188results about How to "Good static" patented technology

An electric arc welder comprising a plurality of power supplies connected to a single welding station with a D.C. input for passing an arc welding current across an electrode and workpiece, each of the power supplies including a switching type inverter with an output D.C. current determined by a signal applied to the input of the power supply, a circuit connecting the output D.C. currents in parallel at the input of the welding station, a feedback circuit including a sensor for creating a current signal representing the arc current, a command signal source, and a circuit for creating a master current signal based upon the sensed current signal and the command signal, and a circuit for applying said master current signal to the input of the plurality of power supplies whereby the D.C. current to the D.C. input of the welding station is equally shared by the power supplies.

The invention discloses a rotating transformer position measuring system. The system comprises a signal processing circuit, a hardware decoding circuit and a singlechip, wherein the signal processing circuit is electrically connected with a rotating transformer and the singlechip, and is used for receiving and processing an excitation signal of the rotating transformer and two channels of orthogonal sinusoidal signals and outputting the signals to an input / output (I / O) port of the singlechip and two input channels of a quick analog / digital (A / D) sampling module; and the hardware decoding circuit is electrically connected with the rotating transformer and the singlechip, and is used for decoding rotating transformer position information and generating and outputting a position signal to a serial peripheral interface (SPI) communication interface of the singlechip. The quick A / D sampling function of the singlechip is used, the two channels of orthogonal sinusoidal signals of a secondary coil of the rotating transformer are acquired by the singlechip, the rest part of signal processing is finished in the singlechip through programming, and the redundancy function of the system can be realized by only a few peripheral circuits, so that the reliability of the system is greatly improved.

The invention provides a reconfigurable device for a walking robot with four / two parallel legs, belonging to the technical field of robots. The leg mechanism of the robot is structurally designed in a modularization way, and the legs are of a same structure. When four-leg walking is carried out, the leg mechanism is a 3-UPU, and when two-leg walking is carried out, the leg mechanism is a 3-SPU (Synergistic Processing Unit), wherein the conversion between the two leg mechanisms is realized through a rotation-pair retaining device, and the conversion between four legs and two legs is realized through a merging device. The rotation-pair retaining device comprises an electromagnet, an electromagnetic chuck base, friction plates, a friction plate carrier, a support column, a spring and a rotation-pair retaining plate, a rotation pair in a pair S is controlled to be locked and unlocked through the lamination and the separation of the friction plates, and the lamination and the separation of the friction plates are controlled by the sucker type electromagnet. The merging device comprises an electromagnetic chuck, a guiding device, a push-pull type electromagnet and a locking clamp, and the merging device is locked by controlling the positions of two legs to be merged, merging the soles through the electromagnetic chuck and the guiding device, and driving the locking clamp to act by the push-pull type electromagnet.

The invention discloses a system and a method for identifying the speed controlled object parameters of a direct current motor, and belongs to the field of the direct current motor control. The identification system comprises a step signal generator, a power driving unit, the direct current motor and a load, speed detection sensor as well as a recording instrument. The identification method comprises the following steps: the power driving unit is adopted to receive a step signal output by the step signal generator and outputs drive current to drive the motor to drive the load to run; the speed sensor detects a speed signal and establishes a coordinate of the speed signal and the time; a step input signal amplitude is divided by an amplitude in a stable state with the speed signal, so as to obtain a controlled object equivalent damping parameter; a coordinate value on a time axis in a position of a speed output signal stable-state amplitude of 0.632 times is measured; and a time value is multiplied by the equivalent damping parameter, so as to obtain a controlled object equivalent inertia parameter. The invention has better static property and dynamic property.

The invention discloses a method for evaluating quality of streaming video based on video characteristics. The method is realized in a simulation environment of simulating network loss on MPEG-TS stream; network damage is simulated through man-made loss, simultaneously loss data is recorded, image characteristics of a damaged frame are analyzed, and impact of video damage to visual effect is observed by eye, thereby establishing a one-to-one correspondence. In practical application, a QoE evaluation value which is in accord with subjective feeling of a user can be acquired through sampling and analyzing a transmission media and analyzing the network damage. In the method an objective evaluation method and a subjective evaluation method are combined to ensure the evaluation value is closer to the real feeling of the user; evaluation is carried out through analyzing compressed domain data of video streaming in a streaming media service in real time, and feasibility of real-time analysis is higher.

