the children can be better inspired.

The invention discloses a fully automatic diamond saw blade welding machine, which comprises a first mechanical arm, a second mechanical arm and a support arm, the first mechanical arm and the second mechanical arm are located on one side of the support arm, and the second The mechanical arm is located above the first mechanical arm, one end of the first mechanical arm is fixedly connected to the support arm, one end of the second mechanical arm is slidingly connected to the support arm, and the first mechanical arm is provided with a The moving mechanism of two mechanical arms, and the first mechanical arm is connected with the second mechanical arm through the moving mechanism. The first rotating seat on the side of the stepper motor. The invention has the advantages of simple structure, high efficiency and practicality, more stable clamping of the welding wire, and is not easy to fall off, and the buffer spring can prevent the welding wire from being pinched due to excessive clamping force, thereby meeting people's use requirements.

The invention discloses a method for producing L-threonine. The method comprises the following steps of: performing fermentation culture on strains capable of producing the L-threonine to obtain the L-threonine, wherein in the fermentation culture process, a period before the growth quantity of thalli is not increased is used as a first stage, and a period in which the growth quantity of the thalli is not increased is used as a second stage; at the first stage, adding nutritional ingredients into a fermentation culture system in an index feed supplement mode on the premise of realizing the optimal production rate of the strains; and at the second stage, adding the nutritional ingredients into the fermentation culture system in a constant speed feed supplement mode on the premise of realizing the maximum production rate of the L-threonine by using the strains. The method has the advantages that: accuracy control and optimizing control are convenient to realize; the operability is high,and the production process is convenient to regulate and control in real time; and the production efficiency can be further improved. The method has a great significance for the industrial productionof the L-threonine.

The invention discloses a method for controlling the process parameter and the related data stream in real time, comprising the following steps: (1) establishing a distribution matrix for the multi-dimensional related data stream which comprises a multi-axis data stream and a parameter data stream by a PC system; (2) calculating a time value according to the multi-axis data stream and the feed speed by the PC system, adding the time value to the distribution matrix for the multi-dimensional related data stream, and formatting the distribution matrix for the multi-dimensional related data stream; (3) sending the formatted distribution matrix for the multi-dimensional related data stream to a programmable data stream controller by the PC system; (4) writing the time value into a speed timerand the multi-axis data stream and the parameter data stream into a data stream driver by the programmable data stream controller; and (5) controlling the data stream driver to send the multi-axis data stream and the parameter data stream to an executing mechanism by the programmable data stream controller at the given operation speed according to the set of the speed timer. The invention simplifies the real-time control of the related data stream as well as the real-time control and the acceleration-deceleration control of the process parameter.

The invention discloses a controllable high-frequency-response probe test moving device for microwave and millimeter wave chips. The controllable high-frequency-response probe test moving device comprises an industrial personal computer, a control module, a driver, a servo motor, a precision displacement device and a grating ruler. The precision displacement device comprises a precision workbench, a driver I, piezoelectric ceramics and a flexible hinge. The industrial personal computer is connected with the control module, the control module is connected with the driver, the driver is connected with the servo motor, the servo motor is connected with the driver through an encoder, the servo motor is connected with the precision workbench, the precision workbench is connected with the driver I, the driver I is connected with the piezoelectric ceramics, the piezoelectric ceramics is connected with the flexible hinge, the flexible hinge is connected with the workbench, the workbench is connected with the control module through the grating ruler, the driver I is connected with the control module, prior one-time positioning is changed into coarse positioning in which the motor drives a lead screw, and the precision displacement device belongs to secondary positioning of fine positioning. A fine positioning system is high in test speed, and on the premise of not affecting test acceptability, test cycle is shortened greatly, efficiency and productivity are improved, and test cost is reduced.

A three-freedom-degree flexible topology decoupling parallel-connection micro displacement platform comprises a static platform body (1) and a movable platform body (2), and is characterized in that the movable platform body (2) is connected with the static platform body (1) through a first supporting chain (3), a second supporting chain (4) and a third supporting chain (5), the first supporting chain (3), the second supporting chain (4) and the third supporting chain (5) are respectively connected with the movable platform body (2) and the static platform body (1) through flexible hinges, the first supporting chain (3) is driven by a first drive (6), the second supporting chain (4) is driven by a second drive (7), and the third supporting chain (5) is driven by a third drive (8). According to the three-freedom-degree flexible topology decoupling parallel-connection micro displacement platform, the origin position of the movable platform body is fixed through the first drive and the second drive, the third drive determines the angle of the movable platform body moving around the origin position, the platform has partial decoupling characteristics, solving difficulty of kinematics of a mechanism and dynamics is reduced, real-time control is easy to achieve, a whole modularized machining structure is simple and has an assembling-free characteristic, and positioning and repetition precision of micro displacement of the micro displacement platform is improved.