37results about How to "Good for stability control" patented technology

The invention discloses a water-rich weak surrounding rock long-and-big tunnel construction method. The method includes that a tunnel inclined shaft is arranged on one side of a main tunnel of a tunnel to be constructed, the main tunnel is divided into a tunnel entry section, a tunnel exit section and a middle connecting section connected between the tunnel entry section and the tunnel exit section, the middle connecting section is divided into an inclined shaft assisting construction entry section and an inclined shaft assisting construction exit section, and each of the tunnel entry section, the tunnel exit section, the inclined shaft assisting construction entry section and the inclined shaft assisting construction exit section is divided into multiple sections for construction. A construction method of each section includes: step 1, performing geological forecasting in advance, and when a debris flow formation exists ahead, entering a step 2, or else, entering a step 3; step 2, performing stability control construction; step 3, determining a primary supporting scheme; step 4, excavating the tunnel, and performing primary supporting construction; step 5, performing secondary lining construction on the tunnel. The water-rich weak surrounding rock long-big tunnel construction method is simple in step, reasonable in design, simple and convenient to construct, good in using effect, capable of meeting construction requirements of water-rich weak surrounding rock long-and-big tunnels, short in construction period and safe in construction process.

The invention provides a stope route arrangement mode and method beneficial to roof-contacted filling. The roof-contacted filling rate can reach above 90%, filling cost is low, and the process is simple. According to the stope route arrangement mode, a mining cutting roadway is arranged perpendicular to the moving direction of an ore body, extracting drifts at two wings of the mining cutting roadway are arranged in the moving direction of the ore body in a staggered mode, a chute is arranged in a surrounding rock section of the footwall of the mining cutting roadway, the height of the extracting drifts is 3m, the length of the first extracting drift is 14-18m, the length of the second extracting drift is 16-20m, and the height of the mining cutting roadway is 4.5m. According to the stope route arrangement method, a slope ramp linking way, a footwall stope layering linking roadway and the mining cutting roadway are constructed sequentially, and the chute and a return air filling shaft are communicated; the second extracting drift is constructed after the first extracting drift is finished; brushing extraction is carried out on a temporary jamb, the width of a central mining cutting roadway is 4.5-5m, and a top plate is shaped like an arch; waste stones are dumped into the second extracting drift, the height of a smooth chute is increased by 3.5m, a filling blocking wall is erected, and filling operation is finished when the liquid level of filling material slurry is higher than the top plate of the extracting drifts by 20-30cm.

According to the present invention, a method and apparatus for generating power aboard a marine vessel is provided. The method comprises the steps of: (a) providing a Rankine Cycle device that includes at least one of each of an evaporator, a turbo-generator that includes a turbine coupled with an electrical generator, a condenser, and a refrigerant feed pump; (b) disposing the one or more evaporators within an exhaust duct of a power plant of the marine vessel; (c) operating the power plant; and (d) selectively pumping refrigerant through the Rankine Cycle device, wherein refrigerant exiting the evaporator powers the turbine, which in turn powers the generator to produce power.

A control system for a supercavitating vehicle includes a set of winglets for rapid maneuverability and a segmented ring wing for fine stabilization control. The winglets and ring wing extend from an aft portion of the vehicle. The winglets are supported by a strut attached to the vehicle. The angle of attack of each winglet into the water adjacent the cavity is controlled by a winglet actuator. The winglet assembly may be extended into the water or retracted to be completely within the cavity by means of a spring-loaded actuated mount. The segmented ring wing is controlled by a ring actuator. The ring actuator may be used to control the angle of attack of the ring wing. Alternately, or in combination, the flow over the ring wing may be neutralized by using the cavitator of the vehicle to globally enlarge the cavity and thus limit the flow.

