50results about How to "Guaranteed control accuracy" patented technology

This application discloses an electronic pre-braking (EBP) pedal release prediction and pre-filling control method and system, relating to the fields of automotive electromechanical braking (EMB), active safety prediction, electronic pre-braking (EBP), and brake-by-wire clearance pre-filling technology. It collects information on accelerator pedal opening, accelerator pedal release rate, vehicle speed, wheel speed, brake pedal status, and vehicle driving conditions. Based on the accelerator pedal release rate and vehicle speed, it sets multi-level threshold intervals to determine the driver's potential emergency braking intention. This application achieves multi-dimensional intention prediction based on accelerator release changes and vehicle speed information, and combines it with electromechanical brake clearance pre-filling control to enable the braking system to enter a ready-to-respond state in advance, improving the vehicle's active safety capabilities. Through multi-condition adaptive adjustment and functional constraint and redundancy control mechanisms, it ensures a smooth and reliable pre-filling process and maintains functional continuity under abnormal conditions, making it suitable for applications using brake-by-wire systems without hydraulic pressure.

The utility model discloses full-electric-drive ultrasonic vibration-infrared heating energy field assisted multi-station precision glass mold pressing equipment, which comprises a control box, a feeding assembly, a pressure forming execution unit, a discharging assembly and an electric control cabinet, and adopts an infrared radiation heating mode to carry out rapid non-isothermal heating on a glass prefabricated part. And an ultrasonic vibration element and a pressure sensing element are arranged in the lower mold base of the mold pressing station, and when the prefabricated part is heated to a softening point, the ultrasonic vibration element is started to cooperatively work with an infrared heating technology, so that the filling speed and quality of glass mold pressing forming are improved. The full-electric driving technology is used, the control precision and the die pressing forming efficiency are high, in addition, compared with a traditional glass die pressing machining mode, the infrared heating element and ultrasonic vibration cooperative work machining technology achieves precise and efficient machining of a glass prefabricated part, the problem of interference of heating and vibration in traditional die pressing is solved, and the production efficiency is improved. And the forming precision and efficiency of the product are improved.

This invention discloses a BUCK circuit with precisely adjustable current and its adjustment method. The circuit includes a time loop control circuit and a BUCK constant current circuit. The input terminal of the time loop control circuit is connected to the output terminal of the BUCK constant current circuit to obtain the output current Iout of the BUCK constant current circuit. The output terminal of the time loop control circuit is connected to the input terminal of the BUCK constant current circuit to adjust the output current Iout of the BUCK constant current circuit. The time loop control circuit includes a sampling circuit I0, a comparator I1, a control calculation module I2, and an AND gate I3. The BUCK constant current circuit includes a driver circuit I4, an NMOS transistor Q0, a freewheeling diode D0, an energy storage inductor L0, a current sensing resistor R0, a filter capacitor C0, a light-emitting diode D1, and a power supply. The adjustment method includes: obtaining the sampling voltage Vsns and calculating the output current Iout; if the output current Iout is adjusted to a high current adjustment, it enters the analog adjustment mode; otherwise, it enters the mixed analog-digital adjustment mode. The output current of the BUCK circuit can be precisely adjusted.

The application discloses a three-level coordinated production line body intelligent control method and system, and belongs to the technical field of intelligent manufacturing. The method comprises the following steps: establishing a global task planning layer, performing semantic analysis and logical disintegration at a first preset frequency, and generating an atomic action sequence; establishing a local space perception layer, receiving the atomic action sequence at a second preset frequency, constructing a dynamic local map by using sensor data, determining a workpiece pose by point cloud registration, and mapping the atomic action sequence into a continuous motion trajectory flow; establishing a real-time action execution layer, receiving an instantaneous target pose at a third preset frequency, calculating a theoretical driving torque by combining a Lagrange dynamics equation, switching to an impedance control mode at a contact moment, and driving an execution mechanism to complete work; and establishing an asynchronous coordination layer, realizing three-layer asynchronous communication through an industrial network, and controlling the three-layer frequencies to be distributed in a ladder type in an increasing manner. The application has the effects of improving the flexibility, precision and safety of a production line.