The invention discloses a fault-tolerant control method and system for a dual-winding three-phase permanent magnetic fault-tolerant motor. The fault-tolerant control method of any three-phase permanent magnetic fault-tolerant motor includes the first step of obtaining set torque, the second step of obtaining a direct-axis current set value and a quadrature-axis current set value, the third step of transforming the direct-axis current set value and the quadrature-axis current set value to obtain current set values of all phase windings under a normal condition, the fourth step of detecting actual currents of all the phase windings of the three-phase permanent magnetic fault-tolerant motor, and the fifth step of judging whether a short-circuit or open-circuit fault happens to any phase winding, calculating the current set values of all the phase windings under a fault condition according to a set current calculation formula under the fault condition if the short-circuit or open-circuit fault happens to any phase winding, comparing the current set values of all the phase windings under the fault condition with the actual currents of all the phase windings of the three-phase permanent magnetic fault-tolerant motor, and converting comparison signals to control signals of a three-phase H-bridge inverter. Through the fault-tolerant control method and system, the torque can be effectively and reasonably distributed so that the system can continue operating in failure.

The present invention discloses a method for designing an aeroengine robust tracking controller, which is a Leitmann robust tracking control method for the problems of uncertainty, noise, and the like in the aeroengine and the aeroengine control system. The method comprises: establishing a nominal state variable model of the aeroengine; establishing a state variable model of the aeroengine control system with uncertainties and noises; establishing a dynamic model of the aeroengine tracking control system based on a reference model; and designing a Leitmann robust tracking controller. According to the method disclosed by the present invention, performance of ''bounded consistent tracking'' and "bounded consistent ultimate tracking" of the tracking control system is proposed, and the robust tracking method based on the Leitmann controller is proposed, so that problems of noise, uncertainty, and the like in the aeroengine control system are overcome, tracking requirements of the system are satisfied, and the controlled system is ensured to maintain good robustness when the working environment, the working state and dynamic performance of the engine changes.

The invention belongs to the dynamic control technique field of the permanent magnet spheric electromotor, and relates to a decoupling method for the electromotor dynamics. The method comprises a servo controller and a neural network feedforward controller; wherein, the neural network feedforward controller can be established according to the following steps: a dynamical equation of the spheric electromotor is established; two layers of neural network identifiers are established, input signals of the neural network identifiers are position angle vectors Theta (Alpha, Beta, Gamma ) which are output by the spheric electromotor, and output signals thereof are feedforward compensation torque vectors (Tau[nAlpha], Tau[nBeta], Tau[nGamma]); a weight adjusting equation which is provided with additional momentum can be used to train the neural network identifiers; the neural network identifiers are identified online, so as to achieve the feedforward compensation of the torque vectors (Tau[nAlpha], Tau[nBeta], Tau[nGamma]). The method can effectively weaken module estimation errors and interference effects outside the system.

The invention relates to an active disturbance observation-based fuel pressure control method, aims at solving the problems of time-varying characteristics and non-linearity of an internal combustion engine fuel injection system and non-ideal application of traditional PID (proportion integration differentiation) control in fuel pressure control and the like, and provides the method of realizing control on fuel pressure by adopting model-based feedforward control and state observation-based feedback control. The method mainly comprises target fuel pressure computation, fuel pressure sensor practical fuel pressure collection and computation, fuel measuring unit fuel volume flow rate feedback regulation amount computation, fuel measuring unit fuel volume flow rate feedforward control amount computation, conversion of fuel measuring unit fuel volume flow rate into current, conversion of fuel measuring unit current into a PWM (Pulse Width Modulation) duty ratio, fuel measuring unit practical work current measurement and computation, a fuel measuring unit current feedback regulator, fuel measuring unit PWM modulation frequency computation, a fuel measuring unit PWM drive, a fuel measuring unit, a fuel injection system and a fuel pressure active disturbance observer.

The invention discloses a nontoxic calcium and zinc thermal stabilizer, which comprises the following matters: a primary calcium and zinc stabilizer, a diketone, a polyol, an external lubricating agent, an internal lubricating agent and an antioxygen. Compared with the prior art, the one-pot-process chemical mixing for synthesizing a calcium and zinc salt, which is mixing on a molecular level, has better synergetic effect than physical mixing; the introduction of another anionic benzoic acid on the basis of one anionic stearic acid greatly improves the processing properties of the stabilizer,such as lubricating property, transparent property and compatibility; without any toxic components, the mixture is really nontoxic and environment-friendly; the prepared thermal stabilizer has high static performance, dynamic performance and color constancy; and at 180 DEG C, the congo red time is more than 120 minutes, and the white difference delta E between two rolled pieces is less than 2. The production process is simple and the cost is low.

