11results about How to "Eliminate chatter" patented technology

The invention discloses a guidance method and system for the entry section of a high-speed aircraft, and belongs to the technical field of aircraft navigation guidance and control, and the method comprises the steps: building a standard motion equation of the entry section of the high-speed aircraft under a planet fixed connection coordinate system without considering the rotation motion and flattening of a planet; establishing an error tracking equation of the high-speed aircraft entering section relative to the reference trajectory; and designing a high-speed aircraft trajectory tracking guidance law by using a self-adaptive over-torque sliding mode control method and an error tracking equation of an aircraft entering section relative to the reference trajectory. The method has the advantages of being simple in algorithm and high in robustness and adaptability.

The invention relates to mechanical arm trajectory tracking control based on improved super-spiral sliding mode control, and belongs to the technical field of mechanical arm trajectory tracking. The method comprises the following steps: S1, constructing a mechanical arm dynamic model according to related parameters of a mechanical arm, a DH parameter method and a Lagrange method; s2, on the basis of the dynamic system model of the mechanical arm, constructing a super-spiral sliding mode surface; s3, designing an improved super-spiral sliding mode control reaching law; s4, performing mechanical arm trajectory planning by using a Cartesian interpolation method; s5, on the basis of the super-spiral sliding mode surface and the reaching law thereof, determining a trajectory tracking control law in combination with a mechanical arm dynamic model; s6, a control model combining improved super-spiral sliding mode control and a mechanical arm is built; and S7, selecting control parameters, and performing trajectory tracking control. The controller provided by the invention can effectively suppress buffeting on the premise of ensuring that a system can reach a stable state, has relatively high robustness to external disturbance, and ensures trajectory tracking of an end effector of the mechanical arm.

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.

The present invention provides a PMLSM drive system speed control strategy based on RBF adaptive super-twisted sliding mode, comprising the following steps: first, the relevant motor parameters in the PMLSM dynamic equation are regarded as unknown quantities, and its super-local model is established; secondly, an estimator for estimating the unknown parameters in the super-local model is designed based on an RBF neural network; then, an outer loop AST speed control law is designed based on the RBF neural network estimator; finally, a PI-based vector control method is adopted for the inner loop d-q axis current in the PMLSM drive system to realize the motor stator current tracking its given value. The present invention can ensure high-precision control of the speed of the PMLSM drive system, enhance the robustness of the system to cope with parameter and load disturbances, and has a strong practical engineering value.

The utility model discloses a vibration stopping device for a well drilling steel wire rope, belongs to the technical field of petroleum drilling and production equipment, and solves the problems that an existing device is high in manufacturing cost, complex in installation, low in vibration stopping response speed and the like. The device comprises a supporting column, a guider, a beam hanger, a guide rope and a tensioner, and is characterized in that the top end of the supporting column is fixedly connected with the guider, the guider comprises a guide wheel, a rolling bearing, a fixed support and a rotary supporting device, an annular groove is formed in the guide wheel, the guide rope is installed in the annular groove, one end of the guide rope is fixedly connected with the beam hanger, and the other end of the guide rope is fixedly connected with the tensioner. The beam hanger comprises a shell, a wear-resistant block, a hinge and a locking mechanism, a well drilling steel wire rope is installed in the center of the beam hanger in a penetrating mode, the lower end of the well drilling steel wire rope is fixedly connected with a winch, and the upper end of the well drilling steel wire rope is fixedly connected with a crown block. The vibration stopping device is simple in structure, easy and convenient to install and high in vibration stopping response speed.

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 symmetric segmented alternate machining method and device for a weak-rigidity workpiece. The machining method comprises the following steps that the two ends, in the length direction, of the weak-rigidity workpiece are clamped and fixed; a milling cutter is driven to machine a groove in the middle line position of the weak-rigidity workpiece in the length direction; determining the critical symmetric segment size; the area on one side of the groove is divided into a plurality of first machining areas, the area on the other side of the groove is divided into a plurality of second machining areas, and the width of the first machining areas and the width of the second machining areas are both not larger than the critical symmetric segment size; and a plurality of first machining areas and a plurality of second machining areas are sequentially machined in the direction from the groove to the two ends of the weak-rigidity workpiece, and machining of the first machining areas and machining of the second machining areas are alternately carried out. The problems of machining deformation and chatter generated in the machining process of the weak-rigidity workpiece can be solved, and the machining efficiency and machining quality of the weak-rigidity workpiece are greatly improved.

The present invention discloses a multi-agent sliding mode fault-tolerant control method under a finite-time observer. For a second-order nonlinear multi-agent system with unknown disturbances and actuator faults, a finite-time observer is proposed to achieve real-time observation of the disturbance and fault information suffered by the agent. According to the relative state information between the multi-agents, the consistency error variable is defined. Then a novel sliding surface is proposed, and a distributed adaptive sliding mode fault-tolerant method is designed by combining it with an artificial potential function. The present invention can eliminate the influence of faults and unknown disturbances on the system, and realize connectivity preservation when the multi-agent system reaches a consistent state.

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.