This invention provides a train operation method, medium, and equipment based on dual-loop adaptive sliding mode control, relating to the field of rail transit train operation control technology. The method involves an outer-loop displacement control subsystem controlling the train to track a target displacement; and an inner-loop speed control subsystem controlling the train to follow the speed curve generated by the displacement control subsystem at the desired speed. The output of the speed control subsystem is the resultant force of traction and braking. The control law is determined based on the integral sliding surface of the speed control subsystem and the train kinematic model. The additional resistance in the train kinematic model is simulated using an RBF neural network algorithm. The basic resistance parameters, total train mass, ideal weight matrix of the RBF neural network, and approximation error in the train kinematic model are determined using the adaptive control law of the integral sliding surface of the speed control subsystem. This method can solve the control problems of divergent speed tracking control deviations and low convergence efficiency under complex operating conditions.

The invention relates to the field of control, in particular to a multi-sensor data fusion slip form construction closed-loop control method and system, and the method comprises the steps: collecting the pressure and displacement data of each jacking fulcrum of a slip form device in real time; calculating a pressure compensation weight coefficient of the absolute value of the sliding mode variable in the previous period through an exponential attenuation function, weighting a pressure mean value and a reference pressure difference, multiplying the weighted pressure mean value and reference pressure difference by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation amount, adding the two values to obtain a comprehensive deviation, constructing a sliding mode surface function, and calculating the sliding mode variable; calculating a second norm of the time change rate of the pressure data, and determining the actual boundary layer thickness; the sliding mode control law comprises an equivalent part and a switching control part, when the absolute value of a sliding mode variable is larger than the thickness of a boundary layer, switching control is a fixed gain sign function, otherwise, switching control is a proportional term, and a global jacking speed reference instruction is generated; according to the difference value between the real-time pressure of each fulcrum and the pressure mean value, the speed differential adjusting amount is calculated through proportional-integral adjustment, and the speed differential adjusting amount and the global reference instruction are superposed to obtain the jacking speed control instruction of each fulcrum.

The present application relates to the technical field of general control system of nonlinear feedback and precision process control, disclose a kind of construction and accurate water distribution execution system of soil moisture nonlinear response model, including characteristic perception module, infiltration damping observation module, pulse width modulation module and actuator module, module calculates the derivative term of porous medium controlled object characteristic parameter, extracts the instantaneous slope of trajectory vector in infiltration dynamic phase plane, and utilizes determination logic to trigger duty cycle constraint when second derivative term is negative and instantaneous slope absolute value exceeds threshold, and the medium flow rate is adjusted by actuator, the present application utilizes trajectory curvature feature to characterize the nonlinear evolution of internal damping of controlled object, realizes the pre-judgment to infiltration stall point, eliminates the physical phase lag of control loop, suppresses the adjustment overshoot, and ensures the operation of system under complex damping working condition.

The invention provides a four-steering-wheel chassis motion control method and system. The method belongs to the field of steering wheel chassis control, and comprises the following steps: calculating the total traction required by a chassis based on the required acceleration, the whole vehicle mass and the chassis and environment interaction force information obtained by the feedback of a sensor; according to the total traction force, target torques of the four motors are calculated and output through a preset torque distribution method; calculating a target steering angle of each steering wheel based on the turning radius and the chassis advancing direction angle; according to the difference value between the target steering angle and the actual steering angle of each steering wheel, the acceleration required by each motor is calculated and output in real time; and synchronously outputting the target torque and the acceleration required by the motor to the corresponding motor controller, and collecting the speed, steering angle and IMU data of each steering wheel encoder to form closed-loop feedback for updating the calculation of the next control period. According to the invention, the control mode is smoother, the anti-interference capability is stronger, and the control is more synchronous.