The invention relates to photovoltaic power generation device and method based on amplitude-phase control, belonging to the technical field of power electronics. An AC side voltage and current sensor detects three-phase AC voltage and current, and the three-phase AC voltage and current are processed by a voltage and current translation circuit and then transmitted to a DSP of a main control unit for processing; the DSP determines the output vector of voltage regulation through the amplitude-phase control and inner loop control according to set values of the detected AC side current and voltage and DC side voltage and transmits the output vector to an FPGA; output voltage received by the FPGA and a waveform generated by a triangle generator are synthesized into a PWM waveform to be transmitted to a driving and amplifying unit; and a switching device of a main circuit unit generates switch-on and switch-off according to an amplified pulse signal. The photovoltaic power generation method successfully reduces the AC side voltage distortion rate, is suitable for multiple load types, reduces the influence of load current change on output AC voltage and enhances the fast response capacity.

The present invention discloses a brushless DC motor fuzzy control system based on a genetic algorithm and a control method thereof. The control system comprises a drive system used for driving a brushless DC motor, a speed observer used for collecting the rotation speed of the brushless DC motor, a rotation speed reference model which provides the reference data of a motor rotation speed and compares the reference data of a motor rotation speed with the collected motor rotation speed so as to obtain a rotation speed error and an error change rate, a parameter fuzzification module which receives the rotation speed error and the error change rate, carries out quantification on the rotation speed error and the error change rate, and maps the rotation speed error and the error change rate to a fuzzy set discourse domain, a genetic algorithm optimization module which uses the genetic algorithm to carry out online optimization on a module control rule, adjusts related parameters in the fuzzy set discourse domain and makes a fuzzy decision, and a defuzzification module which maps the output amount of the fuzzy decision to a basic discourse domain. According to the system and the method, the genetic algorithm is used to carry out online adjustment of the parameter of the fuzzy controller, and the controller can have good static and dynamic performance in different operation environments.

The invention relates to a PCI control-based LCL type three-phase grid connecting inverter double-ring control method which is used in a LCL type three-phase grid connecting inverter system. A PI controller in the PCI control-based LCL type three-phase grid connecting inverter double-ring control method is replaced by a PCI controller. Compared with the prior art, the method is high in reliability and wide in application scope.

The invention belongs to the technical field of automation engineering and relates to an electromagnetic driving two-degrees of freedom spherical robot wrist and a control method thereof. The electromagnetic driving two-degrees of freedom spherical robot wrist is a high-integration driving spherical wrist device, the two output ends of an internal universal joint and an external universal joint passing through the same rotating center are coaxially connected, and a radial magnetizing permanent magnet in a servo mechanism is directly driven by a coaxial servo magnetic moment in a space universal rotary magnetic field to realize side-sway and pitching two-degrees of freedom rotation. The electromagnetic driving two-degrees of freedom spherical robot wrist overcomes the defects of a complicated driving machinery wrist, the wrist driving system is simple and light in structure, high in transmission efficiency, static and dynamic performance and control and response speed, can solve the modeling problem of the existing spherical electromagnetic driving joint three-dimensional complicated magnetic field, realize precise modeling of the spherical electromagnetic driving joint magnetic field and precise decoupling of electromagnetic coupling and mechanical coupling, and remarkably improves the response sensitivity and positioning precision of electromagnetic driving spherical joint control.

The invention relates to an analysis system and a method of a medium motion state in a ball mill. The analysis system comprises a plurality of mill ball sensors and an upper computer, wherein each mill ball sensor transmits acquired medium motion state data in the ball mill to the upper computer; the upper computer analyzes and processes the mill ball motion state data; the mill ball sensors comprise six-axis inertia sensors, Flash memories, first plate-plate connector, embedded CPUs (central processing units) and batteries; the six-axis inertia sensors transmit the acquired medium motion state data in the ball mill to the embedded CPUs; the embedded CPUs transmit the received medium motion state data in the ball mill to the Flash memories; after completion of data acquisition, the embedded CPUs read contents in the Flash memories and transmit the acquired data to the upper computer via the first plate-plate connectors and extension interface circuit boards; the batteries are used for supplying power to the six-axis inertia sensors, the Flash memories and the embedded CPUs; and the upper computer comprises a ball mill information management module, a mill ball sensor management module and an experimental data management module.

