56results about How to "Guaranteed dynamic properties" patented technology

The invention relates to a device and a method for testing the dynamic characteristic of a combined surface, belonging to the field of mechanical design and manufacture. A vibration exciter (8) is connected with a force sensor (10) by a top rod (4); an upper test piece (12) is connected at the other end of the force sensor (10); and a displacement sensor (11) and an acceleration sensor (3) are symmetrically distributed on the two sides of the upper test piece (12). The vibration exciter is used for exciting and vibrating the upper test piece to acquire an acceleration signal, a displacement signal and a force signal; all the signals are transmitted to an LMS modal testing system and sent to a computer after being processed by the LMS modal testing system; and the computer acquires a frequency response function of a test piece to be tested according to the acceleration signal, the displacement signal and the force signal and can recognize normal dynamic characteristic parameters of the combined surface between the upper test piece and a lower test piece according to the frequency response function. The invention solves the problem that the dynamic characteristic at the combined surface position is difficult to test, and can be convenient to separate the normal dynamic characteristic of the combined surface from the dynamic characteristics of an experiment device.

The embodiment of the invention provides a quadruped robot. The robot comprises a robot body, four leg assemblies and abduction rotating joints, each leg assembly is rotationally connected to the robot body through one abduction rotating joint, and the four leg assemblies are symmetrically arranged along the left side and the right side of the robot body; each abduction rotating joint comprises afirst support, a second support, a first motor and a first torque sensor; the first support is fixedly mounted on the machine body; the second support is rotationally mounted on the machine body; thefirst motor is fixedly installed on the first support, and the output end of the first motor is connected with the second support through the first torque sensor and can drive the second support to swing around the first axis. The first axis is the axis where the second support is rotationally connected with the fuselage; the first torque sensor is used for collecting output torque transmitted tothe second support by the output end of the first motor; the leg assembly is installed on the second support and can swing in the left-right direction of the machine body along with swing of the second support.

The invention discloses a dynamic balance type fuel cell unmanned aerial vehicle energy management method. Aiming at an unmanned aerial vehicle hybrid power supply system taking a fuel cell as a mainpower supply and a lithium cell as an auxiliary power supply, multi-objective optimization energy management is performed based on fuel cell hydrogen consumption estimation on the premise of knowing the total hydrogen amount of the fuel cell, and the optimization objectives are respectively the hydrogen consumption rate (consumed hydrogen / total hydrogen) of the fuel cell and the energy utilizationrate (consumed electric quantity / total electric quantity) of the lithium cell. According to the method, the two objectives can keep dynamic balance, the situation that the electric quantity of one power supply in the hybrid power supply is exhausted firstly is avoided, the stability of the hybrid power supply system of an unmanned aerial vehicle can be maintained, and accordingly, the dynamic characteristic of the unmanned aerial vehicle is guaranteed.

The invention discloses a p type layer-based III nitride enhanced HEMT (High Electron Mobility Transistor) and a preparation method thereof. The HEMT comprises a heterojunction mainly formed by a first semiconductor layer and a second semiconductor layer, and a source electrode, a gate electrode and a drain electrode connected with the heterojunction; a third semiconductor layer capable of forming a heterojunction with the second semiconductor layer is also distributed between the gate electrode and a barrier layer; an etching stop layer is also distributed between the third semiconductor layer and the second semiconductor layer; the composition material of the etching stop layer has a higher etching selectivity ratio than that of the third semiconductor layer, or, the composition material of an area, close to the third semiconductor layer, in the second semiconductor layer has a higher etching selectivity ratio than that of the third semiconductor layer. Due to the design of the invention, the p type gate technology implementation difficulty can be greatly reduced, the p type layer etching depth can be precisely controlled, electrical features of the device and the repeatability, the uniformity, and the stability of a chip manufacturing process are ensured, and mass production is facilitated.