The utility model discloses a high-precision low-flow-resistance stop valve, belongs to the technical field of valves, and provides the following technical scheme for solving the problem that the flow pressure adjusting precision is reduced due to vibration of a valve clack of a traditional stop valve: the valve clack is connected with a valve rod through a plurality of groups of supporting assemblies which are uniformly distributed in the circumferential direction, and an inner rod and an outer rod form an axial telescopic structure; and the turntable is in running fit with the valve rod through the L-shaped connecting ring. An annular communicating groove is formed in the top of the valve clack, an annular connecting groove is formed in the corresponding position of the bottom of the valve clack, the two grooves are communicated through communicating holes in an annular array, and a sealing ring capable of being embedded into the connecting groove is arranged in the corresponding position of the inner wall of the valve cavity. When the valve is opened, fluid can directly penetrate through the valve clack through the communicating hole to reduce impact force, the supporting assembly counteracts lateral acting force of the fluid on the valve clack through the axial bearing structure, and bending deformation of the valve rod is prevented. According to the valve, the fluid control precision and the operation stability are effectively improved while the sealing performance is kept by optimizing the fluid channel shape and the valve clack supporting structure.

This invention discloses a method and system for segmented acquisition of measured values ​​at a measuring station based on a self-learning model. The method includes acquiring preset strip data at the entry and exit points of the finishing mill; segmenting the strip at the finishing mill exit according to the preset strip data; acquiring measured values ​​for each segment using a measuring device; and inputting the measured values ​​into a preset self-learning model for learning to obtain the resulting data. This solves the problems in existing technologies where different thickness specifications cannot meet the requirements of different sampling segments, and where poor uniformity affects the acquisition of measured values. It improves the accuracy of the finishing mill model and avoids the influence of intermediate billet temperature non-uniformity on the sampling point temperature.

The invention discloses a control system of a self-lifting profiling taper transfer printing machine, and relates to the technical field of industrial automatic control and precise transfer printing. And the pressure compensation module is used for carrying out PID (Proportion Integration Differentiation) operation according to the theoretical pressure value of each point on the taper transfer track and the real-time pressure value fed back by the pressure sensor to generate a dynamic pressure compensation instruction so as to keep the transfer pressure constant at different diameters of the conical workpiece. Through the dynamic pressure adjusting module, a pressure planning value is inquired in real time according to the curvature radius of a transfer printing point, PID closed-loop control is carried out in combination with feedback of a pressure sensor, and dynamic self-adaptive constant adjustment of transfer printing pressure at different diameters of a conical workpiece is achieved; therefore, the process problems of different transfer printing depths, local loss or ink overflow and the like caused by pressure fluctuation are effectively solved, and the uniformity and consistency of transfer printing quality are remarkably improved.

The invention discloses a multi-degree-of-freedom mechanical arm trajectory tracking control method and system based on decomposition type Q learning. According to the method, a drifting dynamic matrix and an input dynamic matrix of the mechanical arm system do not need to be known in advance, online learning and optimization can be carried out by directly utilizing input and output data through the Q learning algorithm, and the dependence of a traditional adaptive dynamic programming (ADP) method on an accurate mathematical model is effectively overcome. According to the method, a Q function is innovatively decomposed into three independent components, and three sub neural network channels are used for approximation respectively. Compared with a direct approximation integral Q function, the distributed design has the advantages that the complexity of a single network is reduced, the fitting capability of the neural network to a nonlinear system is fully utilized, and the convergence speed and learning efficiency of the algorithm are improved. In conclusion, high-precision trajectory tracking can be achieved, the error curve convergence is rapid and stable, the speed and position change of each joint is smooth, no obvious jitter exists, and the method has good engineering application value.

The invention provides a braking particulate matter emission testing system. The braking particulate matter emission testing system is characterized in that an upper computer sends a target braking torque and a target rotating speed to a real-time controller; the real-time controller determines a target braking position according to the target braking torque and a torque closed-loop control algorithm, and determines a target loading torque according to a target rotating speed and a rotating speed closed-loop control algorithm; the torquemeter is used for collecting actual braking torque and feeding back the actual braking torque to the real-time controller; the real-time controller is further used for conducting feedforward compensation on the rotating speed according to the actual braking torque. Thus, the rotating speed and the torque are independently adjusted in a closed-loop mode through a double-closed-loop control strategy of a rotating speed closed-loop control algorithm and a torque closed-loop control algorithm, when the braking torque is adjusted, feedforward compensation is conducted on the rotating speed according to the actual braking torque, and equivalently, the rotating speed and the torque are decoupled; the feed-forward compensation can synchronously offset the interference to the rotating speed when the torque changes, and the simulation precision of the dynamic braking working condition is improved.

