5results about How to "Eliminate chatter" patented technology

The invention relates to a fixed-time sliding mode anti-lock braking control method and system based on fuzzy logic and a neural network. The method comprises the steps that a dynamic model of a vehicle anti-lock braking system is established; designing a fixed time sliding mode controller, and constructing a sliding mode surface containing a terminal attractor and an approaching law; a T-S fuzzy logic system is adopted to approach a non-linear tire-road surface friction function in an ABS system on line; an approaching law of the sliding mode controller is approached online by adopting an artificial neural network; carrying out online optimization on additional control item gains introduced by neural network approximation by adopting a particle swarm optimization algorithm; and the fixed time stability of the whole closed-loop system is monitored based on the Lyapunov stability theory. According to the invention, the braking efficiency, the stability and the robustness of the ABS system are effectively improved, and the braking distance and the braking time are reduced.

The application discloses a profile reference surface machining equipment for automobile hinges and relates to the technical field of automobile part machining equipment, in particular to the profile reference surface machining equipment which specifically comprises a rack, a front pinch roller group, a cutting station and a rear pinch roller group arranged on the rack along a preset profile conveying path in sequence, synchronous action between the front pinch roller group and the rear pinch roller group is used for clamping the profile to feed along the conveying path at a preset constant linear velocity and limit the longitudinal movement of the profile, and the cutting station is provided with a cutting fly cutter which is suspended above the profile conveying path and rotates around a vertical axis, wherein the cutting edge of the cutting fly cutter acts on the top surface of the profile to perform rotary cutting on the top surface of the continuously fed profile, and a reference surface meeting the accuracy requirement is formed by one-time machining.

The invention relates to an automobile motor shell deep drawing, trimming and stamping forming device which comprises an upper die and a lower die, the lower die is provided with a stamping base and a material supporting part used for supporting material belts, the feeding side and the discharging side of the material supporting part are each provided with a material belt stabilizing mechanism, and each material belt stabilizing mechanism comprises a clamping assembly and a driving assembly; the clamping assembly comprises at least one pair of oppositely-arranged clamping pieces, each clamping piece is provided with a fixed part and a movable part, and the movable parts can be controlled by the driving assembly to do opening and closing movement relative to the fixed parts so as to clamp or release the suspension sections of the material belts. The technical problem that the initial conditions for materials to flow into a female die are inconsistent due to the fact that a suspension section of a material belt vibrates up and down or drifts transversely in actual production of existing automobile motor shell stamping forming equipment is solved.

This invention discloses a fault-tolerant control method, program, device, and storage medium for underwater robots based on physical information residual networks and dynamic control allocation, belonging to the technical field of underwater robot control methods. First, a generalized dynamic model is constructed, incorporating a diagonal matrix of thruster health and an external lumped disturbance term. Then, a fully connected neural network is used to estimate the total system disturbance. Next, a composite control law is designed based on a non-singular terminal sliding surface, and the virtual total control force required to resist faults is calculated. Finally, the control allocation is transformed into a constrained quadratic programming optimization problem. A thruster health-aware weighting mechanism and relaxation variables are introduced into the optimization objective function, and the thrust of each thruster is redistributed through an optimization algorithm. When a fault occurs in the underwater robot's propulsion system, a graded degradation strategy is determined based on the relaxation variables in the optimization objective function. This ensures the robot's normal navigation even when some thrusters are damaged.

The invention provides a Buck converter output voltage control method and device and electronic equipment. The method comprises the following steps: introducing disturbance into an average state equation of a Buck converter to obtain a target average state equation; the average state equation comprises a current equation of an inductor in the Buck converter and an output voltage equation of the Buck converter; the disturbance comprises disturbance generated by load resistance change in the Buck converter and disturbance generated by bus voltage fluctuation; the disturbance is obtained through estimation of an extended state observer; determining an estimated value of an input voltage and an estimated value of a load resistor after the Buck converter is disturbed according to the target average state equation; determining a control law based on the target average state equation, the estimated value of the input voltage after the Buck converter is disturbed and the estimated value of the load resistance; the control law is used for driving a control signal of the Buck converter. The technical problem that the output voltage of the Buck converter is unstable due to input voltage fluctuation and load change is solved.