The invention discloses a vehicle semiactive suspension based on double controllable dampers, which is applied to decoupling control of a vehicle semiactive suspension system which is provided with two groups of suspension subsystems. The vehicle semiactive suspension comprises the following decoupling control steps that 1, an unsprung type controllable damper is arranged between a lower control arm and a connecting rod, and the damping force outputted by the unsprung type controllable damper is adjusted through the feedback control of variations of vehicle body pitch angles and accelerations, so as to realize the complete structure decoupling of two 'quarter' vehicle suspension subsystems of the vehicle semiactive suspension system, and improve the properties of the vehicle suspension in the pitch movement; 2, the unsprung controllable damper is arranged on the position of the traditional passive suspension damper, and the decoupled suspension system can directly adopt a relatively matured semiactive control strategy of the 'quarter' vehicle suspension subsystems, so as to ideally improve the properties of the vehicle suspension in the vertical movement.

The invention discloses a belt speed setting control method for a belt conveyor, which comprises the following steps of: establishing an energy consumption mathematical model of the belt conveyor, establishing a dynamic model of the belt conveyor, establishing a belt speed set value optimization problem, and solving the belt speed set value optimization problem, so as to obtain an optimal belt speed set value; The method is good in effect and convenient to implement, and the actual operation condition and dynamic characteristics of the belt conveyor can be reflected by arranging the energy consumption mathematical model and the dynamic model and arranging the bearing section, the return section and the tensioning device in the dynamic model; And a decision variable is set by establishing abelt speed set value dynamic optimization problem, so that the belt speed set value which enables the conveyor to achieve the optimal energy-saving effect can be obtained on the premise of ensuring the dynamic characteristics of the conveyor belt.

The invention discloses a concurrent high-sulfur bauxite desulfurization roasting process and device. The process comprises the steps of grinding, weighing and feeding, drying, primary suspension desulfurization roasting, secondary suspension desulfurization roasting, desulfurization roasting dust collection, cyclone cooling, cooling and dust removal and the like. According to the invention, a flue gas and material concurrent manner is adopted in the desulfurization roasting section, the contact time of the material and high-temperature flue gas in a proper reaction temperature interval rangeis prolonged, the dynamic characteristic of the high-sulfur bauxite desulfurization reaction is ensured, no return material is generated in the technological process, and the method has the characteristics of good desulfurization effect, low production cost, stable product quality and high production efficiency.

The invention discloses a self-adaptive robust control method and device for an under-actuated hydraulic single-leg power-assisted exoskeleton. The control method comprises the following steps of establishing a physical model; obtaining a reference displacement and an actual displacement; adopting the actual displacement and the reference displacement as input quantities, and adopting the output of a middle-layer position tracking controller as a virtual expected joint driving torque; and converting the expected joint torque into expected hydraulic cylinder output force, adopting the expected hydraulic cylinder output force and actual hydraulic cylinder output force as input quantities, converting flow into driving voltage of an electro-hydraulic servo valve, using the driving voltage to control the output force of a hydraulic cylinder, and driving all joints of the under-actuated single-leg power-assisted exoskeleton to rotate. According to the self-adaptive robust control method and device for the under-actuated hydraulic single-leg power-assisted exoskeleton provided by the invention, under the condition that the number of the hydraulic cylinders is smaller than the number of freedom degrees of motion of the exoskeleton, the influences of multi-joint strong coupling of the under-actuated hydraulic single-leg power-assisted exoskeleton, high-order nonlinearity of a hydraulic driver and model uncertainty are effectively overcome, and the good following and power-assisted effects of the hydraulic power-assisted exoskeleton on human motion are achieved.