The invention provides a multi-mechanical-arm collaborative grinding force compliance control method and a multi-mechanical-arm collaborative grinding force compliance control system. The control method comprises the steps of (1) giving a reference position, expected grabbing internal force and expected grinding force of a target object; 2) conducting position decomposition on a closed chain formed by cooperation of two grabbing mechanical arms, and establishing a closed chain dynamics position constraint equation; 3) acquiring acting force signals of the tail ends of the two grabbing mechanical arms on the target object through a force sensor, and conducting Kalman filtering processing on the acting force signals; and 4) establishing a dynamic adaptive impedance control equation, obtaining position compensation of the tail ends of the two grabbing mechanical arms according to the real internal force and the expected internal force, and obtaining position compensation of the tail end of a grinding mechanical arm according to the acting force signal of the tail end of the grinding mechanical arms on the target object and the expected grinding force. According to the method and the system, the clamping force at the tail end of the mechanical arm can be controlled within the range of an expected value while the cooperative operation of multiple mechanical arms is ensured, and theconstant grinding force control is realized.

The invention discloses an automobile and a body stability control method and system thereof. The method comprises the following steps of obtaining the target yaw velocity of the automobile and the angular velocity of the automobile centroid circular motion; calculating the absolute value of the difference between the target yaw velocity and the angular velocity of the automobile centroid circularmotion; if the absolute value of the difference is larger than a first preset value, obtaining the current road adhesion coefficient of the automobile, calculating the driving torque limit value of the automobile according to the current road adhesion coefficient, and limiting the current driving torque limit value of the automobile to the driving torque limit value or below. Therefore, the stability of the automobile can be better controlled on a complicated road surface, especially on a low- adhesion-coefficient road surface.

The invention discloses a stable control method for switching a micro grid grid-connected mode to an island operation mode. The method comprises a step of collecting the electrical quantities of a micro grid and a tie line and receiving a command of an upper-level system through a micro grid central controller and a rapid measurement and control unit and obtaining a real-time operation state of the micro grid, a step of calculating the real-time load and power output of a micro grid system when the operation state is a planned island and judging whether source and load are balanced or not, otherwise, switching a main power supply from PQ operation mode to a V/f operation mode when the system satisfies an island criterion, judging whether the system runs normally after a PCC switched is switched off, removing immediately after detecting a failed line if the system is abnormal, and restarting the judgment, and a step of judging whether the source and load are balanced in the micro grid if the system is normal, calculating a power imbalance amount if the source and load are unbalanced, adjusting storage energy output and then judging whether the source and load are balanced again, performing low-voltage/low-frequency load shedding if the source and load are unbalanced, and judging whether the source and load are balanced again. The detection mode is simple, and the stability is good.

The invention discloses a natural gas engine gas quality adaptive control method. The natural gas engine gas quality adaptive control method comprises the steps of bench testing, parameter table pre-storing, gas quality adaptation, gas quality adaptive condition setting, gas quality adaptation enabling, parameter information comparison, gas quality adaptation factor obtaining, correction parameterobtaining, gas quality adaptation persistence and the like. Information of an oxygen sensor is detected in real time through an electronic control unit (ECU); a corresponding gas quality adaptation factor is determined after analysis; and a gas injection quantity correction coefficient, an air demand quantity correction coefficient, a fire angle correction degree and an EGR correction rate whichneed to be adjusted are determined according to the gas quality adaptation factor and act on an engine through corresponding execution parts. The influence of the change of the quality of natural gason the Lambda stability is eliminated, the stability control of engine emission results is facilitated, the performance stability control is facilitated, and the operation safety of the whole system is finally improved.

The invention discloses a kiln device for producing mineral wool or rock wool by using high-temperature hot slag. The kiln device comprises a hot flow slag groove, a main charging device, a mixing device, an electrode module, a kiln, a combustion device, a bubbling device and a material way, wherein one end of the hot flow slag groove is connected with a feed port of the kiln; the mixing device is positioned on the inner side of the kiln, and communicates with the feed port of the kiln; an outlet of the mixing device communicates with an inner cavity of the kiln; the main charging device is fixedly connected to a main feed port of the kiln; the combustion device is connected to the wall surface of the kiln; the electrode module is fixedly connected to the bottom of the kiln; the bubbling device is fixedly connected to the bottom of the kiln; the material way is positioned on the outer side of the kiln; and one end of the material way is connected with a discharge port of the kiln. The kiln device directly uses the high-temperature hot slag for producing the mineral wool and the rock wool, can remelt all waste cottons and slag balls produced in the production process for reutilization, and achieves the effects of high efficiency, energy conservation and environmental protection in the whole production process.