This invention discloses a sliding mode control method and system for tracking the trajectory of a robotic arm. Addressing external disturbances and model uncertainties in the robotic arm system, it proposes an improved non-singular fast terminal sliding mode surface, combined with an adaptive disturbance upper bound estimation strategy, to design a robust controller with finite-time convergence characteristics. Furthermore, it proposes an adaptive boundary layer thickness adjustment method based on the sliding mode surface norm to suppress chattering while ensuring tracking accuracy. Specifically, it includes: establishing a six-degree-of-freedom robotic arm dynamic model; designing a sliding mode surface integrating exponential and fractional power terms; constructing an equivalent control law; designing an adaptive law to estimate the upper bound of the lumped parameter uncertainty; replacing the traditional sign function with an adaptive boundary layer saturation function; and proving the finite-time stability of the closed-loop system using Lyapunov theory. This invention can significantly reduce control input chattering and energy consumption, and is suitable for high-precision motion control scenarios such as industrial manufacturing, medical surgery, and aerospace.

This invention discloses a precise control method and system for aerial work platforms based on a proportional valve. The method includes inputting preset control parameters into a control device and operating it to output an initial current signal; acquiring the current signal in real time and converting it into a digital signal for transmission to an ARM processor; sequentially performing filtering, piecewise linearization, and PID dynamic compensation adjustment on the converted digital signal to generate a high-precision current command; based on the high-precision current command and combined with a preset piecewise mapping relationship between the current and the proportional valve opening degree, calculating and generating a control signal and outputting it to the drive module; the drive module analyzes the signal duty cycle and converts it into a drive current adapted to the proportional valve coil, inputting it to the proportional valve coil to precisely adjust the proportional valve opening degree; the proportional valve controls the precise movement of the aerial work platform, while the monitoring and protection module automatically locks the proportional valve and stops adjusting the opening degree when an abnormality is detected. This invention achieves precise control of the aerial work platform, improving operational stability, accuracy, and safety.

The invention discloses a self-locking anti-backlash and segmented loading coating scratch testing device, comprising: a transmission mechanism mounted on a frame and used for providing rotation power and realizing self-locking; the loading mechanism is connected with the output end of the transmission mechanism and is used for converting the rotary motion into linear pressing motion and providing a linearly changing load for the pressing head; the measuring module is integrated on the loading mechanism and is used for detecting a normal load and a tangential shear force applied to the pressure head in real time; and the moving platform is used for bearing the sample. The transmission mechanism comprises a servo motor and a double-lead worm and gear pair driven by the servo motor. The loading mechanism comprises a cam shaft, a linear cam and a plane follower, and the working end of the plane follower is kept in contact with the contour curved surface of the linear cam. According to the invention, the dual-lead worm and gear transmission with a self-locking anti-backlash function is combined with the linear cam loading mechanism with segmented profile curves, so that the load control accuracy and the loading linearity are ensured, and the coating scratch test precision is improved.

This invention relates to a hydraulic cylinder assembly, and more particularly to a hydraulic cylinder assembly structure suitable for servo valve control. The invention provides a hydraulic cylinder assembly structure suitable for servo valve control that can simultaneously perform forming and punching on workpieces, and has high driving efficiency under no-load conditions. A hydraulic cylinder assembly structure suitable for servo valve control includes a large hydraulic cylinder, a filling valve, a large piston rod, a plunger cylinder, a small oil chamber, and a retaining ring. A filling valve is installed at the bottom of the large hydraulic cylinder, and a large piston rod is located inside the large hydraulic cylinder. A plunger cylinder is connected to the bottom of the large hydraulic cylinder. Oil is filled into the plunger cylinder to improve the movement efficiency of the large piston rod. The plunger cylinder is hollow inside. This invention first fills the plunger cylinder with oil through a pipeline by starting an oil supply device. The oil flows upward into the small oil chamber through the hollow part in the middle of the plunger cylinder. Because the internal space of the plunger cylinder is small, the required oil flow rate is small, and the plunger cylinder can be filled in a short time, thus improving the movement efficiency of the large piston rod.