A piezoelectric ceramic objective driver control method includes the steps of separating a process of optimizing initial parameters of a proportion integration differentiation (PID) controller from a process of online adjustment, and configuring the optimized initial parameters to an online control algorithm to accurately control a piezoelectric ceramic objective driver quickly. In an off-line state, global optimization of the initial parameters of the PID controller is completed by a genetic algorithm in advance, the optimized initial parameters are configured into a process of online fuzzy PID control and are subjected to online feedback and real-time control, and accordingly, the piezoelectric ceramic objective driver is subjected to micro-stepping location under drive. By the piezoelectric ceramic objective driver control method, the piezoelectric ceramic objective driver can be controlled accurately and is low in output overshot, high in stability and response speed.

This invention discloses one light fiber top noise, discrete noise and intensity noise separation method, which comprises the following steps: processing phase modulation on system according to selection phase; high speed digital collection circuit processes sample of output signal in different modulation depth; through sample sequence analyzing getting relative noise even and variance; according to different function, computing three kinds of noise value.

The invention provides a permanent-magnet rotor deflection-type three-degree-of-freedom motion motor, which relates to the technical field of permanent-magnet rotor motors. The motion motor is characterized in that magnetism isolating sheets and permanent magnets consisted of non-magnetic-conduction materials are distributed on the outer side of the inner core of the rotor. N-poles and S-poles are distributed in a staggered way and the outlines of the permanent magnets are spherical. At least two layers of magnetic pole iron cores are provided on the rotor of the periphery. Stator magnetic pole loops are provided on the magnetic pole iron cores. An output shaft is rigidly connected with center of the stator, the center of an outer housing overlaps with center of the rotor and the rotor is supported by a circular ball bearing fixed on the stator. The stator is provided with a transducer for detecting the position and the speed of the rotor so as to realize closed-loop control of the motor. The motion motor of the invention solves the problems of the three-degree-of-freedom motion motor in the prior art, including heavy abrasion, poor torque output capacity and the like. The motion motor of the invention is relatively simple in structure, easy to control, high in mechanical integration level, small in abrasion, strong in torque output capacity, and excellent in static and dynamic performance. In addition, the motion motor can realize suspension control.

The invention provides a method and system for fuzzy control over genetic algorithm optimization of a shielded gate portal crane controller. A reference rotation speed value n* and a brushless direct current motor measuring rotation speed value n serve as two input values of a fuzzy controller for genetic algorithm optimization; a current output by the fuzzy controller and a current output by a current sensor are input into a current comparator, an error current passes through a current PID regulator and is output to a PWM controller, and finally, the PWM controller controls the rotation speed of a motor through an inverter. By the adoption of rotation speed current double-closed-loop control, double-fuzzy control over genetic algorithm optimization is adopted by a rotation speed outer ring and traditional PI control is conducted on the currents. Compared with the prior art, the method and system for fuzzy control over genetic algorithm optimization of the shielded gate portal crane controller have the advantages that the tracking accuracy is high, the robustness is strong, parameter adjustment can be effectively conducted on system parameter drifting, the function of self-adaptation control is achieved, and the obvious superiority is achieved.

The present invention discloses a parameter adjusting system and an adjusting method controlled by direct current motor velocity PID, which belong to the field of direct current motor control. The adjusting system comprises a controller, a power driving unit, a direct current motor and load thereof and velocity detection sensor, wherein the controller consists of a comparator, a proportioner and an integrator. The adjusting method adopts the velocity sensor to detect an actual velocity signal and adopts the comparator to receive the actual velocity signal and a given velocity command signal so as to output an error signal. The proportioner and the integrator receive the error signal respectively to output a proportion control signal and an integral control signal. The power driving unit receives each control signal to output driving current. The direct current motor receives the driving current to drive the load to operate. The system has good static performance and dynamic performance.

The invention discloses an ant colony PID individual pitch control method of a large wind turbine unit. The method includes the following steps that a load model of the wind turbine unit is built, beating moments of blades of the wind turbine unit under a rotating coordinate system are calculated, and the beating moments are subjected to Colman coordinate transformation and transformed into the yawing bending moment and the pitching bending moment under the coordinate axis d and the coordinate axis q; individual variable pitch angles under the coordinate axis d and the coordinate axis q are obtained through an ant colony PID controller and then transformed to optimized pitch angles of the different blades through Colman inverse transformation, the optimized pitch angles and a unified variable pitch angle are subjected to comparative analysis, a pitch angle control signal is obtained, and execution actions of individual pitch control of the wind turbine unit are competed. The control method combines an intelligent algorithm with the traditional PID controller, has self-adaptability, is good in static performance, improves the dynamic performance of a pitch control system of the wind turbine unit, reduces unbalanced loads of key components of the wind turbine unit, and prolongs the service life of a draught fan.