The invention relates to a low voltage reactive compensation technique, in particular to a novel electric energy measurement control module of a filtering reactive compensation device. The v novel electric energy measurement control module comprises a central processing unit (CPU), a power module, a voltage resistance network module, a current and voltage conversion module and a measurement module, the measurement module is connected with the CPU, the power module, the voltage resistance network module and the current and voltage conversion module are all connected with the measurement module, and the measurement module adopts a digital signal processor (DSP) chip. The advanced ADE 7880 multifunctional measurement chip with a digital signal processor (DSP) is adopted to serve as a electric energy sampling measurement module, the chip is high in integration level, performance of the chip exceeds requirements of a electric energy meter 0.2-level meter for accuracy and dynamics in industry, the design integrates comprehensive common electric power parameters such as voltage, current, power and electric energy quality analysis of a measuring system and real time waveform display, possibility is provided for fundamental wave and harmonic wave components of various electric power parameters in a controller high speed analytic system, functions of a high-precision three-phase electric energy measuring integrated circuit (IC) are achieved, and the novel electric energy measurement control module is further applicable to measurement of three-phase fundamental wave and harmonic wave parameters and wave forms of various three-wires and four-wires.

A hydro bush includes an outer pipe, an inner pipe, a rubber portion that is installed between the outer pipe and the inner pipe, and stoppers that are installed at both side ends. The hydro bush further includes a liquid chamber which is formed between the outer pipe and the rubber portion, and filled with a working fluid; and a flow path which is formed between the outer pipe and the rubber portion, and connected to the liquid chamber so as to guide the working fluid when the working fluid flows, in which the flow path includes a protruding portion which is formed to protrude inward. Accordingly, a flow distance of a working fluid flowing along the flow path may be increased without increasing a size of the hydro bush, thereby securing various dynamic characteristics.

The invention provides a time relaxation-intertwined zeroing dynamic element matching encoder, which is characterized by comprising a clock module, an input module, a dynamic element matching encoder, a pseudo-random number generator, and an N-bit either-or multichannel selector, wherein the clock module is used for providing a clock signal; the input module is used for inputting an n-bit binary number B to the dynamic element matching encoder, and B=BnBn-1...B2B1, and B is no less than 0 but no more than 2n-1; the dynamic element matching encoder is used for generating an N-bit binary number D according to the clock signal and the n-bit binary number B, D=DNDN-1...D2D1, N=2n, D1+D2+...+DN=B, and DN=O; the pseudo-random number generator is used for generating an N-bit binary number R according to the clock signal, R=RNRN-1...R2R1, and R1+R2+...+RN=N / 2; and the N-bit either-or multichannel selector is respectively connected with the clock module, the dynamic element matching encoder and the pseudo-random number generator for receiving R and D and generating a binary number P and a binary number Q according to R and D, P=PNPN-1...P2P1, and Q=QNQN-1...Q2Q1. The time relaxation-intertwined zeroing dynamic element matching encoder has the advantages of simple structure, high randomization degree and good dynamic features.

The invention provides a dynamic pressure sensor chip, and belongs to the technical field of dynamic pressure sensors. The objective of the invention is to manufacture the dynamic pressure sensor chip by adopting a mode of electrostatic bonding of a silicon chip or an SOI chip with fluid porous channels and a glass substrate or adopting the mode of electrostatic bonding of the silicon chip or the SOI chip and the glass substrate with the fluid porous channels so that piezoresistive and optical dynamic pressure signal detection can be realized. The dynamic pressure sensor chip comprises a pressure-sensitive chip (1) and the glass substrate (2). The bonding surface of the pressure-sensitive chip (1) is adhered on the bonding surface of the glass substrate (2) via electrostatic sealing. Micro fluid porous channels (3) are symmetrically and evenly distributed at the sides around the bonding surface of the pressure-sensitive chip (1) or the sides around the bonding surface of the glass substrate (2) at the connecting position of the pressure-sensitive chip (1) and the glass substrate (2). Dynamic pressure signal detection of the piezoresistive principle and the optical principle can be realized by the dynamic pressure sensor chip, and the dynamic pressure sensor chip is suitable for application in the environment of high temperature and strong electromagnetic interference.

The invention provides a method for designing a multi-balance point nonlinear system for dynamic stability control. The method comprises the following steps of: 1) establishing a synchronous unit model, and determining a gradient-like definition; 2) judging the gradient-like performance of the synchronous unit model, and if the synchronous unit model is chaotic, executing the step 3); 3) performing controller design on the synchronous unit model in the step 1); and 4) performing dynamic stability analysis and control on a power system by using a controller in the step 3), so the dynamic stability of the whole power system is ensured. According to a dynamic stability control method which is employed in the invention, the linearization of the conventional like methods is eliminated, so accumulated errors which are generated in the method are greatly reduced, and a future practical engineering guiding function is realized.