The invention discloses a linear motor control method based on feedforward adaptation and a storage medium, and relates to the technical field of motor control. The method comprises the following steps: determining a position error based on an actual position of the linear motor and a preset reference position, and determining an acceleration error based on an actual acceleration of the linear motor and a preset reference acceleration; a feed-forward parameter change rate is determined based on a preset adaptive formula and the reference speed, the reference acceleration and the acceleration error of the linear motor, a feed-forward control parameter is determined based on the feed-forward parameter change rate, and the adaptive formula is obtained by deducing an error kinetic equation of the linear motor through a Lyapunov stability criterion; determining a feed-forward control quantity based on the feed-forward control parameter, the reference speed and the reference acceleration, determining a feedback control quantity based on the position error, and determining a total control quantity according to the feed-forward control quantity and the feedback control quantity; and driving the linear motor to move according to the total control quantity.

This invention discloses a stepped steer-by-wire redundancy control method and system for steering actuator failure, applicable to intelligent electric vehicles with independent steering and drive for all four wheels. When steering actuator failure is detected, the location of the failed wheel is determined and its steering angle is locked. Based on the state of the remaining healthy steering wheels, the maximum yaw moment they can provide is estimated in real time using a tire model. The total required yaw moment is calculated based on driver input and vehicle status. By comparing the two values, a compensation mode is automatically selected: if the steering force is sufficient, a pure steering compensation mode is entered, optimizing only the steering angle of the healthy wheels; if the steering force is insufficient, a hybrid compensation mode is entered, first controlling the healthy wheels to operate in the optimal efficiency state, then calculating the missing steering force step size and compensating through differential torque. This invention pre-sets differentiated strategies for multi-wheel failure scenarios, achieving stepped safety protection from single-wheel to multi-wheel failure, improving vehicle safety, and is low-cost and robust.

The invention discloses a control method for a wafer bonding machine and the wafer bonding machine, and relates to the technical field of wafer bonding processes. The wafer bonding machine comprises a vacuum transmission arm used for transmitting a wafer and an adsorption mechanism used for adsorbing the wafer, and is characterized in that the control method comprises the following steps: obtaining the offset height of the wafer at the vacuum transmission arm at a switching position; the vacuum conveying arm is controlled to move upwards by the deviation height; obtaining the vacuum degree of the adsorption mechanism; judging whether the vacuum degree is smaller than a standard value; if yes, the vacuum conveying arm is controlled to continue to move upwards till the vacuum degree is larger than or equal to the standard value. According to the invention, the deviation height of the wafer is compensated by controlling the lifting height of the vacuum transmission arm, so that the adsorption mechanism can completely adsorb the wafer, and the adsorption stability is improved.

The invention discloses a control method of a six-degree-of-freedom platform, which comprises the following steps: step 1, six control systems are constructed, and the control systems are in one-to-one correspondence with six driving joints of the six-degree-of-freedom platform; wherein the control system comprises a CMAC model and a PID (Proportion Integration Differentiation) controller; step 2, acquiring overshoot, damping ratio and damped oscillation period of the control system at the current moment, inputting the overshoot, damping ratio and damped oscillation period into a CMAC model, and outputting PID controller parameter variation by the CMAC model; wherein the parameter variable quantity comprises a proportion variable quantity, an integral variable quantity and an integral gain variable quantity; and thirdly, the parameter variation is input into the PID controller, and the PID controller outputs a drive joint control signal at the next moment according to the adjusted parameters.

