2results about How to "Good vibration suppression effect" patented technology

The application relates to a flexible mechanical arm control method and system based on a fuzzy PID, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model to generate a slow variable subsystem model and a fast variable subsystem model; establishing an extended state observer according to the slow variable subsystem model and an impfal function and generating an observed disturbance value; generating an improved linear sliding mode surface according to a flexible mechanical arm position tracking error and a state power item; deriving the improved linear sliding mode surface to generate a sliding film control law; generating a trajectory tracking control law according to the observed disturbance value and the sliding film control law; generating a vibration suppression control law according to the fast variable subsystem model, a fuzzy PID control algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The method has better anti-disturbance performance and vibration suppression performance.

The utility model relates to air conditioning equipment field discloses fixed structure of shock block and air conditioner thereof, including first shock block and second shock block, the surface of first shock block relative second shock block is first plane, the surface of second shock block relative first shock block is second surface, first plane and second surface all are set up with semicircle through slot and can butt joint and piece together into the cylindrical hole for air conditioner pipeline to pass through, be equipped with the guide portion on first plane, the guide portion includes at least two limit lugs, the second plane is set up with the limit slot of cooperation limit lug sliding insertion, limit slot and limit lug same number, still include at least two buckle parts of symmetrical setting in semicircle through slot both sides, the buckle part all includes the buckle of embedding first shock block and the card seat of embedding second shock block, the buckle is connected with opposite card seat, to provide a kind of shock block fixed structure of installation convenience not easy to fall off.