The invention discloses a control system for achieving rapid motion of a solenoid valve and a method of the control system. The system comprises a preloading high-voltage source, a preloading stable voltage source, a high-voltage source, a stable voltage source, a negative voltage source, a zero voltage source, a high-speed switching switch, a current detector, the solenoid valve, a pressure sensing system and a controller. Before the expected start-stop moment of the solenoid valve, the preloading high-voltage source is loaded in advance, and the current of a coil is kept at a state slightlysmaller than the open current through the preloading high-voltage source. At the start stage, the high voltage source is adopted for excitation, the current is rapidly increased, and the motion time of the start stage is reduced; and in the stop stage, the negative voltage source is adopted for excitation, the current is rapidly reduced to 0, and the motion time of the stop stage is reduced.

A non-contact sub-nano sensing method and a non-contact sub-nano sensing device based on three-dimensional quantum tunneling belong to precision sensing and measuring technology. The method provided by the invention comprises the following steps: using a three-dimensional quantum tunneling principle for sensing for the conductor under measurement, firstly adjusting an aiming gap of the object under measurement and a micro-measuring ball to a tunneling working interval, generating bias voltage loading by using a bias electric field generating system to form a bias electric field between the micro-measuring ball and the device under measurement, then converting the aiming gap into a sensing signal through the quantum tunneling effect, and extracting the information of the aiming gap by sub-nano resolution through a tunneling signal detection system. The invention also provides a sensing device. The non-contact sub-nano sensing method and the non-contact sub-nano sensing device based on three-dimensional quantum tunneling effectively take into account the characteristics of sub-nano resolution, three-dimensional isotropic and non-contact sensing, which can realize high resolution measurement of large aspect ratio micro / nano / micro structure.

The invention discloses a nonlinear torque suppression compensation system of a switched reluctance motor. The nonlinear torque suppression compensation system comprises a PI speed controller, a TSF torque distributor, a nonlinear space iterative torque compensator, a PI current controller, a power converter and the switched reluctance motor which are sequentially connected. Compared with a double-closed-loop PID control motor speed regulation system, only one torque compensator is additionally arranged, torque pulsation in the operation process of the switched reluctance motor can be effectively restrained, dynamic characteristics of the motor are guaranteed, and the accurate model of the motor does not need to be known.

The invention discloses a vehicle semiactive suspension based on double controllable dampers, which is applied to decoupling control of a vehicle semiactive suspension system which is provided with two groups of suspension subsystems. The vehicle semiactive suspension comprises the following decoupling control steps that 1, an unsprung type controllable damper is arranged between a lower control arm and a connecting rod, and the damping force outputted by the unsprung type controllable damper is adjusted through the feedback control of variations of vehicle body pitch angles and accelerations, so as to realize the complete structure decoupling of two 'quarter' vehicle suspension subsystems of the vehicle semiactive suspension system, and improve the properties of the vehicle suspension in the pitch movement; 2, the unsprung controllable damper is arranged on the position of the traditional passive suspension damper, and the decoupled suspension system can directly adopt a relatively matured semiactive control strategy of the 'quarter' vehicle suspension subsystems, so as to ideally improve the properties of the vehicle suspension in the vertical movement.

The invention discloses an impedance reshaping topology based on a three-level Dual-Buck type circuit. The impedance reshaping topology comprises a modular power electronic transformer, a Dual-Buck type circuit and a load, wherein the output end of the modular power electronic transformer is connected to the load; the dual-Buck type circuit is connected between the modular power electronic transformer and the load. The invention also discloses an impedance reshaping method based on the three-level Dual-Buck type circuit. The method achieves impedance reshaping by controlling the inductor current in the Dual-Buck type circuit to change a parallel damping controller, ensures that the system changes the output impedance value of a source converter according to the output power, avoids intersection with load input impedance so as to improve the stability margin of a cascaded system, and solves the large power consumption and an internal structure change caused by the use of a passive device in the prior art.