The invention discloses a flux linkage dead-beat direct torque control method and system for a switched reluctance motor, and the method comprises the following steps: calculating the motor feedback torque and feedback flux linkage of the switched reluctance motor currently; determining a spatial voltage vector of a next sampling period based on the deviation between the motor feedback torque and a given torque and the deviation between the feedback flux linkage and given flux linkage, so as to complement the deviation between a feedback value of the switched reluctance motor and a given value; modulating the above-mentioned determined spatial voltage vector, and outputting a corresponding pulse signal, so as to control the switched reluctance motor to change the currently outputted motor feedback torque and feedback flux linkage of the switched reluctance motor. The method can carry out the adjustment and control of the motor feedback torque and feedback flux linkage of the switched reluctance motor precisely and effectively. In particular, the method is good in dynamic and static performances when the motor is in low-speed and high-speed operation, thereby solving a problem that a conventional control method is large in torque pulsation.

The invention discloses a design method of a controller of converter stations at the both ends of a flexible direct-current transmission system. A mathematical model of the converter stations at the both ends of the flexible direct-current transmission system is a nonlinear system and has the characteristic of strong coupling which causes certain difficulty to the design of the controller of the converters. According to the invention, with respect to an VSC-HVDC (voltage source converter based high voltage direct current) transmission system, a PCHD (port controlled hamiltonian with dissipation) model is established, and the controller of the converter stations at the both ends of the flexible direct-current transmission system is designed by adopting passive control of interconnection and damping configuration and selecting a proper energy function and a proper damping matrix, thus improving the dynamic and static performance of the controller, and ensuring the relatively strong robustness of the controller.

The invention discloses a recognition device and method for parameters of an execution mechanism in an electro-hydraulic linear velocity servo system. The recognition device comprises a step current signal generator, an electro-hydraulic servo valve, a hydraulic cylinder, a mechanical load, a liner-velocity detection sensor, a recorder and a hydraulic source; and the recognition method comprises the steps of: inputting step current signals into the electro-hydraulic servo valve, and detecting the motion liner velocity of the mechanical load; recording the varying process of the step current signals and linear velocity signals with the time till the steady-state value of the linear velocity signal is achieved; dividing the amplitude of the step current signals by the steady-state value of the linear velocity signals to obtain an equivalent viscous damping coefficient of the execution mechanism; and multiplying the equivalent viscous damping coefficient by a time value corresponding to a state that the 0.632 times of the steady-state value of the linear velocity signals is reached to obtain an equivalent mass of the execution mechanism. By means of the recognition device and method disclosed by the invention, the regulation of the parameters of a controller of the electro-hydraulic linear velocity servo system is timesaving and laborsaving, and the electro-hydraulic servo system can achieve better static and dynamic properties.

The invention provides a dynamic and static load superposition rock mechanics testing machine and testing method, and relates to the technical field of rock mechanics testing. The testing machine comprises a static loading device, a dynamic loading device and a monitoring system, wherein the static loading device comprises a top beam, stand columns, a loading oil cylinder, a bearing column and a cross beam, and the dynamic loading device comprises an energy storage spring, a telescopic column, an energy storage control oil cylinder, an electromagnet, a lifting oil cylinder and a protective subplate; the stand columns are arranged on the two sides of the lower part of the top beam, the loading oil cylinder is arranged on a base, the telescopic column and the energy storage control oil cylinder are arranged between the top beam and the cross beam, the energy storage spring sleeves the telescopic column, the electromagnet is arranged at the lower end of the energy storage control oil cylinder, the lifting oil cylinder and the protective subplate are arranged between the cross beam and the stand columns, and an energy storage load sensor is arranged between the telescopic column and the top beam. According to the testing method that the testing machine is used for studying the impact failure of rock specimens, the testing purpose of synchronous static and dynamic loading on the same rock specimen is achieved, and the testing method further has the advantages of flexible and convenient control and the like.