The invention discloses a laser equipment control system for heterogeneous cascade control. The laser equipment control system comprises an upper computer, a master station module and at least one slave station module, the slave station module comprises a slave station chip, a slave station FPGA and a slave station processor. The master station module and the slave station chip establish communication connection based on an EtherCAT protocol; the slave station chip is connected with the slave station FPGA through a high-speed parallel interface, and the slave station processor is connected with the slave station FPGA; the system comprises a cascade working mode and an independent working mode. And the slave station processor receives a control instruction of the upper computer, transmits the control instruction to the slave station FPGA, controls the working state of the laser equipment, collects state information and transmits the state information back to the upper computer. The high-speed parallel interface between the slave station chip and the slave station FPGA replaces a traditional serial interface, the data transmission rate is greatly improved, the high-real-time control requirement is met, the two modes are flexibly switched, multiple slave station modules do not need to be forcibly configured, and the application flexibility and expansibility are improved.

The application discloses an electric equipment cooperative control method and system, and relates to the technical field of unmanned ship control; the technical points are as follows: through space-time-electromagnetic double-dimension synchronous preprocessing, taking the geomagnetic detection sampling time sequence as a core reference, the phase reference alignment of the power supply time sequence, the equipment operation time sequence and the detection sampling time sequence is carried out, so that the electric interference peak value is avoided from falling into the detection sampling window; in addition, on the basis, through matching the cooperative control decision value, three cooperative operations of power supply ripple reverse offset, equipment time sequence and detection window avoidance, and ship body posture and detection sampling phase lock are executed, active offset and accurate avoidance of electromagnetic interference are carried out from the power supply source, equipment operation and detection sampling, the problem that the prior art can only realize passive interference attenuation through physical isolation and hardware shielding, and cannot eliminate the interference source through electric cooperative control is solved, and thus the electromagnetic interference suppression efficiency of the geomagnetic detection channel and the signal-to-noise ratio of the geomagnetic detection data are improved.

This application provides a vehicle thermal management control method, device, electronic device, and vehicle. The method includes: determining multiple sets of target control quantities in the current control time domain using a pre-built solver; sequentially outputting one set of target control quantities from the multiple sets of target control quantities to the system at each time interval; determining the solver call time based on the computation time and the output time required to output the multiple sets of target control quantities; starting with the output of the first set of target control quantities, calling the solver at each call time to determine multiple sets of target control quantities in the next control time domain; determining the number of sets of target control quantities output within the computation time based on the time interval and computation time; determining the first set of target control quantities to be output from the multiple sets of target control quantities in the next control time domain based on the number of sets; and sequentially outputting one set of target control quantities starting from the first set of target control quantities at each time interval, which ensures continuous and accurate output of target control quantities to the system and guarantees the stability of the system.

The invention provides a voltage control and detection circuit, a power conversion device and a charging pile, and belongs to the technical field of circuits. A detection voltage output by an operational amplifier circuit in the voltage control and detection circuit can reflect an error between a reference voltage and an output partial voltage, so that a control circuit realizes closed-loop control of the output voltage of the DC / DC conversion circuit based on the detection voltage. Moreover, the detection voltage can reflect the magnitude of the ripple voltage in the output voltage, so that the control circuit achieves ripple suppression of the output voltage. The voltage control and detection circuit has abundant functions, and can effectively avoid increasing the structural complexity and cost of the power conversion device. Moreover, the operational amplification circuit has a proportional amplification function and can amplify the voltage difference between the reference voltage and the output divided voltage, so that the sampling precision of the voltage can be ensured even if a high-resolution ADC (Analog to Digital Converter) is not used. Therefore, the dependence on the high-resolution ADC is effectively reduced.

The application provides a control method and device of a vehicle, the method comprising: acquiring a structure parameter and a motion parameter of the vehicle and a digital signal output by a quantizer, and constructing a state space equation of an open loop system of the vehicle based on the structure parameter, the motion parameter and the digital signal; calculating a quantization error of the quantizer according to the digital signal, the quantization error being a bounded value; taking the quantization error as a bounded disturbance of a target robust controller model to be constructed, constructing a state space equation of a closed loop system of the vehicle based on a standard robust controller model and the state space equation of the open loop system, determining a closed loop transfer function corresponding to the state space equation of the closed loop system, and constructing the target robust controller model; and performing lateral and longitudinal control on the vehicle based on the target robust controller model.