The invention discloses a constant-speed ball cage universal joint contact force test bench, which comprises a tested constant-speed ball cage universal joint, a rotating speed control system, a load torque loading system, a working angle control system and a data acquisition system, and is characterized in that an auxiliary shell of the tested constant-speed ball cage universal joint is detachably connected with a main shell, and the auxiliary shell is provided with a ball groove; the rotating speed control system comprises a rotating speed driving part and a turntable unit; the working angle control system comprises a universal joint connecting tool and a sliding groove formed in the rotating disc unit, and the universal joint connecting tool is movably arranged in the sliding groove; the load torque loading system comprises a loading driving part, a first telescopic shaft and a second telescopic shaft; and the data acquisition system comprises an X-axis force sensor used for measuring a force signal in the X-axis direction, a Y-axis force sensor used for measuring a force signal in the Y-axis direction and a Z-axis force sensor used for measuring a force signal in the Z-axis direction. The invention further provides a corresponding testing method. According to the invention, experimental test analysis of the contact force of the constant-speed rzeppa universal joint is realized.

The quantum tunneling and composite principle sensing method and device of spherical scattering field belongs to the technology of precision sensing and measurement. The invention adopts a quantum tunneling and composite principle sensing of a spherical scattering field for a conductor object to be measured. The method comprises: firstly, adjusting the relative distance between a composite principle probe and a measured component, and putting into the working interval; then getting the rough measurement result of an aiming gap by using the principle of spherical scattering field; directly adjusting the aiming gap of the measured object and the micro-measuring ball to the tunneling working interval according to the rough measurement result; converting the aiming gap into the sensing signalby the generation of a three-dimensional quantum tunneling effect. The invention also provides a composite principle sensing device. The quantum tunneling and composite principle sensing method and device of spherical scattering field effectively takes into account the nano-resolution, three-dimensional isotropic, and non-contact sensing characteristics when measuring the conductor object. High resolution measurement of large aspect ratio nano / micro structures is possible.

The invention discloses a high-dynamic high-frequency response control system of an electromagnetic valve and a method thereof. The system comprises a preloaded high voltage source, a preloaded stablevoltage source, a high voltage source, a reverse voltage source, a stable voltage source, a negative voltage source, a zero voltage source, a high-speed switching switch, a current detector, the electromagnetic valve, a pressure sensing system and a controller. The pre-loaded high voltage source is loaded in advance before the expected opening and closing time of the electromagnetic valve, and acoil current is kept in a state slightly smaller than an opening current through the pre-loaded stable voltage source. In the opening stage, the high voltage source is adopted for excitation, so thatthe current rises rapidly, and the motion time in the opening stage is shortened; the reverse voltage source is adopted for excitation before the maintaining stage, so that the coil current is rapidlyreduced from the opening current to a maintaining current; and in the closing stage, the negative voltage source is adopted for excitation, so that the current rapidly drops to zero, and the motion time in the closing stage is shortened.

The invention discloses a real-time sub-harmonic detection method of a novel comb filter. Output of each second-order integrator is a pair of orthogonal signals; therefore, the amplitude signal of each single harmonic is measured; in a specific process, outputs of various second-order integrators are added, and subtracted by the input of the system; therefore, influence of other harmonics can be eliminated; the steady precision of the system is ensured; therefore, the redundant decoupling link of the traditional multiple second-order generalized integrator based on a band-pass filter is eliminated; the calculation burden is reduced; and the system response speed is increased.