The invention discloses a method for casting and producing glass mould roughcast by a V-process molding process. The method comprises the following processes: casting glass mould roughcast by adopting a heat-resistant alloy cast iron material; assembling aluminum alloy mould cores on replaceable mould board cores and finishing the cores; respectively placing replaceable mould board cores in an upper sand box and a lower sand box of a vacuum sand box; carrying out film laminating; carrying out film roasting; carrying out vacuum pouring; carrying out thermal treatment, and the like. According to the method, the mould roughcast, with a D-type graphite form in a roughcast inner cavity part and A-type graphite forms in other roughcast outer parts, is obtained by methods of carrying out process control and boiler-front inoculation treatment, adding alloy elements such as Mo, V, Ti, Cr, Cu and Al, adopting chilled iron cores and the like. The A-type graphite form structure has good static and dynamic strength, higher thermal conductivity and stable processing performances; the D-type graphite form structure has better compactness and higher tensile strength, and is remarkably improved in wear resistance, heat resistance, oxidization resistance and thermal fatigue resistance; and the mould roughcast with different graphite-form structures on key parts is glass mould roughcast which is most suitable for a glass bottle tank forming process.

The invention discloses an active-disturbance-rejection control method of a multi-axis series mechanical arm, and belongs to the technical field of series mechanical arm control. The control method comprises the following steps of S1, establishing a dynamic mathematical model of a motor position; S2, designing an active disturbance rejection controller; and S3, estimating and compensating the total disturbance of the system. The method has the advantages that the response speed is higher, the anti-interference capability is higher, and the tracking without overshoot is realized; a novel nonlinear function is adopted, better smoothness, continuity and conductibility are achieved near an original point, and meanwhile the better high-frequency flutter suppression capacity and the better active disturbance rejection capacity are achieved compared with a traditional ADRC; a Kalman filter is introduced into an extended state observer, so that the total disturbance of the system can be effectively estimated, including external disturbance, the coupling effect between shafts and the friction force between components; and simulation and test results show that the control method has good static performance, dynamic quality and anti-jamming capability, can provide reference for research of a connecting rod mechanism, and has very high engineering practical value.

The invention discloses a weather-proof reflecting coating material used for road labels. The weather-proof reflecting coating material used for road labels comprises, by weight, 7 to 9 parts of an energy-storage self luminescent material, 4 to 6 parts of a nanometer grade reflecting powder, 5 to 7 parts of a reflecting material, 20 to 30 parts of a highlight transparent polyurethane emulsion, 10 to 14 parts of water-borne alkyd resin, 2 to 4 parts of an aluminate coupling agent, 8 to 10 parts of a processing auxiliary agent, 4 to 6 parts of an ore additive powder material, 5 to 7 parts of anti-cracking fiber, and 3 to 7 parts of polyethylene wax. The weather-proof reflecting coating material possesses excellent energy storage self luminescent and reflective functions, so that road labels are provided with excellent reflective identification properties at dark and light conditions, light intensity is high, and fluorescent lifetime; the adhesive force is relatively high; high temperature resistance is excellent; corrosion and moisture resistance is achieved; the material cost of the preparation method is relatively low; the raw materials are easily available; the preparation method is simple; and high practical value and promising application prospect are achieved.

An object is to provide a method of manufacturing a water repellent film, a nozzle plate, an inkjet head, and an inkjet recording device which are able to improve dynamic water repellency of a water repellent film which includes a straight-chain fluorine-based organic material. The method of manufacturing a water repellent film includes forming a first organic film on a silicon substrate with a silicon compound which does not include a fluorine atom as a raw material, forming an inorganic oxide film on the first organic film, and forming a second organic film on the inorganic oxide film with a straight-chain fluorine-containing silane coupling agent as a raw material.

The invention discloses a hydraulic-motor angular speed servo system. The hydraulic-motor angular speed servo system comprises an angular-speed command signal generator, a servo controller, a servo amplifier, a servo object, an angular-speed measuring sensor and a hydraulic source. The servo controller comprises a comparator, a first integrator, an integration coefficient Ki1 multiplier, a first subtractor, a second integrator, an integration coefficient Ki2 multiplier, a second subtractor, a feedback coefficient Kd1 multiplier and a feedback coefficient Kd2 multiplier. The servo object comprises an electro-hydraulic servo valve, a hydraulic motor and a mechanical load. Adjustment of control parameters has calculation formulas to follow, so that blindness of parameter adjustment is avoided, time is saved, system stability is improved, and overshooting is avoided; static and dynamic performance of the electro-hydraulic angular speed servo system are improved comprehensively, floating is realized, dynamic response time is short, overshooting and vibration are avoided, and dynamic tracking precision is high.