The invention relates to a racing car stability control device and control method. According to the racing car stability control device and control method, due to the fact that the structure that a mass center sensor, a wheel speed sensor, an angle sensor, a pressure sensor and an angular velocity sensor send collected signals to a vehicle control unit ECU, the vehicle control unit ECU transmits signals to an ABS and a balance control device according to a specific control method, the ABS carries out brake on a single wheel or multiple wheels, and the balance control device carries out corresponding balance control is adopted, a racing car can detect the running gesture of the racing car when the racing car is driven at a curve in real time, the stability of the racing car under extreme steering, braking, driving and complex working conditions is guaranteed, and the stability problem of the racing car when large lateral acceleration and large side slip angles exist can be solved. In addition, according to the racing car stability control device and control method, an existing anti-lock braking system and an existing traction control system can be utilized for generating needed longitudinal force, the original structure of the racing car is not changed greatly, and the racing car stability control device and control method are good in stability control effect and easy to popularize and apply.

The invention discloses a flexible coupling of a wind generator set and an assembling or replacing method of the flexible coupling. The assembling or replacing method is characterized by comprising the following steps: designing and manufacturing parts by unit, assembling the parts to form five unit components, namely a brake disc component, a left flexible connecting sheet component, a middle connector component, a right flexible connecting sheet component and a generator side coupling component; carrying out dynamic balance tests and adjustments of the unit components separately so that the unit components have symmetric structures and dynamically balanced configuration; assembling the unit components to form the flexible coupling; and carrying out a dynamic balance test and an adjustment of the whole flexible coupling so that the whole flexible coupling has dynamically balanced configuration. According to the invention, the parts of the flexible coupling, which are designed and manufactured by unit, can be reliably assembled and conveniently and separately disassembled and replaced, so that the problem of inconvenience caused by breakdown maintenance of the conventional flexible coupling is effectively solved, the maintenance time is greatly shortened, a great amount of maintenance cost is saved, and the flexible coupling has high practicability.

The invention relates to a distributed fan voltage fluctuation stabilizing control method. The method comprises the following steps: step 1: the optimized output power is obtained by stabilizing the kinetic energy of a fan rotor for the fan; and step 2: the active power and the reactive power of the optimized output power are inputted into the link control of different frequency of voltage controlafter frequency division and the voltage level deviation and the high frequency voltage fluctuation are controlled respectively. The voltage problem in the distributed wind power is decomposed into the voltage level deviation problem and the voltage fluctuation problem to be stabilized by using the active power-reactive power combined control method. The characteristics of active power fluctuation and voltage fluctuation of the grid-connected fan are studied, and the combined stabilizing control method of rotor kinetic energy smoothing power and frequency-divided reactive power control stabilizing voltage is put forward through analysis so as to realize the dual suppression of voltage fluctuation of the distributed fan terminal. Compared with the methods in the prior art, the method has the advantages of low reactive power capacity requirement and wide application range and the like.

The invention provides a method for controlling the yaw stability of a semi-trailer, which comprises the following steps: taking signals collected by sensors as system input, estimating a road adhesion coefficient by using lateral acceleration, calculating an ideal yaw velocity by using the lateral acceleration, a steering angle of a steering wheel, a wheel speed and the estimated road adhesion coefficient. The difference value between the actual vehicle yaw velocity measured by the yaw velocity sensor and the ideal yaw velocity is compared with the preset threshold value to serve as the basis for yaw stability control, and the control system can adapt to different road surfaces, so that the control instruction of the control system is more accurate, and the stability control effect is better. The output torque of an engine is reduced, active braking joint intervention is implemented in combination with yaw stability control intervention schemes under different working conditions, and accurate control over the yaw stability of the semi-trailer is achieved.