The invention discloses a self-adaptive robust force control method and device for an under-actuated supporting leg assisting exoskeleton. The control method comprises the steps that a physical modelis established and converted into a state equation, wherein the physical model comprises a man-machine interface model, a motion model and a complete constraint model; the reference displacement of the under-actuated supporting leg assisting exoskeleton is obtained; the actual angle value of the exoskeleton and the actual displacement of the back contact portion are obtained; the actual displacement and the reference displacement are taken as input quantities, and the output of a lower-layer position tracking controller is taken as motor driving torque; and the motor driving torque is converted into output torque of control current control motors, and all joints of the under-actuated supporting leg assisting exoskeleton are driven to rotate. Under the condition that the number of the motors is smaller than the number of freedom degrees of exoskeleton movement, the influence of multi-joint strong coupling and model uncertainty of the under-actuated supporting leg assisting exoskeleton is effectively overcome, the good following and assisting effect of the assisting exoskeleton on human movement is achieved, and high application value is achieved.

The invention relates to an electric steering gear step response peak current suppression method and system, and belongs to the field of the motor control. The problem that the steering gear outputs large current peak when the existing electric steering gear is in great step response is solved. The method comprises the following steps: judging an instruction signal input into a controller, and identifying a step signal; performing response control amount shaping on the output step response; judging the shaped step response to identify the porting stage of the step response; performing portingcontrol amount shaping on the step response at the porting stage; sending the shaped control amount to the electric steering gear to control the work of the electric steering gear. By dynamically adjusting the control amount, the motor armature peak current is weakened, and the effective output duration of the armature current is increased; and the dynamic feature of the electric steering gear isguaranteed while suppressing the armature current peak. Additional hardware resource expenditure is avoided, the volume and the weight of the electric steering gear control system cannot be increased,and the reliability and the electromagnetic compatibility of the electric steering gear can be effectively improved.

The invention provides a method for improving Doppler accuracy. The method comprises the following steps of a, Kalman filtering, specifically establishing a dynamic model by using a carrier phase as the observed quantity of a filter, and filtering to obtain a phase rate and a phase secondary change rate; b, overtime compensation, specifically compensating the phase rate obtained by the Kalman filtering, namely adding a compensation value to the phase rate to make the phase rate suitable for the short-time interval characteristic of a tracking loop under high dynamic, wherein the compensation value is obtained by multiplying the phase secondary change rate of the filter by lead time; and c, delay compensation, specifically compensating the phase rate to make the phase rate suitable for thehigh dynamic characteristic, dividing the difference of the estimated phase secondary change rate by a time interval to serve as the input of the filter, filtering by using a first-order Kalman filterto obtain a phase third change rate, and multiplying the phase rate by delay to obtain the compensation value. By adopting the scheme, the accuracy of the carrier phase rate of a receiver can be improved, the noise is well suppressed, and accurate observation information is provided for high-accuracy speed measurement.

The invention discloses a novel comb filter real-time sub-harmonic detection method, by making the output of each second-order integrator a pair of orthogonal signals, thereby measuring the amplitude signal of each single harmonic; In the specific process, adding the output of each second-order integrator and subtracting the input of the system can eliminate the influence of other harmonics and ensure the steady-state accuracy of the system; this eliminates the traditional The redundant decoupling links of the multiple second-order generalized integrators of the device reduce the calculation burden and increase the system response speed.

The invention relates to a robust control method and device for an under-actuated double-leg supporting hydraulic power-assisted exoskeleton. The control method comprises the following steps: initializing a sampling period of the real-time controller; the motion states of the left leg foot and the right leg foot of the exoskeleton are judged; establishing a physical model of the exoskeleton and converting the physical model into a state equation; the back acting force is obtained, and reference displacement is obtained in an upper-layer controller; an expected driving torque is obtained in a middle-layer controller according to the reference displacement; the expected flow of the electro-hydraulic servo valve is obtained in a lower-layer controller according to the expected driving torque; generating a current signal according to the expected flow; according to the current signals, all joints of the exoskeleton are driven to rotate, and tracking motion of the exoskeleton is achieved. The human-computer interaction exoskeleton following motion model is established by integrating multiple factors, the closed-chain dynamics problem of the exoskeleton is effectively solved, the influence of various interferences and uncertainties on the exoskeleton following motion is eliminated to a great extent, and the robustness of exoskeleton control is enhanced.