The application discloses a high-voltage wide pulse modulation ms-level coordination control method and system based on a microwave power supply system, and belongs to the technical field of power electronics, and comprises the following steps: step 1, obtaining the instantaneous amplitude fluctuation of a high-voltage pulse to generate an amplitude deviation sequence; step 2, calculating a local slope change rate according to the amplitude deviation sequence to generate a phase lag trend; step 3, constructing a compensation operator based on the phase lag trend to predict an amplitude attenuation time point sequence; step 4, converting the amplitude attenuation time point sequence into a pulse width modulation signal and performing signal injection; and step 5, adjusting the parameter weight of the compensation operator according to the actual modulation effect of the signal injection and correcting the prediction deviation by using an error integration mechanism. The application can effectively solve the industry pain points of difficult capture of high-voltage pulse front overshoot and difficult quantification of amplitude fluctuation, greatly improves the original data precision of the pulse signal, and controls the instantaneous fluctuation of the pulse amplitude in a very small range.

The invention provides an off-grid cascade emergency energy storage system and a control method, three-phase star connection is adopted, each phase is formed by cascading AC sides of N H-bridge power units with DC filtering links, the DC side is connected with a battery cluster, and the AC side is directly connected with a load or a power grid through a filter. The system is provided with a unified controller, an off-grid V / F control mode is automatically switched to when double power supplies of a power grid lose power, and rated voltage and frequency are established; and after the power grid is recovered, executing pre-synchronization closed-loop adjustment according to an amplitude-frequency-phase sequence, and setting a gradually broadened frequency amplitude limiting interval to realize non-impact closing of the grid-connected contactor. A positive sequence d / q axis voltage outer ring, a current inner ring and a negative sequence current closed ring are arranged in the controller, sequential operation is carried out in the same interruption period, a cross decoupling and negative sequence suppression strategy is adopted, voltage is rapidly established at a 10ms level, and unbalanced load harmonic waves are eliminated. Seamless switching from off-grid to grid-connected is achieved, and the method is suitable for important load emergency power supply.

The utility model relates to a kind of coarse-fine combination double-station quick feeding device, including coarse feeding bin, fine feeding bin, first vibrator being set in the bottom of coarse feeding bin, second vibrator being set in the bottom of fine feeding bin, weighing module, material cup being set in the upper of weighing module;Wherein, the bottom surface of coarse feeding bin is inclined plane, and wide discharge groove is equipped with outside end part, and wide discharge groove is communicated with the inside of coarse feeding bin and close to the deepest place;The bottom surface of fine feeding bin is inclined plane, and narrow discharge groove is equipped with outside end part, and narrow discharge groove is communicated with the inside of fine feeding bin and close to the deepest place;Feed pipe is inverted Y type structure, and the end surface of two discharge ports of feed pipe is inclined plane, which is matched with the bottom inclined plane of coarse feeding bin and fine feeding bin, respectively extends into coarse feeding bin and fine feeding bin and keeps 5-10mm gap with bottom.The feeding device whole structure is simple, through the special design of feeding bin structure, the feeding mode of coarse, fine collaborative cooperation is realized, and feeding speed is fast, and control precision is high.

The invention discloses a curtain wall construction gap dynamic detection and automatic compensation device, which relates to the technical field of curtain wall construction and comprises a support frame and a sucker position control table. Through deep fusion of ingenious mechanical linkage design and a numerical control feedback system, a set of complete'detection-transmission-calculation-adjustment 'closed-loop control system is constructed, a ball rod is adopted to be in contact with a reference panel, displacement is transmitted to a displacement sensing assembly through a linkage lever without delay, and after data are compared and processed by a numerical control table in real time, the data are transmitted to a computer through a computer; the four-corner hydraulic cylinders are directly controlled to stretch out and draw back in a combined mode, instant and accurate compensation of the angle of the to-be-installed panel is achieved through the ball-and-socket joint, the whole process is high in automation degree and rapid in response, the installation precision is guaranteed, dependence of complex and expensive sensors is avoided, and prominent substantive features and remarkable progress are achieved.